Add a simple commandline tool

This commandline tool will start to capture more and more aspects of the build and deploy process and become a very similar tool compared to ADB
2026-06-15 06:21:30 +08:00 · 2021-02-01 11:05:40 +01:00
1119 changed files with 27984 additions and 129777 deletions
--- a/.ci/Jenkinsfile-compile
+++ b/.ci/Jenkinsfile-compile
@ -9,15 +9,15 @@ 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:2020-11-18",
+            arm64: "px4io/px4-dev-aarch64:2020-11-18",
+            base: "px4io/px4-dev-base-bionic:2020-11-18",
+            nuttx: "px4io/px4-dev-nuttx-focal:2020-11-18",
            snapdragon: "lorenzmeier/px4-dev-snapdragon:2020-04-01"
          ]

          def armhf_builds = [
-            target: ["beaglebone_blue_default", "emlid_navio2_default", "px4_raspberrypi_default", "scumaker_pilotpi_default"],
+            target: ["aerotenna_ocpoc_default", "beaglebone_blue_default", "emlid_navio2_default", "px4_raspberrypi_default", "scumaker_pilotpi_default"],
            image: docker_images.armhf,
            archive: false
          ]
@ -37,7 +37,6 @@ pipeline {
          def nuttx_builds_archive = [
            target: [
                     "airmind_mindpx-v2_default",
-                     "ark_can-flow_canbootloader",
                     "ark_can-flow_default",
                     "av_x-v1_default",
                     "bitcraze_crazyflie_default",
@ -50,36 +49,34 @@ pipeline {
                     "cubepilot_cubeorange_default",
                     "cubepilot_cubeyellow_console",
                     "cubepilot_cubeyellow_default",
-                     "holybro_can-gps-v1_canbootloader",
-                     "holybro_can-gps-v1_default",
                     "holybro_durandal-v1_default",
                     "holybro_kakutef7_default",
                     "holybro_pix32v5_default",
+                     "intel_aerofc-v1_default",
                     "modalai_fc-v1_default",
                     "mro_ctrl-zero-f7_default",
-                     "mro_ctrl-zero-f7-oem_default",
-                     "mro_ctrl-zero-h7_default",
-                     "mro_ctrl-zero-h7-oem_default",
                     "mro_pixracerpro_default",
                     "mro_x21-777_default",
                     "mro_x21_default",
-                     "nxp_fmuk66-e_default",
-                     "nxp_fmuk66-e_rtps",
-                     "nxp_fmuk66-e_socketcan",
                     "nxp_fmuk66-v3_default",
                     "nxp_fmuk66-v3_rtps",
                     "nxp_fmuk66-v3_socketcan",
+                     "nxp_fmuk66-e_default",
                     "nxp_fmurt1062-v1_default",
                     "nxp_ucans32k146_default",
                     "omnibus_f4sd_default",
                     "px4_fmu-v2_default",
                     "px4_fmu-v2_fixedwing",
+                     "px4_fmu-v2_lpe",
                     "px4_fmu-v2_multicopter",
                     "px4_fmu-v2_rover",
                     "px4_fmu-v2_test",
+                     "px4_fmu-v3_ctrlalloc",
                     "px4_fmu-v3_default",
                     "px4_fmu-v4_cannode",
+                     "px4_fmu-v4_ctrlalloc",
                     "px4_fmu-v4_default",
+                     "px4_fmu-v4_optimized",
                     "px4_fmu-v4pro_default",
                     "px4_fmu-v5_ctrlalloc",
                     "px4_fmu-v5_debug",
@ -90,11 +87,8 @@ pipeline {
                     "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",
                     "px4_fmu-v5x_default",
-                     "px4_fmu-v6u_default",
                     "px4_fmu-v6x_default",
                     "px4_io-v2_default",
                     "spracing_h7extreme_default",
@ -131,7 +125,7 @@ pipeline {
    // TODO: actually upload artifacts to S3
    // stage('S3 Upload') {
    //   agent {
-    //     docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+    //     docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
    //   }
    //   options {
    //         skipDefaultCheckout()
--- a/.ci/Jenkinsfile-hardware
+++ b/.ci/Jenkinsfile-hardware
@ -17,7 +17,6 @@ pipeline {
                }
              }
              steps {
-                checkout scm
                sh 'export'
                sh 'make distclean'
                sh 'ccache -s'
@ -25,7 +24,7 @@ pipeline {
                sh 'make cubepilot_cubeorange_console'
                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/cubepilot_cubeorange_console/cubepilot_cubeorange_console.elf', name: 'cubepilot_cubeorange_console'
              }
              post {
                always {
@ -94,7 +93,6 @@ pipeline {
                }
              }
              steps {
-                checkout scm
                sh 'export'
                sh 'make distclean'
                sh 'ccache -s'
@ -102,7 +100,7 @@ pipeline {
                sh 'make cuav_x7pro_default'
                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/cuav_x7pro_default/cuav_x7pro_default.elf', name: 'cuav_x7pro_default'
              }
              post {
                always {
@ -222,7 +220,6 @@ pipeline {
                }
              }
              steps {
-                checkout scm
                sh 'export'
                sh 'make distclean'
                sh 'ccache -s'
@ -230,7 +227,7 @@ pipeline {
                sh 'make px4_fmu-v3_default'
                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/px4_fmu-v3_default/px4_fmu-v3_default.elf', name: 'px4_fmu-v3_default'
              }
              post {
                always {
@ -297,7 +294,6 @@ pipeline {
                }
              }
              steps {
-                checkout scm
                sh 'export'
                sh 'make distclean'
                sh 'ccache -s'
@ -305,7 +301,7 @@ pipeline {
                sh 'make px4_fmu-v4_default'
                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/px4_fmu-v4_default/px4_fmu-v4_default.elf', name: 'px4_fmu-v4_default'
              }
              post {
                always {
@ -371,7 +367,6 @@ pipeline {
                }
              }
              steps {
-                checkout scm
                sh 'export'
                sh 'make distclean'
                sh 'ccache -s'
@ -379,7 +374,7 @@ pipeline {
                sh 'make px4_fmu-v4pro_default'
                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/px4_fmu-v4pro_default/px4_fmu-v4pro_default.elf', name: 'px4_fmu-v4pro_default'
              }
              post {
                always {
@ -446,7 +441,6 @@ pipeline {
                }
              }
              steps {
-                checkout scm
                sh 'export'
                sh 'make distclean'
                sh 'ccache -s'
@ -454,7 +448,7 @@ pipeline {
                sh 'make px4_fmu-v5_default'
                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/px4_fmu-v5_default/px4_fmu-v5_default.elf', name: 'px4_fmu-v5_default'
              }
              post {
                always {
@ -481,7 +475,8 @@ 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 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_AUTOSTART 13000"' // generic vtol standard
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 2000"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
@ -521,7 +516,6 @@ pipeline {
                }
              }
              steps {
-                checkout scm
                sh 'export'
                sh 'make distclean'
                sh 'ccache -s'
@ -529,7 +523,7 @@ pipeline {
                sh 'make px4_fmu-v5_debug'
                sh 'make sizes'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_debug'
+                stash includes: 'build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf', name: 'px4_fmu-v5_debug'
              }
              post {
                always {
@ -599,7 +593,6 @@ pipeline {
                }
              }
              steps {
-                checkout scm
                sh 'export'
                sh 'make distclean'
                sh 'ccache -s'
@ -607,7 +600,7 @@ pipeline {
                sh 'make px4_fmu-v5_optimized'
                sh 'make sizes'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_optimized'
+                stash includes: 'build/px4_fmu-v5_optimized/px4_fmu-v5_optimized.elf', name: 'px4_fmu-v5_optimized'
              }
              post {
                always {
@ -634,7 +627,7 @@ 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 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_AUTOSTART 13000"' // generic vtol standard
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
                  }
@ -673,7 +666,6 @@ pipeline {
                }
              }
              steps {
-                checkout scm
                sh 'export'
                sh 'make distclean'
                sh 'ccache -s'
@ -681,7 +673,7 @@ pipeline {
                sh 'make px4_fmu-v5_stackcheck'
                sh 'make sizes'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_stackcheck'
+                stash includes: 'build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf', name: 'px4_fmu-v5_stackcheck'
              }
              post {
                always {
@ -751,7 +743,6 @@ pipeline {
                }
              }
              steps {
-                checkout scm
                sh 'export'
                sh 'make distclean'
                sh 'ccache -s'
@ -759,7 +750,7 @@ pipeline {
                sh 'make modalai_fc-v1_default'
                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/modalai_fc-v1_default/modalai_fc-v1_default.elf', name: 'modalai_fc-v1_default'
              }
              post {
                always {
@ -825,7 +816,6 @@ pipeline {
                }
              }
              steps {
-                checkout scm
                sh 'export'
                sh 'make distclean'
                sh 'ccache -s'
@ -833,7 +823,7 @@ pipeline {
                sh 'make holybro_durandal-v1_default'
                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/holybro_durandal-v1_default/holybro_durandal-v1_default.elf', name: 'holybro_durandal-v1_default'
              }
              post {
                always {
@ -905,7 +895,6 @@ pipeline {
                }
              }
              steps {
-                checkout scm
                sh 'export'
                sh 'make distclean'
                sh 'ccache -s'
@ -913,7 +902,7 @@ pipeline {
                sh 'make nxp_fmuk66-v3_default'
                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/nxp_fmuk66-v3_default/nxp_fmuk66-v3_default.elf', name: 'nxp_fmuk66-v3_default'
              }
              post {
                always {
@ -979,7 +968,6 @@ pipeline {
  options {
    buildDiscarder(logRotator(numToKeepStr: '20', artifactDaysToKeepStr: '40'))
    timeout(time: 90, unit: 'MINUTES')
-    skipDefaultCheckout()
  }
 }

@ -1004,15 +992,12 @@ void statusFTDI() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener battery_status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_attitude"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_event_flags"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_local_position"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_selector_status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_sensor_bias"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_status_flags"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener logger_status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener parameter_update"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener px4io_status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel_fifo"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_baro"'
@ -1020,8 +1005,8 @@ void statusFTDI() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro_fifo"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_mag"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_selection"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensors_status_imu"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener px4io_status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener system_power"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener telemetry_status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_air_data"'
@ -1032,8 +1017,6 @@ void statusFTDI() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu_status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_local_position"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_magnetometer"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_status_flags"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /dev"'
--- a/.devcontainer/devcontainer.json
+++ b/.devcontainer/devcontainer.json
@ -2,7 +2,7 @@
 // https://github.com/microsoft/vscode-dev-containers/tree/v0.134.0/containers/cpp
 {
 	"name": "px4-dev-nuttx",
-	"image": "px4io/px4-dev-nuttx-focal:2021-02-04",
+	"image": "px4io/px4-dev-nuttx-focal:2020-11-18",

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

--- a/.github/workflows/checks.yml
+++ b/.github/workflows/checks.yml
@ -28,7 +28,7 @@ jobs:
          "parameters_metadata",
        ]
    container:
-      image: px4io/px4-dev-nuttx-focal:2021-02-04
+      image: px4io/px4-dev-nuttx-focal:2020-11-18
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@ -52,8 +52,8 @@ jobs:
          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
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 400M" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z
    - name: check environment
--- a/.github/workflows/clang-tidy.yml
+++ b/.github/workflows/clang-tidy.yml
@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-clang:2021-02-04
+    container: px4io/px4-dev-clang:2020-11-18
    steps:
    - uses: actions/checkout@v1
      with:
@ -34,8 +34,8 @@ jobs:
          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
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 400M" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z

--- a/.github/workflows/compile_linux.yml
+++ b/.github/workflows/compile_linux.yml
@ -11,10 +11,11 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-armhf:2021-02-04
+    container: px4io/px4-dev-armhf:2020-11-18
    strategy:
      matrix:
        config: [
+          aerotenna_ocpoc_default,
          beaglebone_blue_default,
          emlid_navio2_default,
          px4_raspberrypi_default,
@ -42,8 +43,8 @@ jobs:
          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
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 400M" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z

--- a/.github/workflows/compile_linux_arm64.yml
+++ b/.github/workflows/compile_linux_arm64.yml
@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-aarch64:2021-02-04
+    container: px4io/px4-dev-aarch64:2020-11-18
    strategy:
      matrix:
        config: [
@ -39,8 +39,8 @@ jobs:
          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
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 400M" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z

--- a/.github/workflows/compile_macos.yml
+++ b/.github/workflows/compile_macos.yml
@ -43,8 +43,8 @@ jobs:
          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
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 400M" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z

--- a/.github/workflows/compile_nuttx.yml
+++ b/.github/workflows/compile_nuttx.yml
@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-02-04
+    container: px4io/px4-dev-nuttx-focal:2020-11-18
    strategy:
      matrix:
        config: [
@ -19,8 +19,8 @@ jobs:
          ark_can-flow_canbootloader,
          ark_can-flow_default,
          av_x-v1_default,
-          bitcraze_crazyflie21_default,
          bitcraze_crazyflie_default,
+          bitcraze_crazyflie21_default,
          cuav_can-gps-v1_canbootloader,
          cuav_can-gps-v1_default,
          cuav_nora_default,
@ -29,22 +29,16 @@ jobs:
          cubepilot_cubeorange_default,
          cubepilot_cubeyellow_console,
          cubepilot_cubeyellow_default,
-          holybro_can-gps-v1_canbootloader,
-          holybro_can-gps-v1_default,
          holybro_durandal-v1_default,
          holybro_kakutef7_default,
          holybro_pix32v5_default,
+          intel_aerofc-v1_default,
          modalai_fc-v1_default,
          mro_ctrl-zero-f7_default,
-          mro_ctrl-zero-f7-oem_default,
-          mro_ctrl-zero-h7_default,
-          mro_ctrl-zero-h7-oem_default,
          mro_pixracerpro_default,
          mro_x21-777_default,
          mro_x21_default,
          nxp_fmuk66-e_default,
-          nxp_fmuk66-e_rtps,
-          nxp_fmuk66-e_socketcan,
          nxp_fmuk66-v3_default,
          nxp_fmuk66-v3_rtps,
          nxp_fmuk66-v3_socketcan,
@ -53,12 +47,16 @@ jobs:
          omnibus_f4sd_default,
          px4_fmu-v2_default,
          px4_fmu-v2_fixedwing,
+          px4_fmu-v2_lpe,
          px4_fmu-v2_multicopter,
          px4_fmu-v2_rover,
          px4_fmu-v2_test,
+          px4_fmu-v3_ctrlalloc,
          px4_fmu-v3_default,
          px4_fmu-v4_cannode,
+          px4_fmu-v4_ctrlalloc,
          px4_fmu-v4_default,
+          px4_fmu-v4_optimized,
          px4_fmu-v4pro_default,
          px4_fmu-v5_ctrlalloc,
          px4_fmu-v5_default,
@ -67,11 +65,9 @@ jobs:
          px4_fmu-v5_optimized,
          px4_fmu-v5_rover,
          px4_fmu-v5_rtps,
-          px4_fmu-v5_uavcanv0periph,
-          px4_fmu-v5_uavcanv1,
+          px4_fmu-v5_stackcheck,
          px4_fmu-v5x_base_phy_DP83848C,
          px4_fmu-v5x_default,
-          px4_fmu-v6u_default,
          px4_fmu-v6x_default,
          px4_io-v2_default,
          spracing_h7extreme_default,
@ -99,8 +95,8 @@ jobs:
          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
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 400M" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z

--- a/.github/workflows/compile_nuttx_cannode.yml
+++ b/.github/workflows/compile_nuttx_cannode.yml
@ -11,13 +11,12 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-02-04
+    container: px4io/px4-dev-nuttx-focal:2020-11-18
    strategy:
      matrix:
        config: [
          ark_can-flow_default,
          cuav_can-gps-v1_default,
-          holybro_can-gps-v1_default,
          #nxp_ucans32k146_default,
          px4_fmu-v4_cannode
          ]
@ -43,8 +42,8 @@ jobs:
          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
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 400M" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z

--- a/.github/workflows/mavros_avoidance_tests.yml
+++ b/.github/workflows/mavros_avoidance_tests.yml
@ -19,7 +19,7 @@ jobs:
          - {test_file: "mavros_posix_test_safe_landing.test", vehicle: "iris_obs_avoid", mission: "MC_safe_landing", build_type: "RelWithDebInfo"}

    container:
-      image: px4io/px4-dev-ros-melodic:2021-02-04
+      image: px4io/px4-dev-ros-melodic:2020-11-18
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@ -43,8 +43,8 @@ jobs:
          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
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 400M" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z

--- a/.github/workflows/mavros_mission_tests.yml
+++ b/.github/workflows/mavros_mission_tests.yml
@ -25,7 +25,7 @@ jobs:
          #- {vehicle: "tiltrotor",     mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}

    container:
-      image: px4io/px4-dev-ros-melodic:2021-02-04
+      image: px4io/px4-dev-ros-melodic:2020-11-18
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@ -49,8 +49,8 @@ jobs:
          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
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 400M" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z

--- a/.github/workflows/mavros_offboard_tests.yml
+++ b/.github/workflows/mavros_offboard_tests.yml
@ -20,7 +20,7 @@ jobs:
          #- {test_file: "mavros_posix_tests_offboard_rpyrt_ctl.test", vehicle: "iris", build_type: "RelWithDebInfo"}

    container:
-      image: px4io/px4-dev-ros-melodic:2021-02-04
+      image: px4io/px4-dev-ros-melodic:2020-11-18
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@ -44,8 +44,8 @@ jobs:
          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
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 400M" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z

--- a/.github/workflows/metadata.yml
+++ b/.github/workflows/metadata.yml
@ -12,7 +12,7 @@ jobs:

  airframe:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-02-04
+    container: px4io/px4-dev-base-focal:2020-11-18
    steps:
    - uses: actions/checkout@v1
      with:
@ -27,7 +27,7 @@ jobs:

  module:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-02-04
+    container: px4io/px4-dev-base-focal:2020-11-18
    steps:
    - uses: actions/checkout@v1
      with:
@ -42,7 +42,7 @@ jobs:

  parameter:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-02-04
+    container: px4io/px4-dev-base-focal:2020-11-18
    steps:
    - uses: actions/checkout@v1
      with:
@ -57,7 +57,7 @@ jobs:

  uorb_graph:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-02-04
+    container: px4io/px4-dev-nuttx-focal:2020-11-18
    steps:
    - uses: actions/checkout@v1
      with:
@ -72,7 +72,7 @@ jobs:

  micrortps_agent:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-02-04
+    container: px4io/px4-dev-base-focal:2020-11-18
    steps:
    - uses: actions/checkout@v1
      with:
@ -86,7 +86,7 @@ jobs:

  ROS_msgs:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-02-04
+    container: px4io/px4-dev-base-focal:2020-11-18
    steps:
    - uses: actions/checkout@v1
      with:
@ -99,7 +99,7 @@ jobs:

  ROS2_bridge:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-02-04
+    container: px4io/px4-dev-base-focal:2020-11-18
    steps:
    - uses: actions/checkout@v1
      with:
--- a/.github/workflows/sitl_tests.yml
+++ b/.github/workflows/sitl_tests.yml
@ -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:2020-11-18
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@ -28,9 +28,9 @@ jobs:
        token: ${{ secrets.ACCESS_TOKEN }}

    - name: Download MAVSDK
-      run: wget https://github.com/mavlink/MAVSDK/releases/download/v0.36.0/mavsdk_0.36.0_ubuntu20.04_amd64.deb
+      run: wget https://github.com/mavlink/MAVSDK/releases/download/v0.33.1/mavsdk_0.33.1_ubuntu20.04_amd64.deb
    - name: Install MAVSDK
-      run: dpkg -i mavsdk_0.36.0_ubuntu20.04_amd64.deb
+      run: dpkg -i mavsdk_0.33.1_ubuntu20.04_amd64.deb

    - name: Prepare ccache timestamp
      id: ccache_cache_timestamp
@ -49,8 +49,8 @@ jobs:
          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
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 400M" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z

@ -94,7 +94,7 @@ jobs:
        PX4_HOME_LON: ${{matrix.config.longitude}}
        PX4_HOME_ALT: ${{matrix.config.altitude}}
        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json
+      run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} test/mavsdk_tests/configs/sitl.json

    - name: Look at core files
      if: failure()
@ -106,6 +106,10 @@ jobs:
        name: coredump
        path: px4.core

+    - name: Upload logs to flight review
+      if: failure()
+      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ${GITHUB_WORKSPACE}/build/px4_sitl_default/tmp_mavsdk_tests/rootfs/log/*/*.ulg
+
    - name: Upload px4 binary
      if: failure()
      uses: actions/upload-artifact@v2-preview
--- a/.gitignore
+++ b/.gitignore
@ -101,6 +101,9 @@ msg/tmp/
 msg/topics_sources/
 platforms/posix/apps.cpp
 platforms/posix/apps.h
+src/lib/parameters/px4_parameters.c
+src/lib/parameters/px4_parameters.h
+src/lib/parameters/px4_parameters_public.h
 src/lib/version/build_git_version.h
 src/modules/simulator/simulator_config.h
 src/systemcmds/topic_listener/listener_generated.cpp
--- a/.gitmodules
+++ b/.gitmodules
@ -51,15 +51,6 @@
 [submodule "Tools/jsbsim_bridge"]
 	path = Tools/jsbsim_bridge
 	url = https://github.com/PX4/px4-jsbsim-bridge.git
-[submodule "src/drivers/uavcan_v1/libcanard"]
-	path = src/drivers/uavcan_v1/libcanard
-	url = https://github.com/UAVCAN/libcanard.git
-[submodule "src/drivers/uavcan_v1/public_regulated_data_types"]
-	path = src/drivers/uavcan_v1/public_regulated_data_types
-	url = https://github.com/UAVCAN/public_regulated_data_types.git
-[submodule "src/drivers/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
-[submodule "src/drivers/uavcannode_gps_demo/libcanard"]
-	path = src/drivers/uavcannode_gps_demo/libcanard
-	url = https://github.com/UAVCAN/libcanard
+[submodule "src/examples/gyro_fft/CMSIS_5"]
+	path = src/examples/gyro_fft/CMSIS_5
+	url = https://github.com/ARM-software/CMSIS_5.git
--- a/.vscode/cmake-variants.yaml
+++ b/.vscode/cmake-variants.yaml
@ -6,6 +6,16 @@ CONFIG:
      buildType: RelWithDebInfo
      settings:
        CONFIG: px4_sitl_default
+    px4_sitl_asan:
+      short: px4_sitl (AddressSanitizer)
+      buildType: AddressSanitizer
+      settings:
+        CONFIG: px4_sitl_default
+    px4_sitl_ubsan:
+      short: px4_sitl (UndefinedBehaviorSanitizer)
+      buildType: UndefinedBehaviorSanitizer
+      settings:
+        CONFIG: px4_sitl_default
    px4_sitl_replay:
      short: px4_sitl_replay
      buildType: RelWithDebInfo
@ -116,6 +126,11 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: holybro_durandal-v1_default
+    intel_aerofc-v1_default:
+      short: intel_aerofc-v1
+      buildType: MinSizeRel
+      settings:
+        CONFIG: intel_aerofc-v1_default
    modalai_fc-v1_default:
      short: modalai_fc-v1
      buildType: MinSizeRel
@ -126,16 +141,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: mro_ctrl-zero-f7_default
-    mro_pixracerpro_bootloader:
-      short: mro_pixracerpro_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: mro_pixracerpro_bootloader
-    mro_pixracerpro_default:
-      short: mro_pixracerpro_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: mro_pixracerpro_default
    mro_x21-777_default:
      short: mro_x2.1-777
      buildType: MinSizeRel
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@ -27,6 +27,7 @@
        "cSpell.showStatus": false,
        "cSpell.words": [
                "acro",
+                "rattitude",
                "nuttx",
                "esc"
        ],
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@ -406,6 +406,7 @@ add_subdirectory(src/lib EXCLUDE_FROM_ALL)

 add_subdirectory(platforms/${PX4_PLATFORM}/src/px4)
 add_subdirectory(platforms EXCLUDE_FROM_ALL)
+add_subdirectory(src/modules/uORB EXCLUDE_FROM_ALL) # TODO: platform layer

 if(EXISTS "${PX4_BOARD_DIR}/CMakeLists.txt")
 	add_subdirectory(${PX4_BOARD_DIR})
--- a/35
+++ b/35
@ -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:2020-11-18'
        //       args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
        //     }
        //   }
@ -56,7 +56,7 @@ pipeline {
        stage('Colcon build on ROS2 workspace') {
          agent {
            docker {
-              image 'px4io/px4-dev-ros2-foxy:2021-02-04'
+              image 'px4io/px4-dev-ros2-foxy:2020-11-18'
              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
            }
          }
@ -67,9 +67,11 @@ pipeline {
              unset ROS_DISTRO;
              mkdir -p colcon_ws/src;
              cd colcon_ws;
-              git -C ${WORKSPACE}/colcon_ws/src/Firmware submodule update --init --recursive --force Tools/sitl_gazebo;
+              git -C ${WORKSPACE}/colcon_ws/src/Firmware submodule update --init --recursive --force Tools/sitl_gazebo
+              git clone --recursive ${WORKSPACE}/colcon_ws/src/Firmware/Tools/sitl_gazebo src/mavlink_sitl_gazebo;
              git -C ${WORKSPACE}/colcon_ws/src/Firmware fetch --tags;
-              source /opt/ros/foxy/setup.sh;
+              source /opt/ros/bouncy/setup.sh;
+              source /opt/ros/melodic/setup.sh;
              colcon build --event-handlers console_direct+ --symlink-install;
            '''
          }
@ -85,7 +87,7 @@ pipeline {

        stage('Airframe') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
          }
          steps {
            sh 'make distclean'
@ -104,14 +106,14 @@ pipeline {

        stage('Parameter') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
          }
          steps {
            sh 'make distclean'
            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')
+              stash includes: 'parameters.md, parameters.xml', name: 'metadata_parameters'
            }
          }
          post {
@ -123,7 +125,7 @@ pipeline {

        stage('Module') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
          }
          steps {
            sh 'make distclean'
@ -143,7 +145,7 @@ pipeline {
        stage('uORB graphs') {
          agent {
            docker {
-              image 'px4io/px4-dev-nuttx-focal:2021-02-04'
+              image 'px4io/px4-dev-nuttx-focal:2020-11-18'
              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
            }
          }
@ -172,7 +174,7 @@ pipeline {

        stage('Userguide') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
          }
          steps {
            sh('export')
@ -202,7 +204,7 @@ pipeline {

        stage('QGroundControl') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
          }
          steps {
            sh('export')
@ -230,7 +232,7 @@ pipeline {

        stage('microRTPS agent') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
          }
          steps {
            sh('export')
@ -260,7 +262,7 @@ pipeline {

        stage('PX4 ROS msgs') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
          }
          steps {
            sh('export')
@ -289,7 +291,7 @@ pipeline {

        stage('PX4 ROS2 bridge') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
          }
          steps {
            sh('export')
@ -332,7 +334,7 @@ pipeline {

        stage('S3') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
          }
          steps {
            sh('export')
@ -342,7 +344,6 @@ 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/')
            }
          }
          when {
--- a/2
+++ b/2
@ -1,6 +1,6 @@
 BSD 3-Clause License

-Copyright (c) 2012 - 2021, PX4 Development Team
+Copyright (c) 2012 - 2020, PX4 Development Team
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
--- a/3
+++ b/3
@ -174,8 +174,6 @@ define cmake-build
 	@$(call cmake-cache-check)
 	@# make sure to start from scratch when switching from GNU Make to Ninja
 	@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(BUILD_DIR)/Makefile ]; then rm -rf $(BUILD_DIR); fi
-	@# make sure to start from scratch if ninja build file is missing
-	@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ ! -f $(BUILD_DIR)/build.ninja ]; then rm -rf $(BUILD_DIR); fi
 	@# only excplicitly configure the first build, if cache file already exists the makefile will rerun cmake automatically if necessary
 	@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ] || [ $(CMAKE_CACHE_CHECK) ]; then \
 		mkdir -p $(BUILD_DIR) \
@ -270,6 +268,7 @@ px4fmu_firmware: \
 misc_qgc_extra_firmware: \
 	check_nxp_fmuk66-v3_default \
 	check_nxp_fmurt1062-v1_default \
+	check_intel_aerofc-v1_default \
 	check_mro_x21_default \
 	check_bitcraze_crazyflie_default \
 	check_bitcraze_crazyflie21_default \
--- a/ROMFS/CMakeLists.txt
+++ b/ROMFS/CMakeLists.txt
@ -81,9 +81,6 @@ file(GLOB jinja_templates ${PX4_SOURCE_DIR}/Tools/serial/*.jinja)
 if (px4_constrained_flash_build)
 	set(added_arguments --constrained-flash)
 endif()
-if(PX4_ETHERNET)
-	set(added_arguments ${added_arguments} --ethernet)
-endif()
 # create list of relative romfs file names
 set(romfs_copy_files_relative)
 foreach(romfs_file IN LISTS romfs_copy_files)
@ -158,30 +155,6 @@ if(config_build_bootloader)
 	)
 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}")
-
-	add_custom_command(
-		OUTPUT
-			${romfs_gen_root_dir}/init.d/${board_arch_rc_file}
-			${board_arch_rc_file}.stamp
-		COMMAND ${CMAKE_COMMAND} -E copy_if_different ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file} ${romfs_gen_root_dir}/init.d/${board_arch_rc_file}
-		COMMAND ${CMAKE_COMMAND} -E touch ${board_arch_rc_file}.stamp
-		DEPENDS
-			${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file}
-			romfs_copy.stamp
-		COMMENT "ROMFS: copying ${board_arch_rc_file}"
-	)
-
-	list(APPEND extras_dependencies
-		${board_arch_rc_file}.stamp
-	)
-endif()
-
-
 set(OPTIONAL_BOARD_RC)
 list(APPEND OPTIONAL_BOARD_RC
 	rc.board_defaults
@ -214,46 +187,6 @@ foreach(board_rc_file ${OPTIONAL_BOARD_RC})

 endforeach()

-
-if(config_uavcan_peripheral_firmware)
-
-	include(ExternalProject)
-
-	foreach(uavcan_peripheral_config ${config_uavcan_peripheral_firmware})
-		# include the px4io binary in ROMFS
-		message(STATUS "ROMFS: Building and including UAVCAN peripheral ${uavcan_peripheral_config}")
-		ExternalProject_Add(build_${uavcan_peripheral_config}
-			SOURCE_DIR ${CMAKE_SOURCE_DIR}
-			DOWNLOAD_COMMAND ""
-			UPDATE_COMMAND ""
-			CMAKE_ARGS -DCONFIG=${uavcan_peripheral_config}
-			INSTALL_COMMAND ""
-			USES_TERMINAL_BUILD true
-			DEPENDS git_nuttx git_nuttx_apps
-			BUILD_ALWAYS 1
-		)
-
-		ExternalProject_Get_Property(build_${uavcan_peripheral_config} BINARY_DIR)
-
-		add_custom_command(
-			OUTPUT
-				${romfs_gen_root_dir}/uavcan/fw/_${uavcan_board_id}.bin
-				${uavcan_peripheral_config}.stamp
-			COMMAND ${CMAKE_COMMAND} -E make_directory ${romfs_gen_root_dir}/uavcan/fw/
-			COMMAND ${CMAKE_COMMAND} -E copy ${BINARY_DIR}/deploy/*.bin ${romfs_gen_root_dir}/uavcan/fw/
-			COMMAND ls -lsa ${romfs_gen_root_dir}/uavcan/fw/
-			COMMAND ${CMAKE_COMMAND} -E touch ${uavcan_peripheral_config}.stamp
-			DEPENDS
-				build_${uavcan_peripheral_config}
-			COMMENT "ROMFS: copying ${uavcan_peripheral_config}"
-		)
-
-		list(APPEND extras_dependencies
-			${uavcan_peripheral_config}.stamp
-		)
-	endforeach()
-endif()
-
 list(APPEND extras_dependencies
 	${config_romfs_extra_dependencies}
 	)
--- a/ROMFS/cannode/init.d/rcS
+++ b/ROMFS/cannode/init.d/rcS
@ -30,16 +30,21 @@ sercon
 #
 ver all

-if mft query -q -k MTD -s MTD_PARAMETERS -v /fs/mtd_params
+#
+# Start the ORB (first app to start)
+# tone_alarm and tune_control
+# is dependent.
+#
+uorb start
+
+#
+# Set the parameter file if mtd starts successfully.
+#
+if mtd start
 then
 	set PARAM_FILE /fs/mtd_params
 fi

-if mft query -q -k MTD -s MTD_PARAMETERS -v /dev/eeeprom0
-then
-	set PARAM_FILE /dev/eeeprom0
-fi
-
 #
 # Load parameters.
 #
@ -49,17 +54,6 @@ then
 	param reset_all
 fi

-#
-# Optional board architecture defaults: rc.board_arch_defaults
-#
-set BOARD_ARCH_RC_DEFAULTS ${R}etc/init.d/rc.board_arch_defaults
-if [ -f $BOARD_ARCH_RC_DEFAULTS ]
-then
-	echo "Board architecture defaults: ${BOARD_ARCH_RC_DEFAULTS}"
-	. $BOARD_ARCH_RC_DEFAULTS
-fi
-unset BOARD_ARCH_RC_DEFAULTS
-
 #
 # Optional board defaults: rc.board_defaults
 #
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/10020_if750a
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/10020_if750a
@ -12,11 +12,6 @@ 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

 set MIXER quad_x
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1015_iris_obs_avoid.post
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1015_iris_obs_avoid.post
@ -1,2 +1,2 @@
 # shellcheck disable=SC2154
-mavlink start -x -u 14558 -r 4000000 -m onboard -o 14541 -p # add mavlink stream for SDK
+mavlink start -x -u 14558 -r 4000000 -m onboard -o 14541 # add mavlink stream for SDK
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop
@ -1,61 +0,0 @@
-#!/bin/sh
-#
-# @name Standard VTOL
-#
-# @type Standard VTOL
-#
-
-. ${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 MC_ROLLRATE_P 0.3
-	param set MC_YAW_P 1.6
-
-	param set 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 NAV_ACC_RAD 5
-	param set 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 RC_MAP_AUX1 8
-	param set RC_MAP_AUX2 9
-	param set RC_MAP_AUX3 10
-fi
-
-set MAV_TYPE 22
-
-set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
-set MIXER custom
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop.post
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop.post
@ -1 +0,0 @@
-mixer append /dev/pwm_output0 etc/mixers-sitl/package_drop.aux.mix
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1060_rover
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1060_rover
@ -8,7 +8,6 @@
 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
@ -17,6 +16,7 @@ then
 	param set GND_SPEED_THR_SC 1
 	param set GND_SPEED_TRIM 4
 	param set GND_THR_CRUISE 0.3
+	param set GND_THR_IDLE 0
 	param set GND_THR_MAX 0.5
 	param set GND_THR_MIN 0

--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1061_r1_rover
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1061_r1_rover
@ -17,6 +17,7 @@ then
 	param set GND_SPEED_THR_SC 1
 	param set GND_SPEED_TRIM 4
 	param set GND_THR_CRUISE 0.3
+	param set GND_THR_IDLE 0
 	param set GND_THR_MAX 0.5
 	param set GND_THR_MIN 0

--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1062_tf-r1
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1062_tf-r1
@ -22,6 +22,7 @@ then
 	param set GND_SPEED_TRIM 15
 	param set GND_SPEED_MAX 25
 	param set GND_THR_CRUISE 0.3
+	param set GND_THR_IDLE 0
 	param set GND_THR_MAX 0.5
 	param set GND_THR_MIN 0

--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1070_boat
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1070_boat
@ -8,16 +8,16 @@
 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_I 3
 	param set GND_SPEED_IMAX 0.125
-	param set GND_SPEED_P 2
+	param set GND_SPEED_P 0.25
 	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_SPEED_TRIM 4
+	param set GND_THR_CRUISE 0.3
+	param set GND_THR_IDLE 0
+	param set GND_THR_MAX 0.5
 	param set GND_THR_MIN 0

 	param set MIS_LTRMIN_ALT 0.01
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/17001_tf-g1
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/17001_tf-g1
@ -38,6 +38,7 @@ then
 	param set NAV_LOITER_RAD 100

 	param set RWTO_TKOFF 1
+	param set MAV_BROADCAST 1

 	param set FW_ARSP_SCALE_EN 0

--- a/ROMFS/px4fmu_common/init.d-posix/airframes/3011_hexarotor_x
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/3011_hexarotor_x
@ -26,6 +26,7 @@ then
 	param set TRIG_MODE 4
 	param set MNT_MODE_IN 4
 	param set MNT_DO_STAB 2
+	param set MAV_PROTO_VER 2
 fi

 set MAV_TYPE 13
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/6011_typhoon_h480
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/6011_typhoon_h480
@ -9,11 +9,11 @@

 if [ $AUTOCNF = yes ]
 then
-	param set MC_PITCHRATE_P 0.0800
+	param set MC_PITCHRATE_P 0.1000
 	param set MC_PITCHRATE_I 0.0400
 	param set MC_PITCHRATE_D 0.0010
 	param set MC_PITCH_P 9.0
-	param set MC_ROLLRATE_P 0.0800
+	param set MC_ROLLRATE_P 0.1000
 	param set MC_ROLLRATE_I 0.0400
 	param set MC_ROLLRATE_D 0.0010
 	param set MC_ROLL_P 9.0
@ -24,8 +24,7 @@ then

 	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_MODE_IN 0
 	param set MAV_PROTO_VER 2
 fi

--- a/ROMFS/px4fmu_common/init.d-posix/airframes/6011_typhoon_h480.post
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/6011_typhoon_h480.post
@ -1,7 +1,7 @@

 mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix

-mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 -p
+mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530

 # shellcheck disable=SC2154
 mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/6012_typhoon_ctrlalloc.post
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/6012_typhoon_ctrlalloc.post
@ -1,7 +1,7 @@

 mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix

-mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 -p
+mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530

 # shellcheck disable=SC2154
 mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
@ -64,8 +64,6 @@ px4_add_romfs_files(
 	1040_standard_vtol
 	1041_tailsitter
 	1042_tiltrotor
-	1043_standard_vtol_drop
-	1043_standard_vtol_drop.post
 	1060_rover
 	1061_r1_rover
 	1062_tf-r1
--- a/ROMFS/px4fmu_common/init.d-posix/rc.replay
+++ b/ROMFS/px4fmu_common/init.d-posix/rc.replay
@ -20,6 +20,7 @@ module: replay
 ignore_others: false
 EOF

+uorb start
 param set SDLOG_DIRS_MAX 7

 # apply all params before ekf starts, as some params cannot be changed after startup
--- a/ROMFS/px4fmu_common/init.d-posix/rcS
+++ b/ROMFS/px4fmu_common/init.d-posix/rcS
@ -46,13 +46,15 @@ else
 	# shellcheck disable=SC2012
 	REQUESTED_AUTOSTART=$(ls "$SCRIPT_DIR/airframes" | sed -n 's/^\([0-9][0-9]*\)_'${PX4_SIM_MODEL}'$/\1/p')
 	if [ -z "$REQUESTED_AUTOSTART" ]; then
-		echo "Error: Unknown model $PX4_SIM_MODEL (not found by name on $SCRIPT_DIR/airframes)"
+		echo "ERROR  [init] Unknown model $PX4_SIM_MODEL (not found by name on $SCRIPT_DIR/airframes)"
 		exit 1
 	else
-		echo "Info: found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
+		echo "INFO  [init] found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
 	fi
 fi

+uorb start
+
 # Load parameters
 set PARAM_FILE eeprom/parameters_"$REQUESTED_AUTOSTART"
 param select $PARAM_FILE
@ -61,12 +63,12 @@ if [ -f $PARAM_FILE ]
 then
 	if param load
 	then
-		echo "[param] Loaded: $PARAM_FILE"
+		echo "INFO  [init] Loaded: $PARAM_FILE"
 	else
-		echo "[param] FAILED loading $PARAM_FILE"
+		echo "ERROR  [init] FAILED loading $PARAM_FILE"
 	fi
 else
-	echo "[param] parameter file not found, creating $PARAM_FILE"
+	echo "INFO  [init] parameter file not found, creating $PARAM_FILE"
 fi

 # exit early when the minimal shell is requested
@ -109,57 +111,55 @@ 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
 	param set SYS_AUTOSTART $REQUESTED_AUTOSTART

-	param set CAL_ACC0_ID  1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
-	param set CAL_GYRO0_ID 1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
-	param set CAL_ACC1_ID  1310996 # 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
-	param set CAL_GYRO1_ID 1310996 # 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
-	param set CAL_ACC2_ID  1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
-	param set CAL_GYRO2_ID 1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
+	param set BAT_N_CELLS 4

+	param set CAL_ACC0_ID 1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
+	param set CAL_ACC1_ID 1310996 # 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
+	param set CAL_ACC2_ID 1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
+	param set CAL_GYRO0_ID 1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
+	param set CAL_GYRO1_ID 1310996 # 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
+	param set CAL_GYRO2_ID 1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
 	param set CAL_MAG0_ID 197388
 	param set CAL_MAG1_ID 197644

+	param set CBRK_AIRSPD_CHK 0
+	param set CBRK_SUPPLY_CHK 894281
+
+	# Don't require RC calibration and configuration
+	param set COM_RC_IN_MODE 1
+
+	# Speedup SITL startup
+	param set EKF2_REQ_GPS_H 0.5
+
+	# Multi-EKF
+	param set EKF2_MULTI_IMU 3
+	param set SENS_IMU_MODE 0
+	param set EKF2_MULTI_MAG 2
+	param set SENS_MAG_MODE 0
+
+	# By default log from boot until first disarm.
+	param set SDLOG_MODE 1
+	# enable default, estimator replay and vision/avoidance logging profiles
+	param set SDLOG_PROFILE 131
+	param set SDLOG_DIRS_MAX 7
+	param set SENS_BOARD_ROT 0
 	param set SENS_BOARD_X_OFF 0.000001
 	param set SENS_DPRES_OFF 0.001
-
 	param set SYS_RESTART_TYPE 2
+
+	param set TRIG_INTERFACE 3
 fi

-param set-default BAT_N_CELLS 4
+param set COM_CPU_MAX -1 # disable check, no CPU load reported on posix yet

-param set-default CBRK_AIRSPD_CHK 0
-param set-default CBRK_SUPPLY_CHK 894281
-
-# disable check, no CPU load reported on posix yet
-param set-default COM_CPU_MAX -1
-
-# Don't require RC calibration and configuration
-param set-default COM_RC_IN_MODE 1
-
-# Speedup SITL startup
-param set-default EKF2_REQ_GPS_H 0.5
-
-# Multi-EKF
-param set-default EKF2_MULTI_IMU 3
-param set-default SENS_IMU_MODE 0
-param set-default EKF2_MULTI_MAG 2
-param set-default SENS_MAG_MODE 0
-
-# By default log from boot until first disarm.
-param set-default SDLOG_MODE 1
-# enable default, estimator replay and vision/avoidance logging profiles
-param set-default SDLOG_PROFILE 131
-param set-default SDLOG_DIRS_MAX 7
-
-param set-default TRIG_INTERFACE 3
+# Simulator IMU data provided at 250 Hz
+param set IMU_INTEG_RATE 250

 # Adapt timeout parameters if simulation runs faster or slower than realtime.
 if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
@ -192,7 +192,7 @@ do
 	esac
 done
 if [ ! -e "$autostart_file" ]; then
-	echo "Error: no autostart file found ($autostart_file)"
+	echo "ERROR  [init] no autostart file found ($autostart_file)"
 	exit 1
 fi

@ -206,9 +206,6 @@ then
 	param set SYS_AUTOCONFIG 0
 fi

-# Simulator IMU data provided at 250 Hz
-param set IMU_INTEG_RATE 250
-
 dataman start
 # only start the simulator if not in replay mode, as both control the lockstep time
 if ! replay tryapplyparams
@ -247,7 +244,7 @@ then
 	sh etc/init.d-posix/rc.mavlink_override
 else
 	# GCS link
-	mavlink start -x -u $udp_gcs_port_local -r 4000000 -f -p
+	mavlink start -x -u $udp_gcs_port_local -r 4000000
 	mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u $udp_gcs_port_local
 	mavlink stream -r 50 -s LOCAL_POSITION_NED -u $udp_gcs_port_local
 	mavlink stream -r 50 -s GLOBAL_POSITION_INT -u $udp_gcs_port_local
@ -259,15 +256,12 @@ else
 	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
+	mavlink start -x -u $udp_offboard_port_local -r 4000000 -m onboard -o $udp_offboard_port_remote

 	# Onboard link to camera
-	mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote -p
+	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 $udp_onboard_gimbal_port_remote -p
 fi
-
 # execute autostart post script if any
 [ -e "$autostart_file".post ] && . "$autostart_file".post

--- a/ROMFS/px4fmu_common/init.d/airframes/1000_rc_fw_easystar.hil
+++ b/ROMFS/px4fmu_common/init.d/airframes/1000_rc_fw_easystar.hil
@ -17,43 +17,35 @@

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

+if [ $AUTOCNF = yes ]
+then
+	param set BAT_N_CELLS 3

-param set-default BAT_N_CELLS 3
-
-param set-default FW_AIRSPD_MAX 20
-param set-default FW_AIRSPD_MIN 12
-param set-default FW_AIRSPD_TRIM 14
-param set-default FW_R_TC 0.3
-param set-default FW_P_TC 0.3
-param set-default FW_L1_DAMPING 0.74
-param set-default FW_L1_PERIOD 16
-param set-default FW_LND_ANG 15
-param set-default FW_LND_FLALT 5
-param set-default FW_LND_HHDIST 15
-param set-default FW_LND_HVIRT 13
-param set-default FW_LND_TLALT 5
-param set-default FW_THR_LND_MAX 0
-param set-default FW_PR_FF 0.35
-param set-default FW_PR_I 0.1
-param set-default FW_PR_IMAX 0.4
-param set-default FW_PR_P 0.2
-param set-default FW_RR_FF 0.6
-param set-default FW_RR_I 0.1
-param set-default FW_RR_IMAX 0.2
-param set-default FW_RR_P 0.3
-
-param set-default RWTO_TKOFF 1
+	param set FW_AIRSPD_MAX 20
+	param set FW_AIRSPD_MIN 12
+	param set FW_AIRSPD_TRIM 14
+	param set FW_R_TC 0.3
+	param set FW_P_TC 0.3
+	param set FW_L1_DAMPING 0.74
+	param set FW_L1_PERIOD 16
+	param set FW_LND_ANG 15
+	param set FW_LND_FLALT 5
+	param set FW_LND_HHDIST 15
+	param set FW_LND_HVIRT 13
+	param set FW_LND_TLALT 5
+	param set FW_THR_LND_MAX 0
+	param set FW_PR_FF 0.35
+	param set FW_PR_I 0.1
+	param set FW_PR_IMAX 0.4
+	param set FW_PR_P 0.2
+	param set FW_RR_FF 0.6
+	param set FW_RR_I 0.1
+	param set FW_RR_IMAX 0.2
+	param set FW_RR_P 0.3

+	param set RWTO_TKOFF 1
+fi

 param set SYS_HITL 1

-# disable some checks to allow to fly
-# - with usb
-param set-default CBRK_USB_CHK 197848
-# - without real battery
-param set-default CBRK_SUPPLY_CHK 894281
-# - without safety switch
-param set-default COM_PREARM_MODE 0
-param set-default CBRK_IO_SAFETY 22027
-
 set MIXER AERT
--- a/ROMFS/px4fmu_common/init.d/airframes/10015_tbs_discovery
+++ b/ROMFS/px4fmu_common/init.d/airframes/10015_tbs_discovery
@ -20,24 +20,28 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 # @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

+if [ $AUTOCNF = yes ]
+then
+	param set MC_ROLL_P 6.5
+	param set MC_ROLLRATE_P 0.1
+	param set MC_ROLLRATE_I 0.05
+	param set MC_ROLLRATE_D 0.0017
+	param set MC_PITCH_P 6.5
+	param set MC_PITCHRATE_P 0.14
+	param set MC_PITCHRATE_I 0.1
+	param set MC_PITCHRATE_D 0.0025
+	param set MC_YAW_P 2.8
+	param set MC_YAWRATE_P 0.28
+	param set MC_YAWRATE_I 0.1
+	param set MC_YAWRATE_D 0
+fi

-param set-default MC_ROLL_P 6.5
-param set-default MC_ROLLRATE_P 0.1
-param set-default MC_ROLLRATE_I 0.05
-param set-default MC_ROLLRATE_D 0.0017
-param set-default MC_PITCH_P 6.5
-param set-default MC_PITCHRATE_P 0.14
-param set-default MC_PITCHRATE_I 0.1
-param set-default MC_PITCHRATE_D 0.0025
-param set-default MC_YAW_P 2.8
-param set-default MC_YAWRATE_P 0.28
-param set-default MC_YAWRATE_I 0.1
-param set-default MC_YAWRATE_D 0
 set MIXER quad_w

 set PWM_OUT 1234
--- a/ROMFS/px4fmu_common/init.d/airframes/10016_3dr_iris
+++ b/ROMFS/px4fmu_common/init.d/airframes/10016_3dr_iris
@ -18,28 +18,32 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 # @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

+if [ $AUTOCNF = yes ]
+then
+	# TODO tune roll/pitch separately
+	param set MC_ROLL_P 7
+	param set MC_ROLLRATE_P 0.15
+	param set MC_ROLLRATE_I 0.05
+	param set MC_ROLLRATE_D 0.004
+	param set MC_PITCH_P 7
+	param set MC_PITCHRATE_P 0.15
+	param set MC_PITCHRATE_I 0.05
+	param set MC_PITCHRATE_D 0.004
+	param set MC_YAW_P 2.5
+	param set MC_YAWRATE_P 0.25
+	param set MC_YAWRATE_I 0.25
+	param set MC_YAWRATE_D 0

-# TODO tune roll/pitch separately
-param set-default MC_ROLL_P 7
-param set-default MC_ROLLRATE_P 0.15
-param set-default MC_ROLLRATE_I 0.05
-param set-default MC_ROLLRATE_D 0.004
-param set-default MC_PITCH_P 7
-param set-default MC_PITCHRATE_P 0.15
-param set-default MC_PITCHRATE_I 0.05
-param set-default MC_PITCHRATE_D 0.004
-param set-default MC_YAW_P 2.5
-param set-default MC_YAWRATE_P 0.25
-param set-default MC_YAWRATE_I 0.25
-param set-default MC_YAWRATE_D 0
+	param set BAT_V_DIV 12.27559
+	param set BAT_A_PER_V 15.39103
+fi

-param set-default BAT_V_DIV 12.27559
-param set-default BAT_A_PER_V 15.39103
 set MIXER quad_w

 set PWM_OUT 1234
--- a/ROMFS/px4fmu_common/init.d/airframes/10017_steadidrone_qu4d
+++ b/ROMFS/px4fmu_common/init.d/airframes/10017_steadidrone_qu4d
@ -20,26 +20,30 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 # @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

+if [ $AUTOCNF = yes ]
+then
+	param set BAT_N_CELLS 4

-param set-default BAT_N_CELLS 4
+	param set MC_ROLL_P 7
+	param set MC_ROLLRATE_P 0.13
+	param set MC_ROLLRATE_I 0.05
+	param set MC_ROLLRATE_D 0.004
+	param set MC_PITCH_P 7
+	param set MC_PITCHRATE_P 0.19
+	param set MC_PITCHRATE_I 0.05
+	param set MC_PITCHRATE_D 0.004
+	param set MC_YAW_P 4
+	param set MC_YAWRATE_P 0.2
+	param set MC_YAWRATE_I 0.1
+	param set MC_YAWRATE_D 0
+fi

-param set-default MC_ROLL_P 7
-param set-default MC_ROLLRATE_P 0.13
-param set-default MC_ROLLRATE_I 0.05
-param set-default MC_ROLLRATE_D 0.004
-param set-default MC_PITCH_P 7
-param set-default MC_PITCHRATE_P 0.19
-param set-default MC_PITCHRATE_I 0.05
-param set-default MC_PITCHRATE_D 0.004
-param set-default MC_YAW_P 4
-param set-default MC_YAWRATE_P 0.2
-param set-default MC_YAWRATE_I 0.1
-param set-default MC_YAWRATE_D 0
 set MIXER quad_w

 set PWM_OUT 1234
--- a/ROMFS/px4fmu_common/init.d/airframes/10018_tbs_endurance
+++ b/ROMFS/px4fmu_common/init.d/airframes/10018_tbs_endurance
@ -20,31 +20,35 @@
 # @maintainer Simon Wilks <simon@uaventure.com>
 #
 # @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

+if [ $AUTOCNF = yes ]
+then
+	param set BAT_N_CELLS 6
+	param set BAT_V_EMPTY 3.5

-param set-default BAT_N_CELLS 6
-param set-default BAT_V_EMPTY 3.5
+	param set MC_ROLL_P 7
+	param set MC_ROLLRATE_P 0.08
+	param set MC_ROLLRATE_I 0.02
+	param set MC_ROLLRATE_D 0.003
+	param set MC_PITCH_P 7
+	param set MC_PITCHRATE_P 0.13
+	param set MC_PITCHRATE_I 0.02
+	param set MC_PITCHRATE_D 0.005
+	param set MC_YAW_P 2.8
+	param set MC_YAWRATE_P 0.2
+	param set MC_YAWRATE_I 0.1
+	param set MC_YAWRATE_D 0

-param set-default MC_ROLL_P 7
-param set-default MC_ROLLRATE_P 0.08
-param set-default MC_ROLLRATE_I 0.02
-param set-default MC_ROLLRATE_D 0.003
-param set-default MC_PITCH_P 7
-param set-default MC_PITCHRATE_P 0.13
-param set-default MC_PITCHRATE_I 0.02
-param set-default MC_PITCHRATE_D 0.005
-param set-default MC_YAW_P 2.8
-param set-default MC_YAWRATE_P 0.2
-param set-default MC_YAWRATE_I 0.1
-param set-default MC_YAWRATE_D 0
+	param set MPC_XY_VEL_MAX 2

-param set-default MPC_XY_VEL_MAX 2
+	param set PWM_MAIN_MIN 1080
+fi

-param set-default PWM_MAIN_MIN 1080
 set MIXER quad_w

 set PWM_OUT 1234
--- a/ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil
+++ b/ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil
@ -14,12 +14,3 @@ set MIXER quad_x
 set PWM_OUT 1234

 param set SYS_HITL 1
-
-# disable some checks to allow to fly
-# - with usb
-param set-default CBRK_USB_CHK 197848
-# - without real battery
-param set-default CBRK_SUPPLY_CHK 894281
-# - without safety switch
-param set-default COM_PREARM_MODE 0
-param set-default CBRK_IO_SAFETY 22027
--- a/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil
+++ b/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil
@ -8,73 +8,66 @@
 # @maintainer Roman Bapst <roman@auterion.com>
 #
 # @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

+if [ $AUTOCNF = yes ]
+then
+	param set BAT_N_CELLS 3

-param set-default BAT_N_CELLS 3
+	param set COM_RC_IN_MODE 1

-param set-default COM_RC_IN_MODE 1
+	param set EKF2_AID_MASK 1
+	param set EKF2_ANGERR_INIT 0.01
+	param set EKF2_GBIAS_INIT 0.01
+	param set EKF2_HGT_MODE 0
+	param set EKF2_MAG_TYPE 1

-param set-default EKF2_AID_MASK 1
-param set-default EKF2_ANGERR_INIT 0.01
-param set-default EKF2_GBIAS_INIT 0.01
-param set-default EKF2_HGT_MODE 0
-param set-default EKF2_MAG_TYPE 1
+	param set FW_AIRSPD_MAX 25
+	param set FW_AIRSPD_MIN 14
+	param set FW_AIRSPD_TRIM 16

-param set-default FW_AIRSPD_MAX 25
-param set-default FW_AIRSPD_MIN 14
-param set-default FW_AIRSPD_TRIM 16
+	param set MC_PITCH_P 6
+	param set MC_PITCHRATE_P 0.2
+	param set MC_ROLL_P 6
+	param set MC_ROLLRATE_P 0.3
+	param set MIS_LTRMIN_ALT 10
+	param set MIS_TAKEOFF_ALT 10
+	param set MIS_YAW_TMT 10

-param set-default MC_PITCH_P 6
-param set-default MC_PITCHRATE_P 0.2
-param set-default MC_ROLL_P 6
-param set-default MC_ROLLRATE_P 0.3
-param set-default MIS_LTRMIN_ALT 10
-param set-default MIS_TAKEOFF_ALT 10
-param set-default MIS_YAW_TMT 10
+	param set MPC_ACC_HOR_MAX 2
+	param set MPC_ACC_HOR_MAX 2
+	param set MPC_THR_MIN 0.1
+	param set MPC_TKO_SPEED 1
+	param set MPC_XY_P 0.8
+	param set MPC_XY_VEL_D_ACC 0.1
+	param set MPC_XY_VEL_I_ACC 4
+	param set MPC_XY_VEL_P_ACC 3
+	param set MPC_Z_VEL_P_ACC 12
+	param set MPC_Z_VEL_I_ACC 3
+	param set MPC_Z_VEL_MAX_DN 1.5

-param set-default MPC_ACC_HOR_MAX 2
-param set-default MPC_ACC_HOR_MAX 2
-param set-default MPC_THR_MIN 0.1
-param set-default MPC_TKO_SPEED 1
-param set-default MPC_XY_P 0.8
-param set-default MPC_XY_VEL_D_ACC 0.1
-param set-default MPC_XY_VEL_I_ACC 4
-param set-default MPC_XY_VEL_P_ACC 3
-param set-default MPC_Z_VEL_P_ACC 12
-param set-default MPC_Z_VEL_I_ACC 3
-param set-default MPC_Z_VEL_MAX_DN 1.5
+	param set NAV_ACC_RAD 5
+	param set NAV_DLL_ACT 2
+	param set NAV_LOITER_RAD 80

-param set-default NAV_ACC_RAD 5
-param set-default NAV_DLL_ACT 2
-param set-default NAV_LOITER_RAD 80
+	param set RTL_DESCEND_ALT 10
+	param set RTL_RETURN_ALT 30

-param set-default RTL_DESCEND_ALT 10
-param set-default RTL_RETURN_ALT 30
-
-param set-default SDLOG_DIRS_MAX 7
-param set-default SYS_RESTART_TYPE 2
-
-param set-default VT_F_TRANS_THR 0.75
-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 1234
-param set-default VT_TYPE 2
+	param set SDLOG_DIRS_MAX 7
+	param set SYS_RESTART_TYPE 2

+	param set VT_F_TRANS_THR 0.75
+	param set VT_MOT_ID 1234
+	param set VT_FW_MOT_OFFID 1234
+	param set VT_TYPE 2
+fi

 param set SYS_HITL 1

-# disable some checks to allow to fly
-# - with usb
-param set-default CBRK_USB_CHK 197848
-# - without real battery
-param set-default CBRK_SUPPLY_CHK 894281
-# - without safety switch
-param set-default COM_PREARM_MODE 0
-param set-default CBRK_IO_SAFETY 22027
-
 set MAV_TYPE 22

 set MIXER standard_vtol_hitl
--- a/ROMFS/px4fmu_common/init.d/airframes/11001_hexa_cox
+++ b/ROMFS/px4fmu_common/init.d/airframes/11001_hexa_cox
@ -18,6 +18,7 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

--- a/ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil
+++ b/ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil
@ -7,8 +7,6 @@
 #
 # @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
 #
-# @board px4_fmu-v2 exclude
-#

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

@ -17,12 +15,3 @@ set PWM_OUT 1234

 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
 param set SYS_HITL 2
-
-# disable some checks to allow to fly:
-# - with usb
-param set-default CBRK_USB_CHK 197848
-# - without real battery
-param set-default CBRK_SUPPLY_CHK 894281
-# - without safety switch
-param set-default COM_PREARM_MODE 0
-param set-default CBRK_IO_SAFETY 22027
--- a/ROMFS/px4fmu_common/init.d/airframes/12001_octo_cox
+++ b/ROMFS/px4fmu_common/init.d/airframes/12001_octo_cox
@ -16,6 +16,7 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

--- a/ROMFS/px4fmu_common/init.d/airframes/12002_steadidrone_mavrik
+++ b/ROMFS/px4fmu_common/init.d/airframes/12002_steadidrone_mavrik
@ -17,34 +17,38 @@
 # @maintainer Simon Wilks <simon@uaventure.com>
 #
 # @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

+if [ $AUTOCNF = yes ]
+then
+	param set MC_PITCH_P 4
+	param set MC_PITCHRATE_P 0.24
+	param set MC_PITCHRATE_I 0.09
+	param set MC_PITCHRATE_D 0.013
+	param set MC_PITCHRATE_MAX 180

-param set-default MC_PITCH_P 4
-param set-default MC_PITCHRATE_P 0.24
-param set-default MC_PITCHRATE_I 0.09
-param set-default MC_PITCHRATE_D 0.013
-param set-default MC_PITCHRATE_MAX 180
+	param set MC_ROLL_P 4
+	param set MC_ROLLRATE_P 0.16
+	param set MC_ROLLRATE_I 0.07
+	param set MC_ROLLRATE_D 0.009
+	param set MC_ROLLRATE_MAX 180

-param set-default MC_ROLL_P 4
-param set-default MC_ROLLRATE_P 0.16
-param set-default MC_ROLLRATE_I 0.07
-param set-default MC_ROLLRATE_D 0.009
-param set-default MC_ROLLRATE_MAX 180
+	param set MC_YAW_P 3
+	param set MC_YAWRATE_P 0.2
+	param set MC_YAWRATE_I 0.1
+	param set MC_YAWRATE_D 0

-param set-default MC_YAW_P 3
-param set-default MC_YAWRATE_P 0.2
-param set-default MC_YAWRATE_I 0.1
-param set-default MC_YAWRATE_D 0
+	param set MPC_HOLD_MAX_XY 0.25
+	param set MPC_THR_MIN 0.15
+	param set MPC_Z_VEL_MAX_DN 2

-param set-default MPC_HOLD_MAX_XY 0.25
-param set-default MPC_THR_MIN 0.15
-param set-default MPC_Z_VEL_MAX_DN 2
+	param set BAT_N_CELLS 4
+fi

-param set-default BAT_N_CELLS 4
 set MIXER octo_cox_w

 set PWM_OUT 12345678
--- a/ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard
+++ b/ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard
@ -18,18 +18,22 @@
 # @output AUX5 Throttle
 #
 # @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

+if [ $AUTOCNF = yes ]
+then
+	param set PWM_AUX_DIS5 950
+	param set PWM_MAIN_RATE 400

-param set-default PWM_AUX_DIS5 950
-param set-default PWM_MAIN_RATE 400
+	param set VT_TYPE 2
+	param set VT_MOT_ID 1234
+	param set VT_FW_MOT_OFFID 1234
+fi

-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
--- a/ROMFS/px4fmu_common/init.d/airframes/13001_caipirinha_vtol
+++ b/ROMFS/px4fmu_common/init.d/airframes/13001_caipirinha_vtol
@ -13,36 +13,40 @@
 # @maintainer Roman Bapst <roman@px4.io>
 #
 # @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

+if [ $AUTOCNF = yes ]
+then
+	param set MAV_TYPE 19

-param set-default MAV_TYPE 19
+	param set MC_ROLL_P 6
+	param set MC_ROLLRATE_P 0.12
+	param set MC_ROLLRATE_I 0.002
+	param set MC_ROLLRATE_D 0.003
+	param set MC_ROLLRATE_FF 0

-param set-default MC_ROLL_P 6
-param set-default MC_ROLLRATE_P 0.12
-param set-default MC_ROLLRATE_I 0.002
-param set-default MC_ROLLRATE_D 0.003
-param set-default MC_ROLLRATE_FF 0
+	param set MC_PITCH_P 4.5
+	param set MC_PITCHRATE_P 0.3
+	param set MC_PITCHRATE_I 0.002
+	param set MC_PITCHRATE_D 0.003
+	param set MC_PITCHRATE_FF 0

-param set-default MC_PITCH_P 4.5
-param set-default MC_PITCHRATE_P 0.3
-param set-default MC_PITCHRATE_I 0.002
-param set-default MC_PITCHRATE_D 0.003
-param set-default MC_PITCHRATE_FF 0
+	param set MC_YAW_P 3.8
+	param set MC_YAWRATE_P 0.22
+	param set MC_YAWRATE_I 0.02
+	param set MC_YAWRATE_D 0
+	param set MC_YAWRATE_FF 0

-param set-default MC_YAW_P 3.8
-param set-default MC_YAWRATE_P 0.22
-param set-default MC_YAWRATE_I 0.02
-param set-default MC_YAWRATE_D 0
-param set-default MC_YAWRATE_FF 0
+	param set VT_IDLE_PWM_MC  1080
+	param set VT_ELEV_MC_LOCK 0
+	param set VT_MOT_ID 12
+	param set VT_TYPE 0
+fi

-param set-default VT_IDLE_PWM_MC  1080
-param set-default VT_ELEV_MC_LOCK 0
-param set-default VT_MOT_ID 12
-param set-default VT_TYPE 0
 set MAV_TYPE 19

 set MIXER vtol_tailsitter_duo
--- a/ROMFS/px4fmu_common/init.d/airframes/13002_firefly6
+++ b/ROMFS/px4fmu_common/init.d/airframes/13002_firefly6
@ -18,39 +18,43 @@
 # @output AUX4 Gear
 #
 # @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

+if [ $AUTOCNF = yes ]
+then
+	param set MC_ROLL_P 7
+	param set MC_ROLLRATE_P 0.19
+	param set MC_ROLLRATE_I 0.002
+	param set MC_ROLLRATE_D 0.005
+	param set MC_ROLLRATE_FF 0
+	param set MC_PITCH_P 7
+	param set MC_PITCHRATE_P 0.14
+	param set MC_PITCHRATE_I 0.002
+	param set MC_PITCHRATE_D 0.004
+	param set MC_PITCHRATE_FF 0
+	param set MC_YAW_P 4
+	param set MC_YAWRATE_P 0.22
+	param set MC_YAWRATE_I 0.02
+	param set MC_YAWRATE_D 0
+	param set MC_YAWRATE_FF 0

-param set-default MC_ROLL_P 7
-param set-default MC_ROLLRATE_P 0.19
-param set-default MC_ROLLRATE_I 0.002
-param set-default MC_ROLLRATE_D 0.005
-param set-default MC_ROLLRATE_FF 0
-param set-default MC_PITCH_P 7
-param set-default MC_PITCHRATE_P 0.14
-param set-default MC_PITCHRATE_I 0.002
-param set-default MC_PITCHRATE_D 0.004
-param set-default MC_PITCHRATE_FF 0
-param set-default MC_YAW_P 4
-param set-default MC_YAWRATE_P 0.22
-param set-default MC_YAWRATE_I 0.02
-param set-default MC_YAWRATE_D 0
-param set-default MC_YAWRATE_FF 0
+	param set PWM_MAIN_RATE 400

-param set-default PWM_MAIN_RATE 400
+	param set VT_FW_MOT_OFFID 34
+	param set VT_IDLE_PWM_MC 1080
+	param set VT_MOT_ID 123456
+	param set VT_FW_MOT_OFFID 56
+	param set VT_TILT_MC 0.08
+	param set VT_TILT_TRANS 0.5
+	param set VT_TILT_FW 0.9
+	param set VT_ELEV_MC_LOCK 0
+	param set VT_TYPE 1
+fi

-param set-default VT_FW_MOT_OFFID 34
-param set-default VT_IDLE_PWM_MC 1080
-param set-default VT_MOT_ID 123456
-param set-default VT_FW_MOT_OFFID 56
-param set-default VT_TILT_MC 0.08
-param set-default VT_TILT_TRANS 0.5
-param set-default VT_TILT_FW 0.9
-param set-default VT_ELEV_MC_LOCK 0
-param set-default VT_TYPE 1
 set MAV_TYPE 21

 set MIXER firefly6
--- a/ROMFS/px4fmu_common/init.d/airframes/13003_quad_tailsitter
+++ b/ROMFS/px4fmu_common/init.d/airframes/13003_quad_tailsitter
@ -8,19 +8,23 @@
 # @maintainer Roman Bapst <roman@px4.io>
 #
 # @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

+if [ $AUTOCNF = yes ]
+then
+	param set PWM_MAIN_MAX 2000
+	param set PWM_MAIN_RATE 400

-param set-default PWM_MAIN_MAX 2000
-param set-default PWM_MAIN_RATE 400
+	param set VT_MOT_ID 1234
+	param set VT_IDLE_PWM_MC  1080
+	param set VT_TYPE 0
+	param set VT_ELEV_MC_LOCK 1
+fi

-param set-default VT_MOT_ID 1234
-param set-default VT_IDLE_PWM_MC  1080
-param set-default VT_TYPE 0
-param set-default VT_ELEV_MC_LOCK 1
 set MAV_TYPE 20

 set MIXER quad_x_vtol
--- a/ROMFS/px4fmu_common/init.d/airframes/13004_quad+_tailsitter
+++ b/ROMFS/px4fmu_common/init.d/airframes/13004_quad+_tailsitter
@ -17,18 +17,22 @@
 # @maintainer Roman Bapst <roman@px4.io>
 #
 # @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

+if [ $AUTOCNF = yes ]
+then
+	param set PWM_MAIN_MAX 2000
+	param set PWM_MAIN_RATE 400

-param set-default PWM_MAIN_MAX 2000
-param set-default PWM_MAIN_RATE 400
+	param set VT_IDLE_PWM_MC  1080
+	param set VT_TYPE 0
+	param set VT_ELEV_MC_LOCK 1
+fi

-param set-default VT_IDLE_PWM_MC  1080
-param set-default VT_TYPE 0
-param set-default VT_ELEV_MC_LOCK 1
 set MAV_TYPE 20

 set MIXER quad_+_vtol
--- a/ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad
+++ b/ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad
@ -18,52 +18,56 @@
 # @output AUX5 Throttle
 #
 # @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

+if [ $AUTOCNF = yes ]
+then
+	param set PWM_AUX_DIS5 950

-param set-default PWM_AUX_DIS5 950
+	param set PWM_MAIN_RATE 400

-param set-default PWM_MAIN_RATE 400
+	param set MC_ROLL_P 6
+	param set MC_ROLLRATE_P 0.17
+	param set MC_ROLLRATE_I 0.002
+	param set MC_ROLLRATE_D 0.004
+	param set MC_ROLLRATE_FF 0
+	param set MC_PITCH_P 6
+	param set MC_PITCHRATE_P 0.19
+	param set MC_PITCHRATE_I 0.002
+	param set MC_PITCHRATE_D 0.004
+	param set MC_PITCHRATE_FF 0
+	param set MC_YAW_P 2.8
+	param set MC_YAWRATE_P 0.22
+	param set MC_YAWRATE_I 0.02
+	param set MC_YAWRATE_D 0
+	param set MC_YAWRATE_FF 0
+	param set MC_YAWRATE_MAX 40

-param set-default MC_ROLL_P 6
-param set-default MC_ROLLRATE_P 0.17
-param set-default MC_ROLLRATE_I 0.002
-param set-default MC_ROLLRATE_D 0.004
-param set-default MC_ROLLRATE_FF 0
-param set-default MC_PITCH_P 6
-param set-default MC_PITCHRATE_P 0.19
-param set-default MC_PITCHRATE_I 0.002
-param set-default MC_PITCHRATE_D 0.004
-param set-default MC_PITCHRATE_FF 0
-param set-default MC_YAW_P 2.8
-param set-default MC_YAWRATE_P 0.22
-param set-default MC_YAWRATE_I 0.02
-param set-default MC_YAWRATE_D 0
-param set-default MC_YAWRATE_FF 0
-param set-default MC_YAWRATE_MAX 40
+	param set MPC_YAWRAUTO_MAX 40

-param set-default MPC_YAWRAUTO_MAX 40
+	param set FW_PR_FF 0.5
+	param set FW_PR_I 0.02
+	param set FW_PR_IMAX 0.4
+	param set FW_PR_P 0.08
+	param set FW_RR_FF 0.6
+	param set FW_RR_I 0.01
+	param set FW_RR_IMAX 0.2
+	param set FW_RR_P 0.05
+	param set FW_THR_CRUISE 0.75

-param set-default FW_PR_FF 0.5
-param set-default FW_PR_I 0.02
-param set-default FW_PR_IMAX 0.4
-param set-default FW_PR_P 0.08
-param set-default FW_RR_FF 0.6
-param set-default FW_RR_I 0.01
-param set-default FW_RR_IMAX 0.2
-param set-default FW_RR_P 0.05
-param set-default FW_THR_CRUISE 0.75
+	param set VT_ARSP_BLEND 6
+	param set VT_ARSP_TRANS 12
+	param set VT_F_TRANS_THR 0.75
+	param set VT_MOT_ID 1234
+	param set VT_FW_MOT_OFFID 1234
+	param set VT_IDLE_PWM_MC 1080
+	param set VT_TYPE 2
+fi

-param set-default VT_ARSP_BLEND 6
-param set-default VT_ARSP_TRANS 12
-param set-default VT_F_TRANS_THR 0.75
-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 1234
-param set-default VT_IDLE_PWM_MC 1080
-param set-default VT_TYPE 2
 set MAV_TYPE 22

 set MIXER quad_x
--- a/ROMFS/px4fmu_common/init.d/airframes/13006_vtol_standard_delta
+++ b/ROMFS/px4fmu_common/init.d/airframes/13006_vtol_standard_delta
@ -16,42 +16,46 @@
 # @output AUX3 Motor
 #
 # @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

+if [ $AUTOCNF = yes ]
+then
+	param set MC_ROLL_P 6.5
+	param set MC_ROLLRATE_P 0.15
+	param set MC_ROLLRATE_I 0.01
+	param set MC_ROLLRATE_D 0.003
+	param set MC_ROLLRATE_FF 0
+	param set MC_PITCH_P 6.5
+	param set MC_PITCHRATE_P 0.15
+	param set MC_PITCHRATE_I 0.01
+	param set MC_PITCHRATE_D 0.003
+	param set MC_PITCHRATE_FF 0
+	param set MC_YAW_P 3.5
+	param set MC_YAWRATE_P 0.2
+	param set MC_YAWRATE_I 0.1
+	param set MC_YAWRATE_D 0
+	param set MC_YAWRATE_FF 0
+	param set MC_YAWRATE_MAX 50

-param set-default MC_ROLL_P 6.5
-param set-default MC_ROLLRATE_P 0.15
-param set-default MC_ROLLRATE_I 0.01
-param set-default MC_ROLLRATE_D 0.003
-param set-default MC_ROLLRATE_FF 0
-param set-default MC_PITCH_P 6.5
-param set-default MC_PITCHRATE_P 0.15
-param set-default MC_PITCHRATE_I 0.01
-param set-default MC_PITCHRATE_D 0.003
-param set-default MC_PITCHRATE_FF 0
-param set-default MC_YAW_P 3.5
-param set-default MC_YAWRATE_P 0.2
-param set-default MC_YAWRATE_I 0.1
-param set-default MC_YAWRATE_D 0
-param set-default MC_YAWRATE_FF 0
-param set-default MC_YAWRATE_MAX 50
+	param set MPC_XY_P 0.8
+	param set MPC_XY_VEL_P_ACC 2
+	param set MPC_ACC_HOR_MAX 2
+	param set MPC_YAWRAUTO_MAX 20

-param set-default MPC_XY_P 0.8
-param set-default MPC_XY_VEL_P_ACC 2
-param set-default MPC_ACC_HOR_MAX 2
-param set-default MPC_YAWRAUTO_MAX 20
+	param set PWM_AUX_DIS3 950
+	param set PWM_MAIN_RATE 400

-param set-default PWM_AUX_DIS3 950
-param set-default PWM_MAIN_RATE 400
+	param set VT_MOT_ID 1234
+	param set VT_FW_MOT_OFFID 1234
+	param set VT_F_TRANS_THR 0.75
+	param set VT_IDLE_PWM_MC 1080
+	param set VT_TYPE 2
+fi

-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 1234
-param set-default VT_F_TRANS_THR 0.75
-param set-default VT_IDLE_PWM_MC 1080
-param set-default VT_TYPE 2
 set MAV_TYPE 22

 set MIXER quad_x
--- a/ROMFS/px4fmu_common/init.d/airframes/13007_vtol_AAVVT_quad
+++ b/ROMFS/px4fmu_common/init.d/airframes/13007_vtol_AAVVT_quad
@ -8,39 +8,43 @@
 # @maintainer Sander Smeets <sander@droneslab.com>
 #
 # @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

+if [ $AUTOCNF = yes ]
+then
+	param set MC_ROLL_P 7
+	param set MC_ROLLRATE_P 0.15
+	param set MC_ROLLRATE_I 0.002
+	param set MC_ROLLRATE_D 0.003
+	param set MC_ROLLRATE_FF 0
+	param set MC_PITCH_P 7
+	param set MC_PITCHRATE_P 0.12
+	param set MC_PITCHRATE_I 0.002
+	param set MC_PITCHRATE_D 0.003
+	param set MC_PITCHRATE_FF 0
+	param set MC_YAW_P 2.8
+	param set MC_YAWRATE_P 0.22
+	param set MC_YAWRATE_I 0.02
+	param set MC_YAWRATE_D 0
+	param set MC_YAWRATE_FF 0
+	param set MC_YAWRATE_MAX 40

-param set-default MC_ROLL_P 7
-param set-default MC_ROLLRATE_P 0.15
-param set-default MC_ROLLRATE_I 0.002
-param set-default MC_ROLLRATE_D 0.003
-param set-default MC_ROLLRATE_FF 0
-param set-default MC_PITCH_P 7
-param set-default MC_PITCHRATE_P 0.12
-param set-default MC_PITCHRATE_I 0.002
-param set-default MC_PITCHRATE_D 0.003
-param set-default MC_PITCHRATE_FF 0
-param set-default MC_YAW_P 2.8
-param set-default MC_YAWRATE_P 0.22
-param set-default MC_YAWRATE_I 0.02
-param set-default MC_YAWRATE_D 0
-param set-default MC_YAWRATE_FF 0
-param set-default MC_YAWRATE_MAX 40
+	param set MPC_YAWRAUTO_MAX 40

-param set-default MPC_YAWRAUTO_MAX 40
+	param set PWM_AUX_DIS5 950
+	param set PWM_MAIN_RATE 400

-param set-default PWM_AUX_DIS5 950
-param set-default PWM_MAIN_RATE 400
+	param set VT_F_TRANS_THR 0.75
+	param set VT_MOT_ID 1234
+	param set VT_FW_MOT_OFFID 1234
+	param set VT_IDLE_PWM_MC 1080
+	param set VT_TYPE 2
+fi

-param set-default VT_F_TRANS_THR 0.75
-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 1234
-param set-default VT_IDLE_PWM_MC 1080
-param set-default VT_TYPE 2
 set MAV_TYPE 22

 set MIXER quad_x
--- a/ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger
+++ b/ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger
@ -8,56 +8,60 @@
 # @maintainer Sander Smeets <sander@droneslab.com>
 #
 # @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

+if [ $AUTOCNF = yes ]
+then
+	param set FW_THR_CRUISE 65
+	param set FW_PR_P 0.08
+	param set FW_PR_FF 0.5
+	param set FW_RR_P 0.05
+	param set FW_RR_FF 0.6

-param set-default FW_THR_CRUISE 65
-param set-default FW_PR_P 0.08
-param set-default FW_PR_FF 0.5
-param set-default FW_RR_P 0.05
-param set-default FW_RR_FF 0.6
+	param set MIS_YAW_TMT 10

-param set-default MIS_YAW_TMT 10
+	param set MC_ROLL_P 7
+	param set MC_ROLLRATE_P 0.15
+	param set MC_ROLLRATE_I 0.1
+	param set MC_ROLLRATE_D 0.004
+	param set MC_ROLLRATE_FF 0
+	param set MC_PITCH_P 7
+	param set MC_PITCHRATE_P 0.15
+	param set MC_PITCHRATE_I 0.1
+	param set MC_PITCHRATE_D 0.004
+	param set MC_PITCHRATE_FF 0
+	param set MC_YAW_P 3.5
+	param set MC_YAWRATE_P 0.6
+	param set MC_YAWRATE_I 0.04
+	param set MC_YAWRATE_D 0
+	param set MC_YAWRATE_FF 0
+	param set MC_YAWRATE_MAX 40

-param set-default MC_ROLL_P 7
-param set-default MC_ROLLRATE_P 0.15
-param set-default MC_ROLLRATE_I 0.1
-param set-default MC_ROLLRATE_D 0.004
-param set-default MC_ROLLRATE_FF 0
-param set-default MC_PITCH_P 7
-param set-default MC_PITCHRATE_P 0.15
-param set-default MC_PITCHRATE_I 0.1
-param set-default MC_PITCHRATE_D 0.004
-param set-default MC_PITCHRATE_FF 0
-param set-default MC_YAW_P 3.5
-param set-default MC_YAWRATE_P 0.6
-param set-default MC_YAWRATE_I 0.04
-param set-default MC_YAWRATE_D 0
-param set-default MC_YAWRATE_FF 0
-param set-default MC_YAWRATE_MAX 40
+	param set MPC_ACC_HOR_MAX 2
+	param set MPC_Z_VEL_MAX_DN 1.5
+	param set MPC_TKO_SPEED 1.5
+	param set MPC_LAND_SPEED 0.8
+	param set MPC_YAWRAUTO_MAX 40

-param set-default MPC_ACC_HOR_MAX 2
-param set-default MPC_Z_VEL_MAX_DN 1.5
-param set-default MPC_TKO_SPEED 1.5
-param set-default MPC_LAND_SPEED 0.8
-param set-default MPC_YAWRAUTO_MAX 40
+	param set PWM_AUX_DIS5 950
+	param set PWM_AUX_REV1 1
+	param set PWM_AUX_REV2 1
+	param set PWM_MAIN_RATE 400

-param set-default PWM_AUX_DIS5 950
-param set-default PWM_AUX_REV1 1
-param set-default PWM_AUX_REV2 1
-param set-default PWM_MAIN_RATE 400
+	param set VT_ARSP_TRANS 15
+	param set VT_ARSP_BLEND 8
+	param set VT_B_TRANS_DUR 4
+	param set VT_F_TRANS_THR 0.75
+	param set VT_IDLE_PWM_MC 1080
+	param set VT_MOT_ID 1234
+	param set VT_FW_MOT_OFFID 1234
+	param set VT_TYPE 2
+fi

-param set-default VT_ARSP_TRANS 15
-param set-default VT_ARSP_BLEND 8
-param set-default VT_B_TRANS_DUR 4
-param set-default VT_F_TRANS_THR 0.75
-param set-default VT_IDLE_PWM_MC 1080
-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 1234
-param set-default VT_TYPE 2
 set MAV_TYPE 22

 set MIXER quad_x
--- a/ROMFS/px4fmu_common/init.d/airframes/13009_vtol_spt_ranger
+++ b/ROMFS/px4fmu_common/init.d/airframes/13009_vtol_spt_ranger
@ -8,77 +8,81 @@
 # @maintainer Andreas Antener <andreas@uaventure.com>
 #
 # @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

+if [ $AUTOCNF = yes ]
+then
+	param set FW_AIRSPD_MAX   22
+	param set FW_AIRSPD_MIN   14
+	param set FW_AIRSPD_TRIM  16
+	param set FW_L1_PERIOD    25
+	param set FW_PR_P 0.060
+	param set FW_P_RMAX_NEG   40
+	param set FW_P_RMAX_POS   40
+	param set FW_RR_FF    0.4
+	param set FW_RR_P 0.04
+	param set FW_R_RMAX   40

-param set-default FW_AIRSPD_MAX   22
-param set-default FW_AIRSPD_MIN   14
-param set-default FW_AIRSPD_TRIM  16
-param set-default FW_L1_PERIOD    25
-param set-default FW_PR_P 0.060
-param set-default FW_P_RMAX_NEG   40
-param set-default FW_P_RMAX_POS   40
-param set-default FW_RR_FF    0.4
-param set-default FW_RR_P 0.04
-param set-default FW_R_RMAX   40
+	param set MC_PITCHRATE_D 0.004
+	param set MC_PITCHRATE_I 0
+	param set MC_PITCHRATE_MAX 60
+	param set MC_PITCHRATE_P 0.21
+	param set MC_PITCH_P 4
+	param set MC_ROLLRATE_D 0.004
+	param set MC_ROLLRATE_I 0.002
+	param set MC_ROLLRATE_MAX 60
+	param set MC_ROLLRATE_P 0.24
+	param set MC_ROLL_P 4
+	param set MC_YAWRATE_I 0.02
+	param set MC_YAWRATE_MAX 40
+	param set MC_YAWRATE_P 0.18

-param set-default MC_PITCHRATE_D 0.004
-param set-default MC_PITCHRATE_I 0
-param set-default MC_PITCHRATE_MAX 60
-param set-default MC_PITCHRATE_P 0.21
-param set-default MC_PITCH_P 4
-param set-default MC_ROLLRATE_D 0.004
-param set-default MC_ROLLRATE_I 0.002
-param set-default MC_ROLLRATE_MAX 60
-param set-default MC_ROLLRATE_P 0.24
-param set-default MC_ROLL_P 4
-param set-default MC_YAWRATE_I 0.02
-param set-default MC_YAWRATE_MAX 40
-param set-default MC_YAWRATE_P 0.18
+	param set MIS_TAKEOFF_ALT 2.5
+	param set MIS_YAW_TMT 20

-param set-default MIS_TAKEOFF_ALT 2.5
-param set-default MIS_YAW_TMT 20
+	param set MPC_ACC_HOR_MAX 1
+	param set MPC_HOLD_MAX_XY 0.5
+	param set MPC_HOLD_MAX_Z  0.5
+	param set MPC_LAND_SPEED  1
+	param set MPC_MANTHR_MIN  0.05
+	param set MPC_MAN_Y_MAX   120
+	param set MPC_THR_MIN 0.07
+	param set MPC_TILTMAX_AIR 35
+	param set MPC_TILTMAX_LND 20
+	param set MPC_TKO_SPEED   1
+	param set MPC_XY_P    0.3
+	param set MPC_XY_VEL_MAX  3
+	param set MPC_XY_VEL_P_ACC 1
+	param set MPC_Z_P 0.5
+	param set MPC_Z_VEL_P_ACC 2
+	param set MPC_YAWRAUTO_MAX 40

-param set-default MPC_ACC_HOR_MAX 1
-param set-default MPC_HOLD_MAX_XY 0.5
-param set-default MPC_HOLD_MAX_Z  0.5
-param set-default MPC_LAND_SPEED  1
-param set-default MPC_MANTHR_MIN  0.05
-param set-default MPC_MAN_Y_MAX   120
-param set-default MPC_THR_MIN 0.07
-param set-default MPC_TILTMAX_AIR 35
-param set-default MPC_TILTMAX_LND 20
-param set-default MPC_TKO_SPEED   1
-param set-default MPC_XY_P    0.3
-param set-default MPC_XY_VEL_MAX  3
-param set-default MPC_XY_VEL_P_ACC 1
-param set-default MPC_Z_P 0.5
-param set-default MPC_Z_VEL_P_ACC 2
-param set-default MPC_YAWRAUTO_MAX 40
+	param set NAV_ACC_RAD 3

-param set-default NAV_ACC_RAD 3
+	param set PWM_AUX_REV1    1
+	param set PWM_AUX_REV2    1
+	param set PWM_AUX_REV3    1
+	param set PWM_AUX_REV4    1

-param set-default PWM_AUX_REV1    1
-param set-default PWM_AUX_REV2    1
-param set-default PWM_AUX_REV3    1
-param set-default PWM_AUX_REV4    1
+	param set PWM_AUX_DIS5 950

-param set-default PWM_AUX_DIS5 950
+	param set PWM_MAIN_RATE 400

-param set-default PWM_MAIN_RATE 400
+	param set VT_ARSP_TRANS   15
+	param set VT_B_TRANS_DUR  4
+	param set VT_F_TRANS_THR    0.6
+	param set VT_IDLE_PWM_MC 1180
+	param set VT_MOT_ID 1234
+	param set VT_FW_MOT_OFFID 1234
+	param set VT_TRANS_MIN_TM 5
+	param set VT_TRANS_TIMEOUT    30
+	param set VT_TYPE 2

-param set-default VT_ARSP_TRANS   15
-param set-default VT_B_TRANS_DUR  4
-param set-default VT_F_TRANS_THR    0.6
-param set-default VT_IDLE_PWM_MC 1180
-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 1234
-param set-default VT_TRANS_MIN_TM 5
-param set-default VT_TRANS_TIMEOUT    30
-param set-default VT_TYPE 2
+fi

 set MAV_TYPE 22

--- a/ROMFS/px4fmu_common/init.d/airframes/13010_claire
+++ b/ROMFS/px4fmu_common/init.d/airframes/13010_claire
@ -8,28 +8,32 @@
 # @maintainer Samay Siga <samay_s@icloud.com>
 #
 # @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

+if [ $AUTOCNF = yes ]
+then
+	param set PWM_AUX_DISARMED 1000
+	param set PWM_AUX_MAX 2000
+	param set PWM_AUX_MIN 1000
+	param set PWM_AUX_RATE 50

-param set-default PWM_AUX_DISARMED 1000
-param set-default PWM_AUX_MAX 2000
-param set-default PWM_AUX_MIN 1000
-param set-default PWM_AUX_RATE 50
+	param set PWM_MAIN_MAX 2000
+	param set PWM_MAIN_RATE 400

-param set-default PWM_MAIN_MAX 2000
-param set-default PWM_MAIN_RATE 400
+	param set VT_MOT_ID 1234
+	param set VT_FW_MOT_OFFID 13
+	param set VT_IDLE_PWM_MC 1080
+	param set VT_TILT_FW 0.9
+	param set VT_TILT_MC 0.08
+	param set VT_TILT_TRANS 0.5
+	param set VT_ELEV_MC_LOCK 0
+	param set VT_TYPE 1
+fi

-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 13
-param set-default VT_IDLE_PWM_MC 1080
-param set-default VT_TILT_FW 0.9
-param set-default VT_TILT_MC 0.08
-param set-default VT_TILT_TRANS 0.5
-param set-default VT_ELEV_MC_LOCK 0
-param set-default VT_TYPE 1
 set MAV_TYPE 21

 set MIXER claire
--- a/ROMFS/px4fmu_common/init.d/airframes/13012_convergence
+++ b/ROMFS/px4fmu_common/init.d/airframes/13012_convergence
@ -17,68 +17,72 @@
 # @output MAIN8 Elevon left
 #
 # @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

+if [ $AUTOCNF = yes ]
+then
+	param set CBRK_AIRSPD_CHK 162128

-param set-default CBRK_AIRSPD_CHK 162128
+	param set FW_ARSP_MODE 1

-param set-default FW_ARSP_MODE 1
+	param set FW_L1_PERIOD 17
+	param set FW_MAN_R_MAX 50
+	param set FW_ACRO_X_MAX   270
+	param set FW_ACRO_Y_MAX   270
+	param set FW_ACRO_Z_MAX   180
+	param set FW_PR_FF    0.5
+	param set FW_PR_P 0.08
+	param set FW_PSP_OFF  5
+	param set FW_P_LIM_MAX    30
+	param set FW_P_LIM_MIN    -30
+	param set FW_P_RMAX_NEG   60
+	param set FW_P_RMAX_POS   60
+	param set FW_RR_FF    0.33
+	param set FW_RR_P 0.11
+	param set FW_YR_FF    0.3
+	param set FW_YR_P 0.05

-param set-default FW_L1_PERIOD 17
-param set-default FW_MAN_R_MAX 50
-param set-default FW_ACRO_X_MAX   270
-param set-default FW_ACRO_Y_MAX   270
-param set-default FW_ACRO_Z_MAX   180
-param set-default FW_PR_FF    0.5
-param set-default FW_PR_P 0.08
-param set-default FW_PSP_OFF  5
-param set-default FW_P_LIM_MAX    30
-param set-default FW_P_LIM_MIN    -30
-param set-default FW_P_RMAX_NEG   60
-param set-default FW_P_RMAX_POS   60
-param set-default FW_RR_FF    0.33
-param set-default FW_RR_P 0.11
-param set-default FW_YR_FF    0.3
-param set-default FW_YR_P 0.05
+	param set MC_PITCHRATE_D  0.003
+	param set MC_PITCHRATE_P  0.15
+	param set MC_PITCH_P  6
+	param set MC_ROLLRATE_D   0.003
+	param set MC_ROLLRATE_P   0.15
+	param set MC_ROLL_P   6
+	param set MC_YAWRATE_MAX  120
+	param set MC_YAWRATE_P    0.27
+	param set MC_YAW_P    2.5

-param set-default MC_PITCHRATE_D  0.003
-param set-default MC_PITCHRATE_P  0.15
-param set-default MC_PITCH_P  6
-param set-default MC_ROLLRATE_D   0.003
-param set-default MC_ROLLRATE_P   0.15
-param set-default MC_ROLL_P   6
-param set-default MC_YAWRATE_MAX  120
-param set-default MC_YAWRATE_P    0.27
-param set-default MC_YAW_P    2.5
+	param set MC_YAWRATE_P 0.3
+	param set MPC_LAND_SPEED 1.2
+	param set MPC_TKO_SPEED 2.5
+	param set MPC_Z_VEL_MAX_UP 3

-param set-default MC_YAWRATE_P 0.3
-param set-default MPC_LAND_SPEED 1.2
-param set-default MPC_TKO_SPEED 2.5
-param set-default MPC_Z_VEL_MAX_UP 3
+	param set PWM_MAIN_RATE 400

-param set-default PWM_MAIN_RATE 400
+	param set SENS_BOARD_ROT 8

-param set-default SENS_BOARD_ROT 8
+	param set VT_B_TRANS_DUR  1
+	param set VT_F_TRANS_DUR  1.2
+	param set VT_F_TR_OL_TM   4
+	param set VT_FW_DIFTHR_EN 1
+	param set VT_FW_DIFTHR_SC 0.17
+	param set VT_FW_MOT_OFFID 3
+	param set VT_FW_PERM_STAB 0
+	param set VT_IDLE_PWM_MC 1200
+	param set VT_MOT_ID 123
+	param set VT_TILT_FW  1
+	param set VT_TILT_MC  0
+	param set VT_TILT_TRANS   0.45
+	param set VT_TRANS_MIN_TM 1.2
+	param set VT_TRANS_P2_DUR 1.3
+	param set VT_ELEV_MC_LOCK 0
+	param set VT_TYPE 1
+fi

-param set-default VT_B_TRANS_DUR  1
-param set-default VT_F_TRANS_DUR  1.2
-param set-default VT_F_TR_OL_TM   4
-param set-default VT_FW_DIFTHR_EN 1
-param set-default VT_FW_DIFTHR_SC 0.17
-param set-default VT_FW_MOT_OFFID 3
-param set-default VT_FW_PERM_STAB 0
-param set-default VT_IDLE_PWM_MC 1200
-param set-default VT_MOT_ID 123
-param set-default VT_TILT_FW  1
-param set-default VT_TILT_MC  0
-param set-default VT_TILT_TRANS   0.45
-param set-default VT_TRANS_MIN_TM 1.2
-param set-default VT_TRANS_P2_DUR 1.3
-param set-default VT_ELEV_MC_LOCK 0
-param set-default VT_TYPE 1
 set MAV_TYPE 21

 set MIXER vtol_convergence
--- a/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad
+++ b/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad
@ -17,139 +17,144 @@
 # @output MAIN8 Pusher reverse channel
 #
 # @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

+if [ $AUTOCNF = yes ]
+then
+	param set BAT_CAPACITY 23000
+	param set BAT_N_CELLS 4
+	param set BAT_R_INTERNAL 0.0025

-param set-default BAT_CAPACITY 23000
-param set-default BAT_N_CELLS 4
-param set-default BAT_R_INTERNAL 0.0025
+	param set CBRK_AIRSPD_CHK 162128
+	param set CBRK_IO_SAFETY 22027

-param set-default CBRK_AIRSPD_CHK 162128
-param set-default CBRK_IO_SAFETY 22027
+	param set EKF2_GPS_POS_X -0.12
+	param set EKF2_IMU_POS_X -0.12
+	param set EKF2_TAU_VEL 0.5
+	param set EKF2_GPS_P_GATE 10
+	param set EKF2_GPS_V_GATE 10

-param set-default EKF2_GPS_POS_X -0.12
-param set-default EKF2_IMU_POS_X -0.12
-param set-default EKF2_TAU_VEL 0.5
-param set-default EKF2_GPS_P_GATE 10
-param set-default EKF2_GPS_V_GATE 10
+	param set FW_ARSP_MODE 1
+	param set FW_L1_PERIOD 25
+	param set FW_PR_FF 0.7
+	param set FW_PR_I 0.18
+	param set FW_PR_P 0.15
+	param set FW_P_TC 0.5
+	param set FW_PSP_OFF 5
+	param set FW_R_LIM 35
+	param set FW_RR_FF 0.9
+	param set FW_RR_I 0.08
+	param set FW_RR_P 0.18
+	param set FW_T_HRATE_FF 0.5
+	param set FW_T_CLMB_MAX 3
+	param set FW_T_SINK_MAX 3
+	param set FW_T_SINK_MIN 1
+	param set FW_T_VERT_ACC 6
+	param set FW_THR_CRUISE 0.70
+	param set FW_THR_SLEW_MAX 1
+	param set FW_MAN_P_MAX 30
+	param set FW_P_LIM_MAX 15
+	param set FW_P_LIM_MIN -25
+	param set FW_P_RMAX_NEG 45
+	param set FW_P_RMAX_POS 45
+	param set FW_R_RMAX 50
+	param set FW_THR_MIN 0.55
+	param set FW_BAT_SCALE_EN 1
+	param set FW_THR_ALT_SCL 2.7
+	param set FW_T_RLL2THR 20

-param set-default FW_ARSP_MODE 1
-param set-default FW_L1_PERIOD 25
-param set-default FW_PR_FF 0.7
-param set-default FW_PR_I 0.18
-param set-default FW_PR_P 0.15
-param set-default FW_P_TC 0.5
-param set-default FW_PSP_OFF 5
-param set-default FW_R_LIM 35
-param set-default FW_RR_FF 0.9
-param set-default FW_RR_I 0.08
-param set-default FW_RR_P 0.18
-param set-default FW_T_HRATE_FF 0.5
-param set-default FW_T_CLMB_MAX 3
-param set-default FW_T_SINK_MAX 3
-param set-default FW_T_SINK_MIN 1
-param set-default FW_T_VERT_ACC 6
-param set-default FW_THR_CRUISE 0.70
-param set-default FW_THR_SLEW_MAX 1
-param set-default FW_MAN_P_MAX 30
-param set-default FW_P_LIM_MAX 15
-param set-default FW_P_LIM_MIN -25
-param set-default FW_P_RMAX_NEG 45
-param set-default FW_P_RMAX_POS 45
-param set-default FW_R_RMAX 50
-param set-default FW_THR_MIN 0.55
-param set-default FW_BAT_SCALE_EN 1
-param set-default FW_THR_ALT_SCL 2.7
-param set-default FW_T_RLL2THR 20
+	param set LNDMC_ALT_MAX 9999
+	param set LNDMC_XY_VEL_MAX 1
+	param set LNDMC_Z_VEL_MAX 0.7

-param set-default LNDMC_ALT_MAX 9999
-param set-default LNDMC_XY_VEL_MAX 1
-param set-default LNDMC_Z_VEL_MAX 0.7
+	param set MC_ROLL_P 6.5
+	param set MC_ROLLRATE_P 0.16
+	param set MC_ROLLRATE_I 0.01
+	param set MC_ROLLRATE_D 0.003
+	param set MC_ROLLRATE_FF 0
+	param set MC_ROLLRATE_MAX 80
+	param set MC_PITCH_P 6.5
+	param set MC_PITCHRATE_P 0.15
+	param set MC_PITCHRATE_I 0.05
+	param set MC_PITCHRATE_D 0.003
+	param set MC_PITCHRATE_FF 0
+	param set MC_PITCHRATE_MAX 80
+	param set MC_YAW_P 3.5
+	param set MC_YAWRATE_P 0.2
+	param set MC_YAWRATE_I 0.1
+	param set MC_YAWRATE_D 0
+	param set MC_YAWRATE_FF 0
+	param set MC_YAWRATE_MAX 20
+	param set MC_AIRMODE 1

-param set-default MC_ROLL_P 6.5
-param set-default MC_ROLLRATE_P 0.16
-param set-default MC_ROLLRATE_I 0.01
-param set-default MC_ROLLRATE_D 0.003
-param set-default MC_ROLLRATE_FF 0
-param set-default MC_ROLLRATE_MAX 80
-param set-default MC_PITCH_P 6.5
-param set-default MC_PITCHRATE_P 0.15
-param set-default MC_PITCHRATE_I 0.05
-param set-default MC_PITCHRATE_D 0.003
-param set-default MC_PITCHRATE_FF 0
-param set-default MC_PITCHRATE_MAX 80
-param set-default MC_YAW_P 3.5
-param set-default MC_YAWRATE_P 0.2
-param set-default MC_YAWRATE_I 0.1
-param set-default MC_YAWRATE_D 0
-param set-default MC_YAWRATE_FF 0
-param set-default MC_YAWRATE_MAX 20
-param set-default MC_AIRMODE 1
+	param set MIS_DIST_1WP 100
+	param set MIS_DIST_WPS 100000
+	param set MIS_TAKEOFF_ALT 15

-param set-default MIS_DIST_1WP 100
-param set-default MIS_DIST_WPS 100000
-param set-default MIS_TAKEOFF_ALT 15
+	param set MPC_XY_P 0.8
+	param set MPC_XY_VEL_P_ACC 2
+	param set MPC_XY_VEL_MAX 5
+	param set MPC_ACC_HOR_MAX 2
+	param set MPC_LAND_SPEED 1.2
+	param set MPC_TILTMAX_LND 35
+	param set MPC_Z_VEL_MAX 1.5
+	param set MPC_Z_VEL_MAX_UP 1.5
+	param set MPC_Z_VEL_MAX_DN 1.5
+	param set MPC_HOLD_MAX_XY 0.5
+	param set MPC_HOLD_MAX_Z 0.5
+	param set MPC_TKO_RAMP_T 0.8
+	param set MPC_XY_CRUISE 5
+	param set MPC_TILTMAX_AIR 25
+	param set MPC_TILTMAX_LND 25
+	param set MPC_YAWRAUTO_MAX 20

-param set-default MPC_XY_P 0.8
-param set-default MPC_XY_VEL_P_ACC 2
-param set-default MPC_XY_VEL_MAX 5
-param set-default MPC_ACC_HOR_MAX 2
-param set-default MPC_LAND_SPEED 1.2
-param set-default MPC_TILTMAX_LND 35
-param set-default MPC_Z_VEL_MAX_UP 1.5
-param set-default MPC_Z_VEL_MAX_DN 1.5
-param set-default MPC_HOLD_MAX_XY 0.5
-param set-default MPC_HOLD_MAX_Z 0.5
-param set-default MPC_TKO_RAMP_T 0.8
-param set-default MPC_XY_CRUISE 5
-param set-default MPC_TILTMAX_AIR 25
-param set-default MPC_TILTMAX_LND 25
-param set-default MPC_YAWRAUTO_MAX 20
+	param set NAV_DLL_ACT 0
+	param set NAV_LOITER_RAD 100

-param set-default NAV_DLL_ACT 0
-param set-default NAV_LOITER_RAD 100
+	param set PWM_AUX_DISARMED 950

-param set-default PWM_AUX_DISARMED 950
+	param set PWM_MAIN_DIS5 1500
+	param set PWM_MAIN_DIS6 1500
+	param set PWM_MAIN_DIS7 900
+	param set PWM_MAIN_DIS8 900

-param set-default PWM_MAIN_DIS5 1500
-param set-default PWM_MAIN_DIS6 1500
-param set-default PWM_MAIN_DIS7 900
-param set-default PWM_MAIN_DIS8 900
+	param set PWM_MAIN_RATE 400

-param set-default PWM_MAIN_RATE 400
+	param set SENS_BOARD_ROT 18

-param set-default SENS_BOARD_ROT 18
+	# TELEM2 config
+	param set MAV_1_CONFIG 102
+	param set MAV_1_RATE 5000
+	param set MAV_1_FORWARD 1
+	param set SER_TEL2_BAUD 57600

-# TELEM2 config
-param set-default MAV_1_CONFIG 102
-param set-default MAV_1_RATE 5000
-param set-default MAV_1_FORWARD 1
-param set-default SER_TEL2_BAUD 57600
+	param set VT_TYPE 2
+	param set VT_MOT_ID 1234
+	param set VT_FW_MOT_OFFID 1234
+	param set VT_F_TRANS_THR 1
+	param set VT_DWN_PITCH_MAX 8
+	param set VT_FW_QC_P 55
+	param set VT_FW_QC_R 55
+	param set VT_TRANS_MIN_TM 15
+	param set VT_B_TRANS_DUR 8
+	param set VT_WV_LND_EN 1
+	param set VT_WV_LTR_EN 1
+	param set VT_FWD_THRUST_SC 4
+	param set VT_F_TRANS_DUR 1
+	param set VT_IDLE_PWM_MC 1025
+	param set VT_B_REV_OUT 0.5
+	param set VT_B_TRANS_THR 0.7
+	param set VT_FW_PERM_STAB 1
+	param set VT_TRANS_TIMEOUT 22
+	param set VT_F_TRANS_RAMP 4

-param set-default VT_TYPE 2
-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 1234
-param set-default VT_F_TRANS_THR 1
-param set-default VT_DWN_PITCH_MAX 8
-param set-default VT_FW_QC_P 55
-param set-default VT_FW_QC_R 55
-param set-default VT_TRANS_MIN_TM 15
-param set-default VT_B_TRANS_DUR 8
-param set-default VT_WV_LND_EN 1
-param set-default VT_WV_LTR_EN 1
-param set-default VT_FWD_THRUST_SC 4
-param set-default VT_F_TRANS_DUR 1
-param set-default VT_IDLE_PWM_MC 1025
-param set-default VT_B_REV_OUT 0.5
-param set-default VT_B_TRANS_THR 0.7
-param set-default VT_FW_PERM_STAB 1
-param set-default VT_TRANS_TIMEOUT 22
-param set-default VT_F_TRANS_RAMP 4
+	param set COM_RC_OVERRIDE 0
+fi

-param set-default COM_RC_OVERRIDE 0
 set MAV_TYPE 22

 set MIXER deltaquad
--- a/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark
+++ b/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark
@ -17,94 +17,98 @@
 # @output MAIN8 motor 4
 #
 # @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

+if [ $AUTOCNF = yes ]
+then

+	param set BAT_N_CELLS 6

-param set-default BAT_N_CELLS 6
+	param set FW_AIRSPD_MAX   30
+	param set FW_AIRSPD_MIN   19
+	param set FW_AIRSPD_TRIM  23
+	param set FW_L1_R_SLEW_MAX 40
+	param set FW_LND_EARLYCFG 1
+	param set FW_MAN_P_MAX	30
+	param set FW_PR_I	0.1
+	param set FW_PSP_OFF	3
+	param set FW_P_LIM_MAX 18
+	param set FW_P_LIM_MIN -25
+	param set FW_RLL_TO_YAW_FF	0.1
+	param set FW_RR_I	0.1
+	param set FW_RR_P	0.08
+	param set FW_R_LIM 45
+	param set FW_R_RMAX	50
+	param set FW_THR_CRUISE 0.65
+	param set FW_THR_MIN 0.3
+	param set FW_THR_SLEW_MAX 0.6
+	param set FW_T_HRATE_FF 0
+	param set FW_T_SINK_MAX	15
+	param set FW_T_SINK_MIN	3
+	param set FW_YR_I	0.1
+	param set FW_YR_P	0.15

-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_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_R_LIM 45
-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 IMU_GYRO_CUTOFF 40

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

-param set-default IMU_DGYRO_CUTOFF 15
-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_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 MIS_TAKEOFF_ALT	30

-param set-default MIS_TAKEOFF_ALT	30
+	param set MPC_ACC_DOWN_MAX	2
+	param set MPC_ACC_HOR_MAX	2
+	param set MPC_ACC_UP_MAX	3
+	param set MC_AIRMODE 1
+	param set MPC_JERK_AUTO	4
+	param set MPC_LAND_SPEED 1
+	param set MPC_MAN_TILT_MAX 25
+	param set MPC_MAN_Y_MAX 40
+	param set MPC_POS_MODE 3
+	param set MPC_SPOOLUP_TIME 1.5
+	param set MPC_THR_HOVER 0.45
+	param set MPC_TILTMAX_AIR 25
+	param set MPC_TKO_RAMP_T 1.8
+	param set MPC_TKO_SPEED	1
+	param set MPC_VEL_MANUAL 3
+	param set MPC_XY_CRUISE 3
+	param set MPC_XY_VEL_MAX 3.5
+	param set MPC_YAWRAUTO_MAX 40
+	param set MPC_Z_VEL_MAX_DN 1.5
+	param set MPC_Z_VEL_MAX_UP 2

-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_LAND_SPEED 1
-param set-default MPC_MAN_TILT_MAX 25
-param set-default MPC_MAN_Y_MAX 40
-param set-default MPC_POS_MODE 3
-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_VEL_MANUAL 3
-param set-default MPC_XY_CRUISE 3
-param set-default MPC_XY_VEL_MAX 3.5
-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 NAV_ACC_RAD	3

-param set-default NAV_ACC_RAD	3
+	param set PWM_MAIN_DIS3 1000
+	param set PWM_MAIN_MIN3 1120
+	param set PWM_MAIN_MIN 950

-param set-default PWM_MAIN_DIS3 1000
-param set-default PWM_MAIN_MIN3 1120
-param set-default PWM_MAIN_MIN 950
+	param set SENS_BOARD_ROT 4

-param set-default SENS_BOARD_ROT 4
+	param set VT_ARSP_BLEND 10
+	param set VT_ARSP_TRANS 21
+	param set VT_B_DEC_MSS 1.5
+	param set VT_B_TRANS_DUR 12
+	param set VT_ELEV_MC_LOCK 0
+	param set VT_FWD_THRUST_SC 1.2
+	param set VT_FW_MOT_OFFID 5678
+	param set VT_F_TR_OL_TM 8
+	param set VT_IDLE_PWM_MC 1000
+	param set VT_MOT_ID 5678
+	param set VT_PSHER_RMP_DT 2
+	param set VT_TRANS_MIN_TM 4
+	param set VT_TYPE 2

-param set-default VT_ARSP_BLEND 10
-param set-default VT_ARSP_TRANS 21
-param set-default VT_B_DEC_MSS 1.5
-param set-default VT_B_TRANS_DUR 12
-param set-default VT_ELEV_MC_LOCK 0
-param set-default VT_FWD_THRUST_SC 1.2
-param set-default VT_FW_MOT_OFFID 5678
-param set-default VT_F_TR_OL_TM 8
-param set-default VT_IDLE_PWM_MC 1000
-param set-default VT_MOT_ID 5678
-param set-default VT_PSHER_RMP_DT 2
-param set-default VT_TRANS_MIN_TM 4
-param set-default VT_TYPE 2
+fi

 set MAV_TYPE 22

--- a/ROMFS/px4fmu_common/init.d/airframes/13015_generic_vtol_standard
+++ b/ROMFS/px4fmu_common/init.d/airframes/13015_generic_vtol_standard
@ -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
--- a/ROMFS/px4fmu_common/init.d/airframes/13050_generic_vtol_octo
+++ b/ROMFS/px4fmu_common/init.d/airframes/13050_generic_vtol_octo
@ -20,18 +20,22 @@
 # @output AUX5 Throttle
 #
 # @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

+if [ $AUTOCNF = yes ]
+then
+	param set PWM_AUX_DIS5 950
+	param set PWM_MAIN_RATE 400

-param set-default PWM_AUX_DIS5 950
-param set-default PWM_MAIN_RATE 400
+	param set VT_TYPE 2
+	param set VT_MOT_ID 12345678
+	param set VT_FW_MOT_OFFID 12345678
+fi

-param set-default VT_TYPE 2
-param set-default VT_MOT_ID 12345678
-param set-default VT_FW_MOT_OFFID 12345678
 set MAV_TYPE 22

 set MIXER octo_cox
--- a/ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter
+++ b/ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter
@ -13,17 +13,21 @@
 # @maintainer Roman Bapst <roman@px4.io>
 #
 # @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

+if [ $AUTOCNF = yes ]
+then
+	param set VT_ELEV_MC_LOCK 0
+	param set VT_MOT_COUNT 2
+	param set VT_TYPE 0

-param set-default VT_ELEV_MC_LOCK 0
-param set-default VT_MOT_COUNT 2
-param set-default VT_TYPE 0
+	param set MAV_TYPE 19
+fi

-param set-default MAV_TYPE 19
 set MAV_TYPE 19
 set MIXER vtol_tailsitter_duo

--- a/ROMFS/px4fmu_common/init.d/airframes/14001_tri_y_yaw+
+++ b/ROMFS/px4fmu_common/init.d/airframes/14001_tri_y_yaw+
@ -12,6 +12,7 @@
 #
 # @maintainer Trent Lukaczyk <aerialhedgehog@gmail.com>
 #
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

--- a/ROMFS/px4fmu_common/init.d/airframes/14002_tri_y_yaw-
+++ b/ROMFS/px4fmu_common/init.d/airframes/14002_tri_y_yaw-
@ -12,6 +12,7 @@
 #
 # @maintainer Trent Lukaczyk <aerialhedgehog@gmail.com>
 #
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

--- a/ROMFS/px4fmu_common/init.d/airframes/15001_coax_heli
+++ b/ROMFS/px4fmu_common/init.d/airframes/15001_coax_heli
@ -13,39 +13,43 @@
 # @maintainer Emmanuel Roussel
 #
 # @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
 set MIXER coax

+if [ $AUTOCNF = yes ]
+then
+	param set MC_ROLL_P 6.5
+	param set MC_ROLLRATE_P 0.17
+	param set MC_ROLLRATE_I 0.05
+	param set MC_ROLLRATE_D 0.005
+	param set MC_ROLLRATE_FF 0
+	param set MC_PITCH_P 6.5
+	param set MC_PITCHRATE_P 0.17
+	param set MC_PITCHRATE_I 0.05
+	param set MC_PITCHRATE_D 0.005
+	param set MC_PITCHRATE_FF 0
+	param set MC_YAW_P 2
+	param set MC_YAWRATE_P 0.1
+	param set MC_YAWRATE_I 0.1
+	param set MC_YAWRATE_D 0
+	param set MC_YAWRATE_FF 0

-param set-default MC_ROLL_P 6.5
-param set-default MC_ROLLRATE_P 0.17
-param set-default MC_ROLLRATE_I 0.05
-param set-default MC_ROLLRATE_D 0.005
-param set-default MC_ROLLRATE_FF 0
-param set-default MC_PITCH_P 6.5
-param set-default MC_PITCHRATE_P 0.17
-param set-default MC_PITCHRATE_I 0.05
-param set-default MC_PITCHRATE_D 0.005
-param set-default MC_PITCHRATE_FF 0
-param set-default MC_YAW_P 2
-param set-default MC_YAWRATE_P 0.1
-param set-default MC_YAWRATE_I 0.1
-param set-default MC_YAWRATE_D 0
-param set-default MC_YAWRATE_FF 0
+	param set NAV_ACC_RAD 2

-param set-default NAV_ACC_RAD 2
+	param set PWM_AUX_RATE 50
+	param set PWM_MAIN_DISARM 900
+	param set PWM_MAIN_MIN 1075
+	param set PWM_MAIN_MAX 1950
+	param set PWM_MAIN_RATE 400

-param set-default PWM_AUX_RATE 50
-param set-default PWM_MAIN_DISARM 900
-param set-default PWM_MAIN_MIN 1075
-param set-default PWM_MAIN_MAX 1950
-param set-default PWM_MAIN_RATE 400
+	param set RTL_RETURN_ALT 30
+	param set RTL_DESCEND_ALT 10
+fi

-param set-default RTL_RETURN_ALT 30
-param set-default RTL_DESCEND_ALT 10
 # This is the gimbal pass mixer
 set MIXER_AUX pass

--- a/ROMFS/px4fmu_common/init.d/airframes/16001_helicopter
+++ b/ROMFS/px4fmu_common/init.d/airframes/16001_helicopter
@ -14,6 +14,7 @@
 # @output MAIN5 tail-rotor servo
 #
 # @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

@ -26,32 +27,34 @@ set MIXER blade130

 #set PWM_OUT 1234

+if [ $AUTOCNF = yes ]
+then
+	param set ATT_BIAS_MAX 0

-param set-default ATT_BIAS_MAX 0
+	param set CBRK_IO_SAFETY 22027

-param set-default CBRK_IO_SAFETY 22027
+	param set MC_ROLL_P 5
+	param set MC_ROLLRATE_P 0
+	param set MC_ROLLRATE_I 0
+	param set MC_ROLLRATE_D 0
+	param set MC_ROLLRATE_FF 0.15
+	param set MC_PITCH_P 6.5
+	param set MC_PITCHRATE_P 0
+	param set MC_PITCHRATE_I 0
+	param set MC_PITCHRATE_D 0
+	param set MC_PITCHRATE_FF 0.15
+	param set MC_YAW_P 3
+	param set MC_YAWRATE_P 0.1
+	param set MC_YAWRATE_I 0
+	param set MC_YAWRATE_D 0
+	param set MC_ROLLRATE_MAX 720
+	param set MC_PITCHRATE_MAX 720
+	param set MC_YAWRATE_MAX 400
+	param set MC_ACRO_R_MAX 360
+	param set MC_ACRO_P_MAX 360

-param set-default MC_ROLL_P 5
-param set-default MC_ROLLRATE_P 0
-param set-default MC_ROLLRATE_I 0
-param set-default MC_ROLLRATE_D 0
-param set-default MC_ROLLRATE_FF 0.15
-param set-default MC_PITCH_P 6.5
-param set-default MC_PITCHRATE_P 0
-param set-default MC_PITCHRATE_I 0
-param set-default MC_PITCHRATE_D 0
-param set-default MC_PITCHRATE_FF 0.15
-param set-default MC_YAW_P 3
-param set-default MC_YAWRATE_P 0.1
-param set-default MC_YAWRATE_I 0
-param set-default MC_YAWRATE_D 0
-param set-default MC_ROLLRATE_MAX 720
-param set-default MC_PITCHRATE_MAX 720
-param set-default MC_YAWRATE_MAX 400
-param set-default MC_ACRO_R_MAX 360
-param set-default MC_ACRO_P_MAX 360
+	param set MPC_THR_MIN 0.06
+	param set MPC_MANTHR_MIN 0.06

-param set-default MPC_THR_MIN 0.06
-param set-default MPC_MANTHR_MIN 0.06
-
-param set-default PWM_MAIN_MIN 1075
+	param set PWM_MAIN_MIN 1075
+fi
--- a/ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2
+++ b/ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2
@ -20,31 +20,35 @@
 # @maintainer ThunderFly s.r.o., Roman Dvorak <dvorakroman@thunderfly.cz>
 #
 # @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

+if [ $AUTOCNF = yes ]
+then
+	param set BAT_CAPACITY 2500
+	param set BAT_N_CELLS 3

-param set-default BAT_CAPACITY 2500
-param set-default BAT_N_CELLS 3
+	param set PWM_AUX_RATE 50
+	param set PWM_MAIN_RATE 50

-param set-default PWM_AUX_RATE 50
-param set-default PWM_MAIN_RATE 50
+	param set SENS_BOARD_ROT 8

-param set-default SENS_BOARD_ROT 8
+	param set FW_AIRSPD_MAX 20
+	param set FW_AIRSPD_MIN 7
+	param set FW_AIRSPD_TRIM 13
+	param set FW_THR_CRUISE 0.8

-param set-default FW_AIRSPD_MAX 20
-param set-default FW_AIRSPD_MIN 7
-param set-default FW_AIRSPD_TRIM 13
-param set-default FW_THR_CRUISE 0.8
+	param set FW_MAN_P_MAX 25
+	param set FW_MAN_R_MAX 25
+	param set FW_PR_I 0.02
+	param set FW_R_LIM 40
+	param set FW_P_LIM_MAX 25
+	param set FW_P_LIM_MIN -5
+	param set FW_P_RMAX_NEG 20
+fi

-param set-default FW_MAN_P_MAX 25
-param set-default FW_MAN_R_MAX 25
-param set-default FW_PR_I 0.02
-param set-default FW_R_LIM 40
-param set-default FW_P_LIM_MAX 25
-param set-default FW_P_LIM_MIN -5
-param set-default FW_P_RMAX_NEG 20
 set MIXER TF-AutoG2
 set MIXER_AUX pass
--- a/ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2
+++ b/ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2
@ -15,31 +15,35 @@
 # @maintainer ThunderFly s.r.o., Roman Dvorak <dvorakroman@thunderfly.cz>
 #
 # @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

+if [ $AUTOCNF = yes ]
+then
+	param set BAT_CAPACITY 3300
+	param set BAT_N_CELLS 3

-param set-default BAT_CAPACITY 3300
-param set-default BAT_N_CELLS 3
+	param set PWM_AUX_RATE 50
+	param set PWM_MAIN_RATE 50

-param set-default PWM_AUX_RATE 50
-param set-default PWM_MAIN_RATE 50
+	param set SENS_BOARD_ROT 4

-param set-default SENS_BOARD_ROT 4
+	param set FW_AIRSPD_MAX 20
+	param set FW_AIRSPD_MIN 7
+	param set FW_AIRSPD_TRIM 13
+	param set FW_THR_CRUISE 0.8

-param set-default FW_AIRSPD_MAX 20
-param set-default FW_AIRSPD_MIN 7
-param set-default FW_AIRSPD_TRIM 13
-param set-default FW_THR_CRUISE 0.8
+	param set FW_MAN_P_MAX 25
+	param set FW_MAN_R_MAX 25
+	param set FW_PR_I 0.02
+	param set FW_R_LIM 40
+	param set FW_P_LIM_MAX 25
+	param set FW_P_LIM_MIN -5
+	param set FW_P_RMAX_NEG 20
+fi

-param set-default FW_MAN_P_MAX 25
-param set-default FW_MAN_R_MAX 25
-param set-default FW_PR_I 0.02
-param set-default FW_R_LIM 40
-param set-default FW_P_LIM_MAX 25
-param set-default FW_P_LIM_MIN -5
-param set-default FW_P_RMAX_NEG 20
 set MIXER TF-G2
 set MIXER_AUX pass
--- a/ROMFS/px4fmu_common/init.d/airframes/18001_TF-B1
+++ b/ROMFS/px4fmu_common/init.d/airframes/18001_TF-B1
@ -10,24 +10,28 @@
 # @maintainer ThunderFly s.r.o.
 #
 # @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

+if [ $AUTOCNF = yes ]
+then
+	param set COM_PREARM_MODE 2  # always in prearm state
+	param set CBRK_IO_SAFETY 22027
+	param set SDLOG_PROFILE 17
+	param set SDLOG_MODE 2
+	param set MAV_0_MODE 1
+	param set MAV_0_CONFIG 102
+	param set GPS_UBX_DYNMODEL 8
+	param set SER_TEL2_BAUD 9600

-param set-default COM_PREARM_MODE 2  # always in prearm state
-param set-default CBRK_IO_SAFETY 22027
-param set-default SDLOG_PROFILE 17
-param set-default SDLOG_MODE 2
-param set-default MAV_0_MODE 1
-param set-default MAV_0_CONFIG 102
-param set-default GPS_UBX_DYNMODEL 8
-param set-default SER_TEL2_BAUD 9600
-
-param set-default SENS_BOARD_ROT 0
+	param set SENS_BOARD_ROT 0
        param set MAV_TYPE 8  # MAV_TYPE_FREE_BALLOON

+fi
+

 set MIXER IO_pass
 set MIXER_AUX pass
--- a/ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane
+++ b/ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane
@ -18,13 +18,17 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

-param set-default PWM_AUX_RATE 50
-param set-default PWM_MAIN_RATE 50
+if [ $AUTOCNF = yes ]
+then
+	param set PWM_AUX_RATE 50
+	param set PWM_MAIN_RATE 50
+fi

 set MIXER AETRFG

--- a/ROMFS/px4fmu_common/init.d/airframes/2105_maja
+++ b/ROMFS/px4fmu_common/init.d/airframes/2105_maja
@ -20,28 +20,31 @@
 # @maintainer Andreas Antener <andreas@uaventure.com>
 #
 # @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

-param set-default FW_AIRSPD_MIN 10
-param set-default FW_AIRSPD_TRIM 15
-param set-default FW_AIRSPD_MAX 20
+if [ $AUTOCNF = yes ]
+then
+	param set FW_AIRSPD_MIN 10
+	param set FW_AIRSPD_TRIM 15
+	param set FW_AIRSPD_MAX 20

-param set-default FW_MAN_P_MAX 55
-param set-default FW_MAN_R_MAX 55
-param set-default FW_R_LIM 55
+	param set FW_MAN_P_MAX 55
+	param set FW_MAN_R_MAX 55
+	param set FW_R_LIM 55

-param set-default FW_WR_FF 0.2
-param set-default FW_WR_I 0.2
-param set-default FW_WR_IMAX 0.8
-param set-default FW_WR_P 1
-param set-default FW_W_RMAX 0
-
-# set disarmed value for the ESC
-param set-default PWM_MAIN_DISARM 1000
+	param set FW_WR_FF 0.2
+	param set FW_WR_I 0.2
+	param set FW_WR_IMAX 0.8
+	param set FW_WR_P 1
+	param set FW_W_RMAX 0

+	# set disarmed value for the ESC
+	param set PWM_MAIN_DISARM 1000
+fi

 set MIXER AAERTWF

--- a/ROMFS/px4fmu_common/init.d/airframes/2106_albatross
+++ b/ROMFS/px4fmu_common/init.d/airframes/2106_albatross
@ -20,28 +20,31 @@
 #
 # @maintainer Andreas Antener <andreas@uaventure.com>
 #
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

-param set-default FW_AIRSPD_MIN 10
-param set-default FW_AIRSPD_TRIM 15
-param set-default FW_AIRSPD_MAX 20
+if [ $AUTOCNF = yes ]
+then
+	param set FW_AIRSPD_MIN 10
+	param set FW_AIRSPD_TRIM 15
+	param set FW_AIRSPD_MAX 20

-param set-default FW_MAN_P_MAX 55
-param set-default FW_MAN_R_MAX 55
-param set-default FW_R_LIM 55
+	param set FW_MAN_P_MAX 55
+	param set FW_MAN_R_MAX 55
+	param set FW_R_LIM 55

-param set-default FW_WR_FF 0.2
-param set-default FW_WR_I 0.2
-param set-default FW_WR_IMAX 0.8
-param set-default FW_WR_P 1
-param set-default FW_W_RMAX 0
-
-# set disarmed value for the ESC
-param set-default PWM_MAIN_DISARM 1000
+	param set FW_WR_FF 0.2
+	param set FW_WR_I 0.2
+	param set FW_WR_IMAX 0.8
+	param set FW_WR_P 1
+	param set FW_W_RMAX 0

+	# set disarmed value for the ESC
+	param set PWM_MAIN_DISARM 1000
+fi

 set MIXER AAVVTWFF

--- a/ROMFS/px4fmu_common/init.d/airframes/2200_mini_talon
+++ b/ROMFS/px4fmu_common/init.d/airframes/2200_mini_talon
@ -21,27 +21,31 @@
 # @maintainer Friedrich Beckmann <friedrich.beckmann@hs-augsburg.de>
 #
 # @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

-param set-default FW_AIRSPD_MIN 10
-param set-default FW_AIRSPD_TRIM 15
-param set-default FW_AIRSPD_MAX 20
+if [ $AUTOCNF = yes ]
+then
+	param set FW_AIRSPD_MIN 10
+	param set FW_AIRSPD_TRIM 15
+	param set FW_AIRSPD_MAX 20

-param set-default FW_MAN_P_MAX 55
-param set-default FW_MAN_R_MAX 55
-param set-default FW_R_LIM 55
+	param set FW_MAN_P_MAX 55
+	param set FW_MAN_R_MAX 55
+	param set FW_R_LIM 55

-param set-default FW_WR_FF 0.2
-param set-default FW_WR_I 0.2
-param set-default FW_WR_IMAX 0.8
-param set-default FW_WR_P 1
-param set-default FW_W_RMAX 0
+	param set FW_WR_FF 0.2
+	param set FW_WR_I 0.2
+	param set FW_WR_IMAX 0.8
+	param set FW_WR_P 1
+	param set FW_W_RMAX 0

-# set disarmed value for the ESC
-param set-default PWM_MAIN_DISARM 1000
+	# set disarmed value for the ESC
+	param set PWM_MAIN_DISARM 1000
+fi

 # The Mini Talon does not have a wheel and
 # no flaps. I leave them here because the mixer
--- a/ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox
+++ b/ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox
@ -22,25 +22,29 @@
 # @maintainer Ian McNanie <ianmcnanie@gmail.com>
 # @maintainer William Peale <develop707@gmail.com>
 #
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

 set VEHICLE_TYPE mc

+if [ $AUTOCNF = yes ]
+then
+	param set NAV_ACC_RAD 2

-param set-default NAV_ACC_RAD 2
+	param set PWM_AUX_RATE 400
+	param set PWM_AUX_DISARMED 900
+	param set PWM_AUX_MIN 1075
+	param set PWM_AUX_MAX 1950

-param set-default PWM_AUX_RATE 400
-param set-default PWM_AUX_DISARMED 900
-param set-default PWM_AUX_MIN 1075
-param set-default PWM_AUX_MAX 1950
+	param set PWM_MAIN_MIN 1075
+	param set PWM_MAIN_MAX 1950
+	param set PWM_MAIN_RATE 400

-param set-default PWM_MAIN_MIN 1075
-param set-default PWM_MAIN_MAX 1950
-param set-default PWM_MAIN_RATE 400
+	param set RTL_DESCEND_ALT 10
+	param set RTL_RETURN_ALT 30
+fi

-param set-default RTL_DESCEND_ALT 10
-param set-default RTL_RETURN_ALT 30
 set MIXER dodeca_top_cox
 set MIXER_AUX dodeca_bottom_cox

--- a/ROMFS/px4fmu_common/init.d/airframes/2507_cloudship
+++ b/ROMFS/px4fmu_common/init.d/airframes/2507_cloudship
@ -10,14 +10,17 @@
 # @output MAIN4 tail thruster
 #
 # @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

-param set-default COM_PREARM_MODE 2
-param set-default CBRK_IO_SAFETY 22027
-
+if [ $AUTOCNF = yes ]
+then
+	param set COM_PREARM_MODE 2
+	param set CBRK_IO_SAFETY 22027
+fi

 set MIXER cloudship
 set PWM_OUT 1234
--- a/ROMFS/px4fmu_common/init.d/airframes/3000_generic_wing
+++ b/ROMFS/px4fmu_common/init.d/airframes/3000_generic_wing
@ -15,6 +15,7 @@
 #
 # @maintainer
 #
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

--- a/ROMFS/px4fmu_common/init.d/airframes/3030_io_camflyer
+++ b/ROMFS/px4fmu_common/init.d/airframes/3030_io_camflyer
@ -16,33 +16,36 @@
 # @maintainer Simon Wilks <simon@uaventure.com>
 #
 # @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

-param set-default FW_AIRSPD_MAX 15
-param set-default FW_AIRSPD_MIN 10
-param set-default FW_AIRSPD_TRIM 13
-param set-default FW_R_TC 0.3
-param set-default FW_P_TC 0.3
-param set-default FW_L1_DAMPING 0.74
-param set-default FW_L1_PERIOD 16
-param set-default FW_LND_ANG 15
-param set-default FW_LND_FLALT 5
-param set-default FW_LND_HHDIST 15
-param set-default FW_LND_HVIRT 13
-param set-default FW_LND_TLALT 5
-param set-default FW_THR_LND_MAX 0
-param set-default FW_PR_FF 0.35
-param set-default FW_PR_IMAX 0.4
-param set-default FW_PR_P 0.08
-param set-default FW_RR_FF 0.6
-param set-default FW_RR_IMAX 0.2
-param set-default FW_RR_P 0.04
-
-param set-default PWM_MAIN_DISARM 1000
+if [ $AUTOCNF = yes ]
+then
+	param set FW_AIRSPD_MAX 15
+	param set FW_AIRSPD_MIN 10
+	param set FW_AIRSPD_TRIM 13
+	param set FW_R_TC 0.3
+	param set FW_P_TC 0.3
+	param set FW_L1_DAMPING 0.74
+	param set FW_L1_PERIOD 16
+	param set FW_LND_ANG 15
+	param set FW_LND_FLALT 5
+	param set FW_LND_HHDIST 15
+	param set FW_LND_HVIRT 13
+	param set FW_LND_TLALT 5
+	param set FW_THR_LND_MAX 0
+	param set FW_PR_FF 0.35
+	param set FW_PR_IMAX 0.4
+	param set FW_PR_P 0.08
+	param set FW_RR_FF 0.6
+	param set FW_RR_IMAX 0.2
+	param set FW_RR_P 0.04

+	param set PWM_MAIN_DISARM 1000
+fi

 set MIXER fw_generic_wing

--- a/ROMFS/px4fmu_common/init.d/airframes/3031_phantom
+++ b/ROMFS/px4fmu_common/init.d/airframes/3031_phantom
@ -18,36 +18,39 @@
 # @maintainer Simon Wilks <simon@uaventure.com>
 #
 # @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

-param set-default FW_AIRSPD_MIN 13
-param set-default FW_AIRSPD_TRIM 15
-param set-default FW_AIRSPD_MAX 25
-param set-default FW_R_TC 0.3
-param set-default FW_P_TC 0.3
-param set-default FW_L1_DAMPING 0.75
-param set-default FW_L1_PERIOD 15
-param set-default FW_PR_FF 0.2
-param set-default FW_PR_IMAX 0.2
-param set-default FW_PR_P 0.03
-param set-default FW_P_LIM_MAX 50
-param set-default FW_P_LIM_MIN -50
-param set-default FW_P_ROLLFF 1
-param set-default FW_RR_FF 0.5
-param set-default FW_RR_IMAX 0.2
-param set-default FW_RR_P 0.08
-param set-default FW_R_LIM 50
-param set-default FW_R_RMAX 50
+if [ $AUTOCNF = yes ]
+then
+	param set FW_AIRSPD_MIN 13
+	param set FW_AIRSPD_TRIM 15
+	param set FW_AIRSPD_MAX 25
+	param set FW_R_TC 0.3
+	param set FW_P_TC 0.3
+	param set FW_L1_DAMPING 0.75
+	param set FW_L1_PERIOD 15
+	param set FW_PR_FF 0.2
+	param set FW_PR_IMAX 0.2
+	param set FW_PR_P 0.03
+	param set FW_P_LIM_MAX 50
+	param set FW_P_LIM_MIN -50
+	param set FW_P_ROLLFF 1
+	param set FW_RR_FF 0.5
+	param set FW_RR_IMAX 0.2
+	param set FW_RR_P 0.08
+	param set FW_R_LIM 50
+	param set FW_R_RMAX 50

-param set-default PWM_MAIN_DISARM 1000
-
-# Bottom of bay and nominal zero-pitch attitude differ
-# the payload bay is pitched up about 7 degrees
-param set-default SENS_BOARD_Y_OFF 7
+	param set PWM_MAIN_DISARM 1000

+	# Bottom of bay and nominal zero-pitch attitude differ
+	# the payload bay is pitched up about 7 degrees
+	param set SENS_BOARD_Y_OFF 7
+fi

 set MIXER phantom

--- a/ROMFS/px4fmu_common/init.d/airframes/3032_skywalker_x5
+++ b/ROMFS/px4fmu_common/init.d/airframes/3032_skywalker_x5
@ -16,27 +16,30 @@
 # @maintainer Julian Oes <julian@px4.io>
 #
 # @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

-param set-default FW_AIRSPD_MIN 15
-param set-default FW_AIRSPD_TRIM 20
-param set-default FW_AIRSPD_MAX 40
-param set-default FW_R_TC 0.3
-param set-default FW_P_TC 0.3
-param set-default FW_L1_DAMPING 0.74
-param set-default FW_L1_PERIOD 16
-param set-default FW_LND_ANG 15
-param set-default FW_LND_FLALT 5
-param set-default FW_LND_HHDIST 15
-param set-default FW_LND_HVIRT 13
-param set-default FW_LND_TLALT 5
-param set-default FW_THR_LND_MAX 0
-param set-default FW_PR_FF 0.35
-param set-default FW_RR_FF 0.6
-param set-default FW_RR_P 0.04
-
+if [ $AUTOCNF = yes ]
+then
+	param set FW_AIRSPD_MIN 15
+	param set FW_AIRSPD_TRIM 20
+	param set FW_AIRSPD_MAX 40
+	param set FW_R_TC 0.3
+	param set FW_P_TC 0.3
+	param set FW_L1_DAMPING 0.74
+	param set FW_L1_PERIOD 16
+	param set FW_LND_ANG 15
+	param set FW_LND_FLALT 5
+	param set FW_LND_HHDIST 15
+	param set FW_LND_HVIRT 13
+	param set FW_LND_TLALT 5
+	param set FW_THR_LND_MAX 0
+	param set FW_PR_FF 0.35
+	param set FW_RR_FF 0.6
+	param set FW_RR_P 0.04
+fi

 set MIXER fw_generic_wing
--- a/ROMFS/px4fmu_common/init.d/airframes/3033_wingwing
+++ b/ROMFS/px4fmu_common/init.d/airframes/3033_wingwing
@ -18,31 +18,34 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 # @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

-param set-default BAT_N_CELLS 2
-param set-default FW_AIRSPD_MAX 15
-param set-default FW_AIRSPD_MIN 10
-param set-default FW_AIRSPD_TRIM 13
-param set-default FW_R_TC 0.3
-param set-default FW_P_TC 0.3
-param set-default FW_L1_DAMPING 0.74
-param set-default FW_L1_PERIOD 16
-param set-default FW_LND_ANG 15
-param set-default FW_LND_FLALT 5
-param set-default FW_LND_HHDIST 15
-param set-default FW_LND_HVIRT 13
-param set-default FW_LND_TLALT 5
-param set-default FW_THR_LND_MAX 0
-param set-default FW_PR_FF 0.35
-param set-default FW_RR_FF 0.6
-param set-default FW_RR_P 0.04
-
-param set-default PWM_MAIN_DISARM 1000
+if [ $AUTOCNF = yes ]
+then
+	param set BAT_N_CELLS 2
+	param set FW_AIRSPD_MAX 15
+	param set FW_AIRSPD_MIN 10
+	param set FW_AIRSPD_TRIM 13
+	param set FW_R_TC 0.3
+	param set FW_P_TC 0.3
+	param set FW_L1_DAMPING 0.74
+	param set FW_L1_PERIOD 16
+	param set FW_LND_ANG 15
+	param set FW_LND_FLALT 5
+	param set FW_LND_HHDIST 15
+	param set FW_LND_HVIRT 13
+	param set FW_LND_TLALT 5
+	param set FW_THR_LND_MAX 0
+	param set FW_PR_FF 0.35
+	param set FW_RR_FF 0.6
+	param set FW_RR_P 0.04

+	param set PWM_MAIN_DISARM 1000
+fi

 # Configure this as plane.
 set MAV_TYPE 1
--- a/ROMFS/px4fmu_common/init.d/airframes/3034_fx79
+++ b/ROMFS/px4fmu_common/init.d/airframes/3034_fx79
@ -21,11 +21,13 @@

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

-param set-default FW_AIRSPD_MAX 30
-param set-default FW_AIRSPD_MIN 13
-param set-default FW_AIRSPD_TRIM 15
-
-param set-default NAV_LOITER_RAD 150
+if [ $AUTOCNF = yes ]
+then
+	param set FW_AIRSPD_MAX 30
+	param set FW_AIRSPD_MIN 13
+	param set FW_AIRSPD_TRIM 15

+	param set NAV_LOITER_RAD 150
+fi

 set MIXER FX79
--- a/ROMFS/px4fmu_common/init.d/airframes/3036_pigeon
+++ b/ROMFS/px4fmu_common/init.d/airframes/3036_pigeon
@ -23,32 +23,34 @@

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

-param set-default FW_AIRSPD_MIN 15
-param set-default FW_AIRSPD_TRIM 20
-param set-default FW_AIRSPD_MAX 27
-param set-default FW_ATT_TC 0.3
-param set-default FW_L1_DAMPING 0.75
-param set-default FW_L1_PERIOD 20
-param set-default FW_PR_FF 0.35
-param set-default FW_PR_IMAX 0.2
-param set-default FW_PR_P 0.05
-param set-default FW_P_LIM_MAX 45
-param set-default FW_P_LIM_MIN -45
-param set-default FW_P_ROLLFF 1
-param set-default FW_P_TC 0.3
-param set-default FW_RR_FF 0.3
-param set-default FW_RR_IMAX 0.2
-param set-default FW_RR_P 0.03
-param set-default FW_R_LIM 40
-param set-default FW_R_RMAX 50
-param set-default FW_R_TC 0.3
+if [ $AUTOCNF = yes ]
+then
+	param set FW_AIRSPD_MIN 15
+	param set FW_AIRSPD_TRIM 20
+	param set FW_AIRSPD_MAX 27
+	param set FW_ATT_TC 0.3
+	param set FW_L1_DAMPING 0.75
+	param set FW_L1_PERIOD 20
+	param set FW_PR_FF 0.35
+	param set FW_PR_IMAX 0.2
+	param set FW_PR_P 0.05
+	param set FW_P_LIM_MAX 45
+	param set FW_P_LIM_MIN -45
+	param set FW_P_ROLLFF 1
+	param set FW_P_TC 0.3
+	param set FW_RR_FF 0.3
+	param set FW_RR_IMAX 0.2
+	param set FW_RR_P 0.03
+	param set FW_R_LIM 40
+	param set FW_R_RMAX 50
+	param set FW_R_TC 0.3

-param set-default PWM_MAIN_DISARM 1000
-
-# Bottom of bay and nominal zero-pitch attitude differ
-# the payload bay is pitched up about 7 degrees
-param set-default SENS_BOARD_Y_OFF 11.9
+	param set PWM_MAIN_DISARM 1000

+	# Bottom of bay and nominal zero-pitch attitude differ
+	# the payload bay is pitched up about 7 degrees
+	param set SENS_BOARD_Y_OFF 11.9
+fi

 set MIXER phantom

--- a/ROMFS/px4fmu_common/init.d/airframes/3037_parrot_disco_mod
+++ b/ROMFS/px4fmu_common/init.d/airframes/3037_parrot_disco_mod
@ -23,65 +23,70 @@

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

-####################################
-# Airspeed
-####################################
-param set-default FW_AIRSPD_MIN  15 # = 29 knots
-param set-default FW_AIRSPD_TRIM 20 # = 39 knots
-param set-default FW_AIRSPD_MAX  27 # = 52 knots
+if [ $AUTOCNF = yes ]
+then

-####################################
-# The Main L1 Controller
-####################################
-param set-default FW_L1_PERIOD 20 #units of meters
+	####################################
+	# Airspeed
+	####################################

-# Damping factor for L1 control (def = 0.75)
-param set-default FW_L1_DAMPING 0.75
+	param set FW_AIRSPD_MIN  15 # = 29 knots
+	param set FW_AIRSPD_TRIM 20 # = 39 knots
+	param set FW_AIRSPD_MAX  27 # = 52 knots

-####################################
-# Pitch
-####################################
+	####################################
+	# The Main L1 Controller
+	####################################

-# Basic limits (def = +/- 45 deg)
-param set-default FW_P_LIM_MAX  45
-param set-default FW_P_LIM_MIN -45
+	param set FW_L1_PERIOD 20 #units of meters

-# Time Constant (def = 0.4s)
-param set-default FW_P_TC 0.4
+	# Damping factor for L1 control (def = 0.75)
+	param set FW_L1_DAMPING 0.75

-# Pitch rate feed forward (def = 0.5 %/rad/sec)
-param set-default FW_PR_FF 0.35
+	####################################
+	# Pitch
+	####################################

-# Pitch rate integrator limit (def = 0.4)
-param set-default FW_PR_IMAX 0.4
+	# Basic limits (def = +/- 45 deg)
+	param set FW_P_LIM_MAX  45
+	param set FW_P_LIM_MIN -45

-# Pitch rate proportional gain (def = 0.08 %/rad/sec)
-param set-default FW_PR_P 0.08
+	# Time Constant (def = 0.4s)
+	param set FW_P_TC 0.4

-####################################
-# Roll
-####################################
+	# Pitch rate feed forward (def = 0.5 %/rad/sec)
+	param set FW_PR_FF 0.35

-# Basic limits (def = 50 deg)
-param set-default FW_R_LIM 40
+	# Pitch rate integrator limit (def = 0.4)
+	param set FW_PR_IMAX 0.4

-# Roll rate upper limit (def = 70 deg/s)
-param set-default FW_R_RMAX 50
+	# Pitch rate proportional gain (def = 0.08 %/rad/sec)
+	param set FW_PR_P 0.08

-# Roll Time Constant (def = 0.4 s)
-param set-default FW_R_TC 0.4
+	####################################
+	# Roll
+	####################################

-# Roll rate feed forward (def = 0.5 %/rad/sec)
-param set-default FW_RR_FF 0.5
+	# Basic limits (def = 50 deg)
+	param set FW_R_LIM 40

-# Roll rate proportional Gain (def = 0.05 %/rad/sec)
-param set-default FW_RR_P 0.05
+	# Roll rate upper limit (def = 70 deg/s)
+	param set FW_R_RMAX 50

-# Roll Integrator Anti-Windup
-param set-default FW_RR_IMAX 0.2
+	# Roll Time Constant (def = 0.4 s)
+	param set FW_R_TC 0.4

-param set-default PWM_MAIN_DISARM 1000
+	# Roll rate feed forward (def = 0.5 %/rad/sec)
+	param set FW_RR_FF 0.5

+	# Roll rate proportional Gain (def = 0.05 %/rad/sec)
+	param set FW_RR_P 0.05
+
+	# Roll Integrator Anti-Windup
+	param set FW_RR_IMAX 0.2
+
+	param set PWM_MAIN_DISARM 1000
+fi

 set MIXER fw_generic_wing.main.mix

--- a/ROMFS/px4fmu_common/init.d/airframes/3100_tbs_caipirinha
+++ b/ROMFS/px4fmu_common/init.d/airframes/3100_tbs_caipirinha
@ -21,48 +21,49 @@

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

+if [ $AUTOCNF = yes ]
+then
+	param set FW_AIRSPD_MAX 25
+	param set FW_AIRSPD_MIN 12.5
+	param set FW_AIRSPD_TRIM 16.5
+	param set FW_L1_DAMPING 0.75
+	param set FW_L1_PERIOD 15
+	param set FW_LND_ANG 15
+	param set FW_LND_FLALT 8
+	param set FW_LND_HHDIST 15
+	param set FW_LND_HVIRT 13
+	param set FW_LND_TLALT 10
+	param set FW_THR_LND_MAX 0
+	param set FW_P_LIM_MAX 20
+	param set FW_P_LIM_MIN -30
+	param set FW_R_LIM 45
+	param set FW_R_TC 0.4
+	param set FW_P_TC 0.4
+	param set FW_PR_FF 0.45
+	param set FW_PR_IMAX 0.4
+	param set FW_PR_P 0.005
+	param set FW_RR_FF 0.45
+	param set FW_RR_IMAX 0.2
+	param set FW_RR_P 0.013
+	param set FW_P_RMAX_NEG 70
+	param set FW_P_RMAX_POS 70
+	param set FW_R_RMAX 70
+	param set FW_THR_CRUISE 0.55

-param set-default FW_AIRSPD_MAX 25
-param set-default FW_AIRSPD_MIN 12.5
-param set-default FW_AIRSPD_TRIM 16.5
-param set-default FW_L1_DAMPING 0.75
-param set-default FW_L1_PERIOD 15
-param set-default FW_LND_ANG 15
-param set-default FW_LND_FLALT 8
-param set-default FW_LND_HHDIST 15
-param set-default FW_LND_HVIRT 13
-param set-default FW_LND_TLALT 10
-param set-default FW_THR_LND_MAX 0
-param set-default FW_P_LIM_MAX 20
-param set-default FW_P_LIM_MIN -30
-param set-default FW_R_LIM 45
-param set-default FW_R_TC 0.4
-param set-default FW_P_TC 0.4
-param set-default FW_PR_FF 0.45
-param set-default FW_PR_IMAX 0.4
-param set-default FW_PR_P 0.005
-param set-default FW_RR_FF 0.45
-param set-default FW_RR_IMAX 0.2
-param set-default FW_RR_P 0.013
-param set-default FW_P_RMAX_NEG 70
-param set-default FW_P_RMAX_POS 70
-param set-default FW_R_RMAX 70
-param set-default FW_THR_CRUISE 0.55
+	param set LNDFW_AIRSPD_MAX 6
+	param set LNDFW_XYACC_MAX 4
+	param set LNDFW_VEL_XY_MAX 3
+	param set LNDFW_VEL_Z_MAX 5

-param set-default LNDFW_AIRSPD_MAX 6
-param set-default LNDFW_XYACC_MAX 4
-param set-default LNDFW_VEL_XY_MAX 3
-param set-default LNDFW_VEL_Z_MAX 5
+	param set MIS_TAKEOFF_ALT 50

-param set-default MIS_TAKEOFF_ALT 50
-
-param set-default NAV_LOITER_RAD 30
-
-param set-default PWM_MAIN_REV1 1
-param set-default PWM_MAIN_REV2 1
-param set-default PWM_MAIN_MIN 900
-param set-default PWM_MAIN_MAX 2100
+	param set NAV_LOITER_RAD 30

+	param set PWM_MAIN_REV1 1
+	param set PWM_MAIN_REV2 1
+	param set PWM_MAIN_MIN 900
+	param set PWM_MAIN_MAX 2100
+fi

 set MIXER caipi
 set PWM_OUT 1234
--- a/ROMFS/px4fmu_common/init.d/airframes/4003_qavr5
+++ b/ROMFS/px4fmu_common/init.d/airframes/4003_qavr5
@ -16,21 +16,23 @@
 set MIXER quad_x
 set PWM_OUT 1234

+if [ $AUTOCNF = yes ]
+then
+	param set MC_ROLL_P 8
+	param set MC_ROLLRATE_P 0.08
+	param set MC_ROLLRATE_I 0.16
+	param set MC_ROLLRATE_D 0.003
+	param set MC_PITCH_P 8
+	param set MC_PITCHRATE_P 0.1
+	param set MC_PITCHRATE_I 0.2
+	param set MC_PITCHRATE_D 0.003
+	param set MC_YAW_P 2.8
+	param set MC_YAWRATE_P 0.15
+	param set MC_YAWRATE_I 0.1
+	param set MC_YAWRATE_D 0

-param set-default MC_ROLL_P 8
-param set-default MC_ROLLRATE_P 0.08
-param set-default MC_ROLLRATE_I 0.16
-param set-default MC_ROLLRATE_D 0.003
-param set-default MC_PITCH_P 8
-param set-default MC_PITCHRATE_P 0.1
-param set-default MC_PITCHRATE_I 0.2
-param set-default MC_PITCHRATE_D 0.003
-param set-default MC_YAW_P 2.8
-param set-default MC_YAWRATE_P 0.15
-param set-default MC_YAWRATE_I 0.1
-param set-default MC_YAWRATE_D 0
+	param set MPC_THR_MIN 0.06
+	param set MPC_MANTHR_MIN 0.06

-param set-default MPC_THR_MIN 0.06
-param set-default MPC_MANTHR_MIN 0.06
-
-param set-default PWM_MAIN_MIN 1075
+	param set PWM_MAIN_MIN 1075
+fi
--- a/ROMFS/px4fmu_common/init.d/airframes/4009_qav250
+++ b/ROMFS/px4fmu_common/init.d/airframes/4009_qav250
@ -16,24 +16,26 @@
 set MIXER quad_x
 set PWM_OUT 1234

+if [ $AUTOCNF = yes ]
+then
+	param set ATT_BIAS_MAX 0

-param set-default ATT_BIAS_MAX 0
+	param set CBRK_IO_SAFETY 22027

-param set-default CBRK_IO_SAFETY 22027
+	param set MPC_MANTHR_MIN 0.06
+	param set MC_ROLL_P 6
+	param set MC_ROLLRATE_P 0.14
+	param set MC_ROLLRATE_I 0.23
+	param set MC_ROLLRATE_D 0.0025
+	param set MC_PITCH_P 7
+	param set MC_PITCHRATE_P 0.235
+	param set MC_PITCHRATE_I 0.17
+	param set MC_PITCHRATE_D 0.004
+	param set MC_YAW_P 4
+	param set MC_YAWRATE_P 0.3
+	param set MC_YAWRATE_I 0.2
+	param set MC_YAWRATE_D 0
+	param set MPC_THR_MIN 0.06

-param set-default MPC_MANTHR_MIN 0.06
-param set-default MC_ROLL_P 6
-param set-default MC_ROLLRATE_P 0.14
-param set-default MC_ROLLRATE_I 0.23
-param set-default MC_ROLLRATE_D 0.0025
-param set-default MC_PITCH_P 7
-param set-default MC_PITCHRATE_P 0.235
-param set-default MC_PITCHRATE_I 0.17
-param set-default MC_PITCHRATE_D 0.004
-param set-default MC_YAW_P 4
-param set-default MC_YAWRATE_P 0.3
-param set-default MC_YAWRATE_I 0.2
-param set-default MC_YAWRATE_D 0
-param set-default MPC_THR_MIN 0.06
-
-param set-default PWM_MAIN_MIN 1075
+	param set PWM_MAIN_MIN 1075
+fi
--- a/ROMFS/px4fmu_common/init.d/airframes/4010_dji_f330
+++ b/ROMFS/px4fmu_common/init.d/airframes/4010_dji_f330
@ -13,18 +13,21 @@
 set MIXER quad_x
 set PWM_OUT 1234

-param set-default MC_ROLL_P 7
-param set-default MC_ROLLRATE_P 0.15
-param set-default MC_ROLLRATE_I 0.05
-param set-default MC_ROLLRATE_D 0.003
-param set-default MC_PITCH_P 7
-param set-default MC_PITCHRATE_P 0.15
-param set-default MC_PITCHRATE_I 0.05
-param set-default MC_PITCHRATE_D 0.003
-param set-default MC_YAW_P 2.8
-param set-default MC_YAWRATE_P 0.2
-param set-default MC_YAWRATE_I 0.1
-param set-default MC_YAWRATE_D 0
+if [ $AUTOCNF = yes ]
+then
+	param set MC_ROLL_P 7
+	param set MC_ROLLRATE_P 0.15
+	param set MC_ROLLRATE_I 0.05
+	param set MC_ROLLRATE_D 0.003
+	param set MC_PITCH_P 7
+	param set MC_PITCHRATE_P 0.15
+	param set MC_PITCHRATE_I 0.05
+	param set MC_PITCHRATE_D 0.003
+	param set MC_YAW_P 2.8
+	param set MC_YAWRATE_P 0.2
+	param set MC_YAWRATE_I 0.1
+	param set MC_YAWRATE_D 0

-# DJI ESCs do not support calibration and need a higher min
-param set-default PWM_MAIN_MIN 1230
+	# DJI ESCs do not support calibration and need a higher min
+	param set PWM_MAIN_MIN 1230
+fi
--- a/ROMFS/px4fmu_common/init.d/airframes/4011_dji_f450
+++ b/ROMFS/px4fmu_common/init.d/airframes/4011_dji_f450
@ -13,18 +13,21 @@
 set MIXER quad_x
 set PWM_OUT 1234

-param set-default MC_ROLL_P 7
-param set-default MC_ROLLRATE_P 0.15
-param set-default MC_ROLLRATE_I 0.05
-param set-default MC_ROLLRATE_D 0.003
-param set-default MC_PITCH_P 7
-param set-default MC_PITCHRATE_P 0.15
-param set-default MC_PITCHRATE_I 0.05
-param set-default MC_PITCHRATE_D 0.003
-param set-default MC_YAW_P 2.8
-param set-default MC_YAWRATE_P 0.3
-param set-default MC_YAWRATE_I 0.1
-param set-default MC_YAWRATE_D 0
+if [ $AUTOCNF = yes ]
+then
+	param set MC_ROLL_P 7
+	param set MC_ROLLRATE_P 0.15
+	param set MC_ROLLRATE_I 0.05
+	param set MC_ROLLRATE_D 0.003
+	param set MC_PITCH_P 7
+	param set MC_PITCHRATE_P 0.15
+	param set MC_PITCHRATE_I 0.05
+	param set MC_PITCHRATE_D 0.003
+	param set MC_YAW_P 2.8
+	param set MC_YAWRATE_P 0.3
+	param set MC_YAWRATE_I 0.1
+	param set MC_YAWRATE_D 0

-# DJI ESCs do not support calibration and need a higher min
-param set-default PWM_MAIN_MIN 1230
+	# DJI ESCs do not support calibration and need a higher min
+	param set PWM_MAIN_MIN 1230
+fi
--- a/ROMFS/px4fmu_common/init.d/airframes/4014_s500
+++ b/ROMFS/px4fmu_common/init.d/airframes/4014_s500
@ -16,10 +16,12 @@
 set MIXER quad_x
 set PWM_OUT 1234

-
-param set-default MC_ROLLRATE_P 0.18
-param set-default MC_PITCHRATE_P 0.18
-param set-default MC_ROLLRATE_I 0.15
-param set-default MC_PITCHRATE_I 0.15
-param set-default MC_ROLLRATE_D 0.003
-param set-default MC_PITCHRATE_D 0.003
+if [ $AUTOCNF = yes ]
+then
+	param set MC_ROLLRATE_P 0.18
+	param set MC_PITCHRATE_P 0.18
+	param set MC_ROLLRATE_I 0.15
+	param set MC_PITCHRATE_I 0.15
+	param set MC_ROLLRATE_D 0.003
+	param set MC_PITCHRATE_D 0.003
+fi
--- a/ROMFS/px4fmu_common/init.d/airframes/4015_holybro_s500
+++ b/ROMFS/px4fmu_common/init.d/airframes/4015_holybro_s500
@ -16,13 +16,14 @@
 set MIXER quad_x
 set PWM_OUT 1234

-
-param set-default IMU_GYRO_CUTOFF 30
-param set-default IMU_DGYRO_CUTOFF 30
-
-param set-default MC_ROLLRATE_P 0.14
-param set-default MC_PITCHRATE_P 0.14
-param set-default MC_ROLLRATE_I 0.3
-param set-default MC_PITCHRATE_I 0.3
-param set-default MC_ROLLRATE_D 0.004
-param set-default MC_PITCHRATE_D 0.004
+if [ $AUTOCNF = yes ]
+then
+	param set IMU_GYRO_CUTOFF 60
+	param set IMU_DGYRO_CUTOFF 30
+	param set MC_ROLLRATE_P 0.14
+	param set MC_PITCHRATE_P 0.14
+	param set MC_ROLLRATE_I 0.3
+	param set MC_PITCHRATE_I 0.3
+	param set MC_ROLLRATE_D 0.004
+	param set MC_PITCHRATE_D 0.004
+fi
--- a/ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision
+++ b/ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision
@ -19,119 +19,121 @@
 set MIXER quad_x
 set PWM_OUT 1234

+if [ $AUTOCNF = yes ]
+then
+	# System parameters
+	# use FMU motor outputs for less delay in the rate control loop
+	param set SYS_USE_IO 0

-# System parameters
-# use FMU motor outputs for less delay in the rate control loop
-param set-default SYS_USE_IO 0
+	# Commander Parameters
+	param set COM_OBS_AVOID 1
+	param set COM_DISARM_LAND 0.5

-# Commander Parameters
-param set-default COM_OBS_AVOID 1
-param set-default COM_DISARM_LAND 0.5
+	# EKF2 parameters
+	param set EKF2_AID_MASK 35
+	param set EKF2_IMU_POS_X 0.02
+	param set EKF2_GPS_POS_X 0.055
+	param set EKF2_GPS_POS_Z -0.15
+	param set EKF2_HGT_MODE 0
+	param set EKF2_MIN_RNG 0.03
+	param set EKF2_OF_POS_X 0.055
+	param set EKF2_OF_POS_Y 0.02
+	param set EKF2_OF_POS_Z 0.065
+	param set EKF2_REQ_HDRIFT 0.3
+	param set EKF2_REQ_SACC 1
+	param set EKF2_REQ_VDRIFT 0.3
+	param set EKF2_RNG_AID 1
+	param set EKF2_RNG_A_HMAX 8
+	param set EKF2_RNG_A_VMAX 2
+	param set EKF2_RNG_POS_X 0.055
+	param set EKF2_RNG_POS_Y -0.01
+	param set EKF2_RNG_POS_Z 0.065
+	param set EKF2_PCOEF_XP -0.25
+	param set EKF2_PCOEF_YN -0.55
+	param set EKF2_PCOEF_YP -0.55

-# EKF2 parameters
-param set-default EKF2_AID_MASK 35
-param set-default EKF2_IMU_POS_X 0.02
-param set-default EKF2_GPS_POS_X 0.055
-param set-default EKF2_GPS_POS_Z -0.15
-param set-default EKF2_HGT_MODE 0
-param set-default EKF2_MIN_RNG 0.03
-param set-default EKF2_OF_POS_X 0.055
-param set-default EKF2_OF_POS_Y 0.02
-param set-default EKF2_OF_POS_Z 0.065
-param set-default EKF2_REQ_HDRIFT 0.3
-param set-default EKF2_REQ_SACC 1
-param set-default EKF2_REQ_VDRIFT 0.3
-param set-default EKF2_RNG_AID 1
-param set-default EKF2_RNG_A_HMAX 8
-param set-default EKF2_RNG_A_VMAX 2
-param set-default EKF2_RNG_POS_X 0.055
-param set-default EKF2_RNG_POS_Y -0.01
-param set-default EKF2_RNG_POS_Z 0.065
-param set-default EKF2_PCOEF_XP -0.25
-param set-default EKF2_PCOEF_YN -0.55
-param set-default EKF2_PCOEF_YP -0.55
+	# MAVLink parameters
+	param set MAV_0_CONFIG 101
+	param set MAV_1_CONFIG 102
+	param set MAV_1_RATE 80000
+	param set MAV_1_MODE 9
+	param set SER_TEL1_BAUD 921600

-# MAVLink parameters
-param set-default MAV_0_CONFIG 101
-param set-default MAV_1_CONFIG 102
-param set-default MAV_1_RATE 80000
-param set-default MAV_1_MODE 9
-param set-default SER_TEL1_BAUD 921600
+	# Vehicle attitude PID tuning
+	param set MC_ACRO_EXPO 0
+	param set MC_ACRO_EXPO_Y 0
+	param set MC_ACRO_P_MAX 200
+	param set MC_ACRO_R_MAX 200
+	param set MC_ACRO_SUPEXPO 0
+	param set MC_ACRO_SUPEXPOY 0
+	param set MC_ACRO_Y_MAX 150
+	param set IMU_DGYRO_CUTOFF 30
+	param set MC_PITCHRATE_D 0.0015
+	param set MC_PITCHRATE_I 0.2
+	param set MC_PITCHRATE_K 1
+	param set MC_PITCHRATE_P 0.15
+	param set MC_ROLLRATE_D 0.0015
+	param set MC_ROLLRATE_I 0.2
+	param set MC_ROLLRATE_K 1
+	param set MC_ROLLRATE_P 0.15
+	param set MC_YAWRATE_P 0.3

-# Vehicle attitude PID tuning
-param set-default MC_ACRO_EXPO 0
-param set-default MC_ACRO_EXPO_Y 0
-param set-default MC_ACRO_P_MAX 200
-param set-default MC_ACRO_R_MAX 200
-param set-default MC_ACRO_SUPEXPO 0
-param set-default MC_ACRO_SUPEXPOY 0
-param set-default MC_ACRO_Y_MAX 150
-param set-default IMU_DGYRO_CUTOFF 30
-param set-default MC_PITCHRATE_D 0.0015
-param set-default MC_PITCHRATE_I 0.2
-param set-default MC_PITCHRATE_K 1
-param set-default MC_PITCHRATE_P 0.15
-param set-default MC_ROLLRATE_D 0.0015
-param set-default MC_ROLLRATE_I 0.2
-param set-default MC_ROLLRATE_K 1
-param set-default MC_ROLLRATE_P 0.15
-param set-default MC_YAWRATE_P 0.3
+	# Position Control Tuning
+	param set CP_DIST 6
+	param set MPC_ACC_DOWN_MAX 5
+	param set MPC_ACC_HOR_MAX 10
+	param set MPC_ACC_UP_MAX 4
+	param set MPC_MANTHR_MIN 0
+	param set MPC_MAN_Y_MAX 120
+	param set MPC_TILTMAX_AIR 45
+	param set MPC_THR_HOVER 0.3
+	param set MPC_THR_MIN 0.12
+	param set MPC_TKO_SPEED 1
+	param set MPC_VEL_MANUAL 5
+	param set MPC_XY_CRUISE 5
+	param set MPC_XY_VEL_MAX 5
+	param set MPC_XY_VEL_P_ACC 1.58
+	param set MPC_XY_TRAJ_P 0.3
+	param set MPC_Z_TRAJ_P 0.3
+	param set MPC_Z_VEL_P_ACC 5
+	param set MPC_Z_VEL_I_ACC 3
+	param set MPC_LAND_ALT1 3
+	param set MPC_LAND_ALT2 1

-# Position Control Tuning
-param set-default CP_DIST 6
-param set-default MPC_ACC_DOWN_MAX 5
-param set-default MPC_ACC_HOR_MAX 10
-param set-default MPC_ACC_UP_MAX 4
-param set-default MPC_MANTHR_MIN 0
-param set-default MPC_MAN_Y_MAX 120
-param set-default MPC_TILTMAX_AIR 45
-param set-default MPC_THR_HOVER 0.3
-param set-default MPC_THR_MIN 0.12
-param set-default MPC_TKO_SPEED 1
-param set-default MPC_VEL_MANUAL 5
-param set-default MPC_XY_CRUISE 5
-param set-default MPC_XY_VEL_MAX 5
-param set-default MPC_XY_VEL_P_ACC 1.58
-param set-default MPC_XY_TRAJ_P 0.3
-param set-default MPC_Z_TRAJ_P 0.3
-param set-default MPC_Z_VEL_P_ACC 5
-param set-default MPC_Z_VEL_I_ACC 3
-param set-default MPC_LAND_ALT1 3
-param set-default MPC_LAND_ALT2 1
+	# Navigator Parameters
+	param set NAV_ACC_RAD 2

-# Navigator Parameters
-param set-default NAV_ACC_RAD 2
+	# PWM and RC Parameters
+	param set PWM_MAIN_MAX 1950
+	param set PWM_MAIN_MIN 1075

-# PWM and RC Parameters
-param set-default PWM_MAIN_MAX 1950
-param set-default PWM_MAIN_MIN 1075
+	# use oneshot motor output protocol
+	param set PWM_MAIN_RATE 0

-# use oneshot motor output protocol
-param set-default PWM_MAIN_RATE 0
+	# RTL Parameters
+	param set RTL_DESCEND_ALT 5
+	param set RTL_RETURN_ALT 5
+	param set RTL_CONE_ANG 45

-# RTL Parameters
-param set-default RTL_DESCEND_ALT 5
-param set-default RTL_RETURN_ALT 5
-param set-default RTL_CONE_ANG 45
+	# Logging Parameters
+	param set SDLOG_PROFILE 131

-# Logging Parameters
-param set-default SDLOG_PROFILE 131
+	# Sensors Parameters
+	param set SENS_BOARD_ROT 0
+	param set SENS_CM8JL65_CFG 104
+	param set SENS_FLOW_MAXHGT 25
+	param set SENS_FLOW_MINHGT 0.5
+	param set SENS_FLOW_ROT 0
+	param set IMU_GYRO_CUTOFF 100
+	param set SENS_EN_PMW3901 1

-# Sensors Parameters
-param set-default SENS_BOARD_ROT 0
-param set-default SENS_CM8JL65_CFG 104
-param set-default SENS_FLOW_MAXHGT 25
-param set-default SENS_FLOW_MINHGT 0.5
-param set-default SENS_FLOW_ROT 0
-param set-default IMU_GYRO_CUTOFF 100
-param set-default SENS_EN_PMW3901 1
+	# Power Parameters
+	param set BAT_N_CELLS 4
+	param set BAT_A_PER_V 36.364
+	param set BAT_V_DIV 18.182

-# Power Parameters
-param set-default BAT_N_CELLS 4
-param set-default BAT_A_PER_V 36.364
-param set-default BAT_V_DIV 18.182
+	# Circuit breakers
+	param set CBRK_IO_SAFETY 22027

-# Circuit breakers
-param set-default CBRK_IO_SAFETY 22027
-
-param set-default THR_MDL_FAC 0.3
+	param set THR_MDL_FAC 0.3
+fi
--- a/ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames
+++ b/ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames
@ -21,13 +21,19 @@
 set MIXER quad_x
 set PWM_OUT 1234

-param set-default IMU_GYRO_CUTOFF 40
-param set-default IMU_DGYRO_CUTOFF 20
+if [ $AUTOCNF = yes ]
+then

-param set-default MC_ROLLRATE_P 0.18
-param set-default MC_ROLLRATE_I 0.15
-param set-default MC_ROLLRATE_D 0.003
+	param set IMU_GYRO_CUTOFF 40
+	param set IMU_DGYRO_CUTOFF 20
+	param set IMU_GYRO_RATEMAX 400

-param set-default MC_PITCHRATE_P 0.18
-param set-default MC_PITCHRATE_I 0.15
-param set-default MC_PITCHRATE_D 0.003
+	param set MC_ROLLRATE_P 0.18
+	param set MC_ROLLRATE_I 0.15
+	param set MC_ROLLRATE_D 0.003
+
+	param set MC_PITCHRATE_P 0.18
+	param set MC_PITCHRATE_I 0.15
+	param set MC_PITCHRATE_D 0.003
+
+fi
--- a/ROMFS/px4fmu_common/init.d/airframes/4018_s500_ctrlalloc
+++ b/ROMFS/px4fmu_common/init.d/airframes/4018_s500_ctrlalloc
@ -7,47 +7,48 @@
 #
 # @maintainer Silvan Fuhrer
 #
-# @board px4_fmu-v2 exclude
-#

-. ${R}etc/init.d/rc.mc_defaults
+. ${R}etcinit.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 0.177
+	param set CA_MC_R0_PY 0.177
+	param set CA_MC_R0_CT 6.5
+	param set CA_MC_R0_KM 0.05
+	param set CA_MC_R1_PX -0.177
+	param set CA_MC_R1_PY -0.177
+	param set CA_MC_R1_CT 6.5
+	param set CA_MC_R1_KM 0.05
+	param set CA_MC_R2_PX 0.177
+	param set CA_MC_R2_PY -0.177
+	param set CA_MC_R2_CT 6.5
+	param set CA_MC_R2_KM -0.05
+	param set CA_MC_R3_PX -0.177
+	param set CA_MC_R3_PY 0.177
+	param set CA_MC_R3_CT 6.5
+	param set CA_MC_R3_KM -0.05

-param set-default CA_MC_R0_PX 0.177
-param set-default CA_MC_R0_PY 0.177
-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 -0.177
-param set-default CA_MC_R1_PY -0.177
-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 0.177
-param set-default CA_MC_R2_PY -0.177
-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 -0.177
-param set-default CA_MC_R3_PY 0.177
-param set-default CA_MC_R3_CT 6.5
-param set-default CA_MC_R3_KM -0.05
+fi

 set MIXER direct
 set PWM_OUT 1234
--- a/Show More
+++ b/Show More
				`@ -1 +0,0 @@`
				`mixer append /dev/pwm_output0 etc/mixers-sitl/package_drop.aux.mix`