setup: pass through Ubuntu setup script

- Add usage function - Add support for Ubuntu 22.04 - Update arm-none-eabi-gcc to version 10.3 - Remove jMAVSim / Java stuff - Remove FastRTPS / Java stuff - Fix some typos - Add Gazebo Ignition - Disable Gazebo for Ubuntu 18.04 - Fix some shellcheck issues - Cleanup apt caches in docker
ubuntu.sh: updated dependencies and output
2026-05-27 00:30:05 +08:00 · 2022-09-09 14:38:33 +12:00 · 2022-09-09 13:27:34 +12:00 · 2022-09-08 20:54:19 -04:00 · 2022-09-08 20:54:19 -04:00 · 2022-09-08 20:54:19 -04:00
547 changed files with 17990 additions and 9464 deletions
@@ -794,7 +794,7 @@ void resetParameters() {
 void runTests() {

  // test loading a range of airframes
-  sh './Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` 2100 3000 4001 6001 8001 10016'
+  sh './Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` 2100 3000 4001 6001 8001'

  resetParameters()

@@ -3,7 +3,7 @@ name: Checks
 on:
  push:
    branches:
-    - 'master'
+    - 'main'
  pull_request:
    branches:
    - '*'
@@ -3,7 +3,7 @@ name: Clang Tidy
 on:
  push:
    branches:
-    - 'master'
+    - 'main'
  pull_request:
    branches:
    - '*'
@@ -3,7 +3,7 @@ name: Linux Targets
 on:
  push:
    branches:
-    - 'master'
+    - 'main'
  pull_request:
    branches:
    - '*'
@@ -3,7 +3,7 @@ name: Linux ARM64 Targets
 on:
  push:
    branches:
-    - 'master'
+    - 'main'
  pull_request:
    branches:
    - '*'
@@ -3,7 +3,7 @@ name: MacOS build
 on:
  push:
    branches:
-    - 'master'
+    - 'main'
  pull_request:
    branches:
    - '*'
@@ -3,7 +3,7 @@ name: Nuttx Targets
 on:
  push:
    branches:
-    - 'master'
+    - 'main'
  pull_request:
    branches:
    - '*'
@@ -3,7 +3,7 @@ name: Deploy metadata for all targets
 on:
  push:
    branches:
-    - 'master'
+    - 'main'
    - 'release/*'
    - 'pr-metadata-test'

@@ -3,7 +3,7 @@ name: MAVROS Mission Tests
 on:
  push:
    branches:
-    - 'master'
+    - 'main'
  pull_request:
    branches:
    - '*'
@@ -3,7 +3,7 @@ name: MAVROS Offboard Tests
 on:
  push:
    branches:
-    - 'master'
+    - 'main'
  pull_request:
    branches:
    - '*'
@@ -3,7 +3,7 @@ name: Metadata
 on:
  push:
    branches:
-    - 'master'
+    - 'main'
    - 'release/*'
    - 'pr-metadata-test'

@@ -3,7 +3,7 @@ name: Python CI Checks
 on:
  push:
    branches:
-    - 'master'
+    - 'main'
  pull_request:
    branches:
    - '*'
@@ -3,7 +3,7 @@ name: SITL Tests
 on:
  push:
    branches:
-    - 'master'
+    - 'main'
  pull_request:
    branches:
    - '*'
@@ -6,12 +6,12 @@
 	path = src/drivers/uavcan/libuavcan
 	url = https://github.com/dronecan/libuavcan.git
 	branch = main
-[submodule "Tools/jMAVSim"]
-	path = Tools/jMAVSim
+[submodule "Tools/simulation/jmavsim/jMAVSim"]
+	path = Tools/simulation/jmavsim/jMAVSim
 	url = https://github.com/PX4/jMAVSim.git
 	branch = master
-[submodule "Tools/sitl_gazebo"]
-	path = Tools/sitl_gazebo
+[submodule "Tools/simulation/gazebo/sitl_gazebo"]
+	path = Tools/simulation/gazebo/sitl_gazebo
 	url = https://github.com/PX4/PX4-SITL_gazebo.git
 	branch = master
 [submodule "src/drivers/gps/devices"]
@@ -31,10 +31,10 @@
 	url = https://github.com/PX4/NuttX-apps.git
 	branch = px4_firmware_nuttx-10.1.0+
 [submodule "Tools/flightgear_bridge"]
-	path = Tools/flightgear_bridge
+	path = Tools/simulation/flightgear/flightgear_bridge
 	url = https://github.com/PX4/PX4-FlightGear-Bridge.git
-[submodule "Tools/jsbsim_bridge"]
-	path = Tools/jsbsim_bridge
+[submodule "Tools/simulation/jsbsim/jsbsim_bridge"]
+	path = Tools/simulation/jsbsim/jsbsim_bridge
 	url = https://github.com/PX4/px4-jsbsim-bridge.git
 [submodule "src/drivers/cyphal/libcanard"]
 	path = src/drivers/cyphal/libcanard
@@ -53,9 +53,6 @@
 [submodule "src/lib/events/libevents"]
 	path = src/lib/events/libevents
 	url = https://github.com/mavlink/libevents.git
-[submodule "Tools/simulation-ignition"]
-	path = Tools/simulation-ignition
-	url = https://github.com/PX4/px4-simulation-ignition.git
 [submodule "src/lib/crypto/libtomcrypt"]
 	path = src/lib/crypto/libtomcrypt
 	url = https://github.com/PX4/libtomcrypt.git
@@ -11,7 +11,7 @@ matrix:
      dist: xenial
      # In order to stay under the coverity rate limit, we only run this weekly
      # and not on push which is configured in travis-ci settings.
-      if: branch = master
+      if: branch = main

 before_install:
    - echo -n | openssl s_client -connect scan.coverity.com:443 | sed -ne '/-BEGIN CERTIFICATE-/,/-END CERTIFICATE-/p' | sudo tee -a /etc/ssl/certs/ca-
@@ -2,10 +2,15 @@ CONFIG:
  default: px4_sitl_default
  choices:
    px4_sitl_default:
-      short: px4_sitl
+      short: px4_sitl_default
      buildType: RelWithDebInfo
      settings:
        CONFIG: px4_sitl_default
+    px4_sitl_ign:
+      short: px4_sitl_ign
+      buildType: RelWithDebInfo
+      settings:
+        CONFIG: px4_sitl_ign
    px4_sitl_rtps:
      short: px4_sitl_rtps
      buildType: RelWithDebInfo
@@ -54,7 +54,7 @@
            "type": "shell",
            "command": "ant create_run_jar copy_res",
            "options": {
-                "cwd": "${workspaceFolder}/Tools/jMAVSim"
+                "cwd": "${workspaceFolder}/Tools/simulation/jmavsim/jMAVSim"
            },
            "problemMatcher": [],
            "presentation":{
@@ -72,7 +72,7 @@
            "dependsOn": "jmavsim build",
            "command": "java -Djava.ext.dirs= -jar jmavsim_run.jar -r 250 -lockstep -tcp localhost:4560 -qgc",
            "options": {
-                "cwd": "${workspaceFolder}/Tools/jMAVSim/out/production",
+                "cwd": "${workspaceFolder}/Tools/simulation/jmavsim/jMAVSim/out/production",
                "env": {
                    "PX4_SIM_SPEED_FACTOR": "1"
                }
@@ -86,23 +86,7 @@
                "showReuseMessage": false,
                "clear": false
            },
-            "problemMatcher": [
-                {
-                    "pattern": [
-                        {
-                            "regexp": ".",
-                            "file": 1,
-                            "location": 2,
-                            "message": 3
-                        }
-                    ],
-                    "background": {
-                        "activeOnStart": true,
-                        "beginsPattern": ".",
-                        "endsPattern": ".",
-                    }
-                }
-            ]
+            "problemMatcher": []
        },
        {
            "label": "jmavsim kill",
@@ -116,7 +100,8 @@
                "showReuseMessage": false,
                "clear": false
            },
-            "problemMatcher": []
+            "problemMatcher": [],
+            "dependsOn":["px4_sitl_cleanup"]
        },
        {
            "label": "gazebo build",
@@ -143,11 +128,11 @@
                "cwd": "${workspaceFolder}",
                "env": {
                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
-                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models",
+                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/models",
                    "PX4_SIM_SPEED_FACTOR": "1"
                }
            },
-            "command": "gzserver --verbose ${workspaceFolder}/Tools/sitl_gazebo/worlds/${input:gazeboWorld}.world",
+            "command": "gzserver --verbose ${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/worlds/${input:gazeboWorld}.world",
            "isBackground": true,
            "presentation": {
                "echo": true,
@@ -183,11 +168,11 @@
                "cwd": "${workspaceFolder}",
                "env": {
                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
-                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models",
+                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/models",
                    "PX4_SIM_SPEED_FACTOR": "1"
                }
            },
-            "command": "gz model --verbose --spawn-file=${workspaceFolder}/Tools/sitl_gazebo/models/${input:vehicleModel}/${input:vehicleModel}.sdf --model-name=${input:vehicleModel} -x 1.01 -y 0.98 -z 0.83",
+            "command": "gz model --verbose --spawn-file=${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/models/${input:gazeboModel}/${input:gazeboModel}.sdf --model-name=${input:gazeboModel} -x 1.01 -y 0.98 -z 0.83",
            "isBackground": false,
            "presentation": {
                "echo": true,
@@ -216,26 +201,26 @@
            ]
        },
        {
-            "label": "gazebo client",
+            "label": "ign gazebo",
            "type": "shell",
-            "dependsOn": "gazebo build",
            "options": {
                "cwd": "${workspaceFolder}",
                "env": {
-                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
-                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models",
+                    "IGN_GAZEBO_RESOURCE_PATH": "${workspaceFolder}/Tools/simulation/ignition/models",
                    "PX4_SIM_SPEED_FACTOR": "1"
                }
            },
-            "command": "gzclient --verbose",
+            "command": "ign gazebo -v 4 -r ${workspaceFolder}/Tools/simulation/ignition/worlds/${input:ignWorld}.sdf",
            "isBackground": true,
            "presentation": {
                "echo": true,
                "reveal": "never",
+                "revealProblems": "onProblem",
                "focus": false,
-                "panel": "shared",
+                "panel": "dedicated",
                "showReuseMessage": false,
-                "clear": false
+                "clear": false,
+                "close": true
            },
            "problemMatcher": [
                {
@@ -258,29 +243,51 @@
        {
            "label": "gazebo kill",
            "type": "shell",
-            "command": "killall gzserver",
+            "command": "pkill -9 -f gzserver || true",
            "presentation": {
                "echo": true,
-                "reveal": "silent",
+                "reveal": "never",
+                "revealProblems": "onProblem",
                "focus": false,
-                "panel": "shared",
+                "panel": "dedicated",
                "showReuseMessage": false,
-                "clear": false
+                "clear": false,
+                "close": true
            },
            "problemMatcher": [],
            "dependsOn":["px4_sitl_cleanup"]
        },
        {
-            "label": "px4_sitl_cleanup",
+            "label": "ign gazebo kill",
            "type": "shell",
-            "command": "rm -rfv /tmp/px4*",
+            "command": "pkill -9 -f ign || true",
            "presentation": {
                "echo": true,
-                "reveal": "silent",
+                "reveal": "never",
+                "revealProblems": "onProblem",
                "focus": false,
-                "panel": "shared",
+                "panel": "dedicated",
                "showReuseMessage": false,
-                "clear": false
+                "clear": false,
+                "close": true
+            },
+            "problemMatcher": [],
+            "dependsOn":["px4_sitl_cleanup"]
+        },
+
+        {
+            "label": "px4_sitl_cleanup",
+            "type": "shell",
+            "command": "rm -rfv /tmp/px4* || true",
+            "presentation": {
+                "echo": true,
+                "reveal": "never",
+                "revealProblems": "onProblem",
+                "focus": false,
+                "panel": "dedicated",
+                "showReuseMessage": false,
+                "clear": false,
+                "close": true
            },
            "problemMatcher": [],
            "dependsOn":["px4_kill"]
@@ -288,14 +295,16 @@
        {
            "label": "px4_kill",
            "type": "shell",
-            "command": "killall px4 || true",
+            "command": "pkill -9 px4 || true",
            "presentation": {
                "echo": true,
-                "reveal": "silent",
+                "reveal": "never",
+                "revealProblems": "onProblem",
                "focus": false,
-                "panel": "shared",
+                "panel": "dedicated",
                "showReuseMessage": false,
-                "clear": false
+                "clear": false,
+                "close": true
            },
            "problemMatcher": []
        },
@@ -337,7 +346,16 @@
    "inputs": [
        {
            "type": "pickString",
-            "id": "vehicleModel",
+            "id": "ignWorld",
+            "description": "Ignition world",
+            "options": [
+                "default"
+            ],
+            "default": "default"
+        },
+        {
+            "type": "pickString",
+            "id": "gazeboModel",
            "description": "gazebo model",
            "options": [
              "iris",
@@ -26,15 +26,15 @@ pipeline {
        //       echo $0;
        //       mkdir -p catkin_ws/src;
        //       cd catkin_ws;
-        //       git -C ${WORKSPACE}/catkin_ws/src/Firmware submodule update --init --recursive --force Tools/sitl_gazebo
-        //       git clone --recursive ${WORKSPACE}/catkin_ws/src/Firmware/Tools/sitl_gazebo src/mavlink_sitl_gazebo;
+        //       git -C ${WORKSPACE}/catkin_ws/src/Firmware submodule update --init --recursive --force Tools/simulation/gazebo/sitl_gazebo
+        //       git clone --recursive ${WORKSPACE}/catkin_ws/src/Firmware/Tools/simulation/gazebo/sitl_gazebo src/mavlink_sitl_gazebo;
        //       git -C ${WORKSPACE}/catkin_ws/src/Firmware fetch --tags;
        //       source /opt/ros/melodic/setup.bash;
        //       export PYTHONPATH=/opt/ros/$ROS_DISTRO/lib/python2.7/dist-packages:/usr/lib/python2.7/dist-packages:/usr/local/lib/python2.7/dist-packages;
        //       catkin init;
        //       catkin build -j$(nproc) -l$(nproc);
        //     '''
-        //     // test if the binary was correctly installed and runs using 'mavros_posix_silt.launch'
+        //     // test if the binary was correctly installed and runs using 'mavros_posix_sitl.launch'
        //     sh '''#!/bin/bash -l
        //       echo $0;
        //       source catkin_ws/devel/setup.bash;
@@ -68,7 +68,7 @@ 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/simulation/gazebo/sitl_gazebo;
              git -C ${WORKSPACE}/colcon_ws/src/Firmware fetch --tags;
              source /opt/ros/foxy/setup.sh;
              colcon build --event-handlers console_direct+ --symlink-install;
@@ -297,10 +297,10 @@ pipeline {
            sh('make distclean; git clean -ff -x -d .')
            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
-              // 'master' branch
+              // 'main' branch
              sh('./msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
              sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
-              sh('cd px4_msgs; git push origin master || true')
+              sh('cd px4_msgs; git push origin main || true')
              // 'ros1' branch
              sh('cd px4_msgs; git checkout ros1')
              sh('./msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
@@ -129,57 +129,59 @@ else
 	BUILD_DIR_SUFFIX :=
 endif

+CMAKE_ARGS ?=
+
 # additional config parameters passed to cmake
 ifdef EXTERNAL_MODULES_LOCATION
-	CMAKE_ARGS += -DEXTERNAL_MODULES_LOCATION:STRING=$(EXTERNAL_MODULES_LOCATION)
+	override CMAKE_ARGS += -DEXTERNAL_MODULES_LOCATION:STRING=$(EXTERNAL_MODULES_LOCATION)
 endif

 ifdef PX4_CMAKE_BUILD_TYPE
-	CMAKE_ARGS += -DCMAKE_BUILD_TYPE=${PX4_CMAKE_BUILD_TYPE}
+	override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=${PX4_CMAKE_BUILD_TYPE}
 else

 	# Address Sanitizer
 	ifdef PX4_ASAN
-		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=AddressSanitizer
+		override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=AddressSanitizer
 	endif

 	# Memory Sanitizer
 	ifdef PX4_MSAN
-		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=MemorySanitizer
+		override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=MemorySanitizer
 	endif

 	# Thread Sanitizer
 	ifdef PX4_TSAN
-		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=ThreadSanitizer
+		override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=ThreadSanitizer
 	endif

 	# Undefined Behavior Sanitizer
 	ifdef PX4_UBSAN
-		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=UndefinedBehaviorSanitizer
+		override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=UndefinedBehaviorSanitizer
 	endif

 	# Fuzz Testing
 	ifdef PX4_FUZZ
-		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=FuzzTesting
+		override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=FuzzTesting
 	endif

 endif

 # Pick up specific Python path if set
 ifdef PYTHON_EXECUTABLE
-	CMAKE_ARGS += -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
+	override CMAKE_ARGS += -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
 endif

 # Check if the microRTPS agent is to be built
 ifdef BUILD_MICRORTPS_AGENT
-  CMAKE_ARGS += -DBUILD_MICRORTPS_AGENT=ON
+  override CMAKE_ARGS += -DBUILD_MICRORTPS_AGENT=ON
 endif

 # Functions
 # --------------------------------------------------------------------
 # describe how to build a cmake config
 define cmake-build
-	$(eval CMAKE_ARGS += -DCONFIG=$(1))
+	$(eval override CMAKE_ARGS += -DCONFIG=$(1))
 	@$(eval BUILD_DIR = "$(SRC_DIR)/build/$(1)")
 	@# check if the desired cmake configuration matches the cache then CMAKE_CACHE_CHECK stays empty
 	@$(call cmake-cache-check)
@@ -314,7 +316,9 @@ uorb_graphs:
 	@$(MAKE) --no-print-directory px4_fmu-v5_default uorb_graph
 	@$(MAKE) --no-print-directory px4_sitl_default uorb_graph

-px4io_update: px4_io-v2_default cubepilot_io-v2_default
+px4io_update:
+	@$(MAKE) --no-print-directory px4_io-v2_default
+	@$(MAKE) --no-print-directory cubepilot_io-v2_default
 	# px4_io-v2_default
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/holybro/durandal-v1/extras/px4_io-v2_default.bin
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/holybro/pix32v5/extras/px4_io-v2_default.bin
@@ -381,7 +385,7 @@ format:
 .PHONY: rostest python_coverage

 tests:
-	$(eval CMAKE_ARGS += -DTESTFILTER=$(TESTFILTER))
+	$(eval override CMAKE_ARGS += -DTESTFILTER=$(TESTFILTER))
 	$(eval ARGS += test_results)
 	$(eval ASAN_OPTIONS += color=always:check_initialization_order=1:detect_stack_use_after_return=1)
 	$(eval UBSAN_OPTIONS += color=always)
@@ -30,4 +30,3 @@ param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
-
@@ -9,6 +9,8 @@

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

+PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=quadx}

 # disable some checks to allow to fly:
 # - with usb
@@ -8,6 +8,8 @@

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

+PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=airplane}

 # disable some checks to allow to fly:
 # - with usb
@@ -8,6 +8,9 @@

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

+PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=xvert}
+
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_TYPE 0
 param set-default VT_FW_DIFTHR_EN 1
@@ -9,6 +9,7 @@

 # EKF2
 param set-default EKF2_AID_MASK 2
+param set-default EKF2_GPS_CTRL 0
 param set-default EKF2_EVP_NOISE 0.05
 param set-default EKF2_EVA_NOISE 0.05

@@ -10,6 +10,7 @@
 # EKF2: Vision position and heading
 param set-default EKF2_AID_MASK 24
 param set-default EKF2_EV_DELAY 5
+param set-default EKF2_GPS_CTRL 0

 # LPE: Vision + baro
 param set-default LPE_FUSION 132
@@ -9,6 +9,7 @@

 # EKF2
 param set-default EKF2_AID_MASK 2
+param set-default EKF2_GPS_CTRL 0

 # LPE: Flow-only mode
 param set-default LPE_FUSION 242
@@ -10,3 +10,4 @@
 # EKF2: Vision velocity and heading
 param set-default EKF2_AID_MASK 272
 param set-default EKF2_EV_DELAY 5
+param set-default EKF2_GPS_CTRL 0
@@ -0,0 +1,50 @@
+#!/bin/sh
+#
+# @name Ignition Gazebo X3
+#
+# @type Quadrotor
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=ignition}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500}
+PX4_SIM_WORLD=${PX4_SIM_WORLD:=default}
+
+param set-default SYS_CTRL_ALLOC 1
+
+param set-default CA_AIRFRAME 0
+param set-default CA_ROTOR_COUNT 4
+
+param set-default CA_ROTOR0_PX 0.13
+param set-default CA_ROTOR0_PY 0.22
+param set-default CA_ROTOR0_KM  0.05
+
+param set-default CA_ROTOR1_PX -0.13
+param set-default CA_ROTOR1_PY -0.20
+param set-default CA_ROTOR1_KM  0.05
+
+param set-default CA_ROTOR2_PX 0.13
+param set-default CA_ROTOR2_PY -0.22
+param set-default CA_ROTOR2_KM -0.05
+
+param set-default CA_ROTOR3_PX -0.13
+param set-default CA_ROTOR3_PY 0.20
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default SIM_IGN_FUNC1 101
+param set-default SIM_IGN_FUNC2 102
+param set-default SIM_IGN_FUNC3 103
+param set-default SIM_IGN_FUNC4 104
+
+param set-default SIM_IGN_MIN1 150
+param set-default SIM_IGN_MIN2 150
+param set-default SIM_IGN_MIN3 150
+param set-default SIM_IGN_MIN4 150
+
+param set-default SIM_IGN_MAX1 1000
+param set-default SIM_IGN_MAX2 1000
+param set-default SIM_IGN_MAX3 1000
+param set-default SIM_IGN_MAX4 1000
+
+param set-default MPC_THR_HOVER 0.60
@@ -72,9 +72,13 @@ px4_add_romfs_files(
 	1070_boat
 	3010_quadrotor_x
 	3011_hexarotor_x
+
+	4001_x500
+
 	17001_tf-g1
 	17002_tf-g2
 	2507_cloudship
+
 	6011_typhoon_h480
 	6011_typhoon_h480.post
 )
@@ -32,7 +32,7 @@ mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $ud
 mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote

 # To display for SIH sitl
-if [ "$SIM_MODE" = "sihsim" ]; then
+if [ "$PX4_SIMULATOR" = "sihsim" ]; then
 	udp_sihsim_port_local=$((19450+px4_instance))
 	udp_sihsim_port_remote=$((19410+px4_instance))
 	mavlink start -x -u $udp_sihsim_port_local -r 400000 -m custom -o $udp_sihsim_port_remote
@@ -1,20 +1,92 @@
 #!/bin/sh
 # shellcheck disable=SC2154

-simulator_tcp_port=$((4560+px4_instance))
+# Simulator IMU data provided at 250 Hz
+param set-default IMU_INTEG_RATE 250
+
+if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0" ]; then
+
+	if ! simulator_sih start; then
+		echo "ERROR  [init] simulator_sih failed to start"
+		exit 1
+	fi
+
+elif [ "$PX4_SIMULATOR" = "ignition" ]; then
+
+	# source generated gazebo_env.sh for IGN_GAZEBO_RESOURCE_PATH
+	if [ -f gazebo_env.sh ]; then
+		. ./gazebo_env.sh
+	elif [ -f ../gazebo_env.sh ]; then
+		. ../gazebo_env.sh
+	fi
+
+	ign_world=$( ign topic -l | grep -m 1 -e "/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
+
+	if [ -z $ign_world ]; then
+
+		# starting ign gazebo with ${PX4_SIM_WORLD} world
+		echo "INFO  [init] starting ign gazebo"
+
+		if [ -z $HEADLESS ]; then
+			ign gazebo --verbose=1 -r "${PX4_IGN_GAZEBO_WORLDS}/${PX4_SIM_WORLD}.sdf" &
+		else
+			# starting ign gazebo headless
+			ign gazebo --verbose=1 -r -s "${PX4_IGN_GAZEBO_WORLDS}/${PX4_SIM_WORLD}.sdf" &
+		fi
+	else
+		echo "INFO  [init] ign gazebo already running world: $ign_world"
+		PX4_SIM_WORLD=$ign_world
+	fi
+
+	if [ -z $PX4_IGN_MODEL_POSE ]; then
+		# start ignition bridge without pose arg.
+		echo "WARN  [init] PX4_IGN_MODEL_POSE not set, spawning at origin."
+		if simulator_ignition_bridge start -m "${PX4_SIM_MODEL}" -w "${PX4_SIM_WORLD}"; then
+			sensor_baro_sim start
+			sensor_gps_sim start
+			sensor_mag_sim start
+		else
+			echo "ERROR  [init] ign gazebo failed to start"
+			exit 1
+		fi
+	else
+
+		# Clean potential input line formatting.
+		model_pose="$( echo ${PX4_IGN_MODEL_POSE} | sed -e 's/^[ \t]*//; s/[ \t]*$//; s/,/ /g; s/  / /g; s/ /,/g' )"
+		echo "INFO  [init] PX4_IGN_MODEL_POSE set, spawning at: ${model_pose}"
+
+		# start ignition bridge with pose arg.
+		if simulator_ignition_bridge start -p "${model_pose}"  -m "${PX4_SIM_MODEL}" -w "${PX4_SIM_WORLD}"; then
+			sensor_baro_sim start
+			sensor_gps_sim start
+			sensor_mag_sim start
+		else
+			echo "ERROR  [init] ign gazebo failed to start"
+			exit 1
+		fi
+
+	fi

-# Check if PX4_SIM_HOSTNAME environment variable is empty
-# If empty check if PX4_SIM_HOST_ADDR environment variable is empty
-# If both are empty use localhost for simulator
-if [ -z "${PX4_SIM_HOSTNAME}" ]; then
-  if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
-    echo "PX4 SIM HOST: localhost"
-    simulator start -c $simulator_tcp_port
-  else
-    echo "PX4 SIM HOST: $PX4_SIM_HOST_ADDR"
-    simulator start -t $PX4_SIM_HOST_ADDR $simulator_tcp_port
-  fi
 else
-  echo "PX4 SIM HOST: $PX4_SIM_HOSTNAME"
-  simulator start -h $PX4_SIM_HOSTNAME $simulator_tcp_port
+	# otherwise start simulator (mavlink) module
+	simulator_tcp_port=$((4560+px4_instance))
+
+	# Check if PX4_SIM_HOSTNAME environment variable is empty
+	# If empty check if PX4_SIM_HOST_ADDR environment variable is empty
+	# If both are empty use localhost for simulator
+	if [ -z "${PX4_SIM_HOSTNAME}" ]; then
+
+		if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
+			echo "PX4 SIM HOST: localhost"
+			simulator_mavlink start -c $simulator_tcp_port
+		else
+			echo "PX4 SIM HOST: $PX4_SIM_HOST_ADDR"
+			simulator_mavlink start -t $PX4_SIM_HOST_ADDR $simulator_tcp_port
+		fi
+
+	else
+		echo "PX4 SIM HOST: $PX4_SIM_HOSTNAME"
+		simulator_mavlink start -h $PX4_SIM_HOSTNAME $simulator_tcp_port
+	fi
+
 fi
@@ -30,6 +30,7 @@ set MIXER_FILE                  none
 set OUTPUT_MODE                 sim
 set EXTRA_MIXER_MODE            none
 set PWM_OUT                     none
+set PWM_AUX_OUT                 none
 set SDCARD_MIXERS_PATH          etc/mixers
 set USE_IO                      no
 set VEHICLE_TYPE                none
@@ -38,10 +39,24 @@ set LOGGER_BUF                  1000

 set RUN_MINIMAL_SHELL           no

-# Use the variable set by sitl_run.sh to choose the model settings.
-if [ "$PX4_SIM_MODEL" = "shell" ]; then
+set SYS_AUTOSTART=0
+
+if [ "$PX4_SIM_MODEL" = "shell" ]
+then
 	set RUN_MINIMAL_SHELL yes
-else
+
+elif [ -n "$PX4_SYS_AUTOSTART" ]
+then
+	echo "env SYS_AUTOSTART: ${PX4_SYS_AUTOSTART}"
+	SYS_AUTOSTART=${PX4_SYS_AUTOSTART}
+
+elif [ "$PX4_SIM_MODEL" = "none" ] || [ -z $PX4_SIM_MODEL ]
+then
+	# no airframe selected
+	SYS_AUTOSTART=0
+
+elif [ -n "$PX4_SIM_MODEL" ]
+then
 	# Find the matching Autostart ID (file name has the form: [0-9]+_${PX4_SIM_MODEL})
 	# TODO: unify with rc.autostart generation
 	# shellcheck disable=SC2012
@@ -50,12 +65,13 @@ else
 		echo "ERROR  [init] Unknown model $PX4_SIM_MODEL (not found by name on ${R}etc/init.d-posix/airframes)"
 		exit 1
 	else
+		SYS_AUTOSTART=$REQUESTED_AUTOSTART
 		echo "INFO  [init] found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
 	fi
 fi

 # Load parameters
-set PARAM_FILE eeprom/parameters_"$REQUESTED_AUTOSTART"
+set PARAM_FILE parameters.bson
 param select $PARAM_FILE

 if [ -f $PARAM_FILE ]
@@ -66,26 +82,16 @@ then
 	else
 		echo "[param] FAILED loading $PARAM_FILE"
 	fi
-else
-	echo "[param] parameter file not found, creating $PARAM_FILE"
 fi

 # exit early when the minimal shell is requested
 [ $RUN_MINIMAL_SHELL = yes ] && exit 0

+if param compare SYS_AUTOSTART $SYS_AUTOSTART
+then
+	set AUTOCNF no

-# Use environment variable PX4_ESTIMATOR to choose estimator.
-if [ "$PX4_ESTIMATOR" = "q" ]; then
-	param set SYS_MC_EST_GROUP 3
-elif [ "$PX4_ESTIMATOR" = "ekf2" ]; then
-	param set SYS_MC_EST_GROUP 2
-elif [ "$PX4_ESTIMATOR" = "lpe" ]; then
-	param set SYS_MC_EST_GROUP 1
-elif [ "$PX4_ESTIMATOR" = "inav" ]; then
-	param set SYS_MC_EST_GROUP 0
-fi
-
-if param compare SYS_AUTOSTART $REQUESTED_AUTOSTART
+elif [ "$SYS_AUTOSTART" -eq 0 ]
 then
 	set AUTOCNF no
 else
@@ -106,7 +112,7 @@ param set MAV_SYS_ID $((px4_instance+1))

 if [ $AUTOCNF = yes ]
 then
-	param set SYS_AUTOSTART $REQUESTED_AUTOSTART
+	param set SYS_AUTOSTART $SYS_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
@@ -143,6 +149,7 @@ param set-default EKF2_MULTI_MAG 2
 param set-default SENS_MAG_MODE 0

 param set-default IMU_GYRO_FFT_EN 1
+param set-default MAV_PROTO_VER 2 # Ensures QGC does not drop the first few packets after a SITL restart due to MAVLINK 1 packets

 param set-default -s MC_AT_EN 1

@@ -190,28 +197,28 @@ do
 			;;
 	esac
 done
-if [ ! -e "$autostart_file" ]; then
+
+if [ -e "$autostart_file" ]
+then
+	. "$autostart_file"
+
+elif [ ! -e "$autostart_file" ] && [ "$SYS_AUTOSTART" -ne "0" ]
+then
 	echo "Error: no autostart file found ($autostart_file)"
 	exit 1
 fi

-. "$autostart_file"
-
-# Simulator IMU data provided at 250 Hz
-param set IMU_INTEG_RATE 250
-
 #user defined params for instances can be in PATH
 . px4-rc.params

 dataman start
-# start sih in sih_sim mode, otherwise simulator module
-if [ "$SIM_MODE" = "sihsim" ]; then
-	sih start
+
 # only start the simulator if not in replay mode, as both control the lockstep time
-elif ! replay tryapplyparams
+if ! replay tryapplyparams
 then
-  . px4-rc.simulator
+	. px4-rc.simulator
 fi
+
 load_mon start
 battery_simulator start
 tone_alarm start
@@ -255,6 +262,12 @@ then
 	gyro_calibration start
 fi

+# Payload deliverer module if gripper is enabled
+if param compare -s PD_GRIPPER_EN 1
+then
+	payload_deliverer start
+fi
+
 #user defined mavlink streams for instances can be in PATH
 . px4-rc.mavlink

@@ -41,6 +41,7 @@ px4_add_romfs_files(
 	rc.boat_defaults
 	rc.fw_apps
 	rc.fw_defaults
+	rc.heli_defaults
 	rc.interface
 	rc.logging
 	rc.mc_apps
@@ -1,55 +1,27 @@
 #!/bin/sh
 #
-# @name Blade 130X
+# @name Generic Helicopter (Tail ESC)
 #
 # @type Helicopter
 # @class Copter
 #
-# @maintainer Bart Slinger <bartslinger@gmail.com>
-#
-# @output Motor1 main motor
-# @output Servo1 front swashplate servo
-# @output Servo2 right swashplate servo
-# @output Servo3 left swashplate servo
-# @output Servo4 tail-rotor servo
-#
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
 #

-. ${R}etc/init.d/rc.mc_defaults
-
-# Configure as helicopter
-param set-default MAV_TYPE 4
+. ${R}etc/init.d/rc.heli_defaults


-
-param set-default ATT_BIAS_MAX 0
-
-param set-default CBRK_IO_SAFETY 22027
-
-param set-default MC_ROLL_P 5
+# Disable PID gains for initial setup. These should be enabled after setting the FF gain.
+# P is expected to be lower than FF.
 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_ROLLRATE_FF 0.1
 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_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-default MPC_THR_MIN 0.06
-param set-default MPC_MANTHR_MIN 0.06
-
-param set-default PWM_MAIN_MIN 1075
+param set-default MC_PITCHRATE_FF 0.1

 param set-default CA_AIRFRAME 10

@@ -60,7 +60,6 @@ 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
@@ -0,0 +1,35 @@
+#!/bin/sh
+#
+# @name Holybro X500 V2
+#
+# @type Quadrotor x
+# @class Copter
+#
+# @maintainer Farhang Naderi <farhang.nba@gmail.com>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+param set-default IMU_GYRO_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
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.25
+param set-default CA_ROTOR0_PY 0.25
+param set-default CA_ROTOR1_PX -0.25
+param set-default CA_ROTOR1_PY -0.25
+param set-default CA_ROTOR2_PX 0.25
+param set-default CA_ROTOR2_PY -0.25
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.25
+param set-default CA_ROTOR3_PY 0.25
+param set-default CA_ROTOR3_KM -0.05
@@ -26,7 +26,6 @@ param set-default MC_ROLLRATE_MAX 1600
 param set-default MC_PITCHRATE_MAX 1600
 param set-default MC_YAWRATE_MAX 1000

-param set-default MPC_MANTHR_MIN 0
 param set-default MPC_MAN_TILT_MAX 60

 param set-default THR_MDL_FAC 0.3
@@ -73,7 +73,7 @@ param set-default EKF2_PCOEF_YN -0.4
 param set-default EKF2_PCOEF_YP -0.4

 param set-default EKF2_RNG_A_VMAX 1.0
-param set-default EKF2_RNG_AID 0
+param set-default EKF2_RNG_CTRL 0
 param set-default EKF2_RNG_DELAY 55
 param set-default EKF2_RNG_POS_X -0.035
 param set-default EKF2_RNG_POS_Y 0.0
@@ -38,7 +38,7 @@ param set-default SENS_BOARD_ROT 10

 # EKF2
 param set-default EKF2_GND_EFF_DZ 6
-param set-default EKF2_HGT_MODE 1
+param set-default EKF2_HGT_REF 1

 # Position control
 param set-default MPC_Z_P 1
@@ -42,7 +42,7 @@ param set-default SENS_EN_BATT 1
 # EKF2
 param set-default EKF2_AID_MASK 3
 param set-default EKF2_GND_EFF_DZ 6
-param set-default EKF2_HGT_MODE 1
+param set-default EKF2_HGT_REF 1
 param set-default EKF2_MIN_RNG 0.3

 # Flow
@@ -26,7 +26,8 @@ param set-default COM_RC_IN_MODE 1

 param set-default EKF2_ABL_LIM 2
 param set-default EKF2_AID_MASK 3
-param set-default EKF2_HGT_MODE 2
+param set-default EKF2_HGT_REF 2
+param set-default EKF2_RNG_CTRL 2
 param set-default EKF2_MAG_TYPE 1
 param set-default EKF2_OF_DELAY 10

@@ -20,6 +20,7 @@
 param set-default SYS_MC_EST_GROUP 2
 param set-default SYS_HAS_MAG 0
 param set-default EKF2_AID_MASK 2
+param set-default EKF2_GPS_CTRL 0
 param set-default EKF2_MAG_TYPE 5

 param set-default BAT1_N_CELLS 1
@@ -71,7 +71,7 @@ param set-default MIS_TAKEOFF_ALT 1.1
 # EKF
 #####################################
 # Height mode as GPS
-param set-default EKF2_HGT_MODE 1
+param set-default EKF2_HGT_REF 1
 # Enable optical flow and GPS
 param set-default EKF2_MAG_TYPE 1
 param set-default EKF2_OF_QMIN 80
@@ -56,6 +56,7 @@ px4_add_romfs_files(
 	4015_holybro_s500
 	4016_holybro_px4vision
 	4017_nxp_hovergames
+	4019_x500_v2
 	4040_reaper
 	4041_beta75x
 	4050_generic_250
@@ -0,0 +1,17 @@
+#!/bin/sh
+#
+# Helicopter default parameters.
+#
+# NOTE: Script variables are declared/initialized/unset in the rcS script.
+#
+
+# Inherit from mc
+. ${R}etc/init.d/rc.mc_defaults
+
+param set-default MAV_TYPE 4
+
+param set-default COM_PREARM_MODE 2
+param set-default COM_SPOOLUP_TIME 10
+
+# No need for minimum collective pitch (or airmode) to keep torque authority
+param set-default MPC_MANTHR_MIN 0
@@ -368,7 +368,7 @@ else
 		# start the simulator in hardware if needed
 		if param compare SYS_HITL 2
 		then
-			sih start
+			simulator_sih start
 		fi

 	else
@@ -505,6 +505,12 @@ else
 		px4flow start -X &
 	fi

+	# Payload deliverer module if gripper is enabled
+	if param compare -s PD_GRIPPER_EN 1
+	then
+		payload_deliverer start
+	fi
+
 	#
 	# Optional board supplied extras: rc.board_extras
 	#
@@ -1,3 +1,4 @@
+# @board px4_fmu-v2 exclude
 Aileron/rudder/elevator/throttle/wheel/flaps mixer for PX4FMU
 =======================================================

@@ -1,3 +1,4 @@
+# @board px4_fmu-v2 exclude
 Aileron/v-tail/throttle/wheel/flaps mixer for PX4FMU
 =======================================================

@@ -1,3 +1,4 @@
+# @board px4_fmu-v2 exclude
 Aileron/v-tail/throttle/wheel/flaps mixer for PX4FMU
 =======================================================

@@ -1,3 +1,4 @@
+# @board px4_fmu-v2 exclude
 Aileron/rudder/elevator/throttle mixer for PX4FMU
 ==================================================

@@ -73,4 +74,4 @@ Ch6: Landing gear mixer
 By default pass-through of gear switch

 M: 1
-S: 3 5 10000 10000 0 -10000 10000
+S: 3 5 10000 10000 0 -10000 10000
@@ -1,3 +1,4 @@
+# @board px4_fmu-v2 exclude
 Aileron/Elevator/Throttle/Rudder/Gear/Flaps mixer
 ==================================================

@@ -1,3 +1,4 @@
+# @board px4_fmu-v2 exclude
 Helicopter 120 degree Cyclic-Collective-Pitch Mixing (CCPM) for PX4FMU
 ==================================================

@@ -1,3 +1,4 @@
+# @board px4_fmu-v2 exclude
 Passthrough mixer for PX4IO
 ============================

@@ -1,3 +1,4 @@
+# @board px4_fmu-v2 exclude
 Coaxial helicopter mixer
 - Two servomotors act on the swashplate (90 degree angle on the swashplate, decoupled effect on roll and pitch).
 - No collective pitch.
@@ -1,3 +1,4 @@
+# @board px4_fmu-v2 exclude
 Generic wing mixer
 ===========================

@@ -1,3 +1,4 @@
+# @board px4_fmu-v2 exclude
 Generic differential-drive rover
 ===========================

@@ -1,3 +1,4 @@
+# @board px4_fmu-v2 exclude
 # Hexa +

 R: 6+
@@ -1,3 +1,4 @@
+# @board px4_fmu-v2 exclude
 # Hexa coaxial

 R: 6c
@@ -1,3 +1,4 @@
+# @board px4_fmu-v2 exclude
 # Hexa X

 R: 6x
@@ -1,3 +1,4 @@
+# @board px4_fmu-v2 exclude
 # Mount Mixer (e.g. Gimbal, servo-controlled gimbal, etc...)


@@ -1,3 +1,4 @@
+# @board px4_fmu-v2 exclude
 # Octo +

 R: 8+
@@ -1,3 +1,4 @@
+# @board px4_fmu-v2 exclude
 # Octo coaxial

 R: 8c
@@ -1,3 +1,4 @@
+# @board px4_fmu-v2 exclude
 # Octo X

 R: 8x
@@ -1,3 +1,4 @@
+# @board px4_fmu-v2 exclude
 # Manual pass through mixer for servo outputs 1-4

 # AUX1 channel (select RC channel with RC_MAP_AUX1 param)
@@ -1,3 +1,4 @@
+# @board px4_fmu-v2 exclude
 Multirotor mixer for PX4FMU
 ===========================

@@ -1,3 +1,4 @@
+# @board px4_fmu-v2 exclude
 Mixer for Tailsitter with + motor configuration and elevons
 ===========================================================

@@ -1,3 +1,4 @@
+# @board px4_fmu-v2 exclude
 Multirotor mixer
 ===========================

@@ -1,3 +1,4 @@
+# @board px4_fmu-v2 exclude
 Multirotor mixer for PX4FMU
 ===========================

@@ -1,3 +1,4 @@
+# @board px4_fmu-v2 exclude
 Multirotor mixer for PX4FMU
 ===========================

@@ -1,3 +1,4 @@
+# @board px4_fmu-v2 exclude
 R: 4x

 AUX1 Passthrough
@@ -1,3 +1,4 @@
+# @board px4_fmu-v2 exclude
 Mixer for an AAERT VTOL
 =======================

@@ -1,3 +1,4 @@
+# @board px4_fmu-v2 exclude
 Generic car mixer (eg DF Robot GPX:Asurada RC Car)
 ===========================

@@ -1,3 +1,4 @@
+# @board px4_fmu-v2 exclude
 Generic car mixer (eg Traxxas Stampede RC Car)
 ===========================

@@ -1,3 +1,4 @@
+# @board px4_fmu-v2 exclude


 # Tricopter Y-Configuration Mixer
@@ -1,3 +1,4 @@
+# @board px4_fmu-v2 exclude


 # Tricopter Y-Configuration Mixer
@@ -1,3 +1,4 @@
+# @board px4_fmu-v2 exclude
 Tailsitter duo mixer
 ============================

@@ -1,901 +0,0 @@
-#! /bin/bash
-
-# Written by Carlo Wood, September/October 2016.
-
-function fatal
-{
-	echo "$0: ERROR: $*"
-	exit 1
-}
-
-# Make sure we're not having a broken gawk.
-AWK_VERSION=$(awk -V | head -n 1)
-if [[ $AWK_VERSION =~ ^GNU\ Awk\ 4\.[0-9]+\.[0-9]+ ]]; then
-	AWK_VERSION=$(echo $AWK_VERSION | sed -e 's/GNU Awk \(4\.[0-9]*\.[0-9]*\).*/\1/')
-	if [[ $AWK_VERSION =~ ^4\.0*([2-9]+|1\.0*[2-9]+) ]]; then
-		fatal "Your version of awk ($AWK_VERSION) is broken. Please use version 4.1.1 or lower."
-	fi
-fi
-echo "AWK_VERSION=$AWK_VERSION"
-
-# Find out what the base directory is.
-BASEDIR="$(dirname $(dirname $(readlink -en "$0")))"
-echo "BASEDIR=\"$BASEDIR\""
-striplen=$((${#BASEDIR} + 2))
-
-# BASEDIR may not contain a space, that's just too hard to get to work.
-expr index "$BASEDIR" " " >/dev/null && fatal "it is not supported that BASEDIR contains a space."
-
-# Make sure that worked.
-test -f $BASEDIR/cmake/posix/px4_impl_posix.cmake || fatal "Failed to determine BASEDIR: '\$BASEDIR/cmake/posix/px4_impl_posix.cmake' is not a regular file."
-
-# Parse command line parameters.
-debug=0	# Set to non-zero to enable debugging.
-force=0	# Set to 1 to force running of script even when there are uncommitted changes.
-merge=0	# Set to 1 when merging a branch that didn't run this script into master that did already run this script.
-while [[ $# -gt 0 ]]
-do
-	case $1 in
-		--debug)
-			debug=1
-			;;
-		--force)
-			force=1
-			;;
-		--merge)
-			force=1
-			merge=1
-			fatal "--merge is not implemented yet."
-			;;
-		-*)
-			fatal "Unknown option $1"
-			;;
-		--|*)
-			break
-			;;
-	esac
-	shift
-done
-non_option_arguments=$#
-if [ $non_option_arguments -eq 0 -a $debug -ne 0 ]; then
-	fatal "--debug screws up the source files with debug output! You must provide a single filename to run on."
-fi
-
-# Better not run this script with changes that still need to be committed.
-cd "$BASEDIR" || fatal "Could not change directory to \"$BASEDIR\""
-if ! git diff-index --quiet HEAD --; then
-	if [ $non_option_arguments -ne 0 -o $force -eq 1 ]; then
-		if [ $force -eq 1 ]; then
-			echo "Uncommitted changes, but running anyway because --force is used."
-		else
-			echo -n "WARNING: You have uncommitted changes (use --force to remove this warning). Run anyway? [y/N] "
-			read answer
-			if [ "x$answer" != "xy" -a "x$answer" != "xY" ]; then exit 0; fi
-		fi
-	else
-		fatal "Your working directory has uncommitted changes (see 'git status')! Bailing out."
-	fi
-fi
-
-# Find a reasonable tmp directory.
-# First make a list of all build directories by looking for a CMakeCache.txt in them. Sort them so the most recent one is first.
-CMAKECACHE_FILES=$(find "$BASEDIR" -mindepth 2 -maxdepth 2 -type f -name CMakeCache.txt -wholename "$BASEDIR/build/*/CMakeCache.txt" | xargs /bin/ls -td)
-# Make a list of all candidate tmp directories.
-TMPDIRS=
-for f in $CMAKECACHE_FILES; do
-	if [ -d $(dirname $f)/tmp ]; then
-		TMPDIRS+=" $(dirname $f)/tmp"
-	fi
-done
-# Put BASEDIR first in case there are no build directories because /tmp is probably on a different file system.
-TMPDIRS+=" $BASEDIR /tmp ."
-# Pick the first one that is actually writable.
-for tmp in $TMPDIRS; do
-	TMPDIR="$tmp"
-	if [ -w "$TMPDIR" ]; then
-		break;
-	fi
-done
-test -n "$TMPDIR" || fatal "Can not find a writable tmp directory."
-echo "TMPDIR=\"$TMPDIR\""
-
-# Make a list of all source and header files that we need to fix.
-# List of directories that we don't want to touch.
-EXCLUDE_FOLDERS=".git Tools"
-EXCLUDE_PATTERNS="examples matlab/scripts tests test unit_test *_test *_tests test_* apps/test_* UnitTests"
-# A regular expression for the exclude patterns.
-EXCLUDE_PATTERNS_RE="($(echo $EXCLUDE_PATTERNS | sed -e 's/\*/[^\/]*/g;s/ /|/g'))"
-# Extensions of files that we do want to change (leaving out .y and .py for now).
-C_EXTENSIONS=".c .c_in .c_shipped"
-H_EXTENSIONS=".h .h.in .h_template"
-CXX_EXTENSIONS=".cc .cpp .cpp.in .cxx .cpp_template"
-HXX_EXTENSIONS=".hh .hpp .hxx"
-# The regular expression that we consider to be an #include.
-INCLUDE_RE='^[[:space:]]*#[[:space:]]*include[[:space:]]*[<"]'
-# Regular expression for empty lines.
-EMPTY_LINE_RE='^[[:space:]]*$'
-# Regular expression for one-line comments.
-COMMENT_LINE_RE='^[[:space:]]*(\/\/.*|\/\*([^*]|\*+[^\/*])*\*+\/[[:space:]]*)$'
-# Regular expression for a #define (on one line).
-DEFINE_RE='^[[:space:]]*#[[:space:]]*define[[:space:]].*[^\\]$'
-# Regular expression for an #if[[n]def].
-IF_RE='^[[:space:]]*#[[:space:]]*if(n?def)?[[:space:]]'
-# Regular expression for an #endif.
-ENDIF_RE='^[[:space:]]*#[[:space:]]*endif($|[^[:alnum:]])'
-# Regular expression for header file extension.
-HEADER_RE="($(echo $H_EXTENSIONS $HXX_EXTENSIONS | sed -e 's/\./\\./g;s/ /|/g'))"
-# Regular expression for C++ source and header files.
-CXXSRC_RE="($(echo $CXX_EXTENSIONS $HXX_EXTENSIONS | sed -e 's/\./\\./g;s/ /|/g'))"
-# List of standard C header files. Note that cfcntl, cshed and cunistd are NOT standard header files, even though they are in NuttX/nuttx/include/cxx.
-REAL_STDC_HEADERS_RE='(cassert|ccomplex|cctype|cerrno|cfenv|cfloat|cinttypes|ciso646|climits|clocale|cmath|csetjmp|csignal|cstdalign|cstdarg|cstdbool|cstddef|cstdint|cstdio|cstdlib|cstring|ctgmath|ctime|cuchar|cwchar|cwctype)'
-STDC_HEADERS=$(find "$BASEDIR/NuttX/nuttx/include/cxx" -mindepth 1 -maxdepth 1 -type f | xargs basename -a | grep -E "$REAL_STDC_HEADERS_RE" | xargs echo)
-# Regular expression of standard C header files, but with the leading 'c' stripped.
-STDC_HEADERS_RE="($(echo $STDC_HEADERS | sed -e 's/^c//;s/ c/|/g'))"
-# Actual list of standard C header files.
-# List of standard C++ header files.
-REAL_STDCXX_HEADERS_RE='(algorithm|any|array|atomic|bitset|cassert|ccomplex|cctype|cerrno|cfenv|cfloat|chrono|cinttypes|ciso646|climits|clocale|cmath|codecvt|complex|condition_variable|csetjmp|csignal|cstdalign|cstdarg|cstdbool|cstddef|cstdint|cstdio|cstdlib|cstring|ctgmath|ctime|cuchar|cwchar|cwctype|deque|exception|execution|filesystem|forward_list|fstream|functional|future|initializer_list|iomanip|ios|iosfwd|iostream|istream|iterator|limits|list|locale|map|memory|memory_resource|mutex|new|numeric|optional|ostream|queue|random|ratio|regex|scoped_allocator|set|shared_mutex|sstream|stack|stdexcept|streambuf|string|string_view|strstream|system_error|thread|tuple|typeindex|typeinfo|type_traits|unordered_map|unordered_set|utility|valarray|variant|vector)'
-STDCXX_HEADERS=$(find "$BASEDIR/NuttX/misc/uClibc++/include/uClibc++" -mindepth 1 -maxdepth 1 -type f | xargs basename -a | grep -E "$REAL_STDCXX_HEADERS_RE" | grep -E -v "$REAL_STDC_HEADERS_RE" | xargs echo)
-# Regular expression of C++ header files.
-STDCXX_HEADERS_RE="($(echo $STDCXX_HEADERS | sed -e 's/ /|/g'))"
-# Regular expression for #pragma once.
-PRAGMA_ONCE_RE='^#pragma once'
-# Regular expression to recognize the start of a C-comment block.
-COMMENT_BEGIN_RE='(^|[^\/])\/\*([^*]|\*+($|[^\/*]))*$'
-# Regular expression to recognize the end of a C-comment block.
-COMMENT_END_RE='\*\/'
-# Regular expression to match C++ unsafe headers. We currently don't have any C++ unsafe headers, do we?
-# v2.0/standard/mavlink.h is not unsafe, but this way the script will leave it alone and not
-# move it above function declarations that need to be declared before including it.
-UNSAFE_HEADERS_RE='(v2\.0\/standard\/mavlink\.h)'
-#UNSAFE_HEADERS_RE='(stm32\.h|arch\/board\/board\.h)'
-
-# Find all submodules.
-test -f $BASEDIR/.gitmodules || fatal "No such file: $BASEDIR/.gitmodules"
-SUBMODULES=$(grep -A 1 '^\[submodule' $BASEDIR/.gitmodules | grep '^[[:space:]]*path = ' | sed -r -e 's/^[[:space:]]*path = //' | xargs echo)
-echo "SUBMODULES=\"$SUBMODULES\""
-SUBMODULES_RE="($(echo $SUBMODULES | sed -e 's/ /|/g'))"
-
-# Disable path name expansion (otherwise the find patterns will be expanded against the files in the current working directory).
-set -f
-
-EXCLUDE_ARGS=
-for excl in $EXCLUDE_FOLDERS; do
-	if [ -z "$EXCLUDE_ARGS" ]; then
-		EXCLUDE_ARGS="-wholename $BASEDIR/$excl/*"
-	else
-		EXCLUDE_ARGS+=" -o -wholename $BASEDIR/$excl/*"
-	fi
-done
-for excl in $EXCLUDE_PATTERNS; do
-	EXCLUDE_ARGS+=" -o -wholename */$excl/*"
-done
-INCLUDE_H_ARGS=
-for ext in $H_EXTENSIONS $HXX_EXTENSIONS; do
-	if [ -z "$INCLUDE_H_ARGS" ]; then
-		INCLUDE_H_ARGS="-name *$ext"
-	else
-		INCLUDE_H_ARGS+=" -o -name *$ext"
-	fi
-done
-INCLUDE_C_ARGS=
-for ext in $C_EXTENSIONS $CXX_EXTENSIONS; do
-	if [ -z "$INCLUDE_C_ARGS" ]; then
-		INCLUDE_C_ARGS="-name *$ext"
-	else
-		INCLUDE_C_ARGS+=" -o -name *$ext"
-	fi
-done
-# Also exclude all submodules -- because we don't maintain those (are we?).
-for subm in $SUBMODULES; do
-	if [ -z "$SUBMODULES_ARGS" ]; then
-		SUBMODULES_ARGS="-wholename $BASEDIR/$subm/*"
-	else
-		SUBMODULES_ARGS+=" -o -wholename $BASEDIR/$subm/*"
-	fi
-done
-
-echo -n "Finding all source files with #include's (excluding submodules and build directory)... "
-find $BASEDIR -mindepth 2 -type f ! \( -wholename $BASEDIR/build/* -o $EXCLUDE_ARGS -o $SUBMODULES_ARGS \) \( $INCLUDE_C_ARGS -o $INCLUDE_H_ARGS \) > $TMPDIR/fix_headers_sources
-cat "$TMPDIR/fix_headers_sources" | xargs grep -l "$INCLUDE_RE" > $TMPDIR/fix_headers_sources_with_includes
-echo "done"
-number_of_files=$(sed -n '$=' "$TMPDIR/fix_headers_sources_with_includes")
-count=0
-
-echo -n "Finding all submodule header files (excluding stdc++ headers)... "
-find $BASEDIR -type f ! \( $EXCLUDE_ARGS \) \( $SUBMODULES_ARGS \) \( $INCLUDE_H_ARGS \) > $TMPDIR/fix_headers_SUBMODULE_HEADERS
-echo "done"
-
-echo -n "Finding all header files (excluding stdc++ headers)... "
-find $BASEDIR -type f ! \( $EXCLUDE_ARGS \) -wholename $BASEDIR/build/* \( $INCLUDE_H_ARGS \) > $TMPDIR/fix_headers_HEADERS
-grep -E "$HEADER_RE" $TMPDIR/fix_headers_sources >> $TMPDIR/fix_headers_HEADERS
-cat $TMPDIR/fix_headers_SUBMODULE_HEADERS >> $TMPDIR/fix_headers_HEADERS
-echo "done"
-
-echo -n "Finding all include paths... "
-for f in `cat $TMPDIR/fix_headers_sources_with_includes`; do grep -E "$INCLUDE_RE" $f | sed -r -e "s%$INCLUDE_RE%%"';s/[">].*//'; done | sort -u | grep -E -v "(/|^)$EXCLUDE_PATTERNS_RE/" > $TMPDIR/fix_headers_include_paths
-echo "done"
-
-function include_path()
-{
-	# If the include path starts with a '.', then it is a local header.
-	if [[ $1 =~ ^\. ]]; then return 1; fi
-	# If the include path starts with 'platforms/' then it is a local header;
-	# added this exception here because not everyone has all build_ directories for all targets installed.
-	if [[ $1 =~ platforms/ ]]; then return 1; fi
-	# apps.h is generated from apps.h.in.
-	if [ $1 = "apps.h" ]; then return 1; fi
-	# Treat the following headers from src/platforms/*/include as system header because they replace what is found in nuttx (for posix and qurt).
-	if [ $1 = "arch/board/board.h" -o $1 = "crc32.h" -o $1 = "i2c.h" -o $1 = "queue.h" -o $1 = "poll.h" -o $1 = "sys/ioctl.h" ]; then return 2; fi
-	# Escape the path for reg.exp. matching.
-	PATH_RE=$(echo $1 | sed -e 's/\([+.]\)/\\\1/')
-	issubmodule=0;
-	islocal=0;
-	foo=0
-	for includedir in $(grep "/$PATH_RE\$" $TMPDIR/fix_headers_HEADERS | cut -c $striplen-); do
-		# If the include directory is NuttX header that was copied to the build directory, then it's still a system file.
-		if [[ $includedir/ =~ ^build/.*/NuttX/ ]]; then
-			issubmodule=1
-		# If the include directory is a submodule, then treat it as a system file.
-		elif [[ $includedir/ =~ ^$SUBMODULES_RE/ ]]; then
-			issubmodule=1;
-		else
-			islocal=1
-		fi
-	done
-	if [ $islocal -eq 0 ]; then
-		if [ $issubmodule -eq 0 ]; then
-			# If an include path can't be found then usually it will be a real system header,
-			# however, there are a few (ros related?) files that start with px4... In that
-			# case just leave the quotes alone ("px4muorb.h" and several <px4/...>).
-			if [[ $1 =~ ^px4 ]]; then return 0; fi
-			# While if the include path starts with uORB/topics or topics, and it isn't found,
-			# then likely we just don't have a build directory. These should be local though.
-			# Same for the generated files mixer_multirotor.generated.h and build_git_version.h.
-			if [[ $1 =~ ((/|^)topics/|mixer_multirotor\.generated\.h|build_git_version\.h) ]]; then return 1; fi
-		fi
-		return 2;
-	fi	# Submodule or system header.
-	if [ $issubmodule -eq 0 ]; then return 1; fi	# Local.
-	# Files that are both local and submodule are simply left alone.
-	# These are (at this moment): "battery.h" "common.h" "Matrix.hpp" "mavlink.h" "protocol.h" "pwm.h" "spi.h" "Vector.hpp".
-	return 0;
-}
-
-# Run the include_path function for each of the files in $TMPDIR/fix_headers_include_paths
-echo -n "Determining which headers need to be included with double quotes... "
-echo -n > $TMPDIR/fix_headers_quotes
-for arg in $(cat "$TMPDIR/fix_headers_include_paths"); do
-	include_path $arg
-	localsystem=$?
-	if [ $localsystem -eq 1 ]; then
-		echo "$arg \"$arg\"" >> $TMPDIR/fix_headers_quotes
-	elif [ $localsystem -eq 2 ]; then
-		echo "$arg <$arg>" >> $TMPDIR/fix_headers_quotes
-	fi
-done
-echo "done"
-
-# Truncate the error log.
-echo -n > $TMPDIR/fix_headers_ERROR.log
-
-function print_error
-{
-	echo
-	echo -n "  ";
-	echo "*** $1" | tee -a "$TMPDIR/fix_headers_ERROR.log"
-	return 1
-}
-
-if [ $debug -ne 0 ]; then
-	# Debug Line.
-	DL='if (cdbl != NR) { printf "\n%u. \"%s\"", NR, $0; cdbl = NR }'
-	# Debug Begin.
-	DB='if (cdbl != NR) { printf "\n%u. \"%s\" ---> ", NR, $0; cdbl = NR } else printf "; "; printf'
-	# Debug End.
-	DE=''
-else
-	DL='#'
-	DB='#'
-	DE=''
-fi
-# Error Prefix.
-EP='###'
-
-# The main function that is called for each source file.
-function fixup_header
-{
-	count=$((count + 1))
-	echo -n "[$((100 * count / number_of_files))%] Fixing headers of $1... "
-
-	# Is this a header?
-	echo "$1" | sed -e 's/\.in$/;in/;s/.*\././;s/;in$/.in/' | grep -v -E "$HEADER_RE\$" >/dev/null; is_header=$?
-	if [ $debug -ne 0 ]; then echo "is_header = \"$is_header\""; fi
-
-	# Is this C++ source?
-	echo "$1" | sed -e 's/.*\././' | grep -v -E $CXXSRC_RE >/dev/null; is_cxxsrc=$?
-	if [ $debug -ne 0 ]; then echo "is_cxxsrc = \"$is_cxxsrc\""; fi
-	dont_make_cxxsrc=1
-	if [ $is_cxxsrc -eq 0 -a $is_header -ne 0 ]; then
-		grep -m 1 -q -E "^[[:space:]]*(#[[:space:]]*include[[:space:]]*<$STDCXX_HEADERS_RE>|(template|namespace|class)(\$|[^[:alnum:]_]))" "$1"
-		dont_make_cxxsrc=$?
-	fi
-	if [ $dont_make_cxxsrc -eq 0 ]; then
-		is_cxxsrc=1
-	fi
-
-	# Current directory.
-	curdir=$(dirname "$BASEDIR/$1")
-
-	# Parse the file.
-	#
-	# Returns an array of line[]'s. The first line is either the first #include, when it is outside
-	# any #if*...#endif constructs not counting the header guard if the file is a header. For example:
-	#
-	#	  // Anything here except #include lines.
-	#	  #include <first_include.h>	// <-- first line.
-	#
-	# Or, the first #if* that contains the first #include line. For example:
-	#	  // Anything here except #include lines.
-	#	  #ifndef FOO_H // header guard.
-	#	  #define FOO_H
-	#	  int global = 1; // Anything unknown.
-	#	  #ifdef SOMETHING		// <-- first line.
-	#	  #if maybe_more
-	#	    // anything except #include lines.
-	#	  #else
-	#	    // anything except #include lines.
-	#	    #include <first_include.h>
-	#
-	# Subsequent line[]'s mark the beginning of a new block, where we have the following blocks:
-	# type[]		Description
-	type_include=0		# An #include, outside #if*...#endif constructs except a possible header guard.
-	type_ifincludeendif=1	# #if*...#endif constructs with #include's.
-	type_ifendif=2		# #if*...#endif constructs without #include's.
-	type_decls=3		# __BEGIN_DECLS ... __END_DECLS block.
-	type_macro=4		# Contiguous #define block.
-	type_comment=5		#(Multi-line) comments.
-	type_emptyline=6	# Empty lines.
-	type_pragmaonce=7	# #pragma once (must be outside any #if*...#endif constructs).
-	type_end=8		# The first line of the remainder of the file.
-	#
-	# However, any block NOT containing one or more #include's (all types > 1) will
-	# cause subsequent blocks that do not contain #include's to be ignored,
-	# with as result that those blocks will be treated as contiguous code blocks.
-	# A comment that is followed by a type that is not to be ignored as such
-	# is given the type that follows (which itself is then ignored).
-	# Empty lines are ignored unless they appear directly in front of a type
-	# that is not to be ignored according to the above rules, where 'previous
-	# types' then are the types before the empty line.
-	#
-	# For example:
-	#
-	#   >	#include <first_header.h>	# type_include
-	#   >	#include <second_header.h>	# type_include
-	#   >					# type_emptyline
-	#   >	#include <third_header.h>	# type_include
-	#   ^	#ifdef FOO			# type_ifendif
-	#   |	#define BAR 1
-	#   |	#endif				# (detected here)
-	#   |								<-- ignored because:
-	#   v	#define BAZ(x) x // Do baz				<-- ignored (prev and this type in {type_ifendif, type_macro})
-	#   >					# type_emptyline
-	#   ^	// This include is important:	# type_comment, but then replaced by type_ifincludeendif
-	#   |								<-- ignored because:
-	#   |	// more here.						<-- ignored same type
-	#   |	#ifdef BAR						<-- "ignored": type_ifincludeendif, but put 3 lines higher.
-	#   |	#include <bar.h>
-	#   v	#endif				# (detected here)
-	#   >					# type_emptyline
-	#   >	#include <another.h>		# type_include
-	#
-	# This script stops parsing at the first not recognized line outside #if*...#endif constructs
-	# unless no first line was found yet. It does not attempt overly hard to decode rare constructs,
-	# most notably anything with a leading C comment is not recognized and will thus lead to an abort.
-	# For example the following lines are not recognized:
-	#
-	# /* Some comment */ #include <header.h>
-	# /* Some comment */ // Another comment.
-	#
-	# Lines that have a trailing comment are recognized (by ignoring the comment).
-
-	result=$(awk "\
-		function add(l, t) {
-			# First add always succeeds.
-			if (ptr > 0) {
-				# An empty line is always added, at first, unless the immediate preceding type is an empty line.
-				if (t == $type_emptyline && type[ptr - 1] == $type_emptyline) {
-					return;				$DB \"ignored because line %d is also empty.\", line[ptr - 1] $DE
-				}
-				# A comment is always, added at first, unless the preceding non-empty line type is a comment.
-				# Same for #include's.
-				if (t == $type_comment && last_none_type == t) {
-									$DB \"ignoring because same type as last_none_type (%s)\", type_name[t] $DE
-					# Gobble up preceding empty lines.
-					if (type[ptr - 1] == $type_emptyline) {
-						--ptr;			$DB \"ptr = %d; [43mRemoved type_emptyline @ line %d[0m\", ptr, line[ptr] $DE
-					}
-					return;
-
-				}
-				# {ifendif, macro}'s are collapsed too.
-				if ((t == $type_ifendif || t == $type_macro) && (last_nonws_type == $type_ifendif || last_nonws_type == $type_macro)) {
-					# Gobble up preceding comments and empty lines.
-					while (ptr > 0 && (type[ptr - 1] == $type_emptyline || type[ptr - 1] == $type_comment)) {
-						--ptr;			$DB \"ptr = %d; [43mRemoved %s @ line %d[0m\", ptr, type_name[type[ptr]], line[ptr] $DE
-					}
-					# ptr > 0 here because the first add is never for an empty line or comment.
-					last_none_type = type[ptr - 1];	$DB \"last_none_type = %s\", type_name[last_none_type] $DE
-					return;
-				}
-				# type_include and type_pragmaonce and higher are always added.
-			}
-			if (t == $type_end) {
-				# Remove drag.
-				while(ptr > 0 && line[ptr - 1] >= l) --ptr;
-			}
-			# If this type is not an empty line and it was preceded by a comment, then melt it together with that comment.
-			else if (t != $type_emptyline && last_none_type == $type_comment) {
-				# In this case t cannot be type_comment.
-				# Gobble up preceding empty lines.
-				if (type[ptr - 1] == $type_emptyline) {
-					--ptr;				$DB \"ptr = %d; [43mRemoved type_emptyline @ line %d[0m\", ptr, line[ptr] $DE
-				}
-				# And replace the comment type.
-				--ptr;					$DB \"ptr = %d; [45mreplacing the %s @ line %d[0m\", ptr, type_name[type[ptr]], line[ptr] $DE
-				l = line[ptr];
-
-			}
-			line[ptr] = l;					$DB \"ptr = %d; [42m%s @ line %d[0m\", ptr, type_name[t], l $DE;
-			type[ptr++] = t;
-			if (t != $type_emptyline) {
-				last_none_type = t;			$DB \"last_none_type = %s\", type_name[last_none_type] $DE
-				if (t != $type_comment)
-					last_nonws_type = t;
-			}
-		}
-
-		BEGIN {
-			debug = $debug;		# 0: no debug output; non-zero: print debug output.
-			header = $is_header;	# 0: do not look for a header guard; 1: treat first #ifndef as header guard.
-			in_if = 0;		# The number of nested levels inside #if, #ifdef or #ifndef ... #endif constructs.
-			in_if_base = 0;		# 0: no header guard was found (or #pragma once); 1: an #ifndef header guard was found.
-			in_decl = 0;		# 0: not inside a __BEGIN_DECLS ... __END_DECLS block; 1: inside such a block.
-			found_guard = 0;	# 0: no header guard was found; 1: a header guard was found (including #pragma once).
-			base_if = 0;		# The current base-level #if that we are scanning.
-			drag = 0;		# The number of lines since the last certainly relevant line (a base-level #include or a base-level #endif containing one of more #includes).
-			skipped = 0;		# 0: No #include was encountered in the current (base-level) #if block; 1: one or more #include's encountered in the current base-level #if block.
-			in_comment = 0;		# 0: not in a multi-line C comment; 1: in a multi-line C comment.
-			cdbl = 0;		# Current debug line.
-			error = 0;		# 0: no error occured; 1: an error occured.
-			ptr = 0;		# Current pointer into line[] and type[].
-			found_comment_end = 0;	# The last line (possibly the current line) that is/was a multi-line C comment termination.
-			last_none_type = -1;	# The last non-emptyline type that was added.
-			last_nonws_type = -1;	# The last non-whitespace type that was added.
-			# For debug purposes:
-			type_name[$type_ifendif] = \"type_ifendif\";
-			type_name[$type_ifincludeendif] = \"type_ifincludeendif\";
-			type_name[$type_decls] = \"type_decls\";
-			type_name[$type_comment] = \"type_comment\";
-			type_name[$type_emptyline] = \"type_emptyline\";
-			type_name[$type_include] = \"type_include\";
-			type_name[$type_macro] = \"type_macro\";
-			type_name[$type_pragmaonce] = \"type_pragmaonce\";
-			type_name[$type_end] = \"type_end\";
-		}
-
-		END {
-			last_line = NR - drag;
-			add(last_line + 1, $type_end);			$DB \"\n\" $DE;
-			# Print output.
-			if (error || ptr == 0 || last_line < line[0]) {
-				print \"error=1\";
-				exit
-			}
-			printf \"lines=\\\"\";
-			for (i = 0; i < ptr - 1; ++i)
-				printf \"%d \", line[i];
-			printf \"%d\\\"; \", line[ptr - 1];
-			printf \"types=\\\"\";
-			for (i = 0; i < ptr - 1; ++i)
-				printf \"%d \", type[i];
-			printf \"%d\\\"; \", type[ptr - 1];
-			print \"error=0; first_line=\" line[0] \"; last_line=\" last_line
-		}
-
-	#======================================================================================================
-	# Handle multi-line C comments.
-
-		/$COMMENT_END_RE/ {
-			if (in_comment) {
-				in_comment = 0;				$DB \"comment end\" $DE;
-				found_comment_end = NR;
-				sub(/^([^*]|\*+[^*\/])*\*+\//, \"\")	# Remove the tail of the comment.
-			}
-			# FALL-THROUGH
-		}
-
-		{
-			if (in_comment) {
-				++drag;					$DB \"in comment; drag = %d\", drag $DE;
-				next
-			}
-			found_comment_begin = 0;
-			# FALL-THROUGH
-		}
-
-		/$COMMENT_BEGIN_RE/ {
-			in_comment = 1;					$DB \"comment begin\" $DE;
-			found_comment_begin = 1;
-			sub(/\/\*([^*]|\*+($|[^*\/]))*$/, \"\")		# Remove the head of the comment so that we'll recognize this as an empty line if it is.
-			# FALL-THROUGH
-		}
-
-	#======================================================================================================
-	# Detect and handle header guard.
-
-		/$PRAGMA_ONCE_RE/ {
-			++drag;						$DB \"drag = %d\", drag $DE;
-			if (header && found_guard == 0 && in_if == 0) {
-				found_guard = NR;			$DB \"found_guard = %d\", found_guard $DE;
-				if (ptr > 0)
-					add(NR, $type_pragmaonce)
-				next
-			}
-			print \"\\n$EP $1:\" NR \": unexpected #pragma once\";
-			error = 1;
-			exit
-		}
-
-		/^#ifndef / {
-			if (ptr == 0 && header && found_guard == 0 && in_if == 0) {
-				found_guard = NR;			$DB \"found_guard = %d\", found_guard $DE;
-				in_if = 1;				$DB \"in_if = %d\", in_if $DE;
-				in_if_base = 1;				$DB \"in_if_base = %d\", in_if_base $DE;
-				next
-			}
-			# FALL-THROUGH
-		}
-
-	#======================================================================================================
-	# Detect and handle __BEGIN_DECLS ... __END_DECLS blocks.
-
-		/^[[:space:]]*__BEGIN_DECLS/ {
-			++drag;						$DB \"drag = %d\", drag $DE;
-			if (in_decl == 0) {
-				in_decl = 1;				$DB \"in_decl = 1\" $DE
-				add(NR, $type_decls);
-				next
-			}
-			print \"\\n$EP $1:\" NR \": Nested __BEGIN_DECLS!\";
-			error = 1;
-			exit
-		}
-
-		/^[[:space:]]*__END_DECLS/ {
-			++drag;						$DB \"drag = %d\", drag $DE;
-			if (in_decl == 1) {
-				in_decl = 0;				$DB \"in_decl = 0\" $DE
-				if (skipped) {
-					drag = 0;
-				} else if (ptr == 1) {
-					ptr = 0;			$DB \"erase DECLS block\" $DE
-					last_none_type = -1;
-				}
-				next
-			}
-			print \"\\n$EP $1:\" NR \": __END_DECLS without matching __BEGIN_DECLS!\";
-			error = 1;
-			exit
-		}
-
-	#======================================================================================================
-	# Detect and handle #if ... #endif blocks.
-
-		/$IF_RE/ {
-			++drag;						$DB \"drag = %d\", drag $DE;
-			if (in_if == in_if_base && in_decl == 0) {
-				skipped = 0;				$DB \"skipped = 0\" $DE;
-				base_if = NR;				$DB \"base_if = %d\", NR $DE;
-			}
-			++in_if;					$DB \"in_if = %d\", in_if $DE;
-			next
-		}
-
-		/$ENDIF_RE/ {
-			--in_if;					$DB \"in_if = %d\", in_if $DE;
-			if (in_if < 0) {
-				print \"\\n$EP $1:\" NR \": #endif without matching #if!\";
-				error = 1;
-				exit
-			}
-			++drag;
-			if (in_if == in_if_base && in_decl == 0) {
-				if (skipped) {
-					drag = 0;
-					add(base_if, $type_ifincludeendif);
-				} else if (ptr > 0)
-					add(base_if, $type_ifendif);
-			}						$DB \"drag = %d\", drag $DE;
-			# Left header guard?
-			if (in_if < in_if_base) {			$DB \"left header guard:\" $DE;
-				# assert(in_if == 0 && in_if_base == 1 && header && found_guard)
-				exit
-			}
-			next
-		}
-
-	#======================================================================================================
-	# Handle #include lines.
-
-		/$INCLUDE_RE/ {
-			if (!/\"(\.\/)?mavlink_msg/) {
-				# If we're inside a __BEGIN_DECLS ... __END_DECLS block then only certain headers may be included.
-				hname = gensub(/^[[:space:]]*#[[:space:]]*include[[:space:]]*[<\"]([^>\"]*)[>\"].*/, \"\\\1\", \"1\");
-				cpp_safe = !(hname ~ /$UNSAFE_HEADERS_RE/);
-										$DB \"hname = \\\"\" hname \"\\\"; cpp_safe = \" cpp_safe \"; in_decl = \" in_decl \"; is_cxxsrc = $is_cxxsrc\" $DE
-				if (in_decl && cpp_safe) {
-					print \"\\n$EP $1:\" NR \": including \" hname \" inside a __BEGIN_DECLS ... __END_DECLS block.\";
-					error = 1;
-					exit
-				} else if (!in_decl && !cpp_safe && $is_cxxsrc) {
-					print \"\\n$EP $1:\" NR \": including \" hname \" outside a __BEGIN_DECLS ... __END_DECLS block!\";
-					error = 1;
-					exit
-				}
-				if (in_if > in_if_base || in_decl) {
-					skipped = 1;				$DB \"skipped = 1\" $DE;
-				} else {
-					drag = 0;				$DB \"drag = 0\" $DE;
-					add(NR, $type_include);			$DB \"first_line = %d\", NR $DE;
-				}
-				next
-			}
-		}
-
-	#======================================================================================================
-	# Ignore #define's, empty lines and lines with just comments.
-
-		/$DEFINE_RE/ {
-			++drag;						$DB \"drag = %d\", drag $DE;
-			if (ptr > 0 && in_if == in_if_base && in_decl == 0) {
-				add(NR, $type_macro);
-			}
-			next
-		}
-
-		/$EMPTY_LINE_RE/ {
-			++drag;						$DB \"drag = %d\", drag $DE;
-			if (ptr > 0 && in_if == in_if_base && in_decl == 0) {
-				if (found_comment_begin)
-					add(NR, $type_comment);
-				else if (found_comment_end != NR)
-					add(NR, $type_emptyline);
-			}
-			next
-		}
-
-		/$COMMENT_LINE_RE/ {
-			++drag;						$DB \"drag = %d\", drag $DE;
-			if (ptr > 0 && in_if == in_if_base && in_decl == 0 && type[ptr - 1] != $type_comment) {
-				add(NR, $type_comment);
-			}
-			next
-		}
-
-	#======================================================================================================
-	# Handle everything else (unrecognized lines).
-
-		{
-			++drag;						$DB \"unknown; drag = %d\", drag $DE;
-			if (ptr > 0 && in_if <= in_if_base && in_decl == 0) {
-				exit
-			}
-		}
-
-		" "$BASEDIR/$1")
-
-	# Decode the result.
-	vars=$(echo "$result" | tail -n 1)
-	error_msg=$(echo "$result" | grep "^$EP " | sed -e 's/^....//')
-	if [ $debug -ne 0 ]; then
-		len=$(echo "$result" | wc --lines)
-		echo "$result" | head -n $((len - 1)) | grep -v "^$EP "	# Debug messages
-		echo "vars: $vars"
-	fi
-	# Evaluate the last line printed in END.
-	error=1; eval $vars
-	test -z "$error_msg" || print_error "$error_msg" || return
-	test $error -eq 0 -a $first_line -gt 0 || print_error "FAILED to find an #include in $1?!" || return
-	test $last_line -ge $first_line || print_error "FAILED to find a sensible last line in $1?!" || return
-
-	# Calculate the number of lines starting from the current line.
-	# Use sed to count lines, because wc --lines doesn't report the last line when that doesn't end on a new-line, contrary to the fact that tail treats such lines as lines.
-	total_lines=$(sed -n '$=' "$BASEDIR/$1")
-	if [ $debug -ne 0 ]; then echo "total_lines = \"$total_lines\""; fi
-
-	# Edit the first_line...last_line block.
-	# Header files are ordered as follows (lowest value first):
-	cat_winsock=0;		# Winsock2.h
-	cat_posix_sys=1;	# posix_sys.h or one of the px4_ headers that include it.
-	cat_px4=2;		# Other px4_*.h
-	cat_local=3;		# "*.h"
-	cat_cxx=4;		# <std c++ header>, ie <iostream>
-	cat_c=5;		# <c std c++ header>, ie <cstdio>
-	cat_system=6;		# <*.h>
-
-	head -n $last_line "$BASEDIR/$1" | tail -n $((last_line - first_line + 1))  | awk "
-
-		function sort_by_type_line_header_type_hname(blk2, v2, blk1, v1) {
-			# Return true if blk1 comes before blk2.
-			# Move type_include before the rest. Keep the same line order for the rest.
-			return (type[blk2] != $type_include && (type[blk1] == $type_include || line[blk1] < line[blk2])) ||
-			       (type[blk2] == $type_include && type[blk1] == $type_include &&
-				   # If both are include's then put include with a lower header_type first; sort alphabetically for the same header type.
-				   (header_type[blk1] < header_type[blk2] || (header_type[blk1] == header_type[blk2] && hname[blk1] < hname[blk2])));
-		}
-
-		BEGIN {
-			first_line = $first_line;
-			split(\"$lines\", line);
-			split(\"$types\", type);
-			i = 0;
-			do {
-				line[++i] -= first_line - 1;
-			} while(type[i] != $type_end)
-			for(b = 0; b < i; ++b) header_type[b] = 100;
-			blk = 1;
-			n = 0;
-			is_cxxsrc = $is_cxxsrc;
-			# px4_posix.h includes px4_defines.h includes px4_log.h includes posix_sys.h which must be the first header included.
-			sys_val[\"px4_posix.h\"] = 1;
-			sys_val[\"px4_defines.h\"] = 2;
-			sys_val[\"px4_log.h\"] = 3;
-			sys_val[\"posix_sys.h\"] = 4;
-			saw_sys_val = 5;		# Didn't see any of the above; otherwise the lowest value of the header seen.
-			for(b = 0; b < i; ++b) saw_sys[b] = saw_sys_val;
-		}
-
-		END {
-			l = asorti(txt, k, \"sort_by_type_line_header_type_hname\");
-			for (b = 1; b <= l; ++b) {
-				if (type[k[b]] == $type_include && header_type[k[b]] == $cat_posix_sys && saw_sys[k[b]] > saw_sys_val) continue;
-				len = length(txt[k[b]]);
-				for (n = 0; n < len; ++n) print txt[k[b]][n];
-				if (b < l && type[k[b]] == $type_include && type[k[b+1]] != $type_emptyline &&
-				    (type[k[b+1]] != $type_include || (header_type[k[b]] != header_type[k[b+1]] && header_type[k[b+1]] != $cat_px4))) {
-					printf \"\n\";
-				}
-			}
-		}
-
-		{
-			if (NR == line[blk + 1]) {
-				++blk;
-				n = 0;
-			}
-		}
-
-		/$INCLUDE_RE/ {
-			# Don't use double quotes around standard header names.
-			\$0 = gensub(/^([[:space:]]*#[[:space:]]*include[[:space:]]*)\\\"$STDC_HEADERS_RE\\.h\\\"/, \"\\\1<\\\2.h>\", \"1\");
-			if (is_cxxsrc) {
-				\$0 = gensub(/^([[:space:]]*#[[:space:]]*include[[:space:]]*)\\\"$STDCXX_HEADERS_RE\\\"/, \"\\\1<\\\2>\", \"1\");
-				# Change deprecated C header names to standard C++ header names in C++ source files.
-				\$0 = gensub(/^([[:space:]]*#[[:space:]]*include[[:space:]]*<)$STDC_HEADERS_RE\\.h>/, \"\\\1c\\\2>\", \"1\");
-			}
-			# Don't include \"./foo.h\", that is implied, so just include \"foo.h\".
-			\$0 = gensub(/^([[:space:]]*#[[:space:]]*include[[:space:]]*\\\")\.\//, \"\\\1\", \"1\");
-			# Extract the header filename.
-			hname[blk] = gensub(/^[[:space:]]*#[[:space:]]*include[[:space:]]*[<\"]([^>\"]*)[>\"].*/, \"\\\1\", \"1\");
-			# If the header exists in the directory of the including file, then it is a local header.
-			command = sprintf(\"test -e %s/%s\", \"$curdir\", hname[blk]);
-			if (system(command) == 0) {
-				\$0 = gensub(/^([[:space:]]*#[[:space:]]*include[[:space:]]*)[\"<]([^\">]*)[\">]/, \"\\\1\\\"\\\2\\\"\", \"1\");
-			} else {
-				# Do we know if this is a local file, or a submodule / system header?
-				# The grep reg.exp needs \\ (for backslah) and \1 for back reference, thus: \\\1.
-				# However we print the grep command using sprintf, so each backslash needs to be escaped once more: \\\\\\1.
-				# Finally, this is a bash string and we need to escape each backslash once more to pass it corrently to awk, hence we need twelve backslahes:
-				command = sprintf(\"grep '^%s ' '%s' 2>/dev/null\", gensub(/([.+])/, \"\\\\\\\\\\\\1\", \"g\", hname[blk]), \"$TMPDIR/fix_headers_quotes\");
-				ret = command | getline result;
-				if (ret != 0) {
-					result = substr(result, index(result, \" \") + 1);
-					\$0 = gensub(/^([[:space:]]*#[[:space:]]*include[[:space:]]*)[\"<][^\">]*[\">]/, \"\\\1\" result, \"1\");
-				}
-			}
-			# Categorise the header.
-			if (hname[blk] == \"Winsock2.h\") {
-				if (header_type[blk] > $cat_winsock)
-					header_type[blk] = $cat_winsock;
-			}
-			else if (hname[blk] in sys_val) {
-				if (header_type[blk] > $cat_posix_sys)
-					header_type[blk] = $cat_posix_sys;
-				# posix_sys.h is sometimes included within #ifdef __PX4_POSIX ... #endif. The other headers should not be conditional.
-				if ((hname[blk] == \"posix_sys.h\" || type[blk] == $type_include)) {
-					type[blk] = $type_include;		# Treat #ifdef __PX4_POSIX #include \"posix_sys.h\" #endif as an include for sorting purposes.
-					saw_sys[blk] = sys_val[hname[blk]];	# There will be only one include (header name) for this block.
-					if (sys_val[hname[blk]] < saw_sys_val)
-						saw_sys_val = sys_val[hname[blk]];
-				}
-				# Use double quotes for these headers.
-				\$0 = gensub(/<([[:alnum:]_\/.]*)>/, \"\\\"\\\1\\\"\", \"1\");
-			}
-			else if (hname[blk] ~ /^(platforms\/px4_|px4_)/) {
-				if (header_type[blk] > $cat_px4)
-					header_type[blk] = $cat_px4;
-				# Use double quotes for these headers.
-				\$0 = gensub(/<([[:alnum:]_\/.]*)>/, \"\\\"\\\1\\\"\", \"1\");
-			}
-			else if (\$0 ~ /^[[:space:]]*#[[:space:]]*include[[:space:]]*\"/) {
-				if (header_type[blk] > $cat_local)
-					header_type[blk] = $cat_local;
-			}
-			else if (hname[blk] ~ /^$STDCXX_HEADERS_RE\$/) {
-				if (header_type[blk] > $cat_cxx)
-					header_type[blk] = $cat_cxx;
-			}
-			else if (hname[blk] ~ /^c$STDC_HEADERS_RE\$/) {
-				if (header_type[blk] > $cat_c)
-					header_type[blk] = $cat_c;
-			}
-			else if (hname[blk] ~ /^$STDC_HEADERS_RE\.h\$/) {
-				if (header_type[blk] > $cat_system)
-					header_type[blk] = $cat_system;
-			}
-		}
-
-		{
-			# Remove empty lines before #include's.
-			if (type[blk] == $type_include) {
-				for (i = 1; blk > i && type[blk - i] == $type_emptyline; ++i)
-					delete txt[blk - i]
-			}
-			txt[blk][n++] = \$0;
-		}
-
-		" > $TMPDIR/fix_headers_current_block
-
-	# Construct a new file in TMPDIR.
-	head -n $((first_line - 1)) "$BASEDIR/$1" > $TMPDIR/fix_headers_current_file
-
-	# Append the editted block.
-	cat $TMPDIR/fix_headers_current_block >> $TMPDIR/fix_headers_current_file
-
-	# Append the rest.
-	tail -n $((total_lines - last_line)) "$BASEDIR/$1" >> $TMPDIR/fix_headers_current_file
-
-	# Compare original with result.
-	if cmp --quiet "$BASEDIR/$1" $TMPDIR/fix_headers_current_file; then
-		echo "No change"
-	else
-		echo "Fixed lines $first_line-$last_line"
-		mv $TMPDIR/fix_headers_current_file "$BASEDIR/$1" || fatal "Failed to move $TMPDIR/fix_headers_current_file to $BASEDIR/$1 !?!"
-	fi
-}
-
-if [ $non_option_arguments -ne 0 ]; then
-	fixup_header $1
-	exit
-fi
-
-# Run the fixup function for each of the files in $TMPDIR/fix_headers_sources_with_includes.
-# Strip BASEDIR because we don't know how long that is and it might too much for bash.
-for arg in $(cat "$TMPDIR/fix_headers_sources_with_includes" | cut -c $striplen-); do
-		fixup_header $arg
-done
-
-# Clean up.
-if [ $debug -eq 0 -o $# -eq 0 ]; then
-	rm "$TMPDIR/fix_headers_sources" "$TMPDIR/fix_headers_sources_with_includes" "$TMPDIR/fix_headers_SUBMODULE_HEADERS" "$TMPDIR/fix_headers_HEADERS" \
-	   "$TMPDIR/fix_headers_include_paths" "$TMPDIR/fix_headers_quotes" "$TMPDIR/fix_headers_current_block"
-fi
-
-# Print all error messages again at the end.
-if [ -s "$TMPDIR/fix_headers_ERROR.log" ]; then
-	echo "$0 finished with errors:"
-	cat "$TMPDIR/fix_headers_ERROR.log"
-else
-	echo "SUCCESS"
-	rm "$TMPDIR/fix_headers_ERROR.log"
-fi
@@ -1,200 +0,0 @@
-#!/bin/bash
-#Author: Benjamin Perseghetti
-#Email: bperseghetti@rudislabs.com
-# This script unifies running gazebo simulation for HITL and SITL
-# You can run multiple instances of the 'px4' binary, with the gazebo SITL simulation
-# This script assumes px4 is already built, with 'make px4_sitl_default gazebo'
-# You can also run HITL with -h flag 
-# Generate world and/or model files with editable json -j [m (model), w (world), mw (model and world), or wm (world and model)]
-
-# The simulator in SITL is expected to send to TCP port 4560+i for i in [0, N-1]
-# For example gazebo can be run like this for multiple SITL:
-# ./Tools/gz_sim.sh -n 10 -m iris
-# Or gazebo can be run like this for HITL:
-# ./Tools/gz_sim.sh -h 1 -m standard_vtol
-
-function cleanup() {
-	echo "running the cleanup"
-	pkill -x px4
-	pkill gazebo
-	pkill gzclient
-	pkill gzserver
-}
-
-trap "cleanup" INT SIGINT SIGTERM EXIT
-
-function spawn_model() {
-	MODEL=$1
-	N=$2 #Instance Number
-	WORLD_FILE=$3
-	MJ=$4
-	SITL_MODEL_NAME="${MODEL}_${N}"
-	sitl_path=${SCRIPT_DIR}/sitl_gazebo
-	jinja_model_script=${sitl_path}/scripts/jinja_model_gen.py
-	base_model="--base_model ${MODEL}"
-	model_json="--json_gen ${MJ}"
-
-	if [ $hitl == true ]; then
-		python3 ${src_path}/Tools/boot_now.py "/dev/ttyACM0"
-		hil_mode="--hil_mode 1"
-		model_name="--model_name ${MODEL}"
-		hitl_launch_command="${model_json} ${base_model} ${hil_mode}  ${model_name}"
-		echo "Generating: ${jinja_model_script} ${hitl_launch_command}"
-		python3 ${jinja_model_script} ${hitl_launch_command}
-		sleep 1
-		source ${src_path}/Tools/setup_gazebo.bash ${src_path} ${src_path}/build/${target}
-		sleep 2
-		gazebo ${sitl_path}/worlds/temp_${WORLD_FILE}.world --verbose
-
-	else
-		mavlink_tcp="--mavlink_tcp_port $((4560+${N}))"
-		mavlink_udp="--mavlink_udp_port $((14560+${N}))"
-		model_name="--model_name ${SITL_MODEL_NAME}"
-		output_path="--output_path /tmp"
-		working_dir="$build_path/instance_$n"
-		sitl_launch_command="${model_json} ${base_model} ${mavlink_tcp} ${mavlink_udp} ${model_name} ${output_path}"
-		[ ! -d "$working_dir" ] && mkdir -p "$working_dir"
-		pushd "$working_dir" &>/dev/null
-		echo "starting instance $N in $(pwd)"
-		../bin/px4 -i $N -d "$build_path/etc" -w sitl_${SITL_MODEL_NAME} -s etc/init.d-posix/rcS >out.log 2>err.log &
-		python3 ${jinja_model_script} ${sitl_launch_command}
-		echo "Generating: ${jinja_model_script} ${sitl_launch_command}" 
-		echo "Spawning ${SITL_MODEL_NAME}"
-		gz model --spawn-file=/tmp/${SITL_MODEL_NAME}.sdf --model-name=${SITL_MODEL_NAME} -x 0.0 -y $((3*${N})) -z 0.2	
-		popd &>/dev/null
-	fi
-	
-}
-
-if [ "$1" == "--help" ]; then
-	echo "Usage: $0 [-n <num_vehicles>] [-m <vehicle_model>] [-h <run_hitl>] [-w <world>] [-s <script>] [-t <num_threads>] [-j <json_params>]"
-	echo "-s flag is used to script spawning vehicles e.g. $0 -s iris:3,plane:2"
-	echo "-h flag is used to launch a single vehicle in HITL mode"
-	echo "-t flag is used to set the number of ODE threads for the world"
-	echo "-j flag is used to enable json parameters from gen_params.json for the world (w), model (m), or both (wm or mw)"
-	exit 1
-fi
-
-while getopts n:m:h:w:s:t:j:p option
-do
-	case "${option}"
-	in
-		n) NUM_VEHICLES=${OPTARG};;
-		m) VEHICLE_MODEL=${OPTARG};;
-		h) HITL=${OPTARG};;
-		w) WORLD=${OPTARG};;
-		s) SCRIPT=${OPTARG};;
-		t) THREADS=${OPTARG};;
-		j) JSON=${OPTARG};;
-		p) TARGET=${OPTARG};;
-	esac
-done
-
-num_vehicles=${NUM_VEHICLES:=1}
-world=${WORLD:=empty}
-hitl=${HITL:=false}
-threads=${THREADS:=1}
-json_opts=${JSON:=0}
-target=${TARGET:=px4_sitl_default}
-system_threads=`grep -Pc '^processor\t' /proc/cpuinfo`
-echo "Number of requested ODE threads: $((threads))"
-echo "Max number of possilbe threads: $((system_threads))"
-if [ $((threads)) -gt $((system_threads)) ]; then
-	threads=$system_threads
-	echo "Requested ODE thread count too high, set to system max of $threads threads."
-elif [ $(( ${threads} )) -lt 1 ]; then
-	threads=1
-	echo "Requested ODE thread count too low, set to $threads thread."
-else
-	echo "Using $threads threads for ODE."
-fi
-
-if [ "$json_opts" == "mw" ] || [ "$json_opts" == "wm" ]; then
-	echo "JSON used for both world and model generation"
-	wjson="1"
-	mjson="1"
-elif [ "$json_opts" == "w" ]; then
-	echo "JSON used for world generation"
-	wjson="1"
-	mjson="0"
-elif [ "$json_opts" == "m" ]; then
-	echo "JSON used for model generation"
-	mjson="1"
-	wjson="0"
-else 
-	wjson="0"
-	mjson="0"
-fi
-
-if [ "$hitl" == "True" ] || [ "$hitl" == "1" ] || [ "$hitl" == "true" ]; then
-	hitl=true
-else
-	hitl=false
-fi
-
-export PX4_SIM_MODEL=${VEHICLE_MODEL:=iris}
-
-SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
-src_path="$SCRIPT_DIR/.."
-echo ${SCRIPT}
-build_path=${src_path}/build/${target}
-source ${src_path}/Tools/setup_gazebo.bash ${src_path} ${src_path}/build/${target}
-sleep 1
-
-sitl_path=${SCRIPT_DIR}/sitl_gazebo
-world_name="--world_name ${world}"
-jinja_world_script=${sitl_path}/scripts/jinja_world_gen.py
-sitl_ode_threads="--ode_threads ${threads}"
-world_json="--json_gen ${wjson}"
-
-if [ $hitl == true ]; then
-	hitl_model_name="--model_name ${PX4_SIM_MODEL}"
-	echo "HITL mode is currently turned on, disabling multiple vehicle spawn and script spawn."
-	echo "RUNNING: python3 $jinja_world_script $world_name $hitl_model_name $world_json"
-	python3 $jinja_world_script $world_name $hitl_model_name $world_json
-	echo "Generated temp_${world}.world"
-	spawn_model ${PX4_SIM_MODEL} 0 ${world} ${mjson}
-
-else
-	echo "killing running instances"
-	pkill -x px4 || true
-	echo "HITL mode is currently turned off."
-	echo "RUNNING: python3 $jinja_world_script $world_name $sitl_ode_threads $world_json"
-	python3 $jinja_world_script $world_name $sitl_ode_threads $world_json
-	echo "Generated temp_${world}.world"
-	echo "Starting gazebo: gzserver ${sitl_path}/worlds/temp_${world}.world --verbose"
-	gzserver ${sitl_path}/worlds/temp_${world}.world --verbose &
-	sleep 5
-
-	n=0
-	if [ -z ${SCRIPT} ]; then
-		if [ $num_vehicles -gt 255 ]; then
-			echo "Tried spawning $num_vehicles vehicles. The maximum number of supported vehicles is 255"
-			exit 1
-		fi
-		while [ $n -lt $num_vehicles ]; do
-			spawn_model ${PX4_SIM_MODEL} $n ${world} ${mjson}
-			n=$(($n + 1))
-		done
-	else
-		for target in ${SCRIPT}; do
-			target="$(echo "$target" | tr -d ' ')" #Remove spaces
-			target_vehicle="${target%:*}"
-			target_number="${target#*:}"
-
-			if [ $n -gt 255 ]; then
-				echo "Tried spawning $n vehicles. The maximum number of supported vehicles is 255"
-				exit 1
-			fi
-
-			m=0
-			while [ $m -lt ${target_number} ]; do
-				spawn_model ${PX4_SIM_MODEL} $n ${world} ${mjson}
-				m=$(($m + 1))
-				n=$(($n + 1))
-			done
-		done
-	fi
-	echo "Starting gazebo client"
-	gzclient
-fi
@@ -1,5 +0,0 @@
-$(info px4_developer.mk inclded)
-ifeq ($(UAVCAN_BL_OVERRIDE),y)
-$(info **************************  UAVCAN BOOT LOADERS built for In place application Debugging ***************************************)
-export EXTRAFLAGS +=-DDEBUG_APPLICATION_INPLACE
-endif
@@ -25,6 +25,8 @@ class JsonOutput():
                event_obj = {}
                event_obj['name'] = e.name
                event_obj['message'] = e.message
+                if e.type is not None:
+                    event_obj['type'] = e.type
                if e.description is not None:
                    event_obj['description'] = e.description
                args = []
@@ -23,6 +23,7 @@ class Event(object):
        self.message = None
        self.description = None
        self.group = "default"
+        self.type = None
        self._arguments = []

    @staticmethod
@@ -125,11 +126,13 @@ class SourceParser(object):
                        descr = descr[:i] + ' ' + descr[i+1:]
                event.description = descr
            elif tag == "group":
-                known_groups = ["calibration", "health", "arming_check", "normal"]
+                known_groups = ["calibration", "health", "arming_check", "default"]
                event.group = value.strip()
                if not event.group in known_groups:
                    raise Exception("Unknown event group: '{}'\nKnown groups: {}\n" \
                        "If this is not a typo, add the new group to the script".format(event.group, known_groups))
+            elif tag == "type":
+                event.type = value.strip()
            elif tag.startswith("arg"):
                arg_index = int(tag[3:])-1
                arg_name = value.strip()
@@ -237,7 +240,7 @@ class SourceParser(object):
                            event.group = "health"
                        else:
                            event.group = "arming_check"
-                        event.prepend_arguments([('common::navigation_mode_category_t', 'modes'),
+                        event.prepend_arguments([('navigation_mode_group_t', 'modes'),
                                ('uint8_t', 'health_component_index')])
                    else:
                        raise Exception("unknown event method call: {}, args: {}".format(call, args))
@@ -1,6 +0,0 @@
-#!/usr/bin/env bash
-
-make parameters_metadata
-cp parameters.xml ../qgroundcontrol/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
-make airframe_metadata
-cp airframes.xml ../qgroundcontrol/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml
@@ -47,6 +47,8 @@ fi

 # Python dependencies
 echo "Installing PX4 Python3 dependencies"
+# We need to have future to install pymavlink later.
+python3 -m pip install future
 python3 -m pip install --user -r ${DIR}/requirements.txt

 # Optional, but recommended additional simulation tools:
@@ -2,20 +2,29 @@

 set -e

-## Bash script to setup PX4 development environment on Ubuntu LTS (20.04, 18.04, 16.04).
-## Can also be used in docker.
-##
-## Installs:
-## - Common dependencies and tools for nuttx, jMAVSim, Gazebo
-## - NuttX toolchain (omit with arg: --no-nuttx)
-## - jMAVSim and Gazebo9 simulator (omit with arg: --no-sim-tools)
-##
-## Not Installs:
-## - FastRTPS and FastCDR
+usage() {
+	echo "
+Bash script to set up the PX4 development environment on Ubuntu LTS versions
+- 22.04
+- 20.04
+- 18.04 (without simulation support)
+
+The script can be used directly or inside docker
+(use --from-docker when running inside docker).
+
+Installs:
+- Build dependencies
+- NuttX toolchain (omit with arg: --no-nuttx)
+- Gazebo Classic (omit with arg: --no-gazebo-classic)
+- Gazebo Ignition (omit with arg: --no-gazebo-ignition)
+"
+}

 INSTALL_NUTTX="true"
-INSTALL_SIM="true"
-INSTALL_ARCH=`uname -m`
+INSTALL_GAZEBO_CLASSIC="true"
+INSTALL_GAZEBO_IGNITION="true"
+INSTALL_ARCH=$(uname -m)
+INSIDE_DOCKER="false"

 # Parse arguments
 for arg in "$@"
@@ -24,38 +33,38 @@ do
 		INSTALL_NUTTX="false"
 	fi

-	if [[ $arg == "--no-sim-tools" ]]; then
-		INSTALL_SIM="false"
+	if [[ $arg == "--no-gazebo-classic" ]]; then
+		INSTALL_GAZEBO_CLASSIC="false"
+	fi
+
+	if [[ $arg == "--no-gazebo-ignition" ]]; then
+		INSTALL_GAZEBO_IGNITION="false"
+	fi
+
+	if [[ $arg == "--from-docker" ]]; then
+		INSIDE_DOCKER="true"
+	fi
+
+	if [[ $arg == "--help" ]]; then
+		usage
+		exit 0
 	fi

 done

-# detect if running in docker
-if [ -f /.dockerenv ]; then
-	echo "Running within docker, installing initial dependencies";
-	apt-get --quiet -y update && DEBIAN_FRONTEND=noninteractive apt-get --quiet -y install \
-		ca-certificates \
-		gnupg \
-		lsb-core \
-		sudo \
-		wget \
-		;
-fi
-
-# script directory
+# Script directory
 DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )

-# check requirements.txt exists (script not run in source tree)
+# Check requirements.txt exists (script not run in source tree)
 REQUIREMENTS_FILE="requirements.txt"
 if [[ ! -f "${DIR}/${REQUIREMENTS_FILE}" ]]; then
-	echo "FAILED: ${REQUIREMENTS_FILE} needed in same directory as ubuntu.sh (${DIR})."
-	return 1
+	echo "Failed: ${REQUIREMENTS_FILE} needed in same directory as ubuntu.sh (${DIR})."
+	exit 1
 fi


-# check ubuntu version
-# otherwise warn and point to docker?
-UBUNTU_RELEASE="`lsb_release -rs`"
+# Check ubuntu version
+UBUNTU_RELEASE=$(lsb_release -rs)

 if [[ "${UBUNTU_RELEASE}" == "14.04" ]]; then
 	echo "Ubuntu 14.04 is no longer supported"
@@ -65,24 +74,43 @@ elif [[ "${UBUNTU_RELEASE}" == "16.04" ]]; then
 	exit 1
 elif [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
 	echo "Ubuntu 18.04"
+	echo "Gazebo Classic and Gazebo Ignition omitted"
+	INSTALL_GAZEBO_IGNITION="false"
+	INSTALL_GAZEBO_CLASSIC="false"
 elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
 	echo "Ubuntu 20.04"
+elif [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
+	echo "Ubuntu 22.04"
 fi

+VERBOSE_BAR="================================================================================"
+echo
+echo $VERBOSE_BAR
+echo "⚡️ Starting PX4 Dependency Installer for Ubuntu ${UBUNTU_RELEASE} (${INSTALL_ARCH})"
+echo ""
+echo "Options:
+- Install NuttX toolchain: ${INSTALL_NUTTX}
+- Install Gazebo Classic:  ${INSTALL_GAZEBO_CLASSIC}
+- Install Gazebo Ignition: ${INSTALL_GAZEBO_IGNITION}"
+echo $VERBOSE_BAR
+echo

 echo
-echo "Installing PX4 general dependencies"
+echo $VERBOSE_BAR
+echo "🍻 Installing System Dependencies"
+echo $VERBOSE_BAR
+echo

 sudo apt-get update -y --quiet
 sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
-	astyle \
 	build-essential \
-	cmake \
-	cppcheck \
-	file \
 	g++ \
 	gcc \
 	gdb \
+	astyle \
+	cmake \
+	cppcheck \
+	file \
 	git \
 	lcov \
 	libxml2-dev \
@@ -98,34 +126,32 @@ sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends i
 	shellcheck \
 	unzip \
 	zip \
+	libssl-dev \
 	;

-# Python3 dependencies
+# Python 3 dependencies
 echo
-echo "Installing PX4 Python3 dependencies"
-if [ -n "$VIRTUAL_ENV" ]; then
-	# virtual environments don't allow --user option
-	python -m pip install -r ${DIR}/requirements.txt
-else
-	# older versions of Ubuntu require --user option
-	python3 -m pip install --user -r ${DIR}/requirements.txt
-fi
+echo $VERBOSE_BAR
+echo "🍻 Installing Python dependencies"
+echo $VERBOSE_BAR
+echo
+
+python3 -m pip install -r "$DIR"/requirements.txt

 # NuttX toolchain (arm-none-eabi-gcc)
 if [[ $INSTALL_NUTTX == "true" ]]; then

 	echo
-	echo "Installing NuttX dependencies"
+	echo $VERBOSE_BAR
+	echo "🍻 Installing NuttX dependencies"
+	echo $VERBOSE_BAR
+	echo

 	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 		automake \
 		binutils-dev \
 		bison \
-		build-essential \
 		flex \
-		g++-multilib \
-		gcc-multilib \
-		gdb-multiarch \
 		genromfs \
 		gettext \
 		gperf \
@@ -144,99 +170,108 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 		texinfo \
 		u-boot-tools \
 		util-linux \
-		vim-common \
+		g++-arm-linux-gnueabihf \
+		gcc-arm-linux-gnueabihf \
+		g++-aarch64-linux-gnu \
+		gcc-aarch64-linux-gnu \
 		;
-	if [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
+
+	if [[ "${UBUNTU_RELEASE}" == "20.04" ]] || [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
 		sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 		kconfig-frontends \
 		;
 	fi

-
 	if [ -n "$USER" ]; then
-		# add user to dialout group (serial port access)
-		sudo usermod -a -G dialout $USER
+		# Add user to dialout group (serial port access)
+		sudo usermod -a -G dialout "$USER"
 	fi

-	# arm-none-eabi-gcc
-	NUTTX_GCC_VERSION="9-2020-q2-update"
-	NUTTX_GCC_VERSION_SHORT="9-2020q2"
+	NUTTX_GCC_VERSION="10.3-2021.10"
+	echo
+	echo $VERBOSE_BAR
+	echo "🍻 Verifying arm-none-eabi-gcc version (${NUTTX_GCC_VERSION}), and installing if not found"
+	echo

-	source $HOME/.profile # load changed path for the case the script is reran before relogin
-	if [ $(which arm-none-eabi-gcc) ]; then
+	source "$HOME/.profile" # load changed path for the case the script is reran before relogin
+	if [ "$(which arm-none-eabi-gcc)" ]; then
 		GCC_VER_STR=$(arm-none-eabi-gcc --version)
-		GCC_FOUND_VER=$(echo $GCC_VER_STR | grep -c "${NUTTX_GCC_VERSION}")
 	fi

-	if [[ "$GCC_FOUND_VER" == "1" ]]; then
-		echo "arm-none-eabi-gcc-${NUTTX_GCC_VERSION} found, skipping installation"
+	if [[ $(echo "$GCC_VER_STR" | grep -c "${NUTTX_GCC_VERSION}") == "1" ]]; then
+		echo "📌 Skipping installation, the arm cross compiler was found"
+		echo $VERBOSE_BAR
+		echo

 	else
-		echo "Installing arm-none-eabi-gcc-${NUTTX_GCC_VERSION}";
-		wget -O /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 https://armkeil.blob.core.windows.net/developer/Files/downloads/gnu-rm/${NUTTX_GCC_VERSION_SHORT}/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-${INSTALL_ARCH}-linux.tar.bz2 && \
-			sudo tar -jxf /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 -C /opt/;
+		echo "📌 The arm cross compiler was not found";
+		echo " * Installing arm-none-eabi-gcc-${NUTTX_GCC_VERSION}";
+		# The arm cross compiler hosting provider is known to throttle download speeds
+		# for users who reach a certain limit of downloads in a given time frame
+		# for this reason we allow for using a previously downloaded file
+		# this is specially helpful when debugging this installer script
+		# from within a container COMPILER_PATH="/tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2"
+		COMPILER_NAME="gcc-arm-none-eabi-${NUTTX_GCC_VERSION}"
+		COMPILER_PATH="/tmp/$COMPILER_NAME-linux.tar.bz2"
+		if [ ! -f "$COMPILER_PATH" ]; then
+		wget -O "/tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 https://developer.arm.com/-/media/Files/downloads/gnu-rm/${NUTTX_GCC_VERSION}/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-${INSTALL_ARCH}-linux.tar.bz2"
+		fi
+		sudo tar -jxf $COMPILER_PATH -C /opt/;

 		# add arm-none-eabi-gcc to user's PATH
-		exportline="export PATH=/opt/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}/bin:\$PATH"
-
-		if grep -Fxq "$exportline" $HOME/.profile; then
+		exportline="export PATH=\"/opt/${COMPILER_NAME}/bin:\$PATH\""
+		if [[ $INSIDE_DOCKER == "true" ]]; then
+			# when running on a docker container its best to set the environment globally
+			# since we don't know which user is going to be running commands on the container
+			touch /etc/profile.d/px4env.sh
+			echo "$exportline" >> /etc/profile.d/px4env.sh
+		elif grep -Fxq "$exportline" "$HOME"/.profile; then
 			echo "${NUTTX_GCC_VERSION} path already set.";
 		else
-			echo $exportline >> $HOME/.profile;
+			echo "$exportline" >> "$HOME"/.profile;
 		fi
+		echo " * arm-none-eabi-gcc (${NUTTX_GCC_VERSION}) Installed successfully to /opt/${COMPILER_NAME}/bin"
+		echo $VERBOSE_BAR
+		echo
 	fi
 fi

-# Simulation tools
-if [[ $INSTALL_SIM == "true" ]]; then
-
-	echo
-	echo "Installing PX4 simulation dependencies"
-
+install_gazebo_common() {
 	# General simulation dependencies
 	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 		bc \
 		;

-	if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
-		java_version=11
-	elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
-		java_version=13
-	elif [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
-		java_version=11
-	else
-		java_version=14
-	fi
-	# Java (jmavsim or fastrtps)
-	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
-		ant \
-		openjdk-$java_version-jre \
-		openjdk-$java_version-jdk \
-		libvecmath-java \
-		;
+	# Installing Gazebo and dependencies
+	# Setup OSRF Gazebo repository
+	sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
+	wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
+	# Update list, since new gazebo-stable.list has been added
+	sudo apt-get update -y --quiet
+}

-	# Set Java 11 as default
-	sudo update-alternatives --set java $(update-alternatives --list java | grep "java-$java_version")
+# Gazebo Classic
+if [[ $INSTALL_GAZEBO_CLASSIC == "true" ]]; then

-	# Gazebo
-	if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
-		gazebo_version=9
-		gazebo_packages="gazebo$gazebo_version libgazebo$gazebo_version-dev"
-	elif [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
-		gazebo_packages="gazebo libgazebo-dev"
-	else
-		# default and Ubuntu 20.04
-		gazebo_version=11
-		gazebo_packages="gazebo$gazebo_version libgazebo$gazebo_version-dev"
-	fi
+	echo
+	echo $VERBOSE_BAR
+	echo "🍻 Installing Gazebo Classic"
+	echo

+	echo "  * Gazebo Classic (Version 11)"
+	echo $VERBOSE_BAR
+
+	install_gazebo_common
+
+	# Installing Gazebo and dependencies
+	# Setup OSRF Gazebo repository
 	sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
 	wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
 	# Update list, since new gazebo-stable.list has been added
 	sudo apt-get update -y --quiet
 	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 		dmidecode \
-		$gazebo_packages \
+		gazebo libgazebo-dev \
 		gstreamer1.0-plugins-bad \
 		gstreamer1.0-plugins-base \
 		gstreamer1.0-plugins-good \
@@ -257,7 +292,51 @@ if [[ $INSTALL_SIM == "true" ]]; then
 	fi
 fi

-if [[ $INSTALL_NUTTX == "true" ]]; then
+# Gazebo Ignition
+if [[ $INSTALL_GAZEBO_IGNITION == "true" ]]; then
+
 	echo
-	echo "Relogin or reboot computer before attempting to build NuttX targets"
+	echo $VERBOSE_BAR
+	echo "🍻 Installing Gazebo IGNITION"
+	echo
+
+	echo "  * Gazebo Ignition (Version 6 / Fortress)"
+	echo $VERBOSE_BAR
+
+	# We have likely done the common pieces already earlier.
+	if [[ $INSTALL_GAZEBO_CLASSIC != "true" ]]; then
+		install_gazebo_common
+	fi
+
+	#
+	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
+		ignition-fortress \
+		;
 fi
+
+
+if [[ $INSIDE_DOCKER == "true" ]]; then
+	# cleanup installation
+	rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
+fi
+
+if [[ $INSIDE_DOCKER == "false" ]] && [[ $INSTALL_NUTTX == "true" ]]; then
+	echo
+	echo $VERBOSE_BAR
+	echo "💡 We recommend you relogin/reboot before attempting to upload NuttX targets"
+	echo "   to be part of the dialout group to have access to serial ports."
+	echo $VERBOSE_BAR
+	echo
+fi
+
+echo
+echo
+echo $VERBOSE_BAR
+echo "⚡️ PX4 Dependency Installer ended successfully
+
+For more information on PX4 Autopilot check out our docs
+at https://docs.px4.io.
+If you find a bug please file an issue
+on https://github.com/PX4/PX4-Autopilot"
+echo $VERBOSE_BAR
+echo
@@ -1,23 +0,0 @@
-#!/bin/bash
-#
-# Setup environment to make PX4 visible to Gazebo.
-#
-# Note, this is not necessary if using a ROS catkin workspace with the px4
-# package as the paths are exported.
-#
-# License: according to LICENSE.md in the root directory of the PX4 Firmware repository
-
-if [ "$#" != 2 ]; then
-    echo -e "usage: source setup_gazebo.bash src_dir build_dir\n"
-    return 1
-fi
-
-SRC_DIR=$1
-BUILD_DIR=$2
-
-# setup Gazebo env and update package path
-export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${SRC_DIR}/build/px4_sitl_default/build_ign_gazebo
-export IGN_GAZEBO_SYSTEM_PLUGIN_PATH=$IGN_GAZEBO_SYSTEM_PLUGIN_PATH:${SRC_DIR}/build/px4_sitl_default/build_ign_gazebo
-export IGN_GAZEBO_RESOURCE_PATH=$IGN_GAZEBO_RESOURCE_PATH:${SRC_DIR}/Tools/simulation-ignition/models
-
-echo -e "LD_LIBRARY_PATH $LD_LIBRARY_PATH"
@@ -1,39 +0,0 @@
-#!/bin/bash
-#
-# Setup environment to make JSBSim visible to PX4.
-#
-# License: according to LICENSE.md in the root directory of the PX4 Firmware repository
-
-if [ "$#" != 3 ]; then
-    echo -e "usage: source setup_jsbsim.bash src_dir build_dir model\n"
-    return 1
-fi
-
-SRC_DIR="$1"
-BUILD_DIR="$2"
-MODEL="$3"
-
-export FG_AIRCRAFT="${SRC_DIR}/Tools/jsbsim_bridge/models"
-
-# This is needed for aircraft namespace mapping
-# Need more architectural discussions to make this more scalable
-case "$MODEL" in
-        rascal)
-            MODEL_NAME="Rascal110-JSBSim"
-            ;;
-        malolo)
-            MODEL_NAME="Malolo1"
-            ;;
-        quadrotor_x)
-            MODEL_NAME="quadrotor_x"
-            ;;
-        hexarotor_x)
-            MODEL_NAME="hexarotor_x"
-            ;;
-        *)
-            echo "Unknown Model"
-            exit 1
-
-esac
-
-export JSBSIM_AIRCRAFT_MODEL="$MODEL_NAME"
@@ -0,0 +1,47 @@
+#!/usr/bin/env bash
+
+set -e
+
+if [ "$#" -lt 4 ]; then
+	echo usage: sitl_run.sh sitl_bin model src_path build_path
+	exit 1
+fi
+
+sitl_bin="$1"
+model="$2"
+src_path="$3"
+build_path="$4"
+
+echo SITL ARGS
+
+echo sitl_bin: $sitl_bin
+echo model: $model
+echo src_path: $src_path
+echo build_path: $build_path
+
+rootfs="$build_path/rootfs" # this is the working directory
+mkdir -p "$rootfs"
+
+export PX4_SIM_MODEL=${model}
+
+echo "FG setup"
+cd "${src_path}/Tools/simulation/flightgear/flightgear_bridge/"
+./FG_run.py models/${model}.json 0
+"${build_path}/build_flightgear_bridge/flightgear_bridge" 0 `./get_FGbridge_params.py "models/"${model}".json"` &
+FG_BRIDGE_PID=$!
+
+pushd "$rootfs" >/dev/null
+
+# Do not exit on failure now from here on because we want the complete cleanup
+set +e
+
+sitl_command="\"$sitl_bin\" \"$build_path\"/etc"
+
+echo SITL COMMAND: $sitl_command
+
+eval $sitl_command
+
+popd >/dev/null
+
+kill $FG_BRIDGE_PID
+kill -9 `cat /tmp/px4fgfspid_0`
@@ -17,7 +17,7 @@ BUILD_DIR=$2

 # setup Gazebo env and update package path
 export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:${BUILD_DIR}/build_gazebo
-export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:${SRC_DIR}/Tools/sitl_gazebo/models
+export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:${SRC_DIR}/Tools/simulation/gazebo/sitl_gazebo/models
 export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${BUILD_DIR}/build_gazebo

 echo -e "GAZEBO_PLUGIN_PATH $GAZEBO_PLUGIN_PATH"
@@ -4,7 +4,7 @@

 # The simulator is expected to send to TCP port 4560+i for i in [0, N-1]
 # For example gazebo can be run like this:
-#./Tools/gazebo_sitl_multiple_run.sh -n 10 -m iris
+#./Tools/simulation/gazebo/sitl_multiple_run.sh -n 10 -m iris

 function cleanup() {
 	pkill -x px4
@@ -29,13 +29,13 @@ function spawn_model() {
 		exit 1
 	fi

-	working_dir="$build_path/instance_$n"
+	working_dir="$build_path/rootfs/$n"
 	[ ! -d "$working_dir" ] && mkdir -p "$working_dir"

 	pushd "$working_dir" &>/dev/null
 	echo "starting instance $N in $(pwd)"
-	../bin/px4 -i $N -d "$build_path/etc" -w sitl_${MODEL}_${N} -s etc/init.d-posix/rcS >out.log 2>err.log &
-	python3 ${src_path}/Tools/sitl_gazebo/scripts/jinja_gen.py ${src_path}/Tools/sitl_gazebo/models/${MODEL}/${MODEL}.sdf.jinja ${src_path}/Tools/sitl_gazebo --mavlink_tcp_port $((4560+${N})) --mavlink_udp_port $((14560+${N})) --mavlink_id $((1+${N})) --gst_udp_port $((5600+${N})) --video_uri $((5600+${N})) --mavlink_cam_udp_port $((14530+${N})) --output-file /tmp/${MODEL}_${N}.sdf
+	$build_path/bin/px4 -i $N -d "$build_path/etc" >out.log 2>err.log &
+	python3 ${src_path}/Tools/simulation/gazebo/sitl_gazebo/scripts/jinja_gen.py ${src_path}/Tools/simulation/gazebo/sitl_gazebo/models/${MODEL}/${MODEL}.sdf.jinja ${src_path}/Tools/simulation/gazebo/sitl_gazebo --mavlink_tcp_port $((4560+${N})) --mavlink_udp_port $((14560+${N})) --mavlink_id $((1+${N})) --gst_udp_port $((5600+${N})) --video_uri $((5600+${N})) --mavlink_cam_udp_port $((14530+${N})) --output-file /tmp/${MODEL}_${N}.sdf

 	echo "Spawning ${MODEL}_${N} at ${X} ${Y}"

@@ -73,7 +73,7 @@ export PX4_SIM_MODEL=${vehicle_model}

 echo ${SCRIPT}
 SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
-src_path="$SCRIPT_DIR/.."
+src_path="$SCRIPT_DIR/../../.."

 build_path=${src_path}/build/${target}
 mavlink_udp_port=14560
@@ -84,7 +84,7 @@ pkill -x px4 || true

 sleep 1

-source ${src_path}/Tools/setup_gazebo.bash ${src_path} ${src_path}/build/${target}
+source ${src_path}/Tools/simulation/gazebo/setup_gazebo.bash ${src_path} ${src_path}/build/${target}

 # To use gazebo_ros ROS2 plugins
 if [[ -n "$ROS_VERSION" ]] && [ "$ROS_VERSION" == "2" ]; then
@@ -94,7 +94,7 @@ else
 fi

 echo "Starting gazebo"
-gzserver ${src_path}/Tools/sitl_gazebo/worlds/${world}.world --verbose $ros_args &
+gzserver ${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${world}.world --verbose $ros_args &
 sleep 5

 n=0
@@ -0,0 +1,180 @@
+#!/usr/bin/env bash
+set -e
+
+if [ "$#" -lt 6 ]; then
+	echo usage: sitl_run.sh sitl_bin debugger model world src_path build_path
+	exit 1
+fi
+
+if [[ -n "$DONT_RUN" ]]; then
+	echo "Not running simulation (DONT_RUN is set)."
+	exit 0
+fi
+
+sitl_bin="$1"
+debugger="$2"
+model="$3"
+world="$4"
+src_path="$5"
+build_path="$6"
+
+echo SITL ARGS
+
+echo sitl_bin: $sitl_bin
+echo debugger: $debugger
+echo model: $model
+echo world: $world
+echo src_path: $src_path
+echo build_path: $build_path
+
+rootfs="$build_path/rootfs" # this is the working directory
+mkdir -p "$rootfs"
+
+# To disable user input
+if [[ -n "$NO_PXH" ]]; then
+	no_pxh=-d
+else
+	no_pxh=""
+fi
+
+# To disable user input
+if [[ -n "$VERBOSE_SIM" ]]; then
+	verbose="--verbose"
+else
+	verbose=""
+fi
+
+# Disable follow mode
+if [[ "$PX4_NO_FOLLOW_MODE" != "1" ]]; then
+    follow_mode="--gui-client-plugin libgazebo_user_camera_plugin.so"
+else
+    follow_mode=""
+fi
+
+# To use gazebo_ros ROS2 plugins
+if [[ -n "$ROS_VERSION" ]] && [ "$ROS_VERSION" == "2" ]; then
+	ros_args="-s libgazebo_ros_init.so -s libgazebo_ros_factory.so"
+else
+	ros_args=""
+fi
+
+if [ "$model" == "" ] || [ "$model" == "none" ]; then
+	echo "empty model, setting iris as default"
+	model="iris"
+fi
+
+# kill process names that might stil
+# be running from last time
+pkill -x gazebo || true
+
+export PX4_SIM_MODEL=${model}
+export PX4_SIM_WORLD=${world}
+
+SIM_PID=0
+
+if [ -x "$(command -v gazebo)" ]; then
+	# Get the model name
+	model_name="${model}"
+	# Check if a 'modelname-gen.sdf' file exist for the models using jinja and generating the SDF files
+	if [ -f "${src_path}/Tools/simulation/gazebo/sitl_gazebo/models/${model}/${model}-gen.sdf" ]; then
+		model_name="${model}-gen"
+	fi
+
+	# Set the plugin path so Gazebo finds our model and sim
+	source "$src_path/Tools/simulation/gazebo/setup_gazebo.bash" "${src_path}" "${build_path}"
+	if [ -z $PX4_SITL_WORLD ]; then
+		#Spawn predefined world
+		if [ "$world" == "none" ]; then
+			if [ -f ${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${model}.world ]; then
+				echo "empty world, default world ${model}.world for model found"
+				world_path="${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${model}.world"
+			else
+				echo "empty world, setting empty.world as default"
+				world_path="${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/empty.world"
+			fi
+		else
+			#Spawn empty world if world with model name doesn't exist
+			world_path="${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${world}.world"
+		fi
+	else
+		if [ -f ${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${PX4_SITL_WORLD}.world ]; then
+			# Spawn world by name if exists in the worlds directory from environment variable
+			world_path="${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${PX4_SITL_WORLD}.world"
+		else
+			# Spawn world from environment variable with absolute path
+			world_path="$PX4_SITL_WORLD"
+		fi
+	fi
+	gzserver $verbose $world_path $ros_args &
+	SIM_PID=$!
+
+	# Check all paths in ${GAZEBO_MODEL_PATH} for specified model
+	IFS_bak=$IFS
+	IFS=":"
+	for possible_model_path in ${GAZEBO_MODEL_PATH}; do
+		if [ -z $possible_model_path ]; then
+			continue
+		fi
+		# trim \r from path
+		possible_model_path=$(echo $possible_model_path | tr -d '\r')
+		if test -f "${possible_model_path}/${model}/${model}.sdf" ; then
+			modelpath=$possible_model_path
+			break
+		fi
+	done
+	IFS=$IFS_bak
+
+	if [ -z $modelpath ]; then
+		echo "Model ${model} not found in model path: ${GAZEBO_MODEL_PATH}"
+		exit 1
+	else
+		echo "Using: ${modelpath}/${model}/${model}.sdf"
+	fi
+
+	while gz model --verbose --spawn-file="${modelpath}/${model}/${model_name}.sdf" --model-name=${model} -x 1.01 -y 0.98 -z 0.83 2>&1 | grep -q "An instance of Gazebo is not running."; do
+		echo "gzserver not ready yet, trying again!"
+		sleep 1
+	done
+
+	if [[ -n "$HEADLESS" ]]; then
+		echo "not running gazebo gui"
+	else
+		# gzserver needs to be running to avoid a race. Since the launch
+		# is putting it into the background we need to avoid it by backing off
+		sleep 3
+		nice -n 20 gzclient --verbose $follow_mode &
+		GUI_PID=$!
+	fi
+else
+	echo "You need to have gazebo simulator installed!"
+	exit 1
+fi
+
+pushd "$rootfs" >/dev/null
+
+# Do not exit on failure now from here on because we want the complete cleanup
+set +e
+
+sitl_command="\"$sitl_bin\" $no_pxh \"$build_path\"/etc"
+
+echo SITL COMMAND: $sitl_command
+
+if [ "$debugger" == "lldb" ]; then
+	eval lldb -- $sitl_command
+elif [ "$debugger" == "gdb" ]; then
+	eval gdb --args $sitl_command
+elif [ "$debugger" == "valgrind" ]; then
+	eval valgrind --track-origins=yes --leak-check=full -v $sitl_command
+elif [ "$debugger" == "callgrind" ]; then
+	eval valgrind --tool=callgrind -v $sitl_command
+else
+	eval $sitl_command
+fi
+
+popd >/dev/null
+
+
+kill -9 $SIM_PID
+if [[ ! -n "$HEADLESS" ]]; then
+	kill -9 $GUI_PID
+fi
--- a/Show More
+++ b/Show More