.ci/Jenkinsfile-SITL_tests

@@ -0,0 +1,174 @@
+#!/usr/bin/env groovy
+
+pipeline {
+  agent none
+
+  stages {
+
+    stage('Build') {
+      agent {
+        docker {
+          image 'px4io/px4-dev-ros-melodic:2020-04-01'
+          args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
+        }
+      }
+      steps {
+        sh 'export'
+        sh 'make distclean'
+        sh 'ccache -s'
+        sh 'git fetch --tags'
+        sh 'make px4_sitl_default'
+        sh 'make px4_sitl_default sitl_gazebo'
+        sh 'make px4_sitl_default package'
+        sh 'ccache -s'
+        stash(name: "px4_sitl_package", includes: "build/px4_sitl_default/*.bz2")
+        archiveArtifacts(artifacts: "build/px4_sitl_default/*.bz2", fingerprint: true, onlyIfSuccessful: true)
+      }
+      post {
+        always {
+            sh 'make distclean'
+        }
+      }
+    } // stage Build
+
+    stage('ROS Tests') {
+      steps {
+        script {
+          def missions = [
+            [
+              name: "FW",
+              test: "mavros_posix_test_mission.test",
+              mission: "FW_mission_1",
+              vehicle: "plane"
+            ],
+
+            [
+              name: "MC_box",
+              test: "mavros_posix_test_mission.test",
+              mission: "MC_mission_box",
+              vehicle: "iris"
+            ],
+            [
+              name: "MC_offboard_att",
+              test: "mavros_posix_tests_offboard_attctl.test",
+              mission: "",
+              vehicle: "iris"
+            ],
+            [
+              name: "MC_offboard_pos",
+              test: "mavros_posix_tests_offboard_posctl.test",
+              mission: "",
+              vehicle: "iris"
+            ],
+
+            [
+              name: "Rover 1",
+              test: "mavros_posix_test_mission.test",
+              mission: "rover_mission_1",
+              vehicle: "rover"
+            ],
+
+            [
+              name: "VTOL_standard",
+              test: "mavros_posix_test_mission.test",
+              mission: "VTOL_mission_1",
+              vehicle: "standard_vtol"
+            ],
+            [
+              name: "VTOL_tailsitter",
+              test: "mavros_posix_test_mission.test",
+              mission: "VTOL_mission_1",
+              vehicle: "tailsitter"
+            ],
+            [
+              name: "VTOL_tiltrotor",
+              test: "mavros_posix_test_mission.test",
+              mission: "VTOL_mission_1",
+              vehicle: "tiltrotor"
+            ],
+            [
+              name: "MC_avoidance",
+              test: "mavros_posix_test_avoidance.test",
+              mission: "avoidance",
+              vehicle: "iris_obs_avoid",
+              run_script: "rostest_avoidance_run.sh"
+            ],
+            [
+              name: "MC_safe_landing",
+              test: "mavros_posix_test_safe_landing.test",
+              mission: "MC_safe_landing",
+              vehicle: "iris_obs_avoid",
+              run_script: "rostest_avoidance_run.sh"
+            ],
+
+          ]
+
+          def test_nodes = [:]
+          for (def i = 0; i < missions.size(); i++) {
+            test_nodes.put(missions[i].name, createTestNode(missions[i]))
+          }
+
+          parallel test_nodes
+        } // script
+      } // steps
+    } // stage ROS Tests
+
+  } //stages
+
+  environment {
+    CCACHE_DIR = '/tmp/ccache'
+    CI = true
+  }
+
+  options {
+    buildDiscarder(logRotator(numToKeepStr: '10', artifactDaysToKeepStr: '20'))
+    timeout(time: 60, unit: 'MINUTES')
+  }
+} // pipeline
+
+def createTestNode(Map test_def) {
+  return {
+    node {
+      cleanWs()
+      docker.image("px4io/px4-dev-ros-melodic:2020-04-01").inside('-e HOME=${WORKSPACE}') {
+        stage(test_def.name) {
+          def run_script = test_def.get('run_script', 'rostest_px4_run.sh')
+          def test_ok = true
+          sh('export')
+
+          unstash('px4_sitl_package')
+          sh('tar -xjpvf build/px4_sitl_default/px4-px4_sitl_default*.bz2')
+
+          // run test
+          try {
+            sh('px4-px4_sitl_default*/px4/test/' + run_script + ' ' + test_def.test + ' mission:=' + test_def.mission + ' vehicle:=' + test_def.vehicle)
+
+          } catch (exc) {
+            // save all test artifacts for debugging
+            archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.ulg, .ros/**/rosunit-*.xml, .ros/**/rostest-*.log')
+            test_ok = false
+          }
+
+          // upload log to flight review (https://logs.px4.io/)
+          sh('px4-px4_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/log/*/*.ulg')
+
+          // log analysis
+          // process ekf log data
+          try {
+            sh('px4-px4_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py .ros/log/*/*.ulg')
+          } catch (exc) {
+            // save log analysis artifacts for debugging
+            archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.pdf, .ros/**/*.csv')
+            // FIXME: don't let the script to fail the build
+            // test_ok = false
+          }
+
+          if (!test_ok) {
+            error('ROS Test failed')
+          }
+        } // stage
+        cleanWs()
+      } // docker.image
+    } // node
+  } // return
+} // createTestNode

.ci/Jenkinsfile-SITL_tests_ASan

@@ -0,0 +1,175 @@
+#!/usr/bin/env groovy
+
+pipeline {
+  agent none
+
+  stages {
+
+    stage('Build') {
+      agent {
+        docker {
+          image 'px4io/px4-dev-ros-melodic:2020-04-01'
+          args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
+        }
+      }
+      steps {
+        sh 'export'
+        sh 'make distclean'
+        sh 'ccache -s'
+        sh 'git fetch --tags'
+        sh 'make px4_sitl_default'
+        sh 'make px4_sitl_default sitl_gazebo'
+        sh 'make px4_sitl_default package'
+        sh 'ccache -s'
+        stash(name: "px4_sitl_package", includes: "build/px4_sitl_default/*.bz2")
+        //archiveArtifacts(artifacts: "build/px4_sitl_default/*.bz2", fingerprint: true, onlyIfSuccessful: true)
+      }
+      post {
+        always {
+            sh 'make distclean'
+        }
+      }
+    } // stage Build
+
+    stage('ROS Tests') {
+      steps {
+        script {
+          def missions = [
+            [
+              name: "FW",
+              test: "mavros_posix_test_mission.test",
+              mission: "FW_mission_1",
+              vehicle: "plane"
+            ],
+
+            [
+              name: "MC_box",
+              test: "mavros_posix_test_mission.test",
+              mission: "MC_mission_box",
+              vehicle: "iris"
+            ],
+            [
+              name: "MC_offboard_att",
+              test: "mavros_posix_tests_offboard_attctl.test",
+              mission: "",
+              vehicle: "iris"
+            ],
+            [
+              name: "MC_offboard_pos",
+              test: "mavros_posix_tests_offboard_posctl.test",
+              mission: "",
+              vehicle: "iris"
+            ],
+
+            [
+              name: "Rover 1",
+              test: "mavros_posix_test_mission.test",
+              mission: "rover_mission_1",
+              vehicle: "rover"
+            ],
+
+            [
+              name: "VTOL_standard",
+              test: "mavros_posix_test_mission.test",
+              mission: "VTOL_mission_1",
+              vehicle: "standard_vtol"
+            ],
+            [
+              name: "VTOL_tailsitter",
+              test: "mavros_posix_test_mission.test",
+              mission: "VTOL_mission_1",
+              vehicle: "tailsitter"
+            ],
+            [
+              name: "VTOL_tiltrotor",
+              test: "mavros_posix_test_mission.test",
+              mission: "VTOL_mission_1",
+              vehicle: "tiltrotor"
+            ],
+            [
+              name: "MC_avoidance",
+              test: "mavros_posix_test_avoidance.test",
+              mission: "avoidance",
+              vehicle: "iris_obs_avoid",
+              run_script: "rostest_avoidance_run.sh"
+            ],
+            [
+              name: "MC_safe_landing",
+              test: "mavros_posix_test_safe_landing.test",
+              mission: "MC_safe_landing",
+              vehicle: "iris_obs_avoid",
+              run_script: "rostest_avoidance_run.sh"
+            ],
+
+          ]
+
+          def test_nodes = [:]
+          for (def i = 0; i < missions.size(); i++) {
+            test_nodes.put(missions[i].name, createTestNode(missions[i]))
+          }
+
+          parallel test_nodes
+        } // script
+      } // steps
+    } // stage ROS Tests
+
+  } //stages
+
+  environment {
+    CCACHE_DIR = '/tmp/ccache'
+    CI = true
+    PX4_CMAKE_BUILD_TYPE = 'AddressSanitizer'
+  }
+
+  options {
+    buildDiscarder(logRotator(numToKeepStr: '10', artifactDaysToKeepStr: '20'))
+    timeout(time: 60, unit: 'MINUTES')
+  }
+} // pipeline
+
+def createTestNode(Map test_def) {
+  return {
+    node {
+      cleanWs()
+      docker.image("px4io/px4-dev-ros-melodic:2020-04-01").inside('-e HOME=${WORKSPACE}') {
+        stage(test_def.name) {
+          def run_script = test_def.get('run_script', 'rostest_px4_run.sh')
+          def test_ok = true
+          sh('export')
+
+          unstash('px4_sitl_package')
+          sh('tar -xjpvf build/px4_sitl_default/px4-px4_sitl_default*.bz2')
+
+          // run test
+          try {
+            sh('px4-px4_sitl_default*/px4/test/' + run_script + ' ' + test_def.test + ' mission:=' + test_def.mission + ' vehicle:=' + test_def.vehicle)
+
+          } catch (exc) {
+            // save all test artifacts for debugging
+            archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.ulg, .ros/**/rosunit-*.xml, .ros/**/rostest-*.log')
+            test_ok = false
+          }
+
+          // upload log to flight review (https://logs.px4.io/)
+          sh('px4-px4_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/log/*/*.ulg')
+
+          // log analysis
+          // process ekf log data
+          try {
+            sh('px4-px4_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py .ros/log/*/*.ulg')
+          } catch (exc) {
+            // save log analysis artifacts for debugging
+            archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.pdf, .ros/**/*.csv')
+            // FIXME: don't let the script to fail the build
+            // test_ok = false
+          }
+
+          if (!test_ok) {
+            error('ROS Test failed')
+          }
+        } // stage
+        cleanWs()
+      } // docker.image
+    } // node
+  } // return
+} // createTestNode

.ci/Jenkinsfile-SITL_tests_coverage

@@ -0,0 +1,192 @@
+#!/usr/bin/env groovy
+
+pipeline {
+  agent none
+
+  stages {
+
+    stage('ROS Tests') {
+      steps {
+        script {
+          def missions = [
+            [
+              name: "FW",
+              test: "mavros_posix_test_mission.test",
+              mission: "FW_mission_1",
+              vehicle: "plane"
+            ],
+
+            [
+              name: "MC_box",
+              test: "mavros_posix_test_mission.test",
+              mission: "MC_mission_box",
+              vehicle: "iris"
+            ],
+            [
+              name: "MC_offboard_att",
+              test: "mavros_posix_tests_offboard_attctl.test",
+              mission: "",
+              vehicle: "iris"
+            ],
+            [
+              name: "MC_offboard_pos",
+              test: "mavros_posix_tests_offboard_posctl.test",
+              mission: "",
+              vehicle: "iris"
+            ],
+
+            [
+              name: "Rover 1",
+              test: "mavros_posix_test_mission.test",
+              mission: "rover_mission_1",
+              vehicle: "rover"
+            ],
+
+            [
+              name: "VTOL_standard",
+              test: "mavros_posix_test_mission.test",
+              mission: "VTOL_mission_1",
+              vehicle: "standard_vtol"
+            ],
+            [
+              name: "VTOL_tailsitter",
+              test: "mavros_posix_test_mission.test",
+              mission: "VTOL_mission_1",
+              vehicle: "tailsitter"
+            ],
+            // [
+            //   name: "VTOL_tiltrotor",
+            //   test: "mavros_posix_test_mission.test",
+            //   mission: "VTOL_mission_1",
+            //   vehicle: "tiltrotor"
+            // ],
+
+          ]
+
+          def test_nodes = [:]
+          for (def i = 0; i < missions.size(); i++) {
+            test_nodes.put(missions[i].name, createTestNode(missions[i]))
+          }
+
+          parallel test_nodes
+        } // script
+      } // steps
+    } // stage ROS Tests
+
+    stage('Coverage') {
+      parallel {
+
+        stage('code coverage (python)') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-base-bionic:2020-04-01'
+              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+            }
+          }
+          steps {
+            sh 'export'
+            sh 'make distclean'
+            sh 'git fetch --tags'
+            sh 'make python_coverage'
+            withCredentials([string(credentialsId: 'FIRMWARE_CODECOV_TOKEN', variable: 'CODECOV_TOKEN')]) {
+              sh 'curl -s https://codecov.io/bash | bash -s - -F python'
+            }
+
+            sh 'make distclean'
+          }
+        }
+
+        stage('unit tests') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-base-bionic:2020-04-01'
+              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+            }
+          }
+          steps {
+            sh 'export'
+            sh 'make distclean'
+            sh 'git fetch --tags'
+            sh 'make tests'
+            withCredentials([string(credentialsId: 'FIRMWARE_CODECOV_TOKEN', variable: 'CODECOV_TOKEN')]) {
+              sh 'curl -s https://codecov.io/bash | bash -s - -F unittest'
+            }
+            sh 'make distclean'
+          }
+        }
+
+      } // parallel
+    } // stage Coverage
+
+  } //stages
+
+  environment {
+    CCACHE_DIR = '/tmp/ccache'
+    CI = true
+    CTEST_OUTPUT_ON_FAILURE = 1
+    PX4_CMAKE_BUILD_TYPE = 'Coverage'
+  }
+
+  options {
+    buildDiscarder(logRotator(numToKeepStr: '10', artifactDaysToKeepStr: '20'))
+    timeout(time: 60, unit: 'MINUTES')
+  }
+} // pipeline
+
+def createTestNode(Map test_def) {
+  return {
+    node {
+      cleanWs()
+      docker.image("px4io/px4-dev-ros-melodic:2020-04-01").inside('-e HOME=${WORKSPACE}') {
+        stage(test_def.name) {
+          def test_ok = true
+          sh('export')
+
+          checkout(scm)
+
+          // run test
+          try {
+            sh('make distclean')
+            sh 'git fetch --tags'
+            sh('ccache -s')
+            sh('make px4_sitl_default')
+            sh('make px4_sitl_default sitl_gazebo')
+            sh('ccache -s')
+            sh('make rostest_run TEST_FILE=' + test_def.test + ' TEST_MISSION=' + test_def.mission + ' TEST_VEHICLE=' + test_def.vehicle)
+          } catch (exc) {
+            // save all test artifacts for debugging
+            archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.ulg, .ros/**/rosunit-*.xml, .ros/**/rostest-*.log')
+            test_ok = false
+          }
+
+          // log analysis
+          withCredentials([string(credentialsId: 'FIRMWARE_CODECOV_TOKEN', variable: 'CODECOV_TOKEN')]) {
+            sh 'curl -s https://codecov.io/bash | bash -s - -F sitl_mission_${STAGE_NAME}'
+
+            // process log data (with python code coverage)
+            try {
+              //sh('coverage run -p Tools/ecl_ekf/process_logdata_ekf.py .ros/log/*/*.ulg')
+              sh('Tools/ecl_ekf/process_logdata_ekf.py .ros/log/*/*.ulg')
+            } catch (exc) {
+              // save log analysis artifacts for debugging
+              archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.pdf, .ros/**/*.csv')
+              // FIXME: don't let the script to fail the build
+              // test_ok = false
+            }
+
+            // upload log to flight review (https://logs.px4.io/) with python code coverage
+            sh('coverage run -p Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/log/*/*.ulg')
+
+            // upload python code coverage to codecov.io
+            sh 'curl -s https://codecov.io/bash | bash -s - -X gcov -F sitl_python_${STAGE_NAME}'
+          }
+
+          if (!test_ok) {
+            error('ROS Test failed')
+          }
+        } // stage
+        cleanWs()
+      } // docker.image
+    } // node
+  } // return
+} // createTestNode

.ci/Jenkinsfile-compile

@@ -9,26 +9,20 @@ pipeline {
         script {
           def build_nodes = [:]
           def docker_images = [
-            armhf: "px4io/px4-dev-armhf:2021-09-08",
-            arm64: "px4io/px4-dev-aarch64:2021-09-08",
-            base: "px4io/px4-dev-base-bionic:2021-09-08",
-            nuttx: "px4io/px4-dev-nuttx-focal:2021-09-08",
+            armhf: "px4io/px4-dev-armhf:2020-04-01",
+            base: "px4io/px4-dev-base-bionic:2020-04-01",
+            nuttx: "px4io/px4-dev-nuttx-bionic:2020-04-01",
+            snapdragon: "lorenzmeier/px4-dev-snapdragon:2020-04-01"
           ]
 
           def armhf_builds = [
-            target: ["beaglebone_blue_default", "emlid_navio2_default", "px4_raspberrypi_default", "scumaker_pilotpi_default"],
+            target: ["aerotenna_ocpoc_default", "beaglebone_blue_default", "emlid_navio2_default", "px4_raspberrypi_default"],
             image: docker_images.armhf,
             archive: false
           ]
 
-          def arm64_builds = [
-            target: ["scumaker_pilotpi_arm64"],
-            image: docker_images.arm64,
-            archive: false
-          ]
-
           def base_builds = [
-            target: ["px4_sitl_default"],
+            target: ["px4_sitl_rtps"],
             image: docker_images.base,
             archive: false
           ]
@@ -36,90 +30,55 @@ pipeline {
           def nuttx_builds_archive = [
             target: [
                      "airmind_mindpx-v2_default",
-                     "ark_can-flow_canbootloader",
-                     "ark_can-flow_default",
-                     "ark_can-gps_canbootloader",
-                     "ark_can-gps_default",
-                     "ark_can-rtk-gps_canbootloader",
-                     "ark_can-rtk-gps_default",
-                     "atl_mantis-edu_default",
                      "av_x-v1_default",
                      "bitcraze_crazyflie_default",
-                     "bitcraze_crazyflie21_default",
-                     "cuav_can-gps-v1_canbootloader",
-                     "cuav_can-gps-v1_default",
-                     "cuav_nora_default",
-                     "cuav_x7pro_default",
-                     "cubepilot_cubeorange_default",
-                     "cubepilot_cubeyellow_default",
-                     "diatone_mamba-f405-mk2_default",
-                     "freefly_can-rtk-gps_canbootloader",
-                     "freefly_can-rtk-gps_default",
-                     "holybro_can-gps-v1_canbootloader",
-                     "holybro_can-gps-v1_default",
                      "holybro_durandal-v1_default",
-                     "holybro_kakutef7_default",
-                     "holybro_kakuteh7_default",
-                     "holybro_pix32v5_default",
-                     "matek_gnss-m9n-f4_canbootloader",
-                     "matek_gnss-m9n-f4_default",
-                     "matek_h743-mini_default",
-                     "matek_h743-slim_default",
-                     "matek_h743_default",
+                     "holybro_durandal-v1_stackcheck",
+                     "holybro_kakutef7",
+                     "intel_aerofc-v1_default",
                      "modalai_fc-v1_default",
-                     "modalai_fc-v1_rtps",
-                     "modalai_fc-v2_default",
                      "mro_ctrl-zero-f7_default",
-                     "mro_ctrl-zero-f7-oem_default",
-                     "mro_ctrl-zero-h7-oem_default",
-                     "mro_ctrl-zero-h7-oem_rtps",
-                     "mro_ctrl-zero-h7_default",
-                     "mro_ctrl-zero-h7_rtps",
-                     "mro_pixracerpro_default",
-                     "mro_pixracerpro_rtps",
                      "mro_x21-777_default",
                      "mro_x21_default",
-                     "nxp_fmuk66-e_default",
-                     "nxp_fmuk66-e_rtps",
-                     "nxp_fmuk66-e_socketcan",
                      "nxp_fmuk66-v3_default",
-                     "nxp_fmuk66-v3_rtps",
-                     "nxp_fmuk66-v3_socketcan",
                      "nxp_fmurt1062-v1_default",
-                     "nxp_ucans32k146_canbootloader",
-                     "nxp_ucans32k146_default",
+                     "nxp_rddrone-uavcan146_default",
                      "omnibus_f4sd_default",
                      "px4_fmu-v2_default",
                      "px4_fmu-v2_fixedwing",
-                     "px4_fmu-v2_lto",
+                     "px4_fmu-v2_lpe",
                      "px4_fmu-v2_multicopter",
                      "px4_fmu-v2_rover",
+                     "px4_fmu-v2_test",
                      "px4_fmu-v3_default",
+                     "px4_fmu-v4_cannode",
                      "px4_fmu-v4_default",
+                     "px4_fmu-v4_optimized",
                      "px4_fmu-v4pro_default",
-                     "px4_fmu-v5_cyphal",
-                     "px4_fmu-v5_debug",
                      "px4_fmu-v5_default",
-                     "px4_fmu-v5_lto",
+                     "px4_fmu-v5_fixedwing",
+                     "px4_fmu-v5_multicopter",
+                     "px4_fmu-v5_optimized",
+                     "px4_fmu-v5_rover",
                      "px4_fmu-v5_rtps",
                      "px4_fmu-v5_stackcheck",
-                     "px4_fmu-v5_uavcanv0periph",
                      "px4_fmu-v5x_default",
-                     "px4_fmu-v6c_default",
-                     "px4_fmu-v6u_default",
-                     "px4_fmu-v6x_default",
+                     "px4_fmu-v5x_p2_base_phy_LAN8742Ai",
                      "px4_io-v2_default",
-                     "raspberrypi_pico_default",
-                     "sky-drones_smartap-airlink_default",
-                     "spracing_h7extreme_default",
                      "uvify_core_default"
             ],
             image: docker_images.nuttx,
             archive: true
           ]
 
+          def snapdragon_builds = [
+            target: ["atlflight_eagle_qurt", "atlflight_eagle_default"],
+            image: docker_images.snapdragon,
+            archive: false
+          ]
+
           def docker_builds = [
-            armhf_builds, base_builds, nuttx_builds_archive
+            armhf_builds, base_builds, nuttx_builds_archive//, snapdragon_builds
           ]
 
           for (def build_type = 0; build_type < docker_builds.size(); build_type++) {
@@ -139,7 +98,7 @@ pipeline {
     // TODO: actually upload artifacts to S3
     // stage('S3 Upload') {
     //   agent {
-    //     docker { image 'px4io/px4-dev-base-focal:2021-09-08' }
+    //     docker { image 'px4io/px4-dev-base-bionic:2020-04-01' }
     //   }
     //   options {
     //         skipDefaultCheckout()
@@ -163,15 +122,19 @@ pipeline {
     CI = true
   }
   options {
-    buildDiscarder(logRotator(numToKeepStr: '5', artifactDaysToKeepStr: '14'))
-    timeout(time: 90, unit: 'MINUTES')
+    buildDiscarder(logRotator(numToKeepStr: '2', artifactDaysToKeepStr: '14'))
+    timeout(time: 60, unit: 'MINUTES')
   }
 }
 
 def createBuildNode(Boolean archive, String docker_image, String target) {
   return {
 
+    // TODO: fix the snapdragon image
     bypass_entrypoint = ''
+    if (docker_image == 'lorenzmeier/px4-dev-snapdragon:2020-04-01') {
+      bypass_entrypoint = ' --entrypoint=""'
+    }
 
     node {
       docker.withRegistry('https://registry.hub.docker.com', 'docker_hub_dagar') {
@@ -180,7 +143,7 @@ def createBuildNode(Boolean archive, String docker_image, String target) {
             try {
               sh('export')
               checkout(scm)
-              sh('make distclean; git clean -ff -x -d .')
+              sh('make distclean')
               sh('git fetch --tags')
               sh('ccache -s')
               sh('make ' + target)
@@ -197,7 +160,7 @@ def createBuildNode(Boolean archive, String docker_image, String target) {
               throw (exc)
             }
             finally {
-              sh('make distclean; git clean -ff -x -d .')
+              sh('make distclean')
             }
           }
         }

.ci/Jenkinsfile-compile_mac

@@ -0,0 +1,90 @@
+#!/usr/bin/env groovy
+
+pipeline {
+  agent none
+  stages {
+
+    stage('Build') {
+
+      parallel {
+
+        stage('px4_sitl_default (OSX)') {
+          agent {
+            label 'mac'
+          }
+          environment {
+            CCACHE_BASEDIR = "${env.WORKSPACE}"
+          }
+          steps {
+            sh 'export'
+            sh 'make distclean'
+            sh 'git fetch --tags'
+            sh 'ccache -s'
+            sh 'make px4_sitl_default'
+            sh 'ccache -s'
+          }
+          post {
+            always {
+              sh 'make distclean'
+            }
+          }
+        } // stage px4_sitl_default
+
+        stage('px4_fmu-v5_default (OSX)') {
+          agent {
+            label 'mac'
+          }
+          environment {
+            CCACHE_BASEDIR = "${env.WORKSPACE}"
+          }
+          steps {
+            sh 'export'
+            sh 'make distclean'
+            sh 'git fetch --tags'
+            sh 'ccache -s'
+            sh 'make px4_fmu-v5_default'
+            sh 'ccache -s'
+          }
+          post {
+            always {
+              sh 'make distclean'
+            }
+          }
+        } // stage px4_fmu-v5_default
+
+        stage('sitl tests (OSX)') {
+          agent {
+            label 'mac'
+          }
+          environment {
+            CCACHE_BASEDIR = "${env.WORKSPACE}"
+          }
+          steps {
+            sh 'export'
+            sh 'make distclean'
+            sh 'git fetch --tags'
+            sh 'ccache -s'
+            sh 'make tests'
+            sh 'ccache -s'
+          }
+          post {
+            always {
+              sh 'make distclean'
+            }
+          }
+        } // stage sitl tests
+
+      } // parallel
+    } // stage Build
+
+  } // stages
+  environment {
+    CCACHE_CPP2 = '1'
+    CCACHE_DIR = '/tmp/ccache'
+    CI = true
+  }
+  options {
+    buildDiscarder(logRotator(numToKeepStr: '10', artifactDaysToKeepStr: '20'))
+    timeout(time: 120, unit: 'MINUTES')
+  }
+}

.ci/Jenkinsfile-hardware_linux

@@ -0,0 +1,41 @@
+#!/usr/bin/env groovy
+
+pipeline {
+  agent none
+  stages {
+    stage('Build and Verify') {
+
+      agent {
+        label 'navio2'
+      }
+      steps {
+        sh 'export'
+        sh 'make distclean'
+        sh 'ccache -s'
+        sh 'git fetch --tags'
+        sh 'CCACHE_BASEDIR=${WORKSPACE} make emlid_navio2_default'
+        sh 'ccache -s'
+        // sanity check
+        sh 'cd build/emlid_navio2_default/ && ./bin/px4 -s ../../posix-configs/rpi/px4_test.config'
+      }
+      post {
+        always {
+          sh 'make distclean'
+        }
+      }
+      options {
+        timeout(time: 60, unit: 'MINUTES')
+      }
+
+    }
+
+  } // stages
+  environment {
+    CCACHE_DIR = '/tmp/ccache'
+    CI = true
+  }
+  options {
+    buildDiscarder(logRotator(numToKeepStr: '10', artifactDaysToKeepStr: '20'))
+    timeout(time: 60, unit: 'MINUTES')
+  }
+}

.ci/Jenkinsfile-hardware_snapdragon

@@ -0,0 +1,48 @@
+#!/usr/bin/env groovy
+
+pipeline {
+  agent none
+  stages {
+    stage('Build and Verify') {
+
+      agent {
+        label 'snapdragon'
+      }
+      steps {
+        sh 'export'
+        sh 'make distclean'
+        sh 'ccache -s'
+        sh 'git fetch --tags'
+        sh 'CCACHE_BASEDIR=${WORKSPACE} make eagle_default'
+        sh 'ccache -s'
+        // sanity check
+        sh 'adb devices'
+        sh 'make eagle_default sanity || true'
+      }
+      post {
+        always {
+          sh 'cat boards/atlflight/eagle/scripts/px4.log'
+          sh 'cat boards/atlflight/eagle/scripts/minidm.log'
+          sh 'make distclean'
+        }
+      }
+      options {
+        timeout(time: 60, unit: 'MINUTES')
+      }
+
+    }
+
+  } // stages
+  environment {
+    CCACHE_DIR = '/tmp/ccache'
+    CI = true
+    ARM_CROSS_GCC_ROOT="/home/jenkins/Qualcomm/ARM_Tools/gcc-4.9-2014.11"
+    HEXAGON_ARM_SYSROOT="/home/jenkins/Qualcomm/qrlinux_sysroot"
+    HEXAGON_SDK_ROOT="/home/jenkins/Qualcomm/Hexagon_SDK/3.0"
+    HEXAGON_TOOLS_ROOT="/home/jenkins/Qualcomm/HEXAGON_Tools/7.2.12/Tools"
+  }
+  options {
+    buildDiscarder(logRotator(numToKeepStr: '10', artifactDaysToKeepStr: '20'))
+    timeout(time: 60, unit: 'MINUTES')
+  }
+}

.circleci/config.yml

@@ -0,0 +1,19 @@
+version: 2
+jobs:
+  build:
+    docker:
+      - image: px4io/px4-dev-nuttx-bionic:2020-04-01
+    steps:
+      - checkout
+      - run:
+          name: Fetch tags
+          command: git fetch --tags
+      - run:
+          name: Build px4_fmu-v5_default
+          command: make px4_fmu-v5_default
+      - store_artifacts:
+          path: build/px4_fmu-v5_default/px4_fmu-v5_default.px4
+          destination: px4_fmu-v5_default.px4
+      - store_artifacts:
+          path: build/px4_fmu-v5_default/px4_fmu-v5_default.elf
+          destination: px4_fmu-v5_default.elf

.clang-tidy

@@ -1,17 +1,11 @@
 ---
 Checks:          '*,
-                  -*-avoid-c-arrays,
-                  -*-uppercase-literal-suffix,
-                  -*-magic-numbers,
-                  -altera-id-dependent-backward-branch,
-                  -altera-unroll-loops,
                   -android*,
                   -bugprone-integer-division,
                   -cert-dcl50-cpp,
                   -cert-env33-c,
                   -cert-err34-c,
                   -cert-err58-cpp,
-                  -cert-flp30-c,
                   -cert-msc30-c,
                   -cert-msc50-cpp,
                   -clang-analyzer-core.CallAndMessage,
@@ -24,7 +18,6 @@ Checks:          '*,
                   -clang-analyzer-deadcode.DeadStores,
                   -clang-analyzer-optin.cplusplus.VirtualCall,
                   -clang-analyzer-optin.performance.Padding,
-                  -clang-analyzer-security.FloatLoopCounter,
                   -clang-analyzer-security.insecureAPI.strcpy,
                   -clang-analyzer-unix.API,
                   -clang-analyzer-unix.cstring.BadSizeArg,
@@ -44,7 +37,8 @@ Checks:          '*,
                   -cppcoreguidelines-pro-type-union-access,
                   -cppcoreguidelines-pro-type-vararg,
                   -cppcoreguidelines-special-member-functions,
-                  -fuchsia-*,
+                  -fuchsia-default-arguments,
+                  -fuchsia-overloaded-operator,
                   -google-build-using-namespace,
                   -google-explicit-constructor,
                   -google-global-names-in-headers,
@@ -68,7 +62,6 @@ Checks:          '*,
                   -hicpp-use-equals-delete,
                   -hicpp-use-override,
                   -hicpp-vararg,
-                  -llvmlibc-*,
                   -llvm-header-guard,
                   -llvm-include-order,
                   -llvm-namespace-comment,
@@ -81,7 +74,6 @@ Checks:          '*,
                   -modernize-deprecated-headers,
                   -modernize-loop-convert,
                   -modernize-pass-by-value,
-                  -modernize-raw-string-literal,
                   -modernize-return-braced-init-list,
                   -modernize-use-auto,
                   -modernize-use-bool-literals,
@@ -89,9 +81,7 @@ Checks:          '*,
                   -modernize-use-equals-default,
                   -modernize-use-equals-delete,
                   -modernize-use-override,
-                  -modernize-use-trailing-return-type,
                   -modernize-use-using,
-                  -modernize-use-trailing-return-type,
                   -performance-inefficient-string-concatenation,
                   -readability-avoid-const-params-in-decls,
                   -readability-container-size-empty,

.clusterfuzzlite/Dockerfile

@@ -1,7 +0,0 @@
-FROM gcr.io/oss-fuzz-base/base-builder:v1
-COPY . $SRC/PX4-Autopilot
-RUN apt-get install -y libjpeg8-dev zlib1g-dev
-RUN pip3 install --upgrade pip
-RUN python3 -m pip install -r $SRC/PX4-Autopilot/Tools/setup/requirements.txt
-WORKDIR $SRC/PX4-Autopilot
-COPY ./.clusterfuzzlite/build.sh $SRC/

.clusterfuzzlite/build.sh

@@ -1,4 +0,0 @@
-#!/usr/bin/env bash -eu
-
-PX4_FUZZ=1 make px4_sitl
-cp build/px4_sitl_default/bin/px4 $OUT/px4

.clusterfuzzlite/project.yaml

@@ -1 +0,0 @@
-language: c++

.devcontainer/devcontainer.json

@@ -1,42 +0,0 @@
-// For format details, see https://aka.ms/vscode-remote/devcontainer.json or this file's README at:
-// https://github.com/microsoft/vscode-dev-containers/tree/v0.134.0/containers/cpp
-{
-	"name": "px4-dev-nuttx",
-	"image": "px4io/px4-dev-nuttx-focal:2021-09-08",
-
-	"runArgs": [ "--cap-add=SYS_PTRACE", "--security-opt", "seccomp=unconfined" ],
-
-	// Set *default* container specific settings.json values on container create.
-	"settings": {
-		"terminal.integrated.shell.linux": "/bin/bash"
-	},
-
-	// Add the IDs of extensions you want installed when the container is created.
-	"extensions": [
-		"chiehyu.vscode-astyle",
-		"dan-c-underwood.arm",
-		"fredericbonnet.cmake-test-adapter",
-		"github.vscode-pull-request-github",
-		"marus25.cortex-debug",
-		"ms-azuretools.vscode-docker",
-		"ms-iot.vscode-ros",
-		"ms-python.python",
-		"ms-vscode.cmake-tools",
-		"ms-vscode.cpptools",
-		"ms-vscode.cpptools-extension-pack",
-		"redhat.vscode-yaml",
-		"streetsidesoftware.code-spell-checker",
-		"twxs.cmake",
-		"uavcan.dsdl",
-		"wholroyd.jinja",
-		"zixuanwang.linkerscript"
-	],
-
-	"containerUser": "user",
-	"containerEnv": {
-		"LOCAL_USER_ID": "${localEnv:UID}"
-	},
-
-	// Use 'forwardPorts' to make a list of ports inside the container available locally.
-	"forwardPorts": [14556],
-}

.gitattributes

@@ -1,80 +1,7 @@
 * text=auto eol=lf
-
-*.cmake  text eol=lf
-*.c      text eol=lf
-*.cc     text eol=lf
-*.cpp    text eol=lf
-*.h      text eol=lf
-*.hh     text eol=lf
-*.hpp    text eol=lf
-*.hxx    text eol=lf
-*.S      text eol=lf
-
-*.ipynb  text eol=lf
-*.m      text eol=lf
-*.mat    binary
-*.py     text eol=lf
-
-*.java   text eol=lf
-*.jar    binary
-*.xml    text eol=lf
-
-# PX4 mixers, msgs, etc
-*.bin    binary
-*.mix    text eol=lf
-*.msg    text eol=lf
-*.config text eol=lf
-*.sdf    text eol=lf
-*.uavcan text eol=lf
-
-# NuttX
-Makefile.* text eol=lf
-*.defs   text eol=lf
-*.ld     text eol=lf
-
-*.csv    text eol=lf
-*.md     text eol=lf
-*.txt    text eol=lf
-
-# Scripts
-*.bash   text eol=lf
-*.sh     text eol=lf
-*.zsh    text eol=lf
-# These are explicitly windows files and should use crlf
-*.ps1    text eol=crlf
 *.{cmd,[cC][mM][dD]} text eol=crlf
 *.{bat,[bB][aA][tT]} text eol=crlf
 
-# Serialisation
-*.json   text eol=lf
-*.toml   text eol=lf
-*.xml    text eol=lf
-*.yaml   text eol=lf
-*.yml    text eol=lf
-
-# Graphics
-*.png    binary
-*.jpg    binary
-*.jpeg   binary
-*.gif    binary
-*.tif    binary
-*.tiff   binary
-*.ico    binary
-*.pdf    binary
-# SVG treated as an asset (binary) by default.
-*.svg    text eol=lf
-
-# Text files where line endings should be preserved
-*.patch  -text
-
-# Archives
-*.7z     binary
-*.gz     binary
-*.tar    binary
-*.tgz    binary
-*.zip    binary
-
-# everything else
-.gitattributes text eol=lf
-.gitignore     text eol=lf
-Makefile       text eol=lf
+*.bin binary
+*.pdf binary
+*.png binary

.github/ISSUE_TEMPLATE/1_Bug_report.md

@@ -1,34 +1,32 @@
 ---
-name: 🐛 Bug report
+name: Bug report
 about: Create a report to help us improve
-labels: bug-report
 
 ---
 
-## Describe the bug
+**Describe the bug**
 A clear and concise description of the bug.
 
-## To Reproduce
+**To Reproduce**
 Steps to reproduce the behavior:
 1. Drone switched on '...'
 2. Uploaded mission '....' (attach QGC mission file)
 3. Took off '....'
 4. See error
 
-## Expected behavior
+**Expected behavior**
 A clear and concise description of what you expected to happen.
 
-## Log Files and Screenshots
+**Log Files and Screenshots**
 *Always* provide a link to the flight log file:
-- Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/main/en/getting_started/flight_reporting.html)).
-- Upload the log to the [PX4 Flight Review](http://logs.px4.io/)
-- Share the link to the log (Copy and paste the URL of the log)
+- Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/en/getting_started/flight_reporting.html)).
+- Share the link to a log showing the problem on [PX4 Flight Review](http://logs.px4.io/).
 
 Add screenshots to help explain your problem.
 
-## Drone (please complete the following information):
+**Drone (please complete the following information):**
 - Describe the type of drone.
 - Photo of the IMU / autopilot setup if possible.
 
-## Additional context
+**Additional context**
 Add any other context about the problem here.

.github/ISSUE_TEMPLATE/2_Feature_request.md

@@ -1,20 +1,19 @@
 ---
 name: 🚀 Feature Request
 about: Suggest an idea for this project
-labels: feature-request
 
 ---
 
-For general questions please use [PX4 Discuss](http://discuss.px4.io/) or Slack (you can find an invite link on this project README).
+For general questions please use [PX4 Discuss](http://discuss.px4.io/) or [Slack](http://slack.px4.io/).
 
-## Describe problem solved by the proposed feature
+**Describe problem solved by the proposed feature**
 A clear and concise description of the problem, if any, this feature will solve. E.g. I'm always frustrated when ...
 
-## Describe your preferred solution
+**Describe your preferred solution**
 A clear and concise description of what you want to happen.
 
-## Describe possible alternatives
+**Describe possible alternatives**
 A clear and concise description of alternative solutions or features you've considered.
 
-## Additional context
+**Additional context**
 Add any other context or screenshots for the feature request here.

.github/ISSUE_TEMPLATE/3_Support_question.md

@@ -1,13 +1,10 @@
 ---
 name: ⛔ Support Question
-about: See http://discuss.px4.io/ for questions about using PX4.
+about: See [PX4 Discuss](http://discuss.px4.io/) for questions about using PX4.
 
 ---
 
-## Attention! Please read the note below
-
-We use GitHub issues only to discuss PX4 bugs and new features.
-
-**For questions about using PX4 or related components, please use [PX4 Discuss](http://discuss.px4.io/).**
+We use GitHub issues only to discuss PX4 bugs and new features. For
+questions about using PX4 or related components, please use [PX4 Discuss](http://discuss.px4.io/).
 
 Thanks!

.github/ISSUE_TEMPLATE/4_Documentation_issue.md

@@ -1,11 +1,9 @@
 ---
 name: ⛔ Documentation Issue
-about: See https://github.com/PX4/px4_user_guide for documentation issues
+about: See https://github.com/PX4/Devguide for documentation issues
 
 ---
 
-## Attention! Please read the note below
-
-**Please submit the documentation issue to the [User Guide](https://github.com/PX4/px4_user_guide) repository.**
+PX4 has dedicated repositories for developer documentation (https://github.com/PX4/Devguide) and user documentation (https://github.com/PX4/px4_user_guide).
 
 Thanks!

.github/PULL_REQUEST_TEMPLATE.md

@@ -1,17 +0,0 @@
-Please use [PX4 Discuss](http://discuss.px4.io/) or [Slack](http://slack.px4.io/) to align on pull requests if necessary. You can then open draft pull requests to get early feedback.
-
-## Describe problem solved by this pull request
-A clear and concise description of the problem this proposed change will solve. Or, what it will improve.
-E.g. For this use case I ran into...
-
-## Describe your solution
-A clear and concise description of what you have implemented.
-
-## Describe possible alternatives
-A clear and concise description of alternative solutions or features you've considered.
-
-## Test data / coverage
-How was it tested? What cases were covered? Logs uploaded to https://review.px4.io/ and screenshots of the important plot parts.
-
-## Additional context
-Add any other related context or media.

.github/slack.svg

@@ -1,24 +0,0 @@
-<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="90" height="20">
-  <linearGradient id="smooth" x2="0" y2="100%">
-    <stop offset="0" stop-color="#bbb" stop-opacity=".1"/>
-    <stop offset="1" stop-opacity=".1"/>
-  </linearGradient>
-
-  <mask id="round">
-    <rect width="90" height="20" rx="3" fill="#fff"/>
-  </mask>
-
-  <g mask="url(#round)">
-    <rect width="42" height="20" fill="#555"/>
-    <rect x="42" width="48" height="20" fill="#E01563"/>
-    <rect width="90" height="20" fill="url(#smooth)"/>
-  </g>
-
-  <g fill="#fff" text-anchor="middle" font-family="DejaVu Sans,Verdana,Geneva,sans-serif" font-size="11">
-    <text x="22" y="15" fill="#010101" fill-opacity=".3">slack</text>
-    <text x="22" y="14">slack</text>
-    <text x="65" y="15" fill="#010101" fill-opacity=".3">Join us!</text>
-    <text x="65" y="14">Join us!</text>
-  </g>
-</svg>
-

.github/workflows/bloaty.yml

@@ -0,0 +1,58 @@
+name: Bloaty Builds
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        ubuntu_release: [
+          bionic,
+          focal
+          ]
+        config: [
+          px4_fmu-v2_default,
+          px4_fmu-v4_default,
+          #px4_fmu-v4_optimized,
+          px4_fmu-v5_default,
+          #px4_fmu-v5_optimized,
+          px4_fmu-v5x_default,
+          px4_io-v2_default,
+          ]
+    container: px4io/px4-dev-nuttx-${{ matrix.ubuntu_release }}:2020-04-01
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+    - uses: actions/cache@v1.1.0
+      id: ccache-persistence
+      with:
+        path: ~/.ccache
+        key: ccache-nuttx-${{matrix.config}}
+        restore-keys: |
+          ccache-nuttx-${{matrix.config}}
+    - name: setup ccache
+      run: mkdir -p ~/.ccache && echo "max_size = 300M" > ~/.ccache/ccache.conf && ccache -z && ccache -s
+    - name: make ${{matrix.config}}
+      run: make ${{matrix.config}}
+    - name: make ${{matrix.config}} bloaty_compileunits
+      run: make ${{matrix.config}} bloaty_compileunits
+    - name: make ${{matrix.config}} bloaty_inlines
+      run: make ${{matrix.config}} bloaty_inlines
+    - name: make ${{matrix.config}} bloaty_segments
+      run: make ${{matrix.config}} bloaty_segments
+    - name: make ${{matrix.config}} bloaty_symbols
+      run: make ${{matrix.config}} bloaty_symbols
+    - name: make ${{matrix.config}} bloaty_templates
+      run: make ${{matrix.config}} bloaty_templates
+    - name: make ${{matrix.config}} bloaty_compare_master
+      run: make ${{matrix.config}} bloaty_compare_master
+    - name: ccache post-run
+      run: ccache -s && ccache -z

.github/workflows/build_tests.yml

@@ -0,0 +1,41 @@
+name: Build Tests
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        ubuntu_release: [
+          bionic,
+          focal
+          ]
+    container: px4io/px4-dev-base-${{ matrix.ubuntu_release }}:2020-04-01
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+    - name: check_format
+      env:
+        CI: true
+      run: make check_format
+    - uses: actions/cache@v1.1.0
+      id: ccache-persistence
+      with:
+        path: ~/.ccache
+        key: ccache-main-tests
+        restore-keys: |
+          ccache-main-tests
+    - name: setup ccache
+      run: mkdir -p ~/.ccache && echo "max_size = 300M" > ~/.ccache/ccache.conf && ccache -z && ccache -s
+    - name: main tests
+      run: make tests
+    - name: ccache post-run
+      run: ccache -s && ccache -z

.github/workflows/ccpp.yml

@@ -0,0 +1,26 @@
+name: C/C++ CI
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        ubuntu_release: [
+          bionic,
+          focal
+          ]
+    container: px4io/px4-dev-base-${{ matrix.ubuntu_release }}:2020-04-01
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+    - name: make
+      run: make

.github/workflows/cflite_batch.yml

@@ -1,34 +0,0 @@
-name: ClusterFuzzLite batch fuzzing
-on:
-  schedule:
-    - cron: '0 6 * * *'  # UTC 6am every day.
-permissions: read-all
-jobs:
-  BatchFuzzing:
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      matrix:
-        sanitizer:
-        - address
-        - undefined
-        - memory
-    steps:
-    - name: Build Fuzzers (${{ matrix.sanitizer }})
-      id: build
-      uses: google/clusterfuzzlite/actions/build_fuzzers@v1
-      with:
-        sanitizer: ${{ matrix.sanitizer }}
-    - name: Run Fuzzers (${{ matrix.sanitizer }})
-      id: run
-      uses: google/clusterfuzzlite/actions/run_fuzzers@v1
-      with:
-        github-token: ${{ secrets.GITHUB_TOKEN }}
-        fuzz-seconds: 1800 # 30 mins
-        mode: 'batch'
-        sanitizer: ${{ matrix.sanitizer }}
-        # Optional but recommended: For storing certain artifacts from fuzzing.
-        # See later section on "Git repo for storage".
-        # storage-repo: https://${{ secrets.PERSONAL_ACCESS_TOKEN }}@github.com/OWNER/STORAGE-REPO-NAME.git
-        # storage-repo-branch: main   # Optional. Defaults to "main"
-        # storage-repo-branch-coverage: gh-pages  # Optional. Defaults to "gh-pages".

.github/workflows/checks.yml

@@ -1,51 +0,0 @@
-name: Checks
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      matrix:
-        check: [
-          "check_format",
-          "tests",
-          "tests_coverage",
-          "px4_fmu-v2_default stack_check",
-          "validate_module_configs",
-          "shellcheck_all",
-          "NO_NINJA_BUILD=1 px4_fmu-v5_default",
-          "NO_NINJA_BUILD=1 px4_sitl_default",
-          "BUILD_MICRORTPS_AGENT=1 px4_sitl_rtps",
-          "airframe_metadata",
-          "module_documentation",
-          "parameters_metadata",
-        ]
-    container:
-      image: px4io/px4-dev-nuttx-focal:2021-09-08
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: check environment
-      run: |
-          export
-          ulimit -a
-    - name: ${{matrix.check}}
-      run: make ${{matrix.check}}
-    - name: upload coverage
-      if: contains(matrix.check, 'coverage')
-      uses: codecov/codecov-action@v1
-      with:
-        token: ${{ secrets.CODECOV_TOKEN }}
-        flags: unittests
-        file: coverage/lcov.info

.github/workflows/clang-tidy.yml

@@ -1,21 +0,0 @@
-name: Clang Tidy
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-clang:2021-09-08
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-
-    - name: make clang-tidy-quiet
-      run: make clang-tidy-quiet

.github/workflows/compile_linux.yml

@@ -11,44 +11,29 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-armhf:2021-09-08
+    container: px4io/px4-dev-armhf:2020-04-01
     strategy:
       matrix:
         config: [
+          aerotenna_ocpoc_default,
           beaglebone_blue_default,
           emlid_navio2_default,
           px4_raspberrypi_default,
-          scumaker_pilotpi_default,
           ]
     steps:
     - uses: actions/checkout@v1
       with:
         token: ${{secrets.ACCESS_TOKEN}}
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
+    - uses: actions/cache@v1.1.0
+      id: ccache-persistence
       with:
         path: ~/.ccache
-        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: ${{matrix.config}}-ccache-
+        key: ccache-linux-${{matrix.config}}
+        restore-keys: |
+          ccache-linux-${{matrix.config}}
     - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
+      run: mkdir -p ~/.ccache && echo "max_size = 300M" > ~/.ccache/ccache.conf && ccache -z && ccache -s
     - name: make ${{matrix.config}}
       run: make ${{matrix.config}}
     - name: ccache post-run
-      run: ccache -s
+      run: ccache -s && ccache -z

.github/workflows/compile_linux_arm64.yml

@@ -1,51 +0,0 @@
-name: Linux ARM64 Targets
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-aarch64:2021-09-08
-    strategy:
-      matrix:
-        config: [
-          scumaker_pilotpi_arm64,
-          ]
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: ${{matrix.config}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: make ${{matrix.config}}
-      run: make ${{matrix.config}}
-    - name: ccache post-run
-      run: ccache -s

.github/workflows/compile_macos.yml

@@ -1,56 +0,0 @@
-name: MacOS build
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: macos-10.15
-    strategy:
-      matrix:
-        config: [
-          px4_fmu-v5_default,
-          px4_sitl
-          #tests, # includes px4_sitl
-          ]
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-
-    - name: setup
-      run: ./Tools/setup/macos.sh; ./Tools/setup/macos.sh
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: macos_${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: macos_${{matrix.config}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 40M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: make ${{matrix.config}}
-      run: |
-          ccache -z
-          make ${{matrix.config}}
-          ccache -s

.github/workflows/compile_nuttx.yml

@@ -11,116 +11,67 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-09-08
+    container: px4io/px4-dev-nuttx-bionic:2020-04-01
     strategy:
-      fail-fast: false
       matrix:
         config: [
-          airmind_mindpx-v2,
-          ark_can-flow,
-          ark_can-gps,
-          ark_can-rtk-gps,
-          ark_cannode,
-          atl_mantis-edu,
-          av_x-v1,
-          bitcraze_crazyflie,
-          bitcraze_crazyflie21,
-          cuav_can-gps-v1,
-          cuav_nora,
-          cuav_x7pro,
-          cubepilot_cubeorange,
-          cubepilot_cubeyellow,
-          diatone_mamba-f405-mk2,
-          freefly_can-rtk-gps,
-          holybro_can-gps-v1,
-          holybro_durandal-v1,
-          holybro_kakutef7,
-          holybro_kakuteh7,
-          holybro_pix32v5,
-          matek_gnss-m9n-f4,
-          matek_h743,
-          matek_h743-mini,
-          matek_h743-slim,
-          modalai_fc-v1,
-          modalai_fc-v2,
-          mro_ctrl-zero-f7,
-          mro_ctrl-zero-f7-oem,
-          mro_ctrl-zero-h7,
-          mro_ctrl-zero-h7-oem,
-          mro_pixracerpro,
-          mro_x21,
-          mro_x21-777,
-          nxp_fmuk66-e,
-          nxp_fmuk66-v3,
-          nxp_fmurt1062-v1,
-          nxp_ucans32k146,
-          omnibus_f4sd,
-          px4_fmu-v2,
-          px4_fmu-v3,
-          px4_fmu-v4,
-          px4_fmu-v4pro,
-          px4_fmu-v5,
-          px4_fmu-v5x,
-          px4_fmu-v6c,
-          px4_fmu-v6u,
-          px4_fmu-v6x,
-          raspberrypi_pico,
-          sky-drones_smartap-airlink,
-          spracing_h7extreme,
-          uvify_core
+          airmind_mindpx-v2_default,
+          av_x-v1_default,
+          bitcraze_crazyflie_default,
+          holybro_durandal-v1_default,
+          holybro_durandal-v1_stackcheck,
+          holybro_kakutef7_default,
+          intel_aerofc-v1_default,
+          modalai_fc-v1_default,
+          mro_ctrl-zero-f7_default,
+          mro_x21-777_default,
+          mro_x21_default,
+          nxp_fmuk66-v3_default,
+          nxp_fmurt1062-v1_default,
+          nxp_rddrone-uavcan146_default,
+          omnibus_f4sd_default,
+          px4_fmu-v2_default,
+          px4_fmu-v2_fixedwing,
+          px4_fmu-v2_lpe,
+          px4_fmu-v2_multicopter,
+          px4_fmu-v2_rover,
+          px4_fmu-v2_test,
+          px4_fmu-v3_default,
+          px4_fmu-v4_cannode,
+          px4_fmu-v4_default,
+          px4_fmu-v4_optimized,
+          px4_fmu-v4pro_default,
+          px4_fmu-v5_default,
+          px4_fmu-v5_fixedwing,
+          px4_fmu-v5_multicopter,
+          px4_fmu-v5_optimized,
+          px4_fmu-v5_rover,
+          px4_fmu-v5_rtps,
+          px4_fmu-v5_stackcheck,
+          px4_fmu-v5x_default,
+          px4_fmu-v5x_p2_base_phy_LAN8742Ai,
+          px4_io-v2_default,
+          uvify_core_default
           ]
     steps:
     - uses: actions/checkout@v1
       with:
         token: ${{secrets.ACCESS_TOKEN}}
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
+    - uses: actions/cache@v1.1.0
+      id: ccache-persistence
       with:
         path: ~/.ccache
-        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: ${{matrix.config}}-ccache-
+        key: ccache-nuttx-${{matrix.config}}
+        restore-keys: |
+          ccache-nuttx-${{matrix.config}}
     - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 120M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: make all_variants_${{matrix.config}}
-      run: make all_variants_${{matrix.config}}
-      timeout-minutes: 45
-    - name: make ${{matrix.config}} bloaty_compileunits
-      run: make ${{matrix.config}} bloaty_compileunits || true
-    - name: make ${{matrix.config}} bloaty_inlines
-      run: make ${{matrix.config}} bloaty_inlines || true
-    - name: make ${{matrix.config}} bloaty_segments
-      run: make ${{matrix.config}} bloaty_segments || true
-    - name: make ${{matrix.config}} bloaty_symbols
-      run: make ${{matrix.config}} bloaty_symbols || true
-    - name: make ${{matrix.config}} bloaty_templates
-      run: make ${{matrix.config}} bloaty_templates || true
-    - name: make ${{matrix.config}} bloaty_ram
-      run: make ${{matrix.config}} bloaty_ram || true
-    - name: make ${{matrix.config}} bloaty_compare_master
-      run: make ${{matrix.config}} bloaty_compare_master || true
+      run: mkdir -p ~/.ccache && echo "max_size = 300M" > ~/.ccache/ccache.conf && ccache -z && ccache -s
+    - name: make ${{matrix.config}}
+      run: make ${{matrix.config}}
     - name: ccache post-run
-      run: ccache -s
-
+      run: ccache -s && ccache -z
     - name: Upload px4 package
-      uses: actions/upload-artifact@v2
+      uses: actions/upload-artifact@v1
       with:
         name: px4_package_${{matrix.config}}
-        path: |
-          build/**/*.px4
-          build/**/*.bin
+        path: build/${{matrix.config}}/${{matrix.config}}.px4

.github/workflows/deploy_all.yml

@@ -1,54 +0,0 @@
-name: Deploy metadata for all targets
-
-on:
-  push:
-    branches:
-    - 'master'
-    - 'release/*'
-    - 'pr-metadata-test'
-
-jobs:
-  enumerate_targets:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    outputs:
-      matrix: ${{ steps.set-matrix.outputs.matrix }}
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-    - id: set-matrix
-      run: echo "::set-output name=matrix::$(./Tools/generate_board_targets_json.py)"
-  build:
-    runs-on: ubuntu-latest
-    needs: enumerate_targets
-    strategy:
-      matrix: ${{fromJson(needs.enumerate_targets.outputs.matrix)}}
-    container: px4io/px4-dev-${{ matrix.container }}:2021-09-08
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-
-    - name: make ${{matrix.target}}
-      run: make ${{matrix.target}}
-
-    - name: parameter & events metadata
-      run: |
-        make ${{matrix.target}} ver_gen events_json actuators_json
-        ./src/lib/version/get_git_tag_or_branch_version.sh build/${{ matrix.target }} >> $GITHUB_ENV
-        cd build/${{ matrix.target }}
-        mkdir _metadata || true
-        cp parameters.* events/*.xz actuators.json* _metadata
-
-    - uses: jakejarvis/s3-sync-action@master
-      with:
-        args: --acl public-read
-      env:
-        AWS_S3_BUCKET: 'px4-travis'
-        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
-        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
-        AWS_REGION: 'us-west-1'
-        SOURCE_DIR: 'build/${{ matrix.target }}/_metadata/'
-        DEST_DIR: 'Firmware/${{ env.version }}/${{ matrix.target }}/'
-

.github/workflows/ekf_functional_change_indicator.yml

@@ -1,21 +0,0 @@
-name: EKF Change Indicator
-
-on: pull_request
-
-jobs:
-  unit_tests:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    steps:
-    - uses: actions/checkout@v2.3.1
-      with:
-        fetch-depth: 0
-    - name: checkout newest version of branch
-      run: |
-        git fetch origin pull/${{github.event.pull_request.number}}/head:${{github.head_ref}}
-        git checkout ${GITHUB_HEAD_REF}
-    - name: main test
-      run: make tests TESTFILTER=EKF
-    - name: Check if there is a functional change
-      run: git diff --exit-code
-      working-directory: src/modules/ekf2/test/change_indication

.github/workflows/ekf_update_change_indicator.yml

@@ -1,29 +0,0 @@
-name: EKF Update Change Indicator
-
-on: push
-
-jobs:
-  unit_tests:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    env:
-      GIT_COMMITTER_EMAIL: bot@px4.io
-      GIT_COMMITTER_NAME: PX4BuildBot
-    steps:
-    - uses: actions/checkout@v2.3.1
-      with:
-        fetch-depth: 0
-    - name: main test updates change indication files
-      run: make tests TESTFILTER=EKF
-    - name: Check if there exists diff and save result in variable
-      run: echo "CHANGE_INDICATED=$(git diff --exit-code --output=/dev/null || echo $?)" >> $GITHUB_ENV
-      working-directory: src/modules/ekf2/test/change_indication
-    - name: auto-commit any changes to change indication
-      uses: stefanzweifel/git-auto-commit-action@v4
-      with:
-        commit_message: '[AUTO COMMIT] update change indication'
-        commit_user_name: ${GIT_COMMITTER_NAME}
-        commit_user_email: ${GIT_COMMITTER_EMAIL}
-    - if: ${{env.CHANGE_INDICATED}}
-      name: if there is a functional change, fail check
-      run: exit 1

.github/workflows/mavros_mission_tests.yml

@@ -1,139 +0,0 @@
-name: MAVROS Mission Tests
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      matrix:
-        config:
-          - {vehicle: "iris",          mission: "MC_mission_box",  build_type: "RelWithDebInfo"}
-          - {vehicle: "rover",         mission: "rover_mission_1", build_type: "RelWithDebInfo"}
-          #- {vehicle: "plane",         mission: "FW_mission_1",    build_type: "RelWithDebInfo"}
-          #- {vehicle: "plane_catapult",mission: "FW_mission_1",    build_type: "RelWithDebInfo"}
-          #- {vehicle: "standard_vtol", mission: "VTOL_mission_1",  build_type: "Coverage"}
-          #- {vehicle: "standard_vtol", mission: "VTOL_mission_1",  build_type: "AddressSanitizer"}
-          #- {vehicle: "tailsitter",    mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}
-          #- {vehicle: "tiltrotor",     mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}
-
-    container:
-      image: px4io/px4-dev-ros-melodic:2021-09-08
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: check environment
-      run: |
-          export
-          ulimit -a
-    - name: Build PX4 and sitl_gazebo
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: |
-        ccache -z
-        make px4_sitl_default
-        make px4_sitl_default sitl_gazebo
-        ccache -s
-
-    - name: Core dump settings
-      run: |
-          ulimit -c unlimited
-          echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
-
-    - name: Run SITL tests
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: |
-        export
-        ./test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=${{matrix.config.mission}} vehicle:=${{matrix.config.vehicle}}
-      timeout-minutes: 45
-
-    - name: Look at core files
-      if: failure()
-      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
-    - name: Upload px4 coredump
-      if: failure()
-      uses: actions/upload-artifact@v2-preview
-      with:
-        name: coredump
-        path: px4.core
-
-    - name: ecl EKF analysis
-      if: always()
-      run: ./Tools/ecl_ekf/process_logdata_ekf.py ~/.ros/log/*/*.ulg || true
-
-    - name: Upload logs to flight review
-      if: always()
-      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg
-
-    - name: Upload px4 binary
-      if: failure()
-      uses: actions/upload-artifact@v2
-      with:
-        name: binary
-        path: build/px4_sitl_default/bin/px4
-
-    - name: Store PX4 log
-      if: failure()
-      uses: actions/upload-artifact@v2
-      with:
-        name: px4_log
-        path: ~/.ros/log/*/*.ulg
-
-    - name: Store ROS log
-      if: failure()
-      uses: actions/upload-artifact@v2
-      with:
-        name: ros_log
-        path: ~/.ros/**/rostest-*.log
-
-    # Report test coverage
-    - name: Upload coverage
-      if: contains(matrix.config.build_type, 'Coverage')
-      run: |
-          git config --global credential.helper "" # disable the keychain credential helper
-          git config --global --add credential.helper store # enable the local store credential helper
-          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
-          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
-          mkdir -p coverage
-          lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
-    - name: Upload coverage information to Codecov
-      if: contains(matrix.config.build_type, 'Coverage')
-      uses: codecov/codecov-action@v1
-      with:
-        token: ${{ secrets.CODECOV_TOKEN }}
-        flags: mavros_mission
-        file: coverage/lcov.info

.github/workflows/mavros_offboard_tests.yml

@@ -1,134 +0,0 @@
-name: MAVROS Offboard Tests
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      matrix:
-        config:
-          - {test_file: "mavros_posix_tests_offboard_posctl.test",    vehicle: "iris", build_type: "RelWithDebInfo"}
-          #- {test_file: "mavros_posix_tests_offboard_attctl.test",    vehicle: "iris", build_type: "RelWithDebInfo"}
-          #- {test_file: "mavros_posix_tests_offboard_rpyrt_ctl.test", vehicle: "iris", build_type: "RelWithDebInfo"}
-
-    container:
-      image: px4io/px4-dev-ros-melodic:2021-09-08
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: check environment
-      run: |
-          export
-          ulimit -a
-    - name: Build PX4 and sitl_gazebo
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: |
-        ccache -z
-        make px4_sitl_default
-        make px4_sitl_default sitl_gazebo
-        ccache -s
-
-    - name: Core dump settings
-      run: |
-          ulimit -c unlimited
-          echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
-
-    - name: Run SITL tests
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: |
-        export
-        ./test/rostest_px4_run.sh ${{matrix.config.test_file}} vehicle:=${{matrix.config.vehicle}}
-      timeout-minutes: 45
-
-    - name: Look at core files
-      if: failure()
-      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
-    - name: Upload px4 coredump
-      if: failure()
-      uses: actions/upload-artifact@v2-preview
-      with:
-        name: coredump
-        path: px4.core
-
-    - name: ecl EKF analysis
-      if: always()
-      run: ./Tools/ecl_ekf/process_logdata_ekf.py ~/.ros/log/*/*.ulg || true
-
-    - name: Upload logs to flight review
-      if: always()
-      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg
-
-    - name: Upload px4 binary
-      if: failure()
-      uses: actions/upload-artifact@v2
-      with:
-        name: binary
-        path: build/px4_sitl_default/bin/px4
-
-    - name: Store PX4 log
-      if: failure()
-      uses: actions/upload-artifact@v2
-      with:
-        name: px4_log
-        path: ~/.ros/log/*/*.ulg
-
-    - name: Store ROS log
-      if: failure()
-      uses: actions/upload-artifact@v2
-      with:
-        name: ros_log
-        path: ~/.ros/**/rostest-*.log
-
-    # Report test coverage
-    - name: Upload coverage
-      if: contains(matrix.config.build_type, 'Coverage')
-      run: |
-          git config --global credential.helper "" # disable the keychain credential helper
-          git config --global --add credential.helper store # enable the local store credential helper
-          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
-          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
-          mkdir -p coverage
-          lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
-    - name: Upload coverage information to Codecov
-      if: contains(matrix.config.build_type, 'Coverage')
-      uses: codecov/codecov-action@v1
-      with:
-        token: ${{ secrets.CODECOV_TOKEN }}
-        flags: mavros_offboard
-        file: coverage/lcov.info

.github/workflows/metadata.yml

@@ -1,157 +0,0 @@
-name: Metadata
-
-on:
-  push:
-    branches:
-    - 'master'
-    - 'release/*'
-    - 'pr-metadata-test'
-
-jobs:
-
-  airframe:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: airframe metadata
-      run: |
-        make airframe_metadata
-        ./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
-        cd build/px4_sitl_default/docs
-      # TODO: deploy to userguide gitbook
-
-    - uses: jakejarvis/s3-sync-action@master
-      with:
-        args: --acl public-read
-      env:
-        AWS_S3_BUCKET: 'px4-travis'
-        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
-        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
-        AWS_REGION: 'us-west-1'
-        SOURCE_DIR: 'build/px4_sitl_default/docs/'
-        DEST_DIR: 'Firmware/${{ env.version }}/_general/'
-
-  module:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: module documentation
-      run: |
-        make module_documentation
-        cd build/px4_sitl_default/docs
-        ls -ls *
-      # TODO: deploy to userguide gitbook and s3
-
-  parameter:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: parameter metadata
-      run: |
-        make parameters_metadata
-        ./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
-
-    - uses: jakejarvis/s3-sync-action@master
-      with:
-        args: --acl public-read
-      env:
-        AWS_S3_BUCKET: 'px4-travis'
-        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
-        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
-        AWS_REGION: 'us-west-1'
-        SOURCE_DIR: 'build/px4_sitl_default/docs/'
-        DEST_DIR: 'Firmware/${{ env.version }}/_general/'
-
-  events:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: events metadata
-      run: |
-        make extract_events
-        ./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
-        cd build/px4_sitl_default
-        mkdir _events_full || true
-        cp events/all_events_full.json.xz _events_full/all_events.json.xz
-
-    - uses: jakejarvis/s3-sync-action@master
-      with:
-        args: --acl public-read
-      env:
-        AWS_S3_BUCKET: 'px4-travis'
-        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
-        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
-        AWS_REGION: 'us-west-1'
-        SOURCE_DIR: 'build/px4_sitl_default/_events_full/'
-        DEST_DIR: 'Firmware/${{ env.version }}/_general/'
-
-  uorb_graph:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-09-08
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: uORB graph
-      run: |
-        make uorb_graphs
-        cd Tools/uorb_graph
-        ls -ls *
-      # TODO: deploy graph_px4_sitl.json to S3 px4-travis:Firmware/master/
-
-  micrortps_agent:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: microRTPS agent
-      run: |
-        make px4_sitl_rtps
-        git clone https://github.com/PX4/micrortps_agent.git
-        cp -R build/px4_sitl_rtps/src/modules/micrortps_bridge/micrortps_agent/* micrortps_agent
-
-  ROS_msgs:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: PX4 ROS msgs
-      run: |
-        git clone https://github.com/PX4/px4_msgs.git
-        python3 msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/
-
-  ROS2_bridge:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: PX4 ROS2 bridge
-      run: |
-        git clone https://github.com/PX4/px4_ros_com.git
-        ./msg/tools/uorb_to_ros_urtps_topics.py -i msg/tools/urtps_bridge_topics.yaml -o px4_ros_com/templates/urtps_bridge_topics.yaml

.github/workflows/python_checks.yml

@@ -18,7 +18,7 @@ jobs:
     - name: Install Python3
       run: sudo apt-get install python3 python3-setuptools python3-pip -y
     - name: Install tools
-      run: pip3 install --user mypy types-requests flake8
+      run: pip3 install --user mypy flake8
     - name: Check MAVSDK test scripts with mypy
       run: $HOME/.local/bin/mypy --strict test/mavsdk_tests/*.py
     - name: Check MAVSDK test scripts with flake8

.github/workflows/sitl_tests.yml

@@ -12,122 +12,56 @@ jobs:
   build:
     runs-on: ubuntu-latest
     strategy:
-      fail-fast: false
       matrix:
-        config:
-          - {model: "iris",          latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo" } # Alaska
-          - {model: "standard_vtol", latitude: "-38.071235", longitude:  "145.281220", altitude:  "31", build_type: "AddressSanitizer" } # Australia
-          - {model: "tailsitter" ,   latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo" } # Florida
-          - {model: "standard_vtol", latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage" } # Zurich
-
-    container:
-      image: px4io/px4-dev-simulation-focal:2021-09-08
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
+        ubuntu_release: [
+          bionic,
+          focal
+          ]
+    container: px4io/px4-dev-simulation-${{ matrix.ubuntu_release }}:2020-04-01
     steps:
     - uses: actions/checkout@v1
       with:
         token: ${{ secrets.ACCESS_TOKEN }}
-
     - name: Download MAVSDK
-      run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
+      run: wget https://github.com/mavlink/MAVSDK/releases/download/v0.24.0/mavsdk_0.24.0_ubuntu18.04_amd64.deb
     - name: Install MAVSDK
-      run: dpkg -i "libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
+      run: dpkg -i mavsdk_0.24.0_ubuntu18.04_amd64.deb
+    - uses: actions/cache@v1.1.0
+      id: ccache-persistence
       with:
         path: ~/.ccache
-        key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
+        key: ccache-sitl-tests
+        restore-keys: |
+          ccache-sitl-tests
     - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: check environment
-      env:
-        PX4_HOME_LAT: ${{matrix.config.latitude}}
-        PX4_HOME_LON: ${{matrix.config.longitude}}
-        PX4_HOME_ALT: ${{matrix.config.altitude}}
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: |
-          export
-          ulimit -a
-    - name: Build PX4
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: make px4_sitl_default
-    - name: ccache post-run px4/firmware
-      run: ccache -s
-    - name: Build SITL Gazebo
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: make px4_sitl_default sitl_gazebo
-    - name: ccache post-run sitl_gazebo
-      run: ccache -s
-    - name: Build MAVSDK tests
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-        DONT_RUN: 1
-      run: make px4_sitl_default gazebo mavsdk_tests
-    - name: ccache post-run mavsdk_tests
-      run: ccache -s
-
-    - name: Core dump settings
-      run: |
-          ulimit -c unlimited
-          echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
-
+      run: mkdir -p ~/.ccache && echo "max_size = 1G" > ~/.ccache/ccache.conf && ccache -z && ccache -s
+    - name: Build PX4 in SITL integration test mode
+      run: DONT_RUN=1 make px4_sitl PX4_CMAKE_BUILD_TYPE=Coverage gazebo mavsdk_tests
+    - name: ccache post-run
+      run: ccache -s && ccache -z
     - name: Run SITL tests
-      env:
-        PX4_HOME_LAT: ${{matrix.config.latitude}}
-        PX4_HOME_LON: ${{matrix.config.longitude}}
-        PX4_HOME_ALT: ${{matrix.config.altitude}}
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose
-      timeout-minutes: 45
-
-    - name: Look at core files
-      if: failure()
-      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
-    - name: Upload px4 coredump
-      if: failure()
-      uses: actions/upload-artifact@v2-preview
-      with:
-        name: coredump
-        path: px4.core
-
-    - name: Upload px4 binary
-      if: failure()
-      uses: actions/upload-artifact@v2-preview
-      with:
-        name: binary
-        path: build/px4_sitl_default/bin/px4
+      run:  test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early test/mavsdk_tests/configs/sitl.json
+    - name: Run SITL tests in Southern hemisphere
+      run: PX4_HOME_LAT=-37.8134048 PX4_HOME_LON=175.304109 PX4_HOME_ALT=32 |
+        test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early test/mavsdk_tests/configs/sitl.json
+    - name: Run SITL tests far in the West
+      run: PX4_HOME_LAT=59.6176928 PX4_HOME_LON=-151.1453163 PX4_HOME_ALT=48 |
+        test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early test/mavsdk_tests/configs/sitl.json
 
     # Report test coverage
-    - name: Upload coverage
-      if: contains(matrix.config.build_type, 'Coverage')
+    - name: disable the keychain credential helper
+      run: git config --global credential.helper ""
+    - name: enable the local store credential helper
+      run: git config --global --add credential.helper store
+    - name: add credential
+      run: echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials
+    - name: tell git to use https instead of ssh whenever it encounters it
+      run: 'git config --global url."https://github.com/".insteadof git@github.com:'
+    - name: Check code coverage
       run: |
-          git config --global credential.helper "" # disable the keychain credential helper
-          git config --global --add credential.helper store # enable the local store credential helper
-          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
-          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
-          mkdir -p coverage
-          lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
+        mkdir -p coverage
+        lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
     - name: Upload coverage information to Codecov
-      if: contains(matrix.config.build_type, 'Coverage')
       uses: codecov/codecov-action@v1
       with:
         token: ${{ secrets.CODECOV_TOKEN }}

.gitignore

@@ -101,8 +101,15 @@ msg/tmp/
 msg/topics_sources/
 platforms/posix/apps.cpp
 platforms/posix/apps.h
+src/lib/flight_tasks/FlightTasks_generated.cpp
+src/lib/flight_tasks/FlightTasks_generated.hpp
+src/lib/parameters/px4_parameters.c
+src/lib/parameters/px4_parameters.h
+src/lib/parameters/px4_parameters_public.h
 src/lib/version/build_git_version.h
 src/modules/simulator/simulator_config.h
 src/systemcmds/topic_listener/listener_generated.cpp
 
-!src/drivers/distance_sensor/broadcom/afbrs50/Lib/*
+# SITL
+dataman
+eeprom/

.gitmodules

@@ -1,69 +1,47 @@
-[submodule "src/modules/mavlink/mavlink"]
-	path = src/modules/mavlink/mavlink
-	url = https://github.com/mavlink/mavlink.git
+[submodule "mavlink/include/mavlink/v2.0"]
+	path = mavlink/include/mavlink/v2.0
+	url = https://github.com/mavlink/c_library_v2.git
 	branch = master
 [submodule "src/drivers/uavcan/libuavcan"]
 	path = src/drivers/uavcan/libuavcan
-	url = https://github.com/dronecan/libuavcan.git
-	branch = main
+	url = https://github.com/PX4/uavcan.git
+	branch = px4
 [submodule "Tools/jMAVSim"]
 	path = Tools/jMAVSim
 	url = https://github.com/PX4/jMAVSim.git
 	branch = master
 [submodule "Tools/sitl_gazebo"]
 	path = Tools/sitl_gazebo
-	url = https://github.com/PX4/PX4-SITL_gazebo.git
+	url = https://github.com/PX4/sitl_gazebo.git
 	branch = master
+[submodule "src/lib/matrix"]
+	path = src/lib/matrix
+	url = https://github.com/PX4/Matrix.git
+	branch = master
+[submodule "src/lib/ecl"]
+	path = src/lib/ecl
+	url = https://github.com/PX4/ecl.git
+	branch = master
+[submodule "boards/atlflight/cmake_hexagon"]
+	path = boards/atlflight/cmake_hexagon
+	url = https://github.com/PX4/cmake_hexagon.git
+	branch = px4
 [submodule "src/drivers/gps/devices"]
 	path = src/drivers/gps/devices
-	url = https://github.com/PX4/PX4-GPSDrivers.git
+	url = https://github.com/PX4/GpsDrivers.git
 	branch = master
 [submodule "src/modules/micrortps_bridge/micro-CDR"]
 	path = src/modules/micrortps_bridge/micro-CDR
-	url = https://github.com/PX4/Micro-CDR.git
-	branch = master
+	url = https://github.com/PX4/micro-CDR.git
+	branch = px4
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
 	url = https://github.com/PX4/NuttX.git
-	branch = px4_firmware_nuttx-10.1.0+
+	branch = px4_firmware_nuttx-8.2
 [submodule "platforms/nuttx/NuttX/apps"]
 	path = platforms/nuttx/NuttX/apps
 	url = https://github.com/PX4/NuttX-apps.git
-	branch = px4_firmware_nuttx-10.1.0+
-[submodule "Tools/flightgear_bridge"]
-	path = Tools/flightgear_bridge
-	url = https://github.com/PX4/PX4-FlightGear-Bridge.git
-[submodule "Tools/jsbsim_bridge"]
-	path = Tools/jsbsim_bridge
-	url = https://github.com/PX4/px4-jsbsim-bridge.git
-[submodule "src/drivers/cyphal/libcanard"]
-	path = src/drivers/cyphal/libcanard
-	url = https://github.com/opencyphal/libcanard.git
-[submodule "src/drivers/cyphal/public_regulated_data_types"]
-	path = src/drivers/cyphal/public_regulated_data_types
-	url = https://github.com/opencyphal/public_regulated_data_types.git
-[submodule "src/drivers/cyphal/legacy_data_types"]
-	path = src/drivers/cyphal/legacy_data_types
-	url = https://github.com/PX4/public_regulated_data_types.git
-	branch = legacy
-[submodule "src/lib/crypto/monocypher"]
-	path = src/lib/crypto/monocypher
-	url = https://github.com/PX4/Monocypher.git
-	branch = px4
-[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
-	branch = px4
-[submodule "src/lib/crypto/libtommath"]
-	path = src/lib/crypto/libtommath
-	url = https://github.com/PX4/libtommath.git
-	branch = px4
-[submodule "src/modules/microdds_client/Micro-XRCE-DDS-Client"]
-	path = src/modules/microdds_client/Micro-XRCE-DDS-Client
-	url = https://github.com/eProsima/Micro-XRCE-DDS-Client.git
+	branch = px4_firmware_nuttx-8.2
+[submodule "platforms/qurt/dspal"]
+	path = platforms/qurt/dspal
+	url = https://github.com/ATLFlight/dspal.git

.vscode/.gitignore

@@ -9,5 +9,3 @@ launch.json
 ipch/
 
 browse.vc.db*
-
-*.log

.vscode/c_cpp_properties.json

@@ -1,16 +1,75 @@
 {
     "configurations": [
         {
-            "name": "PX4",
-            "includePath": [
-                "${workspaceFolder}/**"
-            ],
-            "defines": [],
-            "macFrameworkPath": [],
+            "name": "Linux",
+            "browse": {
+                "limitSymbolsToIncludedHeaders": true,
+                "databaseFilename": "${workspaceFolder}/.vscode/browse.vc.db"
+            },
+            "compileCommands": "${workspaceFolder}/.vscode/compile_commands.json",
+            "compilerPath": "/usr/bin/g++",
             "configurationProvider": "ms-vscode.cmake-tools",
             "cppStandard": "c++14",
-            "cStandard": "c11"
+            "cStandard": "c11",
+            "defines": [
+                "__PX4_LINUX",
+                "__PX4_POSIX"
+            ],
+            "forcedInclude": [
+                "${workspaceFolder}/src/include/visibility.h"
+            ],
+            "includePath": [
+                "${workspaceFolder}/boards/px4/sitl/src",
+                "${workspaceFolder}/build/px4_sitl_default",
+                "${workspaceFolder}/platforms/common/include",
+                "${workspaceFolder}/platforms/posix/include",
+                "${workspaceFolder}/platforms/posix/src/px4/common/include",
+                "${workspaceFolder}/platforms/posix/src/px4/common/include",
+                "${workspaceFolder}/platforms/posix/src/px4/generic/generic/include",
+                "${workspaceFolder}/src",
+                "${workspaceFolder}/src/include",
+                "${workspaceFolder}/src/lib",
+                "${workspaceFolder}/src/lib",
+                "${workspaceFolder}/src/lib/matrix",
+                "${workspaceFolder}/src/modules"
+            ],
+            "intelliSenseMode": "${default}"
+        },
+        {
+            "name": "Mac",
+            "browse": {
+                "limitSymbolsToIncludedHeaders": true,
+                "databaseFilename": "${workspaceFolder}/.vscode/browse.vc.db"
+            },
+            "compileCommands": "${workspaceFolder}/.vscode/compile_commands.json",
+            "compilerPath": "/usr/bin/clang++",
+            "configurationProvider": "ms-vscode.cmake-tools",
+            "cppStandard": "c++14",
+            "cStandard": "c11",
+            "defines": [
+                "__PX4_DARWIN",
+                "__PX4_POSIX"
+            ],
+            "forcedInclude": [
+                "${workspaceFolder}/src/include/visibility.h"
+            ],
+            "includePath": [
+                "${workspaceFolder}/boards/px4/sitl/src",
+                "${workspaceFolder}/build/px4_sitl_default",
+                "${workspaceFolder}/platforms/common/include",
+                "${workspaceFolder}/platforms/posix/include",
+                "${workspaceFolder}/platforms/posix/src/px4/common/include",
+                "${workspaceFolder}/platforms/posix/src/px4/common/include",
+                "${workspaceFolder}/platforms/posix/src/px4/generic/generic/include",
+                "${workspaceFolder}/src",
+                "${workspaceFolder}/src/include",
+                "${workspaceFolder}/src/lib",
+                "${workspaceFolder}/src/lib",
+                "${workspaceFolder}/src/lib/matrix",
+                "${workspaceFolder}/src/modules"
+            ],
+            "intelliSenseMode": "${default}"
         }
     ],
     "version": 4
-}
+}

.vscode/cmake-variants.yaml

@@ -2,25 +2,10 @@ 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_rtps:
-      short: px4_sitl_rtps
-      buildType: RelWithDebInfo
-      settings:
-        CONFIG: px4_sitl_rtps
-    px4_sitl_asan:
-      short: px4_sitl (AddressSanitizer)
-      buildType: AddressSanitizer
-      settings:
-        CONFIG: px4_sitl_default
-    px4_sitl_ubsan:
-      short: px4_sitl (UndefinedBehaviorSanitizer)
-      buildType: UndefinedBehaviorSanitizer
-      settings:
-        CONFIG: px4_sitl_default
     px4_sitl_replay:
       short: px4_sitl_replay
       buildType: RelWithDebInfo
@@ -32,227 +17,72 @@ CONFIG:
       settings:
         CONFIG: px4_sitl_test
     px4_io-v2_default:
-      short: px4_io-v2
+      short: px4_io-v2_default
       buildType: MinSizeRel
       settings:
         CONFIG: px4_io-v2_default
     px4_fmu-v2_default:
-      short: px4_fmu-v2
+      short: px4_fmu-v2_default
       buildType: MinSizeRel
       settings:
         CONFIG: px4_fmu-v2_default
     px4_fmu-v3_default:
-      short: px4_fmu-v3
+      short: px4_fmu-v3_default
       buildType: MinSizeRel
       settings:
         CONFIG: px4_fmu-v3_default
     px4_fmu-v4_default:
-      short: px4_fmu-v4
+      short: px4_fmu-v4_default
       buildType: MinSizeRel
       settings:
         CONFIG: px4_fmu-v4_default
     px4_fmu-v4pro_default:
-      short: px4_fmu-v4pro
+      short: px4_fmu-v4pro_default
       buildType: MinSizeRel
       settings:
         CONFIG: px4_fmu-v4pro_default
     px4_fmu-v5_default:
-      short: px4_fmu-v5
+      short: px4_fmu-v5_default
       buildType: MinSizeRel
       settings:
         CONFIG: px4_fmu-v5_default
-    px4_fmu-v5_debug:
-      short: px4_fmu-v5_debug
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_fmu-v5_debug
     px4_fmu-v5x_default:
-      short: px4_fmu-v5x
+      short: px4_fmu-v5x_default
       buildType: MinSizeRel
       settings:
         CONFIG: px4_fmu-v5x_default
-    px4_fmu-v6x_default:
-      short: px4_fmu-v6x
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_fmu-v6x_default
-    px4_fmu-v6x_bootloader:
-      short: px4_fmu-v6x_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_fmu-v6x_bootloader
     airmind_mindpx-v2_default:
-      short: airmind_mindpx-v2
+      short: airmind_mindpx-v2_default
       buildType: MinSizeRel
       settings:
         CONFIG: airmind_mindpx-v2_default
-    ark_can-flow_default:
-      short: ark_can-flow_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_can-flow_default
-    ark_can-flow_canbootloader:
-      short: ark_can-flow_canbootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_can-flow_canbootloader
-    ark_can-gps_default:
-      short: ark_can-gps_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_can-gps_default
-    ark_can-gps_canbootloader:
-      short: ark_can-gps_canbootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_can-gps_canbootloader
-    ark_can-rtk-gps_default:
-      short: ark_can-rtk-gps_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_can-rtk-gps_default
-    ark_can-rtk-gps_debug:
-      short: ark_can-rtk-gps_debug
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_can-rtk-gps_debug
-    ark_can-rtk-gps_canbootloader:
-      short: ark_can-rtk-gps_canbootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_can-rtk-gps_canbootloader
-    ark_cannode_default:
-      short: ark_cannode_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_cannode_default
-    ark_cannode_canbootloader:
-      short: ark_cannode_canbootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_cannode_canbootloader
-    atl_mantis-edu_default:
-      short: atl_mantis-edu
-      buildType: MinSizeRel
-      settings:
-        CONFIG: atl_mantis-edu_default
     av_x-v1_default:
-      short: av_x-v1
+      short: av_x-v1_default
       buildType: MinSizeRel
       settings:
         CONFIG: av_x-v1_default
-    bitcraze_crazyflie_default:
-      short: bitcraze_crazyflie
-      buildType: MinSizeRel
-      settings:
-        CONFIG: bitcraze_crazyflie_default
-    cuav_can-gps-v1_default:
-      short: cuav_can-gps-v1_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: cuav_can-gps-v1_default
-    cuav_can-gps-v1_canbootloader:
-      short: cuav_can-gps-v1_canbootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: cuav_can-gps-v1_canbootloader
-    cuav_nora_default:
-      short: cuav_nora
-      buildType: MinSizeRel
-      settings:
-        CONFIG: cuav_nora_default
-    cuav_x7pro_default:
-      short: cuav_x7pro
-      buildType: MinSizeRel
-      settings:
-        CONFIG: cuav_x7pro_default
-    cubepilot_cubeorange_test:
-      short: cubepilot_cubeorange
-      buildType: MinSizeRel
-      settings:
-        CONFIG: cubepilot_orange_test
-    emlid_navio2_default:
-      short: emlid_navio2
-      buildType: MinSizeRel
-      settings:
-        CONFIG: emlid_navio2_default
-    freefly_can-rtk-gps_default:
-      short: freefly_can-rtk-gps_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: freefly_can-rtk-gps_default
-    freefly_can-rtk-gps_canbootloader:
-      short: freefly_can-rtk-gps_canbootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: freefly_can-rtk-gps_canbootloader
-    holybro_can-gps-v1_canbootloader:
-      short: holybro_can-gps-v1_canbootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: holybro_can-gps-v1_canbootloader
-    holybro_can-gps-v1_default:
-      short: holybro_can-gps-v1_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: holybro_can-gps-v1_default
     holybro_durandal-v1_default:
       short: holybro_durandal-v1
       buildType: MinSizeRel
       settings:
         CONFIG: holybro_durandal-v1_default
-    matek_h743-slim_default:
-      short: matek_h743-slim
+    intel_aerofc-v1_default:
+      short: intel_aerofc-v1_default
       buildType: MinSizeRel
       settings:
-        CONFIG: matek_h743-slim_default
-    matek_gnss-m9n-f4_canbootloader:
-      short: matek_gnss-m9n-f4_canbootloader
-      buildType: MiniSizeRel
-      settings:
-        CONFIG: matek_m9nf4can_canbootloader
-    matek_gnss-m9n-f4_default:
-      short: matek_gnss-m9n-f4_default
-      buildType: MiniSizeRel
-      settings:
-        CONFIG: matek_gnss-m9n-f4_default
+        CONFIG: intel_aerofc-v1_default
     modalai_fc-v1_default:
-      short: modalai_fc-v1
+      short: modalai_fc-v1_default
       buildType: MinSizeRel
       settings:
         CONFIG: modalai_fc-v1_default
-    modalai_fc-v2_default:
-      short: modalai_fc-v2
-      buildType: MinSizeRel
-      settings:
-        CONFIG: modalai_fc-v2_default
     mro_ctrl-zero-f7_default:
-      short: mro_ctrl-zero-f7
+      short: mro_ctrl-zero-f7_default
       buildType: MinSizeRel
       settings:
         CONFIG: mro_ctrl-zero-f7_default
-    mro_pixracerpro_bootloader:
-      short: mro_pixracerpro_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: mro_pixracerpro_bootloader
-    mro_pixracerpro_default:
-      short: mro_pixracerpro_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: mro_pixracerpro_default
-    mro_x21-777_default:
-      short: mro_x2.1-777
-      buildType: MinSizeRel
-      settings:
-        CONFIG: mro_x21-777_default
     nxp_fmuk66-v3_default:
       short: nxp_fmuk66-v3
       buildType: MinSizeRel
       settings:
         CONFIG: nxp_fmuk66-v3_default
-    raspberrypi_pico_default:
-      short: raspberrypi_pico
-      buildType: MinSizeRel
-      settings:
-        CONFIG: raspberrypi_pico_default

.vscode/extensions.json

@@ -4,7 +4,6 @@
     "recommendations": [
         "chiehyu.vscode-astyle",
         "dan-c-underwood.arm",
-        "fredericbonnet.cmake-test-adapter",
         "github.vscode-pull-request-github",
         "marus25.cortex-debug",
         "ms-azuretools.vscode-docker",
@@ -12,9 +11,8 @@
         "ms-python.python",
         "ms-vscode.cmake-tools",
         "ms-vscode.cpptools",
-        "ms-vscode.cpptools-extension-pack",
         "redhat.vscode-yaml",
-        "streetsidesoftware.code-spell-checker",
+        "timonwong.shellcheck",
         "twxs.cmake",
         "uavcan.dsdl",
         "wholroyd.jinja",

.vscode/settings.json

@@ -3,33 +3,72 @@
         "astyle.c.enable": true,
         "astyle.cpp.enable": true,
         "breadcrumbs.enabled": true,
-        "C_Cpp.autoAddFileAssociations": false,
-        "C_Cpp.clang_format_fallbackStyle": "none",
-        "C_Cpp.default.browse.limitSymbolsToIncludedHeaders": true,
-        "C_Cpp.default.cppStandard": "c++14",
-        "C_Cpp.default.cStandard": "c11",
-        "C_Cpp.formatting": "Disabled",
-        "C_Cpp.intelliSenseEngine": "Default",
-        "C_Cpp.vcpkg.enabled": false,
-        "C_Cpp.workspaceParsingPriority": "low",
+        "cmake.autoRestartBuild": true,
         "cmake.buildBeforeRun": true,
         "cmake.buildDirectory": "${workspaceFolder}/build/${variant:CONFIG}",
         "cmake.configureOnOpen": true,
-        "cmake.ctest.parallelJobs": 1,
-        "cmake.skipConfigureIfCachePresent": true,
-        "cmakeExplorer.buildDir": "${workspaceFolder}/build/px4_sitl_test",
-        "cmakeExplorer.parallelJobs": 1,
-        "cmakeExplorer.suiteDelimiter": "-",
+        "cmake.copyCompileCommands": "${workspaceFolder}/.vscode/compile_commands.json",
+        "cmake.debugConfig": {
+                "name": "SITL shell (gdb)",
+                "type": "cppdbg",
+                "request": "launch",
+                "program": "${command:cmake.launchTargetPath}",
+                "args": [
+                        "${workspaceFolder}/ROMFS/px4fmu_common",
+                        "-s",
+                        "etc/init.d-posix/rcS",
+                        "-t",
+                        "${workspaceFolder}/test_data"
+                ],
+                "stopAtEntry": false,
+                "cwd": "${command:cmake.buildDirectory}/tmp",
+                "environment": [
+                        {
+                                "name": "PX4_SIM_MODEL",
+                                "value": "shell"
+                        }
+                ],
+                "externalConsole": false,
+                "linux": {
+                        "MIMode": "gdb",
+                        "setupCommands": [
+                                {
+                                        "description": "Enable pretty-printing for gdb",
+                                        "text": "-enable-pretty-printing",
+                                        "ignoreFailures": true
+                                },
+                                {
+                                        "description": "PX4 ignore wq signals",
+                                        "text": "handle SIGCONT nostop noprint nopass",
+                                        "ignoreFailures": true
+                                }
+                        ]
+                },
+                "osx": {
+                        "MIMode": "lldb",
+                        "setupCommands": [
+                                {
+                                        "text": "pro hand -p true -s false -n false SIGCONT",
+                                }
+                        ]
+                }
+        },
+        "C_Cpp.autoAddFileAssociations": false,
+        "C_Cpp.clang_format_fallbackStyle": "none",
+        "C_Cpp.default.browse.databaseFilename": "${workspaceRoot}/.vscode/browse.vc.db",
+        "C_Cpp.default.browse.limitSymbolsToIncludedHeaders": true,
+        "C_Cpp.default.cppStandard": "c++14",
+        "C_Cpp.default.cStandard": "c11",
+        "C_Cpp.default.intelliSenseMode": "gcc-x64",
+        "C_Cpp.default.macFrameworkPath": null,
+        "C_Cpp.formatting": "Disabled",
+        "C_Cpp.intelliSenseEngine": "Default",
+        "C_Cpp.intelliSenseEngineFallback": "Enabled",
+        "C_Cpp.vcpkg.enabled": false,
+        "C_Cpp.workspaceParsingPriority": "low",
         "cortex-debug.enableTelemetry": false,
-        "cSpell.allowCompoundWords": true,
-        "cSpell.diagnosticLevel": "Hint",
-        "cSpell.showStatus": false,
-        "cSpell.words": [
-                "acro",
-                "nuttx",
-                "esc"
-        ],
         "debug.toolBarLocation": "docked",
+        "editor.acceptSuggestionOnEnter": "off",
         "editor.defaultFormatter": "chiehyu.vscode-astyle",
         "editor.dragAndDrop": false,
         "editor.insertSpaces": false,
@@ -49,6 +88,7 @@
         "git.ignoreLimitWarning": true,
         "githubPullRequests.defaultMergeMethod": "squash",
         "githubPullRequests.telemetry.enabled": false,
+        "gitlens.advanced.telemetry.enabled": false,
         "files.associations": {
                 "*.jinja": "jinja",
                 "algorithm": "cpp",
@@ -125,14 +165,18 @@
                 "${workspaceFolder}/build": true
         },
         "search.showLineNumbers": true,
+        "search.smartCase": true,
+        "shellcheck.exclude": [2154],
         "telemetry.enableTelemetry": false,
+        "terminal.integrated.copyOnSelection": true,
+        "terminal.integrated.rightClickCopyPaste": true,
         "terminal.integrated.scrollback": 5000,
         "window.title": "${dirty} ${activeEditorMedium}${separator}${rootName}",
         "workbench.editor.highlightModifiedTabs": true,
         "workbench.enableExperiments": false,
         "workbench.settings.enableNaturalLanguageSearch": false,
+        "workbench.statusBar.feedback.visible": false,
         "yaml.schemas": {
-                "${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml"
-        },
-        "cortex-debug.openocdPath": "${env:PICO_SDK_PATH}/../openocd/src/openocd"       // Added for rp2040
+                "${workspaceRoot}/validation/module_schema.yaml": "${workspaceRoot}/src/modules/*/module.yaml"
+        }
 }

.vscode/tasks.json

@@ -3,58 +3,12 @@
     // for the documentation about the tasks.json format
     "version": "2.0.0",
     "tasks": [
-        {
-            "label": "build",
-            "type": "shell",
-            "command": "/bin/bash",
-            "args": [
-                "-c",
-                "${command:cmake.tasksBuildCommand}"
-            ],
-            "options": {
-                "cwd": "${command:cmake.buildDirectory}"
-            },
-            "group": {
-                "kind": "build",
-                "isDefault": true,
-            },
-            "problemMatcher": {
-                "base": "$gcc",
-                "fileLocation": ["relative", "${command:cmake.buildDirectory}"]
-            },
-            "presentation":{
-                "echo": false,
-                "showReuseMessage": false,
-                "clear": true,
-                "panel": "shared",
-                "group": "build"
-            }
-        },
-        {
-            "label": "test",
-            "type": "shell",
-            "command": "make tests",
-            "options": {
-                "cwd": "${workspaceFolder}"
-            },
-            "group": {
-                "kind": "test",
-                "isDefault": true,
-            },
-            "presentation":{
-                "echo": true,
-                "showReuseMessage": false,
-                "clear": false,
-                "panel": "shared",
-                "group": "test"
-            }
-        },
         {
             "label": "jmavsim build",
             "type": "shell",
             "command": "ant create_run_jar copy_res",
             "options": {
-                "cwd": "${workspaceFolder}/Tools/jMAVSim"
+                "cwd": "${workspaceRoot}/Tools/jMAVSim"
             },
             "problemMatcher": [],
             "presentation":{
@@ -63,7 +17,7 @@
                 "focus": false,
                 "panel": "shared",
                 "showReuseMessage": false,
-                "clear": false,
+                "clear": true
             }
         },
         {
@@ -72,7 +26,7 @@
             "dependsOn": "jmavsim build",
             "command": "java -Djava.ext.dirs= -jar jmavsim_run.jar -r 250 -lockstep -tcp localhost:4560 -qgc",
             "options": {
-                "cwd": "${workspaceFolder}/Tools/jMAVSim/out/production",
+                "cwd": "${workspaceRoot}/Tools/jMAVSim/out/production",
                 "env": {
                     "PX4_SIM_SPEED_FACTOR": "1"
                 }
@@ -84,7 +38,7 @@
                 "focus": false,
                 "panel": "shared",
                 "showReuseMessage": false,
-                "clear": false
+                "clear": true
             },
             "problemMatcher": [
                 {
@@ -114,7 +68,7 @@
                 "focus": false,
                 "panel": "shared",
                 "showReuseMessage": false,
-                "clear": false
+                "clear": true
             },
             "problemMatcher": []
         },
@@ -123,31 +77,31 @@
             "type": "shell",
             "command": "make px4_sitl_default sitl_gazebo",
             "options": {
-                "cwd": "${workspaceFolder}"
+                "cwd": "${workspaceRoot}"
             },
             "problemMatcher": [],
             "presentation":{
                 "echo": true,
-                "reveal": "always",
+                "reveal": "never",
                 "focus": false,
                 "panel": "shared",
                 "showReuseMessage": false,
-                "clear": false,
+                "clear": true
             }
         },
         {
-            "label": "gazebo start",
+            "label": "gazebo iris",
             "type": "shell",
             "dependsOn": "gazebo build",
             "options": {
-                "cwd": "${workspaceFolder}",
+                "cwd": "${workspaceRoot}",
                 "env": {
-                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
-                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models",
+                    "GAZEBO_PLUGIN_PATH": "${workspaceRoot}/build/px4_sitl_default/build_gazebo",
+                    "GAZEBO_MODEL_PATH": "${workspaceRoot}/Tools/sitl_gazebo/models",
                     "PX4_SIM_SPEED_FACTOR": "1"
                 }
             },
-            "command": "gzserver --verbose ${workspaceFolder}/Tools/sitl_gazebo/worlds/${input:gazeboWorld}.world",
+            "command": "gzserver --verbose ${workspaceRoot}/Tools/sitl_gazebo/worlds/iris.world",
             "isBackground": true,
             "presentation": {
                 "echo": true,
@@ -155,7 +109,7 @@
                 "focus": false,
                 "panel": "shared",
                 "showReuseMessage": false,
-                "clear": false
+                "clear": true
             },
             "problemMatcher": [
                 {
@@ -176,26 +130,106 @@
             ]
         },
         {
-            "label": "gazebo",
+            "label": "gazebo plane",
             "type": "shell",
-            "dependsOn": "gazebo start",
+            "dependsOn": "gazebo build",
             "options": {
-                "cwd": "${workspaceFolder}",
+                "cwd": "${workspaceRoot}",
                 "env": {
-                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
-                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models",
+                    "GAZEBO_PLUGIN_PATH": "${workspaceRoot}/build/px4_sitl_default/build_gazebo",
+                    "GAZEBO_MODEL_PATH": "${workspaceRoot}/Tools/sitl_gazebo/models",
                     "PX4_SIM_SPEED_FACTOR": "1"
                 }
             },
-            "command": "gz model --verbose --spawn-file=${workspaceFolder}/Tools/sitl_gazebo/models/${input:vehicleModel}/${input:vehicleModel}.sdf --model-name=${input:vehicleModel} -x 1.01 -y 0.98 -z 0.83",
-            "isBackground": false,
+            "command": "gzserver --verbose ${workspaceRoot}/Tools/sitl_gazebo/worlds/plane.world",
+            "isBackground": true,
             "presentation": {
                 "echo": true,
                 "reveal": "never",
                 "focus": false,
                 "panel": "shared",
                 "showReuseMessage": false,
-                "clear": false
+                "clear": true
+            },
+            "problemMatcher": [
+                {
+                    "pattern": [
+                        {
+                            "regexp": ".",
+                            "file": 1,
+                            "location": 2,
+                            "message": 3
+                        }
+                    ],
+                    "background": {
+                        "activeOnStart": true,
+                        "beginsPattern": ".",
+                        "endsPattern": ".",
+                    }
+                }
+            ]
+        },
+        {
+            "label": "gazebo standard_vtol",
+            "type": "shell",
+            "dependsOn": "gazebo build",
+            "options": {
+                "cwd": "${workspaceRoot}",
+                "env": {
+                    "GAZEBO_PLUGIN_PATH": "${workspaceRoot}/build/px4_sitl_default/build_gazebo",
+                    "GAZEBO_MODEL_PATH": "${workspaceRoot}/Tools/sitl_gazebo/models",
+                    "PX4_SIM_SPEED_FACTOR": "1"
+                }
+            },
+            "command": "gzserver --verbose ${workspaceRoot}/Tools/sitl_gazebo/worlds/standard_vtol.world",
+            "isBackground": true,
+            "presentation": {
+                "echo": true,
+                "reveal": "never",
+                "focus": false,
+                "panel": "shared",
+                "showReuseMessage": false,
+                "clear": true
+            },
+            "problemMatcher": [
+                {
+                    "pattern": [
+                        {
+                            "regexp": ".",
+                            "file": 1,
+                            "location": 2,
+                            "message": 3
+                        }
+                    ],
+                    "background": {
+                        "activeOnStart": true,
+                        "beginsPattern": ".",
+                        "endsPattern": ".",
+                    }
+                }
+            ]
+        },
+        {
+            "label": "gazebo tailsitter",
+            "type": "shell",
+            "dependsOn": "gazebo build",
+            "options": {
+                "cwd": "${workspaceRoot}",
+                "env": {
+                    "GAZEBO_PLUGIN_PATH": "${workspaceRoot}/build/px4_sitl_default/build_gazebo",
+                    "GAZEBO_MODEL_PATH": "${workspaceRoot}/Tools/sitl_gazebo/models",
+                    "PX4_SIM_SPEED_FACTOR": "1"
+                }
+            },
+            "command": "gzserver --verbose ${workspaceRoot}/Tools/sitl_gazebo/worlds/tailsitter.world",
+            "isBackground": true,
+            "presentation": {
+                "echo": true,
+                "reveal": "never",
+                "focus": false,
+                "panel": "shared",
+                "showReuseMessage": false,
+                "clear": true
             },
             "problemMatcher": [
                 {
@@ -220,10 +254,10 @@
             "type": "shell",
             "dependsOn": "gazebo build",
             "options": {
-                "cwd": "${workspaceFolder}",
+                "cwd": "${workspaceRoot}",
                 "env": {
-                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
-                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models",
+                    "GAZEBO_PLUGIN_PATH": "${workspaceRoot}/build/px4_sitl_default/build_gazebo",
+                    "GAZEBO_MODEL_PATH": "${workspaceRoot}/Tools/sitl_gazebo/models",
                     "PX4_SIM_SPEED_FACTOR": "1"
                 }
             },
@@ -235,7 +269,7 @@
                 "focus": false,
                 "panel": "shared",
                 "showReuseMessage": false,
-                "clear": false
+                "clear": true
             },
             "problemMatcher": [
                 {
@@ -260,42 +294,12 @@
             "type": "shell",
             "command": "killall gzserver",
             "presentation": {
-                "echo": true,
-                "reveal": "silent",
+                "echo": false,
+                "reveal": "never",
                 "focus": false,
                 "panel": "shared",
                 "showReuseMessage": false,
-                "clear": false
-            },
-            "problemMatcher": [],
-            "dependsOn":["px4_sitl_cleanup"]
-        },
-        {
-            "label": "px4_sitl_cleanup",
-            "type": "shell",
-            "command": "rm -rfv /tmp/px4*",
-            "presentation": {
-                "echo": true,
-                "reveal": "silent",
-                "focus": false,
-                "panel": "shared",
-                "showReuseMessage": false,
-                "clear": false
-            },
-            "problemMatcher": [],
-            "dependsOn":["px4_kill"]
-        },
-        {
-            "label": "px4_kill",
-            "type": "shell",
-            "command": "killall px4 || true",
-            "presentation": {
-                "echo": true,
-                "reveal": "silent",
-                "focus": false,
-                "panel": "shared",
-                "showReuseMessage": false,
-                "clear": false
+                "clear": true
             },
             "problemMatcher": []
         },
@@ -304,7 +308,7 @@
             "type": "shell",
             "command": "./Tools/mavlink_shell.py",
             "options": {
-                "cwd": "${workspaceFolder}"
+                "cwd": "${workspaceRoot}"
             },
             "presentation": {
                 "echo": true,
@@ -321,7 +325,7 @@
             "type": "shell",
             "command": "miniterm.py --raw - 57600",
             "options": {
-                "cwd": "${workspaceFolder}"
+                "cwd": "${workspaceRoot}"
             },
             "presentation": {
                 "echo": true,
@@ -333,41 +337,5 @@
             },
             "problemMatcher": []
         }
-    ],
-    "inputs": [
-        {
-            "type": "pickString",
-            "id": "vehicleModel",
-            "description": "gazebo model",
-            "options": [
-              "iris",
-              "typhoon_h480",
-              "plane",
-              "plane_catapult",
-              "plane_lidar",
-              "standard_vtol",
-              "tailsitter",
-              "tiltrotor",
-              "r1_rover",
-              "boat"
-            ],
-            "default": "iris"
-        },
-        {
-            "type": "pickString",
-            "id": "gazeboWorld",
-            "description": "gazebo world",
-            "options": [
-                "baylands",
-                "empty",
-                "ksql_airport",
-                "mcmillan_airfield",
-                "sonoma_raceway",
-                "warehouse",
-                "windy",
-                "yosemite"
-            ],
-            "default": "empty"
-        }
     ]
 }

CMakeLists.txt

@@ -40,7 +40,7 @@
 # * Common functions should be included in px_base.cmake.
 #
 # * OS/ board specific fucntions should be include in
-#	px_impl_${PX4_PLATFORM}.cmake
+#	px_impl_${PX4_PLATFORM}.cmake or px4_impl_${PX4_PLATFORM}_${PX4_BOARD}.cmake.
 #
 # Formatting
 # ---------------------------------------------------------------------------
@@ -99,10 +99,10 @@
 #
 #=============================================================================
 
-cmake_minimum_required(VERSION 3.9 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.2 FATAL_ERROR)
 
-set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}" CACHE FILEPATH "PX4 source directory" FORCE)
-set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}" CACHE FILEPATH "PX4 binary directory" FORCE)
+set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
+set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}")
 
 list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake)
 include(px4_parse_function_args)
@@ -113,7 +113,7 @@ include(px4_parse_function_args)
 include(px4_git)
 
 execute_process(
-	COMMAND git describe --exclude ext/* --always --tags
+	COMMAND git describe --always --tags
 	OUTPUT_VARIABLE PX4_GIT_TAG
 	OUTPUT_STRIP_TRAILING_WHITESPACE
 	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
@@ -125,19 +125,10 @@ define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES
                  FULL_DOCS "List of all PX4 module libraries"
                  )
 
-define_property(GLOBAL PROPERTY PX4_KERNEL_MODULE_LIBRARIES
-                 BRIEF_DOCS "PX4 kernel side module libs"
-                 FULL_DOCS "List of all PX4 kernel module libraries"
-                 )
-
 define_property(GLOBAL PROPERTY PX4_MODULE_PATHS
                  BRIEF_DOCS "PX4 module paths"
                  FULL_DOCS "List of paths to all PX4 modules"
                  )
-define_property(GLOBAL PROPERTY PX4_SRC_FILES
-                 BRIEF_DOCS "src files from all PX4 modules & libs"
-                 FULL_DOCS "SRC files from px4_add_{module,library}"
-                 )
 
 #=============================================================================
 # configuration
@@ -147,41 +138,13 @@ set(CONFIG "px4_sitl_default" CACHE STRING "desired configuration")
 
 include(px4_add_module)
 set(config_module_list)
-set(config_kernel_list)
-
-# Find Python
-# If using catkin, Python 2 is found since it points
-# to the Python libs installed with the ROS distro
-if (NOT CATKIN_DEVEL_PREFIX)
-	find_package(PythonInterp 3)
-	# We have a custom error message to tell users how to install python3.
-	if (NOT PYTHONINTERP_FOUND)
-		message(FATAL_ERROR "Python 3 not found. Please install Python 3:\n"
-			"    Ubuntu: sudo apt install python3 python3-dev python3-pip\n"
-			"    macOS: brew install python")
-	endif()
-else()
-	find_package(PythonInterp REQUIRED)
-endif()
-
-option(PYTHON_COVERAGE "Python code coverage" OFF)
-if(PYTHON_COVERAGE)
-	message(STATUS "python coverage enabled")
-	set(PYTHON_EXECUTABLE coverage run -p)
-endif()
 
 include(px4_config)
-include(kconfig)
+include(px4_add_board)
+include(${PX4_CONFIG_FILE})
 message(STATUS "PX4 config: ${PX4_CONFIG}")
 message(STATUS "PX4 platform: ${PX4_PLATFORM}")
 
-if($ENV{CLION_IDE})
-	# CLion automatically executes some compiler commands after configuring the
-	# project. This would fail on NuttX, as visibility.h tries to (indirectly)
-	# include nuttx/config.h, which at that point does not exist yet
-	add_definitions(-DPX4_DISABLE_GCC_POISON)
-endif()
-
 if(${PX4_PLATFORM} STREQUAL "posix")
 	if(ENABLE_LOCKSTEP_SCHEDULER)
 		add_definitions(-DENABLE_LOCKSTEP_SCHEDULER)
@@ -218,20 +181,6 @@ if(NOT CMAKE_BUILD_TYPE)
 	set(CMAKE_BUILD_TYPE ${PX4_BUILD_TYPE} CACHE STRING "Build type" FORCE)
 endif()
 
-if((CMAKE_BUILD_TYPE STREQUAL "Debug") OR (CMAKE_BUILD_TYPE STREQUAL "Coverage"))
-	set(MAX_CUSTOM_OPT_LEVEL -O0)
-elseif(CMAKE_BUILD_TYPE MATCHES "Sanitizer")
-	set(MAX_CUSTOM_OPT_LEVEL -O1)
-elseif(CMAKE_BUILD_TYPE MATCHES "Release")
-	set(MAX_CUSTOM_OPT_LEVEL -O3)
-else()
-	if(px4_constrained_flash_build)
-		set(MAX_CUSTOM_OPT_LEVEL -Os)
-	else()
-		set(MAX_CUSTOM_OPT_LEVEL -O2)
-	endif()
-endif()
-
 set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release;RelWithDebInfo;MinSizeRel;Coverage;AddressSanitizer;UndefinedBehaviorSanitizer")
 message(STATUS "cmake build type: ${CMAKE_BUILD_TYPE}")
 
@@ -240,14 +189,6 @@ message(STATUS "cmake build type: ${CMAKE_BUILD_TYPE}")
 #
 project(px4 CXX C ASM)
 
-# Check if LTO option and check if toolchain supports it
-if(LTO)
-    include(CheckIPOSupported)
-    check_ipo_supported()
-    message(AUTHOR_WARNING "LTO enabled: LTO is highly experimental and should not be used in production")
-    set(CMAKE_INTERPROCEDURAL_OPTIMIZATION TRUE)
-endif()
-
 set(package-contact "px4users@googlegroups.com")
 
 set(CMAKE_CXX_STANDARD 14)
@@ -268,22 +209,20 @@ endif()
 
 #=============================================================================
 
-# gold linker - use if available (posix only for now)
-if(${PX4_PLATFORM} STREQUAL "posix")
-	include(CMakeDependentOption)
-	CMAKE_DEPENDENT_OPTION(USE_LD_GOLD
-			"Use GNU gold linker" ON
-			"NOT WIN32;NOT APPLE" OFF
-	)
+# gold linker - use if available
+include(CMakeDependentOption)
+CMAKE_DEPENDENT_OPTION(USE_LD_GOLD
+                      "Use GNU gold linker" ON
+                      "NOT WIN32;NOT APPLE" OFF
+)
 
-	if(USE_LD_GOLD)
-		execute_process(COMMAND ${CMAKE_C_COMPILER} -fuse-ld=gold -Wl,--version ERROR_QUIET OUTPUT_VARIABLE LD_VERSION)
-		if("${LD_VERSION}" MATCHES "GNU gold")
-			set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fuse-ld=gold")
-			set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -fuse-ld=gold")
-		else()
-			set(USE_LD_GOLD OFF)
-		endif()
+if(USE_LD_GOLD)
+	execute_process(COMMAND ${CMAKE_C_COMPILER} -fuse-ld=gold -Wl,--version ERROR_QUIET OUTPUT_VARIABLE LD_VERSION)
+	if("${LD_VERSION}" MATCHES "GNU gold")
+		set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fuse-ld=gold")
+		set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -fuse-ld=gold")
+	else()
+		set(USE_LD_GOLD OFF)
 	endif()
 endif()
 
@@ -324,6 +263,27 @@ if (CATKIN_DEVEL_PREFIX)
 	endif()
 endif()
 
+# Python
+# If using catkin, Python 2 is found since it points
+# to the Python libs installed with the ROS distro
+if (NOT CATKIN_DEVEL_PREFIX)
+	find_package(PythonInterp 3)
+	# We have a custom error message to tell users how to install python3.
+	if (NOT PYTHONINTERP_FOUND)
+		message(FATAL_ERROR "Python 3 not found. Please install Python 3:\n"
+			"    Ubuntu: sudo apt install python3 python3-dev python3-pip\n"
+			"    macOS: brew install python")
+	endif()
+else()
+	find_package(PythonInterp REQUIRED)
+endif()
+
+option(PYTHON_COVERAGE "Python code coverage" OFF)
+if(PYTHON_COVERAGE)
+	message(STATUS "python coverage enabled")
+	set(PYTHON_EXECUTABLE coverage run -p)
+endif()
+
 #=============================================================================
 # get chip and chip manufacturer
 #
@@ -426,13 +386,13 @@ endif()
 # subdirectories
 #
 add_library(parameters_interface INTERFACE)
-add_library(kernel_parameters_interface INTERFACE)
 
 include(px4_add_library)
 add_subdirectory(src/lib EXCLUDE_FROM_ALL)
 
 add_subdirectory(platforms/${PX4_PLATFORM}/src/px4)
 add_subdirectory(platforms EXCLUDE_FROM_ALL)
+add_subdirectory(src/modules/uORB EXCLUDE_FROM_ALL) # TODO: platform layer
 
 if(EXISTS "${PX4_BOARD_DIR}/CMakeLists.txt")
 	add_subdirectory(${PX4_BOARD_DIR})
@@ -442,20 +402,9 @@ foreach(module ${config_module_list})
 	add_subdirectory(src/${module})
 endforeach()
 
-# add events lib after modules and libs as it needs to know all source files (PX4_SRC_FILES)
-add_subdirectory(src/lib/events EXCLUDE_FROM_ALL)
-# metadata needs PX4_MODULE_CONFIG_FILES
-add_subdirectory(src/lib/metadata EXCLUDE_FROM_ALL)
-
 # must be the last module before firmware
 add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL)
-
-if(${PX4_PLATFORM} STREQUAL "nuttx" AND NOT CONFIG_BUILD_FLAT)
-target_link_libraries(parameters_interface INTERFACE usr_parameters)
-target_link_libraries(kernel_parameters_interface INTERFACE parameters)
-else()
 target_link_libraries(parameters_interface INTERFACE parameters)
-endif()
 
 # firmware added last to generate the builtin for included modules
 add_subdirectory(platforms/${PX4_PLATFORM})
@@ -472,10 +421,8 @@ endforeach()
 
 add_custom_command(OUTPUT ${uorb_graph_config}
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/uorb_graph/create.py
-		${graph_module_list} --src-path src/lib
-		--merge-depends
+		${graph_module_list}
 		--exclude-path src/examples
-		--exclude-path src/lib/parameters # FIXME: enable & fix
 		--file ${PX4_SOURCE_DIR}/Tools/uorb_graph/graph_${uorb_graph_config}
 	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 	COMMENT "Generating uORB graph"
@@ -494,10 +441,3 @@ add_custom_target(size
 	WORKING_DIRECTORY ${PX4_BINARY_DIR}
 	USES_TERMINAL
 	)
-
-# install python requirements using configured python
-add_custom_target(install_python_requirements
-	COMMAND ${PYTHON_EXECUTABLE} -m pip install --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
-	DEPENDS ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
-	USES_TERMINAL
-)

CONTRIBUTING.md

@@ -8,7 +8,7 @@ First [fork and clone](https://help.github.com/articles/fork-a-repo) the project
 
 ### Create a feature branch
 
-*Always* branch off main for new features.
+*Always* branch off master for new features.
 
 ```
 git checkout -b mydescriptivebranchname
@@ -16,7 +16,7 @@ git checkout -b mydescriptivebranchname
 
 ### Edit and build the code
 
-The [developer guide](https://docs.px4.io/main/en/development/development.html) explains how to set up the development environment on Mac OS, Linux or Windows. Please take note of our [coding style](https://docs.px4.io/main/en/contribute/code.html) when editing files.
+The [developer guide](http://dev.px4.io/) explains how to set up the development environment on Mac OS, Linux or Windows. Please take note of our [coding style](https://dev.px4.io/master/en/contribute/code.html) when editing files.
 
 ### Commit your changes
 
@@ -41,4 +41,4 @@ Since we care about safety, we will regularly ask you for test results. Best is
 
 Push changes to your repo and send a [pull request](https://github.com/PX4/Firmware/compare/).
 
-Make sure to provide some testing feedback and if possible the link to a flight log file. Upload flight log files to [Flight Review](http://logs.px4.io) and link the resulting report.
+MuncherMake sure to provide some testing feedback and if possible the link to a flight log file. Upload flight log files to [Flight Review](http://logs.px4.io) and link the resulting report.

Jenkinsfile

@@ -5,59 +5,54 @@ pipeline {
   stages {
 
     stage('Analysis') {
-      when {
-        anyOf {
-          branch 'main'
-          branch 'master' // should be removed, but in case there is something going on...
-          branch 'pr-jenkins' // for testing
-        }
-      }
+
       parallel {
-        // stage('Catkin build on ROS workspace') {
-        //   agent {
-        //     docker {
-        //       image 'px4io/px4-dev-ros-melodic:2021-08-18'
-        //       args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
-        //     }
-        //   }
-        //   steps {
-        //     sh 'ls -l'
-        //     sh '''#!/bin/bash -l
-        //       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 ${WORKSPACE}/catkin_ws/src/Firmware fetch --tags;
-        //       source /opt/ros/melodic/setup.bash;
-        //       export PYTHONPATH=/opt/ros/$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'
-        //     sh '''#!/bin/bash -l
-        //       echo $0;
-        //       source catkin_ws/devel/setup.bash;
-        //       rostest px4 pub_test.launch;
-        //     '''
-        //   }
-        //   post {
-        //     always {
-        //       sh 'rm -rf catkin_ws'
-        //     }
-        //     failure {
-        //       archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.xml, .ros/**/*.log')
-        //     }
-        //   }
-        //   options {
-        //     checkoutToSubdirectory('catkin_ws/src/Firmware')
-        //   }
-        // }
+
+        stage('Catkin build on ROS workspace') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-ros-melodic:2020-04-01'
+              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
+            }
+          }
+          steps {
+            sh 'ls -l'
+            sh '''#!/bin/bash -l
+              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 ${WORKSPACE}/catkin_ws/src/Firmware fetch --tags;
+              source /opt/ros/melodic/setup.bash;
+              export PYTHONPATH=/opt/ros/$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'
+            sh '''#!/bin/bash -l
+              echo $0;
+              source catkin_ws/devel/setup.bash;
+              rostest px4 pub_test.launch;
+            '''
+          }
+          post {
+            always {
+              sh 'rm -rf catkin_ws'
+            }
+            failure {
+              archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.xml, .ros/**/*.log')
+            }
+          }
+          options {
+            checkoutToSubdirectory('catkin_ws/src/Firmware')
+          }
+        }
 
         stage('Colcon build on ROS2 workspace') {
           agent {
             docker {
-              image 'px4io/px4-dev-ros2-foxy:2021-08-18'
+              image 'px4io/px4-dev-ros2-dashing:2020-04-01'
               args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
             }
           }
@@ -68,9 +63,11 @@ pipeline {
               unset ROS_DISTRO;
               mkdir -p colcon_ws/src;
               cd colcon_ws;
-              git -C ${WORKSPACE}/colcon_ws/src/Firmware submodule update --init --recursive --force Tools/sitl_gazebo;
+              git -C ${WORKSPACE}/colcon_ws/src/Firmware submodule update --init --recursive --force Tools/sitl_gazebo
+              git clone --recursive ${WORKSPACE}/colcon_ws/src/Firmware/Tools/sitl_gazebo src/mavlink_sitl_gazebo;
               git -C ${WORKSPACE}/colcon_ws/src/Firmware fetch --tags;
-              source /opt/ros/foxy/setup.sh;
+              source /opt/ros/bouncy/setup.sh;
+              source /opt/ros/melodic/setup.sh;
               colcon build --event-handlers console_direct+ --symlink-install;
             '''
           }
@@ -84,13 +81,281 @@ pipeline {
           }
         }
 
-        stage('Airframe') {
+        stage('Style check') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
+            docker { image 'px4io/px4-dev-base-bionic:2020-04-01' }
           }
           steps {
-            sh 'make distclean; git clean -ff -x -d .'
-            sh 'git fetch --all --tags'
+            sh 'make check_format'
+          }
+          post {
+            always {
+              sh 'rm -rf catkin_ws'
+            }
+          }
+        }
+
+        stage('px4_fmu-v5 (no ninja)') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-nuttx-bionic:2020-04-01'
+              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+            }
+          }
+          steps {
+            sh 'export'
+            sh 'make distclean'
+            sh 'ccache -s'
+            sh 'git fetch --tags'
+            sh 'make px4_fmu-v5_default'
+            sh 'make sizes'
+            sh 'ccache -s'
+          }
+          post {
+            always {
+              sh 'make distclean'
+            }
+          }
+          environment {
+            NO_NINJA_BUILD = 1
+          }
+        }
+
+        stage('px4_sitl (no ninja)') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-nuttx-bionic:2020-04-01'
+              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+            }
+          }
+          steps {
+            sh 'export'
+            sh 'make distclean'
+            sh 'ccache -s'
+            sh 'git fetch --tags'
+            sh 'make px4_sitl_default'
+            sh 'make sizes'
+            sh 'ccache -s'
+          }
+          post {
+            always {
+              sh 'make distclean'
+            }
+          }
+          environment {
+            NO_NINJA_BUILD = 1
+          }
+        }
+
+        stage('SITL unit tests') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-base-bionic:2020-04-01'
+              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+            }
+          }
+          steps {
+            sh 'export'
+            sh 'make distclean'
+            sh 'ccache -s'
+            sh 'git fetch --tags'
+            sh 'make tests'
+            sh 'ccache -s'
+          }
+          post {
+            always {
+              // Process the CTest xml output with the xUnit plugin
+              xunit (
+                testTimeMargin: '3000',
+                thresholdMode: 1,
+                thresholds: [
+                  skipped(failureThreshold: '0'),
+                  failed(failureThreshold: '0')
+                ],
+              reduceLog: false,
+              tools: [CTest(
+                  pattern: 'build/px4_sitl_test/Testing/**/*.xml',
+                  deleteOutputFiles: true,
+                  failIfNotNew: false,
+                  skipNoTestFiles: true,
+                  stopProcessingIfError: true
+                )]
+              )
+
+              sh 'make distclean'
+            }
+          }
+        }
+
+        stage('Clang analyzer') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-clang:2020-04-01'
+              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+            }
+          }
+          steps {
+            sh 'export'
+            sh 'make distclean'
+            sh 'git fetch --tags'
+            sh 'make scan-build'
+            // publish html
+            publishHTML target: [
+              reportTitles: 'clang static analyzer',
+              allowMissing: false,
+              alwaysLinkToLastBuild: true,
+              keepAll: true,
+              reportDir: 'build/scan-build/report_latest',
+              reportFiles: '*',
+              reportName: 'Clang Static Analyzer'
+            ]
+          }
+          post {
+            always {
+              sh 'make distclean'
+            }
+          }
+          when {
+            anyOf {
+              branch 'master'
+              branch 'beta'
+              branch 'stable'
+              branch 'pr-jenkins' // for testing
+            }
+          }
+        }
+
+        stage('Clang tidy') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-clang:2020-04-01'
+              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+            }
+          }
+          steps {
+            sh 'export'
+            sh 'make distclean'
+            sh 'git fetch --tags'
+            retry (3) {
+              sh 'make clang-tidy-quiet'
+            }
+          }
+          post {
+            always {
+              sh 'make distclean'
+            }
+          }
+        }
+
+        stage('Cppcheck') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-ros-melodic:2020-04-01'
+              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+            }
+          }
+          steps {
+            sh 'export'
+            sh 'make distclean'
+            sh 'git fetch --tags'
+            sh 'make cppcheck'
+            // publish html
+            publishHTML target: [
+              reportTitles: 'Cppcheck',
+              allowMissing: false,
+              alwaysLinkToLastBuild: true,
+              keepAll: true,
+              reportDir: 'build/cppcheck/',
+              reportFiles: '*',
+              reportName: 'Cppcheck'
+            ]
+          }
+          post {
+            always {
+              sh 'make distclean'
+            }
+          }
+          when {
+            anyOf {
+              branch 'master'
+              branch 'beta'
+              branch 'stable'
+              branch 'pr-jenkins' // for testing
+            }
+          }
+        }
+
+        stage('Check stack') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-nuttx-bionic:2020-04-01'
+              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+            }
+          }
+          steps {
+            sh 'export'
+            sh 'make distclean'
+            sh 'git fetch --tags'
+            sh 'make px4_fmu-v2_default stack_check'
+          }
+          post {
+            always {
+              sh 'make distclean'
+            }
+          }
+        }
+
+        stage('ShellCheck') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-nuttx-bionic:2020-04-01'
+              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+            }
+          }
+          steps {
+            sh 'export'
+            sh 'make distclean'
+            sh 'make shellcheck_all'
+          }
+          post {
+            always {
+              sh 'make distclean'
+            }
+          }
+        }
+
+        stage('Module config validation') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-base-bionic:2020-04-01'
+              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+            }
+          }
+          steps {
+            sh 'export'
+            sh 'make distclean'
+            sh 'make validate_module_configs'
+          }
+          post {
+            always {
+              sh 'make distclean'
+            }
+          }
+        }
+
+      } // parallel
+    } // stage Analysis
+
+    stage('Generate Metadata') {
+
+      parallel {
+
+        stage('Airframe') {
+          agent {
+            docker { image 'px4io/px4-dev-base-bionic:2020-04-01' }
+          }
+          steps {
+            sh 'make distclean'
             sh 'make airframe_metadata'
             dir('build/px4_sitl_default/docs') {
               archiveArtifacts(artifacts: 'airframes.md, airframes.xml')
@@ -99,38 +364,36 @@ pipeline {
           }
           post {
             always {
-              sh 'make distclean; git clean -ff -x -d .'
+              sh 'make distclean'
             }
           }
         }
 
         stage('Parameter') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
+            docker { image 'px4io/px4-dev-base-bionic:2020-04-01' }
           }
           steps {
-            sh 'make distclean; git clean -ff -x -d .'
-            sh 'git fetch --all --tags'
+            sh 'make distclean'
             sh 'make parameters_metadata'
             dir('build/px4_sitl_default/docs') {
-              archiveArtifacts(artifacts: 'parameters.md, parameters.xml, parameters.json.xz')
-              stash includes: 'parameters.md, parameters.xml, parameters.json.xz', name: 'metadata_parameters'
+              archiveArtifacts(artifacts: 'parameters.md, parameters.xml')
+              stash includes: 'parameters.md, parameters.xml', name: 'metadata_parameters'
             }
           }
           post {
             always {
-              sh 'make distclean; git clean -ff -x -d .'
+              sh 'make distclean'
             }
           }
         }
 
         stage('Module') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
+            docker { image 'px4io/px4-dev-base-bionic:2020-04-01' }
           }
           steps {
-            sh 'make distclean; git clean -ff -x -d .'
-            sh 'git fetch --all --tags'
+            sh 'make distclean'
             sh 'make module_documentation'
             dir('build/px4_sitl_default/docs') {
               archiveArtifacts(artifacts: 'modules/*.md')
@@ -139,25 +402,7 @@ pipeline {
           }
           post {
             always {
-              sh 'make distclean; git clean -ff -x -d .'
-            }
-          }
-        }
-
-        stage('msg file docs') {
-          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
-          }
-          steps {
-            sh 'mkdir -p build/msg_docs; ./msg/tools/generate_msg_docs.py -d build/msg_docs'
-            dir('build') {
-              archiveArtifacts(artifacts: 'msg_docs/*.md')
-              stash includes: 'msg_docs/*.md', name: 'msg_documentation'
-            }
-          }
-          post {
-            always {
-              sh 'make distclean; git clean -ff -x -d .'
+              sh 'make distclean'
             }
           }
         }
@@ -165,23 +410,22 @@ pipeline {
         stage('uORB graphs') {
           agent {
             docker {
-              image 'px4io/px4-dev-nuttx-focal:2021-08-18'
+              image 'px4io/px4-dev-nuttx-bionic:2020-04-01'
               args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
             }
           }
           steps {
             sh 'export'
-            sh 'make distclean; git clean -ff -x -d .'
-            sh 'git fetch --all --tags'
+            sh 'make distclean'
             sh 'make uorb_graphs'
             dir('Tools/uorb_graph') {
-              archiveArtifacts(artifacts: 'graph_*.json')
-              stash includes: 'graph_*.json', name: 'uorb_graph'
+              archiveArtifacts(artifacts: 'graph_px4_sitl.json')
+              stash includes: 'graph_px4_sitl.json', name: 'uorb_graph'
             }
           }
           post {
             always {
-              sh 'make distclean; git clean -ff -x -d .'
+              sh 'make distclean'
             }
           }
         }
@@ -193,33 +437,56 @@ pipeline {
 
       parallel {
 
-        stage('Userguide') {
+        stage('Devguide') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
+            docker { image 'px4io/px4-dev-base-bionic:2020-04-01' }
           }
           steps {
             sh('export')
             unstash 'metadata_airframes'
             unstash 'metadata_parameters'
             unstash 'metadata_module_documentation'
-            unstash 'msg_documentation'
-            unstash 'uorb_graph'
             withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
-              sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/PX4-user_guide.git')
-              sh('cp airframes.md PX4-user_guide/en/airframes/airframe_reference.md')
-              sh('cp parameters.md PX4-user_guide/en/advanced_config/parameter_reference.md')
-              sh('cp -R modules/*.md PX4-user_guide/en/modules/')
-              sh('cp -R graph_*.json PX4-user_guide/.vuepress/public/en/middleware/')
-              sh('cp -R msg_docs/*.md PX4-user_guide/en/msg_docs/')
-              sh('cd PX4-user_guide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
-              sh('cd PX4-user_guide; git push origin main || true')
-              sh('rm -rf PX4-user_guide')
+              sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/Devguide.git')
+              sh('cp airframes.md Devguide/en/airframes/airframe_reference.md')
+              sh('cp parameters.md Devguide/en/advanced/parameter_reference.md')
+              sh('cp -R modules/*.md Devguide/en/middleware/')
+              sh('cd Devguide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
+              sh('cd Devguide; git push origin master || true')
+              sh('rm -rf Devguide')
             }
           }
           when {
             anyOf {
-              branch 'main'
-              branch 'master' // should be removed, but in case there is something going on...
+              branch 'master'
+              branch 'pr-jenkins' // for testing
+            }
+          }
+          options {
+            skipDefaultCheckout()
+          }
+        }
+
+        stage('Userguide') {
+          agent {
+            docker { image 'px4io/px4-dev-base-bionic:2020-04-01' }
+          }
+          steps {
+            sh('export')
+            unstash 'metadata_airframes'
+            unstash 'metadata_parameters'
+            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
+              sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_user_guide.git')
+              sh('cp airframes.md px4_user_guide/en/airframes/airframe_reference.md')
+              sh('cp parameters.md px4_user_guide/en/advanced_config/parameter_reference.md')
+              sh('cd px4_user_guide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
+              sh('cd px4_user_guide; git push origin master || true')
+              sh('rm -rf px4_user_guide')
+            }
+          }
+          when {
+            anyOf {
+              branch 'master'
               branch 'pr-jenkins' // for testing
             }
           }
@@ -230,7 +497,7 @@ pipeline {
 
         stage('QGroundControl') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
+            docker { image 'px4io/px4-dev-base-bionic:2020-04-01' }
           }
           steps {
             sh('export')
@@ -247,8 +514,7 @@ pipeline {
           }
           when {
             anyOf {
-              branch 'main'
-              branch 'master' // should be removed, but in case there is something going on...
+              branch 'master'
               branch 'pr-jenkins' // for testing
             }
           }
@@ -257,53 +523,22 @@ pipeline {
           }
         }
 
-        stage('microRTPS agent') {
-          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
-          }
-          steps {
-            sh('export')
-            sh('git fetch --all --tags')
-            sh('make distclean; git clean -ff -x -d .')
-            sh('make px4_sitl_rtps')
-            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
-              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/micrortps_agent.git -b ${BRANCH_NAME}")
-              sh("rm -rf micrortps_agent/src micrortps_agent/idl")
-              sh('cp -R build/px4_sitl_rtps/src/modules/micrortps_bridge/micrortps_agent/* micrortps_agent')
-              sh('cd micrortps_agent; git status; git add src; git commit -a -m "Update microRTPS agent source code `date`" || true')
-              sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
-              sh('cd micrortps_agent; git status; git add idl; git commit -a -m "Update IDL definitions `date`" || true')
-              sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
-              sh('cd micrortps_agent; git status; git add CMakeLists.txt; git commit -a -m "Update CMakeLists.txt `date`" || true')
-              sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
-              sh('rm -rf micrortps_agent')
-            }
-          }
-          when {
-            anyOf {
-              branch 'main'
-              branch 'master' // should be removed, but in case there is something going on...
-              branch 'pr-jenkins' // for testing
-            }
-          }
-        }
-
         stage('PX4 ROS msgs') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
+            docker { image 'px4io/px4-dev-base-bionic:2020-04-01' }
           }
           steps {
             sh('export')
-            sh('make distclean; git clean -ff -x -d .')
+            sh('make distclean')
             withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
               sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
               // 'master' branch
-              sh('./msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
+              sh('python 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')
               // 'ros1' branch
               sh('cd px4_msgs; git checkout ros1')
-              sh('./msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
+              sh('python 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 ros1 || true')
               sh('rm -rf px4_msgs')
@@ -311,8 +546,7 @@ pipeline {
           }
           when {
             anyOf {
-              branch 'main'
-              branch 'master' // should be removed, but in case there is something going on...
+              branch 'master'
               branch 'pr-jenkins' // for testing
             }
           }
@@ -320,15 +554,15 @@ pipeline {
 
         stage('PX4 ROS2 bridge') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
+            docker { image 'px4io/px4-dev-base-bionic:2020-04-01' }
           }
           steps {
             sh('export')
-            sh('make distclean; git clean -ff -x -d .')
+            sh('make distclean')
             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_ros_com.git -b ${BRANCH_NAME}")
               // deploy uORB RTPS ID map
-              sh('./msg/tools/uorb_to_ros_urtps_topics.py -i msg/tools/urtps_bridge_topics.yaml -o px4_ros_com/templates/urtps_bridge_topics.yaml')
+              sh('./msg/tools/uorb_to_ros_rtps_ids.py -i msg/tools/uorb_rtps_message_ids.yaml -o px4_ros_com/templates/uorb_rtps_message_ids.yaml')
               sh('cd px4_ros_com; git status; git add .; git commit -a -m "Update uORB RTPS ID map `date`" || true')
               sh('cd px4_ros_com; git push origin ${BRANCH_NAME} || true')
               // deploy uORB RTPS required tools
@@ -355,8 +589,7 @@ pipeline {
           }
           when {
             anyOf {
-              branch 'main'
-              branch 'master' // should be removed, but in case there is something going on...
+              branch 'master'
               branch 'pr-jenkins' // for testing
             }
           }
@@ -364,7 +597,7 @@ pipeline {
 
         stage('S3') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
+            docker { image 'px4io/px4-dev-base-bionic:2020-04-01' }
           }
           steps {
             sh('export')
@@ -374,13 +607,11 @@ pipeline {
             withAWS(credentials: 'px4_aws_s3_key', region: 'us-east-1') {
               s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'airframes.xml', path: 'Firmware/master/')
               s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'parameters.xml', path: 'Firmware/master/')
-              s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'parameters.json.xz', path: 'Firmware/master/')
             }
           }
           when {
             anyOf {
-              branch 'main'
-              branch 'master' // should be removed, but in case there is something going on...
+              branch 'master'
               branch 'pr-jenkins' // for testing
             }
           }
@@ -403,7 +634,7 @@ pipeline {
     GIT_COMMITTER_NAME = "PX4BuildBot"
   }
   options {
-    buildDiscarder(logRotator(numToKeepStr: '20', artifactDaysToKeepStr: '30'))
-    timeout(time: 90, unit: 'MINUTES')
+    buildDiscarder(logRotator(numToKeepStr: '10', artifactDaysToKeepStr: '20'))
+    timeout(time: 60, unit: 'MINUTES')
   }
 }

Kconfig

@@ -1,192 +0,0 @@
-# PX4 Firmware Configuration
-
-
-mainmenu "PX4 Firmware Configuration"
-
-comment "Vendor: $(VENDOR)"
-comment "Model: $(MODEL)"
-comment "Label: $(LABEL)"
-
-menu "Toolchain"
-    choice
-        prompt "Platform"
-        default PLATFORM_NUTTX
-        config PLATFORM_NUTTX
-            bool "nuttx"
-        config PLATFORM_POSIX
-            bool "posix"
-        config PLATFORM_QURT
-            bool "qurt"
-    endchoice
-
-    config BOARD_PLATFORM
-        string
-        default "nuttx" if PLATFORM_NUTTX
-        default "posix" if PLATFORM_POSIX
-        default "qurt" if PLATFORM_QURT
-
-    config BOARD_LOCKSTEP
-        bool "Force enable lockstep"
-        depends on PLATFORM_POSIX
-        help
-            forces lockstep behaviour, despite REPLAY env variable
-
-    config BOARD_NOLOCKSTEP
-        bool "Force disable lockstep"
-        depends on PLATFORM_POSIX
-        help
-            forces nolockstep behaviour, despite REPLAY env variable
-
-    config BOARD_LINUX
-        bool "Linux OS"
-        depends on PLATFORM_POSIX
-        help
-            Board Platform is running the Linux operating system
-
-    config BOARD_TOOLCHAIN
-        string "Toolchain"
-        default ""
-
-    config BOARD_ARCHITECTURE
-        string "Architecture"
-        default ""
-
-    config BOARD_LTO
-        bool "(EXPERIMENTAL) Link Time Optimization (LTO)"
-        default n
-        help
-            Enables LTO flag in linker
-            Note: Highly EXPERIMENTAL, furthermore make sure you're using a modern compiler GCC 9 or later
-
-    config BOARD_FULL_OPTIMIZATION
-        bool "Full optmization (O3)"
-        default n
-        help
-            Enables Cmake Release for -O3 optimization
-
-    config BOARD_ROMFSROOT
-        string "ROMFSROOT"
-        default "px4fmu_common"
-        help
-            relative path to the ROMFS root directory
-
-    config BOARD_IO
-        string "IO board name"
-        default "px4_io-v2_default"
-        depends on DRIVERS_PX4IO
-        help
-            name of IO board to be built and included in the ROMFS (requires a valid ROMFSROOT)
-
-    config BOARD_CONSTRAINED_FLASH
-        bool "Contrained flash"
-        help
-            flag to enable constrained flash options (eg limit init script status text)
-
-    config BOARD_NO_HELP
-        bool "No help"
-        help
-            optional condition flag to disable help text on constrained flash systems
-
-    config BOARD_CONSTRAINED_MEMORY
-        bool "Contrained memory"
-        help
-            flag to enable constrained memory options (eg limit maximum number of uORB publications)
-
-    config BOARD_EXTERNAL_METADATA
-        bool "External metadata"
-        help
-            flag to exclude metadata to reduce flash
-
-    config BOARD_LINKER_PREFIX
-        string "linker prefix"
-        help
-            optional to prefix on the Linker script.
-
-    config BOARD_COMPILE_DEFINITIONS
-        string "add custom compile definitions"
-        help
-            add custom compile defitions to this specific target
-endmenu #Toolchain
-
-config BOARD_TESTING
-    bool "Testing"
-    select SYSTEMCMDS_TESTS
-    help
-        flag to enable automatic inclusion of PX4 testing modules
-
-
-config BOARD_ETHERNET
-    bool "Ethernet"
-    help
-        flag to indicate that ethernet is enabled
-
-config BOARD_CRYPTO
-    bool "Crypto support"
-    help
-        Enable PX4 Crypto Support. Select the implementation under drivers
-
-config BOARD_PROTECTED
-    bool "Memory protection"
-    help
-        Enable memory protection via MPU/MMU
-
-menu "Serial ports"
-
-    config BOARD_SERIAL_URT6
-        string "URT6 tty port"
-
-    config BOARD_SERIAL_GPS1
-        string "GPS1 tty port"
-
-    config BOARD_SERIAL_GPS2
-        string "GPS2 tty port"
-
-    config BOARD_SERIAL_GPS3
-        string "GPS3 tty port"
-
-    config BOARD_SERIAL_GPS4
-        string "GPS4 tty port"
-
-    config BOARD_SERIAL_GPS5
-        string "GPS5 tty port"
-
-    config BOARD_SERIAL_TEL1
-        string "TEL1 tty port"
-
-    config BOARD_SERIAL_TEL2
-        string "TEL2 tty port"
-
-    config BOARD_SERIAL_TEL3
-        string "TEL3 tty port"
-
-    config BOARD_SERIAL_TEL4
-        string "TEL4 tty port"
-
-    config BOARD_SERIAL_TEL5
-        string "TEL5 tty port"
-
-    config BOARD_SERIAL_RC
-        string "RC tty port"
-
-    config BOARD_SERIAL_WIFI
-        string "WIFI tty port"
-
-    config BOARD_SERIAL_PPB
-        string "PPB (Pixhawk Payload Bus) tty port"
-endmenu
-
-menu "drivers"
-source "src/drivers/Kconfig"
-endmenu
-
-menu "modules"
-source "src/modules/Kconfig"
-endmenu
-
-menu "systemcmds"
-source "src/systemcmds/Kconfig"
-endmenu
-
-menu "examples"
-source "src/examples/Kconfig"
-endmenu

LICENSE

@@ -1,6 +1,6 @@
 BSD 3-Clause License
 
-Copyright (c) 2012 - 2022, PX4 Development Team
+Copyright (c) 2012 - 2020, PX4 Development Team
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

Makefile

@@ -1,6 +1,6 @@
 ############################################################################
 #
-# Copyright (c) 2015 - 2020 PX4 Development Team. All rights reserved.
+# Copyright (c) 2015 - 2019 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -62,10 +62,6 @@ all: px4_sitl_default
 # define a space character to be able to explicitly find it in strings
 space := $(subst ,, )
 
-define make_list
-     $(shell [ -f .github/workflows/compile_${1}.yml ] && cat .github/workflows/compile_${1}.yml | sed -E 's|[[:space:]]+(.*),|check_\1|g' | grep check_${2})
-endef
-
 # Parsing
 # --------------------------------------------------------------------
 # assume 1st argument passed is the main target, the
@@ -73,14 +69,7 @@ endef
 # by cmake in the subdirectory
 FIRST_ARG := $(firstword $(MAKECMDGOALS))
 ARGS := $(wordlist 2,$(words $(MAKECMDGOALS)),$(MAKECMDGOALS))
-
-# Get -j or --jobs argument as suggested in:
-# https://stackoverflow.com/a/33616144/8548472
-MAKE_PID := $(shell echo $$PPID)
-j := $(shell ps T | sed -n 's|.*$(MAKE_PID).*$(MAKE).* \(-j\|--jobs\) *\([0-9][0-9]*\).*|\2|p')
-
-# Default j for clang-tidy
-j_clang_tidy := $(or $(j),4)
+j ?= 4
 
 NINJA_BIN := ninja
 ifndef NO_NINJA_BUILD
@@ -101,11 +90,6 @@ ifdef NINJA_BUILD
 	else
 		PX4_MAKE_ARGS :=
 	endif
-
-	# Only override ninja default if -j is set.
-	ifneq ($(j),)
-		PX4_MAKE_ARGS := $(PX4_MAKE_ARGS) -j$(j)
-	endif
 else
 	ifdef SYSTEMROOT
 		# Windows
@@ -113,9 +97,6 @@ else
 	else
 		PX4_CMAKE_GENERATOR := "Unix\ Makefiles"
 	endif
-
-	# For non-ninja builds we default to -j4
-	j := $(or $(j),4)
 	PX4_MAKE = $(MAKE)
 	PX4_MAKE_ARGS = -j$(j) --no-print-directory
 endif
@@ -158,11 +139,6 @@ else
 		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=UndefinedBehaviorSanitizer
 	endif
 
-	# Fuzz Testing
-	ifdef PX4_FUZZ
-		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=FuzzTesting
-	endif
-
 endif
 
 # Pick up specific Python path if set
@@ -170,23 +146,15 @@ ifdef PYTHON_EXECUTABLE
 	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
-endif
-
 # Functions
 # --------------------------------------------------------------------
 # describe how to build a cmake config
 define cmake-build
-	$(eval CMAKE_ARGS += -DCONFIG=$(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)
 	@# make sure to start from scratch when switching from GNU Make to Ninja
 	@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(BUILD_DIR)/Makefile ]; then rm -rf $(BUILD_DIR); fi
-	@# make sure to start from scratch if ninja build file is missing
-	@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ ! -f $(BUILD_DIR)/build.ninja ]; then rm -rf $(BUILD_DIR); fi
 	@# only excplicitly configure the first build, if cache file already exists the makefile will rerun cmake automatically if necessary
 	@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ] || [ $(CMAKE_CACHE_CHECK) ]; then \
 		mkdir -p $(BUILD_DIR) \
@@ -202,9 +170,9 @@ endef
 define cmake-cache-check
 	@# change to build folder which fails if it doesn't exist and CACHED_CMAKE_OPTIONS stays empty
 	@# fetch all previously configured and cached options from the build folder and transform them into the OPTION=VALUE format without type (e.g. :BOOL)
-	@$(eval CACHED_CMAKE_OPTIONS = $(shell cd $(BUILD_DIR) 2>/dev/null && cmake -L 2>/dev/null | sed -n 's|\([^[:blank:]]*\):[^[:blank:]]*\(=[^[:blank:]]*\)|\1\2|gp' ))
+	@$(eval CACHED_CMAKE_OPTIONS = $(shell cd $(BUILD_DIR) 2>/dev/null && cmake -L 2>/dev/null | sed -n 's/\([^[:blank:]]*\):[^[:blank:]]*\(=[^[:blank:]]*\)/\1\2/gp' ))
 	@# transform the options in CMAKE_ARGS into the OPTION=VALUE format without -D
-	@$(eval DESIRED_CMAKE_OPTIONS = $(shell echo $(CMAKE_ARGS) | sed -n 's|-D\([^[:blank:]]*=[^[:blank:]]*\)|\1|gp' ))
+	@$(eval DESIRED_CMAKE_OPTIONS = $(shell echo $(CMAKE_ARGS) | sed -n 's/-D\([^[:blank:]]*=[^[:blank:]]*\)/\1/gp' ))
 	@# find each currently desired option in the already cached ones making sure the complete configured string value is the same
 	@$(eval VERIFIED_CMAKE_OPTIONS = $(foreach option,$(DESIRED_CMAKE_OPTIONS),$(strip $(findstring $(option)$(space),$(CACHED_CMAKE_OPTIONS)))))
 	@# if the complete list of desired options is found in the list of verified options we don't need to reconfigure and CMAKE_CACHE_CHECK stays empty
@@ -218,8 +186,8 @@ define colorecho
 +@echo -e '${COLOR_BLUE}${1} ${NO_COLOR}'
 endef
 
-# Get a list of all config targets boards/*/*.px4board
-ALL_CONFIG_TARGETS := $(shell find boards -maxdepth 3 -mindepth 3 -name '*.px4board' -print | sed -e 's|boards\/||' | sed -e 's|\.px4board||' | sed -e 's|\/|_|g' | sort)
+# Get a list of all config targets boards/*/*.cmake
+ALL_CONFIG_TARGETS := $(shell find boards -maxdepth 3 -mindepth 3 ! -name '*common*' ! -name '*sdflight*' -name '*.cmake' -print | sed -e 's/boards\///' | sed -e 's/\.cmake//' | sed -e 's/\//_/g' | sort)
 
 # ADD CONFIGS HERE
 # --------------------------------------------------------------------
@@ -227,19 +195,20 @@ ALL_CONFIG_TARGETS := $(shell find boards -maxdepth 3 -mindepth 3 -name '*.px4bo
 
 # All targets.
 $(ALL_CONFIG_TARGETS):
-	@$(call cmake-build,$@$(BUILD_DIR_SUFFIX))
+	@$(eval PX4_CONFIG = $@)
+	@$(eval CMAKE_ARGS += -DCONFIG=$(PX4_CONFIG))
+	@$(call cmake-build,$(PX4_CONFIG)$(BUILD_DIR_SUFFIX))
 
 # Filter for only default targets to allow omiting the "_default" postfix
 CONFIG_TARGETS_DEFAULT := $(patsubst %_default,%,$(filter %_default,$(ALL_CONFIG_TARGETS)))
 $(CONFIG_TARGETS_DEFAULT):
-	@$(call cmake-build,$@_default$(BUILD_DIR_SUFFIX))
+	@$(eval PX4_CONFIG = $@_default)
+	@$(eval CMAKE_ARGS += -DCONFIG=$(PX4_CONFIG))
+	@$(call cmake-build,$(PX4_CONFIG)$(BUILD_DIR_SUFFIX))
 
 all_config_targets: $(ALL_CONFIG_TARGETS)
 all_default_targets: $(CONFIG_TARGETS_DEFAULT)
 
-updateconfig:
-	@./Tools/kconfig/updateconfig.py
-
 # board reorganization deprecation warnings (2018-11-22)
 define deprecation_warning
 	$(warning $(1) has been deprecated and will be removed, please use $(2)!)
@@ -248,6 +217,16 @@ endef
 # All targets with just dependencies but no recipe must either be marked as phony (or have the special @: as recipe).
 .PHONY: all px4_sitl_default all_config_targets all_default_targets
 
+# Multi- config targets.
+eagle_default: atlflight_eagle_default atlflight_eagle_qurt
+eagle_rtps: atlflight_eagle_rtps atlflight_eagle_qurt-rtps
+
+excelsior_default: atlflight_excelsior_default atlflight_excelsior_qurt
+excelsior_rtps: atlflight_excelsior_rtps atlflight_excelsior_qurt-rtps
+
+.PHONY: eagle_default eagle_rtps
+.PHONY: excelsior_default excelsior_rtps
+
 # Other targets
 # --------------------------------------------------------------------
 
@@ -270,10 +249,11 @@ px4fmu_firmware: \
 misc_qgc_extra_firmware: \
 	check_nxp_fmuk66-v3_default \
 	check_nxp_fmurt1062-v1_default \
+	check_intel_aerofc-v1_default \
 	check_mro_x21_default \
 	check_bitcraze_crazyflie_default \
-	check_bitcraze_crazyflie21_default \
 	check_airmind_mindpx-v2_default \
+	check_px4_fmu-v2_lpe \
 	sizes
 
 # builds with RTPS
@@ -301,38 +281,13 @@ check_%:
 	@$(MAKE) --no-print-directory $(subst check_,,$@)
 	@echo
 
-all_variants_%:
-	@echo 'Building all $(subst all_variants_,,$@) variants:'  $(filter $(subst all_variants_,,$@)_%, $(ALL_CONFIG_TARGETS))
-	@echo
-	$(foreach a,$(filter $(subst all_variants_,,$@)_%, $(ALL_CONFIG_TARGETS)), $(call cmake-build,$(a)$(BUILD_DIR_SUFFIX)))
-
 uorb_graphs:
-	@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --exclude-path src/lib/parameters --merge-depends --file Tools/uorb_graph/graph_full
-	@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --exclude-path src/lib/parameters --exclude-path src/modules/mavlink --merge-depends --file Tools/uorb_graph/graph_full_no_mavlink
+	@./Tools/uorb_graph/create_from_startupscript.sh
+	@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --file Tools/uorb_graph/graph_full
 	@$(MAKE) --no-print-directory px4_fmu-v2_default uorb_graph
 	@$(MAKE) --no-print-directory px4_fmu-v4_default uorb_graph
-	@$(MAKE) --no-print-directory px4_fmu-v5_default uorb_graph
 	@$(MAKE) --no-print-directory px4_sitl_default uorb_graph
 
-px4io_update: px4_io-v2_default 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
-	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/mro/x21-777/extras/px4_io-v2_default.bin
-	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v2/extras/px4_io-v2_default.bin
-	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v3/extras/px4_io-v2_default.bin
-	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v4pro/extras/px4_io-v2_default.bin
-	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v5/extras/px4_io-v2_default.bin
-	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v5x/extras/px4_io-v2_default.bin
-	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v6x/extras/px4_io-v2_default.bin
-	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v6c/extras/px4_io-v2_default.bin
-	# cubepilot_io-v2_default
-	cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeorange/extras/cubepilot_io-v2_default.bin
-	cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
-	git status
-
-bootloaders_update: cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader holybro_kakuteh7_bootloader matek_h743_bootloader matek_h743-mini_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-classic_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6c_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader
-	git status
 
 .PHONY: coverity_scan
 
@@ -340,21 +295,18 @@ coverity_scan: px4_sitl_default
 
 # Documentation
 # --------------------------------------------------------------------
-.PHONY: parameters_metadata airframe_metadata module_documentation extract_events px4_metadata doxygen
+.PHONY: parameters_metadata airframe_metadata module_documentation px4_metadata doxygen
 
 parameters_metadata:
-	@$(MAKE) --no-print-directory px4_sitl_default metadata_parameters ver_gen
+	@$(MAKE) --no-print-directory px4_sitl_default metadata_parameters
 
 airframe_metadata:
-	@$(MAKE) --no-print-directory px4_sitl_default metadata_airframes ver_gen
+	@$(MAKE) --no-print-directory px4_sitl_default metadata_airframes
 
 module_documentation:
 	@$(MAKE) --no-print-directory px4_sitl_default metadata_module_documentation
 
-extract_events:
-	@$(MAKE) --no-print-directory px4_sitl_default metadata_extract_events ver_gen
-
-px4_metadata: parameters_metadata airframe_metadata module_documentation extract_events
+px4_metadata: parameters_metadata airframe_metadata module_documentation
 
 doxygen:
 	@mkdir -p "$(SRC_DIR)"/build/doxygen
@@ -381,6 +333,7 @@ format:
 .PHONY: rostest python_coverage
 
 tests:
+	$(eval CMAKE_ARGS += -DCONFIG=px4_sitl_test)
 	$(eval CMAKE_ARGS += -DTESTFILTER=$(TESTFILTER))
 	$(eval ARGS += test_results)
 	$(eval ASAN_OPTIONS += color=always:check_initialization_order=1:detect_stack_use_after_return=1)
@@ -389,10 +342,8 @@ tests:
 
 tests_coverage:
 	@$(MAKE) clean
-	@$(MAKE) --no-print-directory tests PX4_CMAKE_BUILD_TYPE=Coverage
-	@mkdir -p coverage
-	@lcov --directory build/px4_sitl_test --base-directory build/px4_sitl_test --gcov-tool gcov --capture -o coverage/lcov.info
-
+	@$(MAKE) --no-print-directory px4_sitl_default test_coverage_genhtml PX4_CMAKE_BUILD_TYPE=Coverage
+	@echo "Open "$(SRC_DIR)"/build/px4_sitl_default/coverage-html/index.html to see coverage"
 
 rostest: px4_sitl_default
 	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
@@ -400,14 +351,14 @@ rostest: px4_sitl_default
 tests_integration: px4_sitl_default
 	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
 	@$(MAKE) --no-print-directory px4_sitl_default mavsdk_tests
-	@"$(SRC_DIR)"/test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 test/mavsdk_tests/configs/sitl.json
+	@"$(SRC_DIR)"/test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 100
 
 tests_integration_coverage:
 	@$(MAKE) clean
 	@$(MAKE) --no-print-directory px4_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage
 	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
 	@$(MAKE) --no-print-directory px4_sitl_default mavsdk_tests
-	@"$(SRC_DIR)"/test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 test/mavsdk_tests/configs/sitl.json
+	@"$(SRC_DIR)"/test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 100
 	@mkdir -p coverage
 	@lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
 
@@ -428,7 +379,6 @@ tests_mission_coverage:
 tests_offboard: rostest
 	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_attctl.test
 	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test
-	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_rpyrt_ctl.test
 
 tests_avoidance: rostest
 	@"$(SRC_DIR)"/test/rostest_avoidance_run.sh mavros_posix_test_avoidance.test
@@ -466,16 +416,16 @@ px4_sitl_default-clang:
 	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/px4_sitl_default-clang
 
 clang-tidy: px4_sitl_default-clang
-	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -p .
+	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j) -p .
 
 # to automatically fix a single check at a time, eg modernize-redundant-void-arg
 #  % run-clang-tidy-4.0.py -fix -j4 -checks=-\*,modernize-redundant-void-arg -p .
 clang-tidy-fix: px4_sitl_default-clang
-	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -fix -p .
+	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j) -fix -p .
 
 # modified version of run-clang-tidy.py to return error codes and only output relevant results
 clang-tidy-quiet: px4_sitl_default-clang
-	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -p .
+	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j) -p .
 
 # TODO: Fix cppcheck errors then try --enable=warning,performance,portability,style,unusedFunction or --enable=all
 cppcheck: px4_sitl_default
@@ -488,39 +438,34 @@ shellcheck_all:
 	@make px4_fmu-v5_default shellcheck
 
 validate_module_configs:
-	@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f \
-	-not -path "$(SRC_DIR)/src/lib/mixer_module/*" -not -path "$(SRC_DIR)/src/lib/crypto/libtommath/*" -print0 | \
-	xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
+	@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f -print0 | xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
 
 # Cleanup
 # --------------------------------------------------------------------
 .PHONY: clean submodulesclean submodulesupdate gazeboclean distclean
 
 clean:
-	@[ ! -d "$(SRC_DIR)/build" ] || find "$(SRC_DIR)/build" -mindepth 1 -maxdepth 1 -type d -exec sh -c "echo {}; cmake --build {} -- clean || rm -rf {}" \; # use generated build system to clean, wipe build directory if it fails
-	@git submodule foreach git clean -dX --force # some submodules generate build artifacts in source
+	@rm -rf "$(SRC_DIR)"/build
 
 submodulesclean:
 	@git submodule foreach --quiet --recursive git clean -ff -x -d
 	@git submodule update --quiet --init --recursive --force || true
 	@git submodule sync --recursive
-	@git submodule update --init --recursive --force --jobs 4
+	@git submodule update --init --recursive --force
 
 submodulesupdate:
-	@git submodule update --quiet --init --recursive --jobs 4 || true
+	@git submodule update --quiet --init --recursive || true
 	@git submodule sync --recursive
-	@git submodule update --init --recursive --jobs 4
-	@git fetch --all --tags --recurse-submodules=yes --jobs=4
+	@git submodule update --init --recursive
 
 gazeboclean:
 	@rm -rf ~/.gazebo/*
 
 distclean: gazeboclean
-	@git submodule deinit --force $(SRC_DIR)
-	@rm -rf "$(SRC_DIR)/build"
-	@git clean --force -X "$(SRC_DIR)/msg/" "$(SRC_DIR)/platforms/" "$(SRC_DIR)/posix-configs/" "$(SRC_DIR)/ROMFS/" "$(SRC_DIR)/src/" "$(SRC_DIR)/test/" "$(SRC_DIR)/Tools/"
+	@git submodule deinit -f .
+	@git clean -ff -x -d -e ".project" -e ".cproject" -e ".idea" -e ".settings" -e ".vscode"
 
-# Help / Error / Misc
+# Help / Error
 # --------------------------------------------------------------------
 
 # All other targets are handled by PX4_MAKE. Add a rule here to avoid printing an error.
@@ -534,7 +479,7 @@ help:
 	@echo "Where <target> is one of:"
 	@$(MAKE) -pRrq -f $(lastword $(MAKEFILE_LIST)) : 2>/dev/null | \
 		awk -v RS= -F: '/^# File/,/^# Finished Make data base/ {if ($$1 !~ "^[#.]") {print $$1}}' | sort | \
-		egrep -v -e '^[^[:alnum:]]' -e '^($(subst $(space),|,$(ALL_CONFIG_TARGETS)))$$' -e '_default$$' -e '^(Makefile)'
+		egrep -v -e '^[^[:alnum:]]' -e '^($(subst $(space),|,$(ALL_CONFIG_TARGETS)))$$' -e '_default$$' -e '^(posix|eagle|Makefile)'
 	@echo
 	@echo "Or, $(MAKE) <config_target> [<make_target(s)>]"
 	@echo "Use '$(MAKE) list_config_targets' for a list of configuration targets."
@@ -542,30 +487,3 @@ help:
 # Print a list of all config targets.
 list_config_targets:
 	@for targ in $(patsubst %_default,%[_default],$(ALL_CONFIG_TARGETS)); do echo $$targ; done
-
-check_nuttx : $(call make_list,nuttx) \
-	sizes
-
-check_linux : $(call make_list,linux) \
-	sizes
-
-check_px4: $(call make_list,nuttx,"px4") \
-	sizes
-
-check_nxp: $(call make_list,nuttx,"nxp") \
-	sizes
-
-ifneq ($(ROS2_WS_DIR),)
-  ROS2_WS_DIR := $(basename ${ROS2_WS_DIR})
-else
-  ROS2_WS_DIR := ~/colcon_ws
-endif
-
-update_ros2_bridge:
-	@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --all
-
-update_px4_ros_com:
-	@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --px4_ros_com
-
-update_px4_msgs:
-	@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --px4_msgs

PULL_REQUEST_TEMPLATE.md

@@ -0,0 +1,17 @@
+Please use [PX4 Discuss](http://discuss.px4.io/) or [Slack](http://slack.px4.io/) to align on pull requests if necessary. You can then open draft pull requests to get early feedback.
+
+**Describe problem solved by this pull request**
+A clear and concise description of the problem this proposed change will solve.
+E.g. For this use case I ran into...
+
+**Describe your solution**
+A clear and concise description of what you have implemented.
+
+**Describe possible alternatives**
+A clear and concise description of alternative solutions or features you've considered.
+
+**Test data / coverage**
+How was it tested? What cases were covered? Logs uploaded to https://review.px4.io/ and screenshots of the important plot parts.
+
+**Additional context**
+Add any other related context or media.

README.md

@@ -1,130 +1,103 @@
 # PX4 Drone Autopilot
 
-[![Releases](https://img.shields.io/github/release/PX4/PX4-Autopilot.svg)](https://github.com/PX4/PX4-Autopilot/releases) [![DOI](https://zenodo.org/badge/22634/PX4/PX4-Autopilot.svg)](https://zenodo.org/badge/latestdoi/22634/PX4/PX4-Autopilot)
+[![Releases](https://img.shields.io/github/release/PX4/Firmware.svg)](https://github.com/PX4/Firmware/releases) [![DOI](https://zenodo.org/badge/22634/PX4/Firmware.svg)](https://zenodo.org/badge/latestdoi/22634/PX4/Firmware)
 
-[![Nuttx Targets](https://github.com/PX4/PX4-Autopilot/workflows/Nuttx%20Targets/badge.svg)](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22Nuttx+Targets%22?branch=master) [![SITL Tests](https://github.com/PX4/PX4-Autopilot/workflows/SITL%20Tests/badge.svg?branch=master)](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22SITL+Tests%22)
+[![Build Status](http://ci.px4.io:8080/buildStatus/icon?job=PX4/Firmware/master)](http://ci.px4.io:8080/blue/organizations/jenkins/PX4%2FFirmware/activity) [![Nuttx Targets](https://github.com/PX4/Firmware/workflows/Nuttx%20Targets/badge.svg)](https://github.com/PX4/Firmware/actions?query=workflow%3A%22Nuttx+Targets%22?branch=master) [![SITL Tests](https://github.com/PX4/Firmware/workflows/SITL%20Tests/badge.svg?branch=master)](https://github.com/PX4/Firmware/actions?query=workflow%3A%22SITL+Tests%22)
 
-[![Slack](/.github/slack.svg)](https://join.slack.com/t/px4/shared_invite/zt-si4xo5qs-R4baYFmMjlrT4rQK5yUnaA)
+[![Slack](https://px4-slack.herokuapp.com/badge.svg)](http://slack.px4.io)
 
-This repository holds the [PX4](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.
+This repository holds the [PX4](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/Firmware/tree/master/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.
 
-PX4 is highly portable, OS-independent and supports Linux, NuttX and MacOS out of the box.
-
-* Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/PX4-Autopilot/blob/main/LICENSE))
-* [Supported airframes](https://docs.px4.io/main/en/airframes/airframe_reference.html) ([portfolio](https://px4.io/ecosystem/commercial-systems/)):
-  * [Multicopters](https://docs.px4.io/main/en/frames_multicopter/)
-  * [Fixed wing](https://docs.px4.io/main/en/frames_plane/)
-  * [VTOL](https://docs.px4.io/main/en/frames_vtol/)
-  * [Autogyro](https://docs.px4.io/main/en/frames_autogyro/)
-  * [Rover](https://docs.px4.io/main/en/frames_rover/)
-  * many more experimental types (Blimps, Boats, Submarines, High altitude balloons, etc)
-* Releases: [Downloads](https://github.com/PX4/PX4-Autopilot/releases)
+* Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/Firmware/blob/master/LICENSE))
+* [Supported airframes](https://docs.px4.io/en/airframes/airframe_reference.html) ([portfolio](http://px4.io/#airframes)):
+  * [Multicopters](https://docs.px4.io/en/airframes/airframe_reference.html#copter)
+  * [Fixed wing](https://docs.px4.io/en/airframes/airframe_reference.html#plane)
+  * [VTOL](https://docs.px4.io/en/airframes/airframe_reference.html#vtol)
+  * many more experimental types (Rovers, Blimps, Boats, Submarines, Autogyros, etc)
+* Releases: [Downloads](https://github.com/PX4/Firmware/releases)
 
 
-## Building a PX4 based drone, rover, boat or robot
+## PX4 Users
 
-The [PX4 User Guide](https://docs.px4.io/main/en/) explains how to assemble [supported vehicles](https://docs.px4.io/main/en/airframes/airframe_reference.html) and fly drones with PX4.
-See the [forum and chat](https://docs.px4.io/main/en/#getting-help) if you need help!
+The [PX4 User Guide](https://docs.px4.io/en/) explains how to assemble [supported vehicles](https://docs.px4.io/en/airframes/airframe_reference.html) and fly drones with PX4.
+See the [forum and chat](https://docs.px4.io/en/#support) if you need help!
 
 
-## Changing code and contributing
+## PX4 Developers
 
-This [Developer Guide](https://docs.px4.io/main/en/development/development.html) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.
+This [Developer Guide](https://dev.px4.io/) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.
 
-Developers should read the [Guide for Contributions](https://docs.px4.io/main/en/contribute/).
-See the [forum and chat](https://docs.px4.io/main/en/#getting-help) if you need help!
+Developers should read the [Guide for Contributions](https://dev.px4.io/en/contribute/).
+See the [forum and chat](https://dev.px4.io/en/#support) if you need help!
 
 
 ### Weekly Dev Call
 
-The PX4 Dev Team syncs up on a [weekly dev call](https://docs.px4.io/main/en/contribute/).
+The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/en/contribute/#dev_call).
 
 > **Note** The dev call is open to all interested developers (not just the core dev team). This is a great opportunity to meet the team and contribute to the ongoing development of the platform. It includes a QA session for newcomers. All regular calls are listed in the [Dronecode calendar](https://www.dronecode.org/calendar/).
 
 
 ## Maintenance Team
 
-  * Project: Founder
-    * [Lorenz Meier](https://github.com/LorenzMeier)
-  * Architecture
-    * [Daniel Agar](https://github.com/dagar)
-  * [Dev Call](https://github.com/PX4/PX4-Autopilot/labels/devcall)
-    * [Ramon Roche](https://github.com/mrpollo)
+  * Project: Founder - [Lorenz Meier](https://github.com/LorenzMeier), Architecture: [Daniel Agar](https://github.com/dagar)
+    * [Dev Call](https://github.com/PX4/Firmware/labels/devcall) - [Ramon Roche](https://github.com/mrpollo)
   * Communication Architecture
     * [Beat Kueng](https://github.com/bkueng)
     * [Julian Oes](https://github.com/JulianOes)
   * UI in QGroundControl
     * [Gus Grubba](https://github.com/dogmaphobic)
-  * [Multicopter Flight Control](https://github.com/PX4/PX4-Autopilot/labels/multicopter)
+  * [Multicopter Flight Control](https://github.com/PX4/Firmware/labels/multicopter)
     * [Mathieu Bresciani](https://github.com/bresch)
-  * [Multicopter Software Architecture](https://github.com/PX4/PX4-Autopilot/labels/multicopter)
+  * [Multicopter Software Architecture](https://github.com/PX4/Firmware/labels/multicopter)
     * [Matthias Grob](https://github.com/MaEtUgR)
-  * [VTOL Flight Control](https://github.com/PX4/PX4-Autopilot/labels/vtol)
+  * [VTOL Flight Control](https://github.com/PX4/Firmware/labels/vtol)
     * [Roman Bapst](https://github.com/RomanBapst)
-  * [Fixed Wing Flight Control](https://github.com/PX4/PX4-Autopilot/labels/fixedwing)
+  * [Fixed Wing Flight Control](https://github.com/PX4/Firmware/labels/fixedwing)
     * [Roman Bapst](https://github.com/RomanBapst)
-  * OS / NuttX
-    * [David Sidrane](https://github.com/davids5)
-  * Driver Architecture
-    * [Daniel Agar](https://github.com/dagar)
-  * Commander Architecture
-    * [Julian Oes](https://github.com/julianoes)
-  * [UAVCAN](https://github.com/PX4/PX4-Autopilot/labels/uavcan)
-    * [Daniel Agar](https://github.com/dagar)
-  * [State Estimation](https://github.com/PX4/PX4-Autopilot/issues?q=is%3Aopen+is%3Aissue+label%3A%22state+estimation%22)
-    * [Paul Riseborough](https://github.com/priseborough)
-  * Vision based navigation and Obstacle Avoidance
-    * [Markus Achtelik](https://github.com/markusachtelik)
-  * RTPS/ROS2 Interface
-    * [Nuno Marques](https://github.com/TSC21)
+  * OS / NuttX [David Sidrane](https://github.com/davids5)
+  * Driver Architecture [Daniel Agar](https://github.com/dagar)
+  * Commander Architecture [Julian Oes](https://github.com/julianoes)
+  * [UAVCAN](https://github.com/PX4/Firmware/labels/uavcan) [Daniel Agar](https://github.com/dagar)
+  * [State Estimation](https://github.com/PX4/Firmware/issues?q=is%3Aopen+is%3Aissue+label%3A%22state+estimation%22) - [Paul Riseborough](https://github.com/priseborough)
+  * Vision based navigation
+    * [Julian Kent](https://github.com/jkflying)
+  * Obstacle Avoidance - [Martina Rivizzigno](https://github.com/mrivi)
+  * RTPS/ROS2 Interface - [Nuno Marques](https://github.com/TSC21)
 
-See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/PX4-Autopilot/graphs/contributors) (Github).
+See also [About Us](http://px4.io/about-us/#development_team) (px4.io) and the [contributors list](https://github.com/PX4/Firmware/graphs/contributors) (Github).
 
 ## Supported Hardware
 
-This repository contains code supporting Pixhawk standard boards (best supported, best tested, recommended choice) and proprietary boards.
-
-### Pixhawk Standard Boards
-  * FMUv6X and FMUv6U (STM32H7, 2021)
-    * Various vendors will provide FMUv6X and FMUv6U based designs Q3/2021
-  * FMUv5 and FMUv5X (STM32F7, 2019/20)
-    * [Pixhawk 4 (FMUv5)](https://docs.px4.io/main/en/flight_controller/pixhawk4.html)
-    * [Pixhawk 4 mini (FMUv5)](https://docs.px4.io/main/en/flight_controller/pixhawk4_mini.html)
-    * [CUAV V5+ (FMUv5)](https://docs.px4.io/main/en/flight_controller/cuav_v5_plus.html)
-    * [CUAV V5 nano (FMUv5)](https://docs.px4.io/main/en/flight_controller/cuav_v5_nano.html)
-    * [Auterion Skynode (FMUv5X)](https://docs.auterion.com/skynode)
-  * FMUv4 (STM32F4, 2015)
-    * [Pixracer](https://docs.px4.io/main/en/flight_controller/pixracer.html)
-    * [Pixhawk 3 Pro](https://docs.px4.io/main/en/flight_controller/pixhawk3_pro.html)
-  * FMUv3 (STM32F4, 2014)
-    * [Pixhawk 2](https://docs.px4.io/main/en/flight_controller/pixhawk-2.html)
-    * [Pixhawk Mini](https://docs.px4.io/main/en/flight_controller/pixhawk_mini.html)
-    * [CUAV Pixhack v3](https://docs.px4.io/main/en/flight_controller/pixhack_v3.html)
-  * FMUv2 (STM32F4, 2013)
-    * [Pixhawk](https://docs.px4.io/main/en/flight_controller/pixhawk.html)
-    * [Pixfalcon](https://docs.px4.io/main/en/flight_controller/pixfalcon.html)
-
-### Manufacturer and Community supported
-  * [Holybro Durandal](https://docs.px4.io/main/en/flight_controller/durandal.html)
-  * [Hex Cube Orange](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orange.html)
-  * [Hex Cube Yellow](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_yellow.html)
+This repository contains code supporting these boards:
+  * [Snapdragon Flight](https://docs.px4.io/master/en/flight_controller/snapdragon_flight.html)
+  * [Intel Aero](https://docs.px4.io/master/en/flight_controller/intel_aero.html)
+  * [Raspberry PI with Navio 2](https://docs.px4.io/master/en/flight_controller/raspberry_pi_navio2.html)
+  * FMUv2
+    * [Pixhawk](https://docs.px4.io/master/en/flight_controller/pixhawk.html)
+    * [Pixfalcon](https://docs.px4.io/master/en/flight_controller/pixfalcon.html)
+  * FMUv3
+    * [Pixhawk 2](https://docs.px4.io/master/en/flight_controller/pixhawk-2.html)
+    * [Pixhawk Mini](https://docs.px4.io/master/en/flight_controller/pixhawk_mini.html)
+    * [CUAV Pixhack v3](https://docs.px4.io/master/en/flight_controller/pixhack_v3.html)
+  * FMUv4
+    * [Pixracer](https://docs.px4.io/master/en/flight_controller/pixracer.html)
+    * [Pixhawk 3 Pro](https://docs.px4.io/master/en/flight_controller/pixhawk3_pro.html)
+  * FMUv5 (ARM Cortex M7)
+    * [Pixhawk 4](https://docs.px4.io/master/en/flight_controller/pixhawk4.html)
+    * [Pixhawk 4 mini](https://docs.px4.io/master/en/flight_controller/pixhawk4_mini.html)
+    * [CUAV V5+](https://docs.px4.io/master/en/flight_controller/cuav_v5_plus.html)
+    * [CUAV V5 nano](https://docs.px4.io/master/en/flight_controller/cuav_v5_nano.html)
   * [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
   * [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
-  * [Bitcraze Crazyflie 2.0](https://docs.px4.io/main/en/complete_vehicles/crazyflie2.html)
-  * [Omnibus F4 SD](https://docs.px4.io/main/en/flight_controller/omnibus_f4_sd.html)
-  * [Holybro Kakute F7](https://docs.px4.io/main/en/flight_controller/kakutef7.html)
-  * [Raspberry PI with Navio 2](https://docs.px4.io/main/en/flight_controller/raspberry_pi_navio2.html)
+  * [Bitcraze Crazyflie 2.0](https://docs.px4.io/master/en/flight_controller/crazyflie2.html)
+  * [Omnibus F4 SD](https://docs.px4.io/master/en/flight_controller/omnibus_f4_sd.html)
+  * [BeagleBone Blue](https://docs.px4.io/master/en/flight_controller/beaglebone_blue.html)
+  * [Holybro Durandal](https://docs.px4.io/master/en/flight_controller/durandal.html)
+  * [Holybro Kakute F7](https://docs.px4.io/master/en/flight_controller/kakutef7.html)
 
-Additional information about supported hardware can be found in [PX4 user Guide > Autopilot Hardware](https://docs.px4.io/main/en/flight_controller/).
+Additional information about supported hardware can be found in [PX4 user Guide > Autopilot Hardware](https://docs.px4.io/master/en/flight_controller/).
 
 ## Project Roadmap
 
-A high level project roadmap is available [here](https://github.com/orgs/PX4/projects/25).
-
-## Project Governance
-
-The PX4 Autopilot project including all of its trademarks is hosted under [Dronecode](https://www.dronecode.org/), part of the Linux Foundation.
-
-<a href="https://www.dronecode.org/" style="padding:20px" ><img src="https://mavlink.io/assets/site/logo_dronecode.png" alt="Dronecode Logo" width="110px"/></a>
-<a href="https://www.linuxfoundation.org/projects" style="padding:20px;"><img src="https://mavlink.io/assets/site/logo_linux_foundation.png" alt="Linux Foundation Logo" width="80px" /></a>
-<div style="padding:10px">&nbsp;</div>
+A high level project roadmap is available [here](https://www.dronecode.org/roadmap/).

ROMFS/CMakeLists.txt

@@ -31,11 +31,10 @@
 #
 ############################################################################
 
-set(romfs_src_dir ${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root})
-set(romfs_gen_root_dir ${PX4_BINARY_DIR}/etc)
+message(STATUS "ROMFS: ${config_romfs_root}")
 
-file(RELATIVE_PATH romfs_path_relative ${PX4_SOURCE_DIR} ${romfs_src_dir})
-message(STATUS "ROMFS: ${romfs_path_relative}")
+set(romfs_src_dir ${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root})
+set(romfs_gen_root_dir ${PX4_BINARY_DIR}/genromfs)
 
 set_property(GLOBAL PROPERTY PX4_ROMFS_FILES)
 set_property(GLOBAL PROPERTY PX4_ROMFS_CMAKE_FILES)
@@ -82,47 +81,21 @@ file(GLOB jinja_templates ${PX4_SOURCE_DIR}/Tools/serial/*.jinja)
 if (px4_constrained_flash_build)
 	set(added_arguments --constrained-flash)
 endif()
-if(PX4_ETHERNET)
-	set(added_arguments ${added_arguments} --ethernet)
-endif()
-# create list of relative romfs file names
-set(romfs_copy_files_relative)
-foreach(romfs_file IN LISTS romfs_copy_files)
-	string(REPLACE "${romfs_src_dir}/" "" romfs_file_rel ${romfs_file})
-	list(APPEND romfs_copy_files_relative ${romfs_file_rel})
-endforeach()
-# copy the ROMFS files by creating a tar and extracting it to the build
-# directory (which preserves the directory structure)
-file(MAKE_DIRECTORY ${romfs_gen_root_dir})
-set(romfs_tar_file ${PX4_BINARY_DIR}/romfs_files.tar)
-add_custom_command(
-	OUTPUT ${romfs_tar_file}
-	COMMAND ${CMAKE_COMMAND} -E tar cf ${romfs_tar_file} ${romfs_copy_files_relative}
-	WORKING_DIRECTORY ${romfs_src_dir}
-	DEPENDS
-		${romfs_copy_files}
-		${jinja_templates}
-		${module_config_files}
-		${romfs_cmake_files}
-		${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
-		${PX4_SOURCE_DIR}/Tools/px4airframes/markdownout.py
-		${PX4_SOURCE_DIR}/Tools/px4airframes/rcout.py
-		${PX4_SOURCE_DIR}/Tools/px4airframes/srcparser.py
-		${PX4_SOURCE_DIR}/Tools/px4airframes/srcscanner.py
-		${PX4_SOURCE_DIR}/Tools/px4airframes/xmlout.py
-		${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
-	)
-
-
-set(romfs_copy_stamp ${CMAKE_CURRENT_BINARY_DIR}/romfs_copy.stamp)
 add_custom_command(
 	OUTPUT
+		${romfs_gen_root_dir}/init.d/rcS
 		${romfs_gen_root_dir}/init.d/rc.serial
 		${romfs_gen_root_dir}/init.d/rc.autostart
 		${romfs_gen_root_dir}/init.d/rc.autostart.post
-		${romfs_copy_stamp}
-	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/*
-	COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file}
+		romfs_copy.stamp
+	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}
+	# TODO: we should only copy the files in ${romfs_copy_files}
+	COMMAND ${CMAKE_COMMAND} -E copy_directory ${romfs_src_dir} ${romfs_gen_root_dir}
+	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/init.d-posix
+	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/mixers-sitl
+	COMMAND ${CMAKE_COMMAND} -E remove ${romfs_gen_root_dir}/mixers/CMakeLists.txt
+	COMMAND ${CMAKE_COMMAND} -E remove ${romfs_gen_root_dir}/init.d/CMakeLists.txt
+	COMMAND ${CMAKE_COMMAND} -E remove ${romfs_gen_root_dir}/init.d/airframes/CMakeLists.txt
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
 		--airframes-path ${romfs_gen_root_dir}/init.d
 		--start-script ${romfs_gen_root_dir}/init.d/rc.autostart
@@ -131,45 +104,49 @@ add_custom_command(
 		--rc-dir ${romfs_gen_root_dir}/init.d
 		--serial-ports ${board_serial_ports} ${added_arguments}
 		--config-files ${module_config_files} #--verbose
-	COMMAND ${CMAKE_COMMAND} -E touch ${romfs_copy_stamp}
-	WORKING_DIRECTORY ${romfs_gen_root_dir}
-	DEPENDS ${romfs_tar_file}
+	COMMAND ${CMAKE_COMMAND} -E touch romfs_copy.stamp
+	DEPENDS
+		${jinja_templates}
+		${module_config_files}
+		${romfs_cmake_files}
+		${romfs_copy_files}
+		${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
+		${PX4_SOURCE_DIR}/Tools/px4airframes/markdownout.py
+		${PX4_SOURCE_DIR}/Tools/px4airframes/rcout.py
+		${PX4_SOURCE_DIR}/Tools/px4airframes/srcparser.py
+		${PX4_SOURCE_DIR}/Tools/px4airframes/srcscanner.py
+		${PX4_SOURCE_DIR}/Tools/px4airframes/xmlout.py
+		${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
 	COMMENT "ROMFS: copying, generating airframes"
 	)
 
-if(EXISTS ${PX4_BOARD_DIR}/extras/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin)
-	set(BOARD_FIRMWARE_BIN "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
-	configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in ${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade @ONLY)
-endif()
-
 # copy extras into ROMFS
 set(extras_dependencies)
 
-# optional board architecture defaults
-set(board_arch_rc_file "rc.board_arch_defaults")
-if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file}")
-	file(RELATIVE_PATH rc_file_relative ${PX4_SOURCE_DIR} ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file})
-	message(STATUS "ROMFS:  Adding ${rc_file_relative} -> /etc/init.d/${board_arch_rc_file}")
-
-	add_custom_command(
-		OUTPUT
-			${romfs_gen_root_dir}/init.d/${board_arch_rc_file}
-			${board_arch_rc_file}.stamp
-		COMMAND ${CMAKE_COMMAND} -E copy_if_different ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file} ${romfs_gen_root_dir}/init.d/${board_arch_rc_file}
-		COMMAND ${CMAKE_COMMAND} -E touch ${board_arch_rc_file}.stamp
-		DEPENDS
-			${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file}
-			romfs_copy.stamp
-		COMMENT "ROMFS: copying ${board_arch_rc_file}"
-	)
+if(config_bl_file)
+	file(MAKE_DIRECTORY ${PX4_BINARY_DIR}/romfs_extras)
+	configure_file(${config_bl_file} ${PX4_BINARY_DIR}/romfs_extras COPYONLY)
 
 	list(APPEND extras_dependencies
-		${board_arch_rc_file}.stamp
+		${config_bl_file}
+		)
+endif()
+
+# copy px4io binary if configured
+if(config_io_board)
+	list(APPEND extras_dependencies
+		copy_px4io_bin
+		${fw_io_bin}
 	)
 endif()
 
+if(config_build_bootloader)
+	list(APPEND extras_dependencies
+		copy_bootloader_bin
+		${bootloader_bin}
+	)
+endif()
 
-# board custom init files
 set(OPTIONAL_BOARD_RC)
 list(APPEND OPTIONAL_BOARD_RC
 	rc.board_defaults
@@ -181,8 +158,7 @@ list(APPEND OPTIONAL_BOARD_RC
 foreach(board_rc_file ${OPTIONAL_BOARD_RC})
 
 	if(EXISTS "${PX4_BOARD_DIR}/init/${board_rc_file}")
-		file(RELATIVE_PATH rc_file_relative ${PX4_SOURCE_DIR} ${PX4_BOARD_DIR}/init/${board_rc_file})
-		message(STATUS "ROMFS:  Adding ${rc_file_relative} -> /etc/init.d/${board_rc_file}")
+		message(STATUS "ROMFS: Adding ${board_rc_file}")
 
 		add_custom_command(
 			OUTPUT
@@ -203,113 +179,17 @@ foreach(board_rc_file ${OPTIONAL_BOARD_RC})
 
 endforeach()
 
-
-# board extras
-set(OPTIONAL_BOARD_EXTRAS)
-file(GLOB OPTIONAL_BOARD_EXTRAS ${PX4_BOARD_DIR}/extras/*)
-
-foreach(board_extra_file ${OPTIONAL_BOARD_EXTRAS})
-
-	if(EXISTS "${board_extra_file}")
-		file(RELATIVE_PATH extra_file_base_name ${PX4_BOARD_DIR}/extras/ ${board_extra_file})
-		file(RELATIVE_PATH extra_file_relative_source ${PX4_SOURCE_DIR} ${board_extra_file})
-		message(STATUS "ROMFS:  Adding ${extra_file_relative_source} -> /etc/extras/${extra_file_base_name}")
-
-		add_custom_command(
-			OUTPUT
-				${romfs_gen_root_dir}/extras/${extra_file_base_name}
-				${extra_file_base_name}.stamp
-			COMMAND ${CMAKE_COMMAND} -E copy_if_different ${PX4_BOARD_DIR}/extras/${extra_file_base_name} ${romfs_gen_root_dir}/extras/${extra_file_base_name}
-			COMMAND ${CMAKE_COMMAND} -E touch ${extra_file_base_name}.stamp
-			DEPENDS
-				${board_extra_file}
-				romfs_copy.stamp
-			COMMENT "ROMFS: copying ${board_extra_file}"
-		)
-
-		list(APPEND extras_dependencies
-			${extra_file_base_name}.stamp
-		)
-	endif()
-
-endforeach()
-
-
-
-if(config_uavcan_peripheral_firmware)
-
-	include(ExternalProject)
-
-	foreach(uavcan_peripheral_config ${config_uavcan_peripheral_firmware})
-		# include the UAVCAN peripheral binaries in ROMFS
-		message(STATUS "ROMFS:  Adding UAVCAN peripheral ${uavcan_peripheral_config} -> /etc/uavcan/fw/")
-
-		# ExternalProject_Add() with GIT_SUBMODULES "" initializes no submodules.
-		cmake_policy(SET CMP0097 NEW)
-
-		include(ExternalProject)
-
-		ExternalProject_Add(build_${uavcan_peripheral_config}
-			GIT_REPOSITORY ${CMAKE_SOURCE_DIR}
-			GIT_TAG ${PX4_GIT_TAG}
-			GIT_SUBMODULES ""
-			DOWNLOAD_NO_PROGRESS true
-			CMAKE_ARGS -DCONFIG=${uavcan_peripheral_config}
-			INSTALL_COMMAND ""
-			USES_TERMINAL_BUILD true
-			BUILD_ALWAYS 1
-		)
-
-		ExternalProject_Get_Property(build_${uavcan_peripheral_config} BINARY_DIR)
-
-		add_custom_command(
-			OUTPUT
-				${romfs_gen_root_dir}/uavcan/fw/_${uavcan_board_id}.bin
-				${uavcan_peripheral_config}.stamp
-			COMMAND ${CMAKE_COMMAND} -E make_directory ${romfs_gen_root_dir}/uavcan/fw/
-			COMMAND ${CMAKE_COMMAND} -E copy ${BINARY_DIR}/deploy/*.bin ${romfs_gen_root_dir}/uavcan/fw/
-			COMMAND ls -lsa ${romfs_gen_root_dir}/uavcan/fw/
-			COMMAND ${CMAKE_COMMAND} -E touch ${uavcan_peripheral_config}.stamp
-			DEPENDS
-				build_${uavcan_peripheral_config}
-			COMMENT "ROMFS: copying ${uavcan_peripheral_config}"
-		)
-
-		list(APPEND extras_dependencies
-			${uavcan_peripheral_config}.stamp
-		)
-	endforeach()
-endif()
-
-list(APPEND extras_dependencies
-	${config_romfs_extra_dependencies}
-	)
-
-if (config_romfs_extra_files)
-	set(extras_copy_cmd COMMAND ${CMAKE_COMMAND} -E copy_if_different ${config_romfs_extra_files} ${romfs_gen_root_dir}/extras/)
-else()
-	set(extras_copy_cmd "")
-endif()
 add_custom_command(OUTPUT romfs_extras.stamp
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${romfs_gen_root_dir}/extras/
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/romfs_extras/
 	COMMAND ${CMAKE_COMMAND} -E copy_directory ${PX4_BINARY_DIR}/romfs_extras/ ${romfs_gen_root_dir}/extras/
-	${extras_copy_cmd}
 	COMMAND ${CMAKE_COMMAND} -E touch romfs_extras.stamp
 	DEPENDS
 		romfs_copy.stamp
-		${config_romfs_extra_files}
 		${extras_dependencies}
 	COMMENT "ROMFS: copying extras"
 	)
 
-add_custom_target(romfs_gen_files_target
-	DEPENDS
-		${romfs_copy_stamp}
-		${romfs_gen_root_dir}/init.d/rc.serial
-		romfs_extras.stamp
-	)
-
 add_custom_command(
 	OUTPUT romfs_pruned.stamp
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py --folder ${romfs_gen_root_dir} --board ${PX4_BOARD}
@@ -340,11 +220,7 @@ if("${CONFIG_FS_CROMFS}" STREQUAL "y")
 		COMMENT "ROMFS: generating image"
 	)
 
-	add_library(romfs STATIC nsh_romfsimg.c)
-	add_dependencies(romfs prebuild_targets)
-	set_target_properties(romfs PROPERTIES LINKER_LANGUAGE C)
-
-elseif("${CONFIG_FS_ROMFS}" STREQUAL "y")
+else()
 	# create romfs.img
 	find_program(GENROMFS genromfs)
 	if(NOT GENROMFS)
@@ -379,13 +255,13 @@ elseif("${CONFIG_FS_ROMFS}" STREQUAL "y")
 		COMMAND ${SED} 's/unsigned/const unsigned/g' nsh_romfsimg.c > nsh_romfsimg.c.tmp && ${CMAKE_COMMAND} -E rename nsh_romfsimg.c.tmp nsh_romfsimg.c
 		DEPENDS romfs.img
 	)
-
-	add_library(romfs STATIC nsh_romfsimg.c)
-	add_dependencies(romfs prebuild_targets)
-	set_target_properties(romfs PROPERTIES LINKER_LANGUAGE C)
 endif()
 
 
+add_library(romfs STATIC nsh_romfsimg.c)
+add_dependencies(romfs prebuild_targets)
+set_target_properties(romfs PROPERTIES LINKER_LANGUAGE C)
+
 
 # shellcheck
 find_program(SHELLCHECK_PATH shellcheck)
@@ -395,15 +271,11 @@ if(SHELLCHECK_PATH)
 	# TODO: fix SC2086, SC2166
 	add_custom_target(shellcheck
 		COMMAND ${SHELLCHECK_PATH} --shell=sh
-			--exclude=SC1090 # SC1090: use of source (.) - Can't follow non-constant source. Use a directive to specify location.
-			--exclude=SC1091 # SC1091: use of source (.) - Not following: xxxx openBinaryFile: does not exist (No such file or directory)
 			--exclude=SC2121 # SC2121: To assign a variable, use just 'var=value'
 			--exclude=SC2086 # SC2086: Double quote to prevent globbing and word splitting.
 			--exclude=SC2166 # SC2166: Prefer [ p ] || [ q ] as [ p -o q ] is not well defined.
 			--exclude=SC2154 # SC2154: <var> is referenced but not assigned (NuttX uses different asssignment)
 			--exclude=SC2164 # SC2164: Use 'cd ... || exit' or 'cd ... || return' in case cd fails.
-			--exclude=SC2169 # SC2169: In dash, 'source' in place of '.' is not supported. (we alias it)
-			--exclude=SC2039 # SC2039: In POSIX sh, 'source' in place of '.' is undefined. (we alias it)
 			--exclude=SC2181 # SC2181: Check exit code directly with e.g. 'if mycmd;', not indirectly with $?.
 			`find ${romfs_gen_root_dir}/init.d -type f`
 		DEPENDS ${romfs_gen_root_dir}/init.d/rc.autostart

ROMFS/cannode/init.d/rcS

@@ -14,68 +14,80 @@ set +e
 # NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
 #
 #------------------------------------------------------------------------------
-set R /
+
+#
+# Mount the procfs.
+#
+mount -t procfs /proc
+
+#
+# Start CDC/ACM serial driver.
+#
+sercon
 
 #
 # Print full system version.
 #
 ver all
 
-if mft query -q -k MTD -s MTD_PARAMETERS -v /fs/mtd_params
+#
+# Start the ORB (first app to start)
+# tone_alarm and tune_control
+# is dependent.
+#
+uorb start
+
+#
+# Set the parameter file if mtd starts successfully.
+#
+if mtd start
 then
 	set PARAM_FILE /fs/mtd_params
 fi
 
-if mft query -q -k MTD -s MTD_PARAMETERS -v /dev/eeeprom0
-then
-	set PARAM_FILE /dev/eeeprom0
-fi
-
 #
 # Load parameters.
 #
 param select $PARAM_FILE
 if ! param load
 then
-	param reset_all
+	param reset
 fi
 
-#
-# Optional board architecture defaults: rc.board_arch_defaults
-#
-set BOARD_ARCH_RC_DEFAULTS ${R}etc/init.d/rc.board_arch_defaults
-if [ -f $BOARD_ARCH_RC_DEFAULTS ]
-then
-	echo "Board architecture defaults: ${BOARD_ARCH_RC_DEFAULTS}"
-	. $BOARD_ARCH_RC_DEFAULTS
-fi
-unset BOARD_ARCH_RC_DEFAULTS
-
 #
 # Optional board defaults: rc.board_defaults
 #
-set BOARD_RC_DEFAULTS ${R}etc/init.d/rc.board_defaults
+set BOARD_RC_DEFAULTS /etc/init.d/rc.board_defaults
 if [ -f $BOARD_RC_DEFAULTS ]
 then
 	echo "Board defaults: ${BOARD_RC_DEFAULTS}"
-	. $BOARD_RC_DEFAULTS
+	sh $BOARD_RC_DEFAULTS
 fi
 unset BOARD_RC_DEFAULTS
 
 #
 # Start system state indicator.
 #
-rgbled start -X -q
-rgbled_ncp5623c start -X -q
+rgbled start -X
+rgbled_ncp5623c start -X
+rgbled_pwm start
+
+if param greater LIGHT_EN_BLINKM 0
+then
+	if blinkm start -X
+	then
+		blinkm systemstate
+	fi
+fi
 
 #
 # board sensors: rc.sensors
 #
-set BOARD_RC_SENSORS ${R}etc/init.d/rc.board_sensors
+set BOARD_RC_SENSORS /etc/init.d/rc.board_sensors
 if [ -f $BOARD_RC_SENSORS ]
 then
 	echo "Board sensors: ${BOARD_RC_SENSORS}"
-	. $BOARD_RC_SENSORS
+	sh $BOARD_RC_SENSORS
 fi
 unset BOARD_RC_SENSORS
 
@@ -83,31 +95,12 @@ unset BOARD_RC_SENSORS
 # Start UART/Serial device drivers.
 # Note: rc.serial is auto-generated from Tools/serial/generate_config.py
 #
-. ${R}etc/init.d/rc.serial
+sh /etc/init.d/rc.serial
 
 # Check for flow sensor
-if param compare -s SENS_EN_PX4FLOW 1
+if param compare SENS_EN_PX4FLOW 1
 then
-	px4flow start -X &
+	px4flow start -X
 fi
 
-if param compare -s IMU_GYRO_CAL_EN 1
-then
-	gyro_calibration start
-fi
-
-
-if param compare -s MBE_ENABLE 1
-then
-	# conservative mag bias estimation
-	param set-default MBE_LEARN_GAIN 5
-	param set-default IMU_GYRO_CUTOFF 20
-	mag_bias_estimator start
-fi
-
-param set-default SENS_MAG_RATE 100
-
-sensors start
-
 uavcannode start
-unset R

ROMFS/px4fmu_common/CMakeLists.txt

@@ -33,7 +33,3 @@
 
 add_subdirectory(init.d)
 add_subdirectory(mixers)
-# TODO: make this configurable from the board config, or better combine
-if("${PX4_BOARD}" MATCHES "sitl")
-	add_subdirectory(init.d-posix)
-endif()

ROMFS/px4fmu_common/extras/README.txt

@@ -0,0 +1,5 @@
+px4fmuv3_bl.bin: Bootloader binary of the PX4 Bootloader
+  (https://github.com/PX4/Bootloader)
+  based on commit 184b813699a9cfd6f43a5a21556a06b4372baf5f
+  for the target px4fmuv3_bl
+

ROMFS/px4fmu_common/init.d-posix/10016_iris

@@ -0,0 +1,13 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL
+#
+# @type Quadrotor Wide
+#
+# @maintainer Julian Oes <julian@oes.ch>
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+set MIXER quad_w
+

ROMFS/px4fmu_common/init.d-posix/10020_if750a

@@ -0,0 +1,12 @@
+#!/bin/sh
+#
+# @name IF750A SITL
+# InspiredFlight 750 Auterion edition. Gazebo Only.
+#
+# @type Quadrotor
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+set MIXER quad_x
+

ROMFS/px4fmu_common/init.d-posix/1010_iris_opt_flow

@@ -0,0 +1,22 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (Optical Flow)
+#
+# @type Quadrotor Wide
+#
+
+sh /etc/init.d-posix/10016_iris
+
+if [ $AUTOCNF = yes ]
+then
+	# EKF2
+	param set EKF2_AID_MASK 2
+	param set EKF2_EVP_NOISE 0.05
+	param set EKF2_EVA_NOISE 0.05
+
+	# LPE: Flow-only mode
+	param set LPE_FUSION 242
+	param set LPE_FAKE_ORIGIN 1
+
+	param set MPC_ALT_MODE 2
+fi

ROMFS/px4fmu_common/init.d-posix/1011_iris_irlock

@@ -0,0 +1,18 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (irlock)
+#
+# @type Quadrotor Wide
+#
+
+sh /etc/init.d-posix/10016_iris
+
+if [ $AUTOCNF = yes ]
+then
+	# enable fusion of landing target velocity
+	param set LTEST_MODE 1
+	param set PLD_HACC_RAD 0.1
+fi
+
+# Start up Landing Target Estimator module
+landing_target_estimator start

ROMFS/px4fmu_common/init.d-posix/1012_iris_rplidar

@@ -0,0 +1,13 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (rplidar)
+#
+# @type Quadrotor Wide
+#
+
+sh /etc/init.d-posix/10016_iris
+
+if [ $AUTOCNF = yes ]
+then
+	param set LPE_FUSION 242
+fi

ROMFS/px4fmu_common/init.d-posix/1013_iris_vision

@@ -0,0 +1,21 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (Vision)
+#
+# @type Quadrotor Wide
+#
+
+sh /etc/init.d-posix/10016_iris
+
+if [ $AUTOCNF = yes ]
+then
+	# EKF2: Vision position and heading
+	param set EKF2_AID_MASK 24
+	param set EKF2_EV_DELAY 5
+
+	# LPE: Vision + baro
+	param set LPE_FUSION 132
+
+	# AEQ: External heading set to use vision input
+	param set ATT_EXT_HDG_M 1
+fi

ROMFS/px4fmu_common/init.d-posix/1014_solo

@@ -0,0 +1,16 @@
+#!/bin/sh
+#
+# @name Solo
+#
+# @type Quadrotor
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set MC_PITCHRATE_P 0.15
+	param set MC_ROLLRATE_P 0.15
+fi
+
+set MIXER quad_x

ROMFS/px4fmu_common/init.d-posix/1015_iris_obs_avoid

@@ -0,0 +1,14 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (Obstacle Avoidance)
+#
+# @type Quadrotor Wide
+#
+
+sh /etc/init.d-posix/10016_iris
+
+if [ $AUTOCNF = yes ]
+then
+	param set COM_OBS_AVOID 1
+	param set MPC_XY_CRUISE 5.0
+fi

ROMFS/px4fmu_common/init.d-posix/1015_iris_obs_avoid.post

@@ -0,0 +1,2 @@
+# shellcheck disable=SC2154
+mavlink start -x -u 14558 -r 4000000 -m onboard -o 14541 # add mavlink stream for SDK

ROMFS/px4fmu_common/init.d-posix/1016_iris_rtps

@@ -0,0 +1,8 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (RTPS)
+#
+# @type Quadrotor Wide
+#
+
+sh /etc/init.d-posix/10016_iris

ROMFS/px4fmu_common/init.d-posix/1016_iris_rtps.post

@@ -0,0 +1,2 @@
+# shellcheck disable=SC2154
+micrortps_client start -t UDP

ROMFS/px4fmu_common/init.d-posix/1017_iris_opt_flow_mockup

@@ -0,0 +1,21 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (Optical Flow)
+#
+# @type Quadrotor Wide
+#
+
+sh /etc/init.d-posix/10016_iris
+
+if [ $AUTOCNF = yes ]
+then
+	# EKF2
+	param set EKF2_AID_MASK 2
+	param set SENS_FLOW_ROT 0
+
+	# LPE: Flow-only mode
+	param set LPE_FUSION 242
+	param set LPE_FAKE_ORIGIN 1
+
+	param set MPC_ALT_MODE 2
+fi

ROMFS/px4fmu_common/init.d-posix/1020_uuv_generic

@@ -0,0 +1,23 @@
+#!/bin/sh
+#
+# @name UUV
+#
+
+sh /etc/init.d/rc.uuv_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	#Set data link loss failsafe mode (0: disabled)
+	param set NAV_DLL_ACT 0
+
+	# disable circuit breaker for airspeed sensor
+	param set CBRK_AIRSPD_CHK 162128
+
+	#param set CBRK_GPSFAIL 240024
+fi
+
+set MAV_TYPE 12
+param set MAV_TYPE ${MAV_TYPE}
+
+set MIXER_FILE etc/mixers-sitl/uuv_x_sitl.main.mix
+set MIXER custom

ROMFS/px4fmu_common/init.d-posix/1021_uuv_hippocampus

@@ -0,0 +1,23 @@
+#!/bin/sh
+#
+# @name Hippocampus UUV
+#
+
+sh /etc/init.d/rc.uuv_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	#Set data link loss failsafe mode (0: disabled)
+	param set NAV_DLL_ACT 0
+
+	# disable circuit breaker for airspeed sensor
+	param set CBRK_AIRSPD_CHK 162128
+
+	#param set CBRK_GPSFAIL 240024
+fi
+
+set MAV_TYPE 12
+param set MAV_TYPE ${MAV_TYPE}
+
+set MIXER_FILE etc/mixers-sitl/uuv_x_sitl.main.mix
+set MIXER custom

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

@@ -0,0 +1,47 @@
+#!/bin/sh
+#
+# @name Plane SITL
+#
+
+sh /etc/init.d/rc.fw_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set EKF2_ARSP_THR 8
+	param set EKF2_FUSE_BETA 1
+	param set EKF2_MAG_ACCLIM 0
+	param set EKF2_MAG_YAWLIM 0
+
+	param set FW_LND_AIRSPD_SC 1
+	param set FW_LND_ANG 8
+	param set FW_THR_LND_MAX 0
+
+	param set FW_L1_PERIOD 15
+
+	param set FW_P_TC 0.5
+	param set FW_PR_FF 0.40
+	param set FW_PR_I 0.05
+	param set FW_PR_P 0.05
+
+	param set FW_R_TC 0.7
+	param set FW_RR_FF 0.20
+	param set FW_RR_I 0.02
+	param set FW_RR_P 0.22
+
+	param set FW_L1_PERIOD 12
+
+	param set FW_W_EN 1
+
+	param set MIS_LTRMIN_ALT 30
+	param set MIS_TAKEOFF_ALT 30
+
+	param set NAV_ACC_RAD 15
+	param set NAV_DLL_ACT 2
+	param set NAV_LOITER_RAD 50
+
+	param set RWTO_TKOFF 1
+
+fi
+
+set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
+set MIXER custom

ROMFS/px4fmu_common/init.d-posix/1031_plane_cam

@@ -0,0 +1,14 @@
+#!/bin/sh
+#
+# @name Plane SITL with camera
+#
+
+sh /etc/init.d-posix/1030_plane
+
+if [ $AUTOCNF = yes ]
+then
+	# Camera trigger interface is MAVLink
+	param set TRIG_INTERFACE 3
+	# Distance trigger mode enabled
+	param set TRIG_MODE 4
+fi

ROMFS/px4fmu_common/init.d-posix/1032_plane_catapult

@@ -0,0 +1,12 @@
+#!/bin/sh
+#
+# @name Plane SITL with catapult
+#
+
+sh /etc/init.d-posix/1030_plane
+
+if [ $AUTOCNF = yes ]
+then
+	param set RWTO_TKOFF 0
+
+fi

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

@@ -0,0 +1,49 @@
+#!/bin/sh
+#
+# @name Standard VTOL
+#
+# @type Standard VTOL
+#
+
+sh /etc/init.d/rc.vtol_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set FW_AIRSPD_MAX 25
+	param set FW_AIRSPD_MIN 14
+	param set FW_AIRSPD_TRIM 16
+	param set FW_L1_PERIOD 12
+
+	param set MC_ROLLRATE_P 0.3
+
+	param set MIS_LTRMIN_ALT 10
+	param set MIS_TAKEOFF_ALT 10
+	param set MIS_YAW_TMT 10
+
+	param set MPC_ACC_HOR_MAX 2
+	param set MPC_ACC_HOR_MAX 2
+	param set MPC_THR_MIN 0.1
+	param set MPC_TKO_SPEED 1
+	param set MPC_XY_P 0.8
+	param set MPC_XY_VEL_D 0.005
+	param set MPC_XY_VEL_I 0.2
+	param set MPC_XY_VEL_P 0.15
+	param set MPC_Z_VEL_MAX_DN 1.5
+
+	param set NAV_ACC_RAD 5
+	param set NAV_LOITER_RAD 80
+
+	param set VT_F_TRANS_DUR 5
+	param set VT_F_TRANS_THR 0.75
+	param set VT_ARSP_TRANS 16
+	param set VT_MOT_ID 1234
+	param set VT_FW_MOT_OFFID 1234
+	param set VT_TYPE 2
+	param set VT_B_TRANS_DUR 8
+
+fi
+
+set MAV_TYPE 22
+
+set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
+set MIXER custom

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

@@ -0,0 +1,46 @@
+#!/bin/sh
+#
+# @name Quadrotor + Tailsitter
+#
+# @type VTOL Quad Tailsitter
+#
+
+sh /etc/init.d/rc.vtol_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set FW_AIRSPD_MAX 25
+	param set FW_AIRSPD_MIN 14
+	param set FW_AIRSPD_TRIM 16
+	param set FW_L1_PERIOD 12
+
+	param set MC_ROLLRATE_P 0.3
+
+	param set MIS_LTRMIN_ALT 10
+	param set MIS_TAKEOFF_ALT 10
+	param set MIS_YAW_TMT 10
+
+	param set MPC_ACC_HOR_MAX 2
+	param set MPC_ACC_HOR_MAX 2
+	param set MPC_THR_MIN 0.1
+	param set MPC_TKO_SPEED 1
+	param set MPC_XY_P 0.15
+	param set MPC_XY_VEL_D 0.005
+	param set MPC_XY_VEL_I 0.2
+	param set MPC_XY_VEL_P 0.05
+	param set MPC_Z_VEL_MAX_DN 1.5
+	param set MPC_Z_VEL_P 0.8
+
+	param set NAV_ACC_RAD 5
+	param set NAV_LOITER_RAD 80
+
+	param set VT_F_TRANS_DUR 1.5
+	param set VT_F_TRANS_THR 0.7
+	param set VT_TYPE 0
+
+fi
+
+set MAV_TYPE 20
+
+set MIXER_FILE etc/mixers-sitl/quad_x_vtol.main.mix
+set MIXER custom

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

@@ -0,0 +1,50 @@
+#!/bin/sh
+#
+# @name VTOL Tiltrotor
+#
+# @type VTOL Tiltrotor
+#
+
+sh /etc/init.d/rc.vtol_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set FW_AIRSPD_MAX 25
+	param set FW_AIRSPD_MIN 14
+	param set FW_AIRSPD_TRIM 16
+	param set FW_L1_PERIOD 12
+
+	param set MC_ROLLRATE_P 0.3
+
+	param set MIS_LTRMIN_ALT 10
+	param set MIS_TAKEOFF_ALT 10
+	param set MIS_YAW_TMT 10
+
+	param set MPC_ACC_HOR_MAX 2
+	param set MPC_ACC_HOR_MAX 2
+	param set MPC_THR_MIN 0.1
+	param set MPC_TKO_SPEED 1
+	param set MPC_XY_P 0.15
+	param set MPC_XY_VEL_D 0.005
+	param set MPC_XY_VEL_I 0.2
+	param set MPC_XY_VEL_P 0.05
+	param set MPC_Z_VEL_MAX_DN 1.5
+	param set MPC_Z_VEL_P 0.8
+
+	param set NAV_ACC_RAD 5
+	param set NAV_LOITER_RAD 80
+
+	param set VT_F_TRANS_DUR 5.0
+	param set VT_F_TRANS_THR 0.75
+	param set VT_TILT_FW 3.1415
+	param set VT_TILT_TRANS 1.2
+	param set VT_ELEV_MC_LOCK 0
+	param set VT_TYPE 1
+	param set VT_B_TRANS_DUR 8
+
+fi
+
+set MAV_TYPE 21
+
+set MIXER_FILE etc/mixers-sitl/tiltrotor_sitl.main.mix
+set MIXER custom

ROMFS/px4fmu_common/init.d-posix/1060_rover

@@ -0,0 +1,37 @@
+#!/bin/sh
+#
+# @name Rover
+#
+
+sh /etc/init.d/rc.rover_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set GND_L1_DIST 5
+	param set GND_SP_CTRL_MODE 1
+	param set GND_SPEED_D 3
+	param set GND_SPEED_I 0.001
+	param set GND_SPEED_IMAX 0.125
+	param set GND_SPEED_P 0.25
+	param set GND_SPEED_THR_SC 1
+	param set GND_SPEED_TRIM 4
+	param set GND_THR_CRUISE 0.3
+	param set GND_THR_IDLE 0
+	param set GND_THR_MAX 0.5
+	param set GND_THR_MIN 0
+
+	param set MIS_LTRMIN_ALT 0.01
+	param set MIS_TAKEOFF_ALT 0.01
+	param set NAV_ACC_RAD 0.5
+	param set NAV_LOITER_RAD 2
+
+	param set CBRK_AIRSPD_CHK 162128
+
+	param set GND_MAX_ANG 0.6
+	param set GND_WHEEL_BASE 2.0
+
+fi
+
+set MAV_TYPE 10
+
+set MIXER_FILE etc/mixers-sitl/rover_sitl.main.mix

ROMFS/px4fmu_common/init.d-posix/1070_boat

@@ -0,0 +1,37 @@
+#!/bin/sh
+#
+# @name Boat
+#
+
+sh /etc/init.d/rc.boat_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set GND_L1_DIST 5
+	param set GND_SP_CTRL_MODE 1
+	param set GND_SPEED_D 3
+	param set GND_SPEED_I 0.001
+	param set GND_SPEED_IMAX 0.125
+	param set GND_SPEED_P 0.25
+	param set GND_SPEED_THR_SC 1
+	param set GND_SPEED_TRIM 4
+	param set GND_THR_CRUISE 0.3
+	param set GND_THR_IDLE 0
+	param set GND_THR_MAX 0.5
+	param set GND_THR_MIN 0
+
+	param set MIS_LTRMIN_ALT 0.01
+	param set MIS_TAKEOFF_ALT 0.01
+	param set NAV_ACC_RAD 0.5
+	param set NAV_LOITER_RAD 2
+
+	param set CBRK_AIRSPD_CHK 162128
+
+	param set GND_MAX_ANG 0.6
+	param set GND_WHEEL_BASE 2.0
+
+fi
+
+set MAV_TYPE 11
+
+set MIXER_FILE etc/mixers-sitl/boat_sitl.main.mix

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

@@ -0,0 +1,32 @@
+#!/bin/sh
+#
+# @name Typhoon H480 SITL
+#
+# @type Hexarotor x
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set MC_PITCHRATE_P 0.1
+	param set MC_PITCHRATE_I 0.05
+	param set MC_PITCH_P 6.0
+	param set MC_ROLLRATE_P 0.15
+	param set MC_ROLLRATE_I 0.1
+	param set MC_ROLL_P 6.0
+	param set MPC_XY_VEL_I 0.2
+	param set MPC_XY_VEL_P 0.15
+
+	param set RTL_DESCEND_ALT 10
+	param set RTL_LAND_DELAY 0
+
+	param set TRIG_INTERFACE 3
+	param set TRIG_MODE 4
+	param set MNT_MODE_IN 0
+	param set MAV_PROTO_VER 2
+fi
+
+set MAV_TYPE 13
+
+set MIXER hexa_x

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

@@ -0,0 +1,10 @@
+
+mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
+
+mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530
+
+# shellcheck disable=SC2154
+mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local
+# shellcheck disable=SC2154
+mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_offboard_port_local
+mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_offboard_port_local

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

@@ -1,43 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2020 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-add_subdirectory(airframes)
-
-px4_add_romfs_files(
-	px4-rc.mavlink
-	px4-rc.params
-	px4-rc.rtps
-	px4-rc.simulator
-	rc.replay
-	rcS
-)

ROMFS/px4fmu_common/init.d-posix/airframes/10016_iris

@@ -1,33 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL
-#
-# @type Quadrotor Wide
-#
-# @maintainer Julian Oes <julian@oes.ch>
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-
-param set-default CA_AIRFRAME 0
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.1515
-param set-default CA_ROTOR0_PY 0.245
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.1515
-param set-default CA_ROTOR1_PY -0.1875
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.1515
-param set-default CA_ROTOR2_PY -0.245
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.1515
-param set-default CA_ROTOR3_PY 0.1875
-param set-default CA_ROTOR3_KM -0.05
-
-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
-

ROMFS/px4fmu_common/init.d-posix/airframes/10018_iris_foggy_lidar

@@ -1,11 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (foggy_lidar)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d-posix/airframes/10016_iris
-
-param set-default EKF2_RNG_A_HMAX 10
-

ROMFS/px4fmu_common/init.d-posix/airframes/10019_omnicopter

@@ -1,97 +0,0 @@
-#!/bin/sh
-#
-# @name 6DoF Omnicopter SITL
-#
-# @type Quadrotor Wide
-#
-# @maintainer Jaeyoung Lim <jalim@ethz.ch>
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-
-param set-default CA_AIRFRAME 0
-
-param set-default CA_ROTOR_COUNT 8
-param set-default CA_R_REV 255
-
-param set-default CA_ROTOR0_PX 0.14435
-param set-default CA_ROTOR0_PY -0.14435
-param set-default CA_ROTOR0_PZ -0.14435
-param set-default CA_ROTOR0_KM 0.05 # CCW
-param set-default CA_ROTOR0_AX -0.788675
-param set-default CA_ROTOR0_AY -0.211325
-param set-default CA_ROTOR0_AZ -0.57735
-
-param set-default CA_ROTOR1_PX -0.14435
-param set-default CA_ROTOR1_PY -0.14435
-param set-default CA_ROTOR1_PZ -0.14435
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR1_AX 0.211325
-param set-default CA_ROTOR1_AY -0.788675
-param set-default CA_ROTOR1_AZ 0.57735
-
-param set-default CA_ROTOR2_PX 0.14435
-param set-default CA_ROTOR2_PY 0.14435
-param set-default CA_ROTOR2_PZ -0.14435
-param set-default CA_ROTOR2_KM 0.05
-param set-default CA_ROTOR2_AX -0.211325
-param set-default CA_ROTOR2_AY 0.788675
-param set-default CA_ROTOR2_AZ 0.57735
-
-param set-default CA_ROTOR3_PX -0.14435
-param set-default CA_ROTOR3_PY 0.14435
-param set-default CA_ROTOR3_PZ -0.14435
-param set-default CA_ROTOR3_KM 0.05
-param set-default CA_ROTOR3_AX 0.788675
-param set-default CA_ROTOR3_AY 0.211325
-param set-default CA_ROTOR3_AZ -0.57735
-
-param set-default CA_ROTOR4_PX 0.14435
-param set-default CA_ROTOR4_PY -0.14435
-param set-default CA_ROTOR4_PZ 0.14435
-param set-default CA_ROTOR4_KM 0.05
-param set-default CA_ROTOR4_AX 0.788675
-param set-default CA_ROTOR4_AY 0.211325
-param set-default CA_ROTOR4_AZ -0.57735
-
-param set-default CA_ROTOR5_PX -0.14435
-param set-default CA_ROTOR5_PY -0.14435
-param set-default CA_ROTOR5_PZ 0.14435
-param set-default CA_ROTOR5_KM 0.05
-param set-default CA_ROTOR5_AX -0.211325
-param set-default CA_ROTOR5_AY 0.788675
-param set-default CA_ROTOR5_AZ 0.57735
-
-param set-default CA_ROTOR6_PX 0.14435
-param set-default CA_ROTOR6_PY 0.14435
-param set-default CA_ROTOR6_PZ 0.14435
-param set-default CA_ROTOR6_KM 0.05
-param set-default CA_ROTOR6_AX 0.211325
-param set-default CA_ROTOR6_AY -0.788675
-param set-default CA_ROTOR6_AZ 0.57735
-
-param set-default CA_ROTOR7_PX -0.14435
-param set-default CA_ROTOR7_PY 0.14435
-param set-default CA_ROTOR7_PZ 0.14435
-param set-default CA_ROTOR7_KM 0.05
-param set-default CA_ROTOR7_AX -0.788675
-param set-default CA_ROTOR7_AY -0.211325
-param set-default CA_ROTOR7_AZ -0.57735
-
-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
-param set-default PWM_MAIN_FUNC5 105
-param set-default PWM_MAIN_FUNC6 106
-param set-default PWM_MAIN_FUNC7 107
-param set-default PWM_MAIN_FUNC8 108
-
-# disable MC desaturation which improves attitude tracking
-param set-default CA_METHOD 0
-
-# disable attitude failure detection
-param set-default FD_FAIL_P 0
-param set-default FD_FAIL_R 0
-

ROMFS/px4fmu_common/init.d-posix/airframes/10030_px4vision

@@ -1,15 +0,0 @@
-#!/bin/sh
-#
-# @name PX4Vision SITL
-# Holybro px4vision. Gazebo Only.
-#
-# @type Quadrotor
-#
-
-. ${R}etc/init.d/airframes/4016_holybro_px4vision
-
-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
-

ROMFS/px4fmu_common/init.d-posix/airframes/10040_quadx

@@ -1,42 +0,0 @@
-#!/bin/sh
-#
-# @name QuadrotorX SITL for SIH
-#
-# @type Quadrotor
-#
-# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-
-# disable some checks to allow to fly:
-# - with usb
-param set-default CBRK_USB_CHK 197848
-# - without real battery
-param set-default CBRK_SUPPLY_CHK 894281
-# - without safety switch
-param set-default COM_PREARM_MODE 0
-param set-default CBRK_IO_SAFETY 22027
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
-param set-default CA_ROTOR3_KM -0.05
-
-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
-
-param set SIH_VEHICLE_TYPE 0
-

ROMFS/px4fmu_common/init.d-posix/airframes/10041_airplane

@@ -1,49 +0,0 @@
-#!/bin/sh
-#
-# @name Plane SITL for SIH
-#
-# @type Plane
-#
-# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
-
-. ${R}etc/init.d/rc.fw_defaults
-
-
-# disable some checks to allow to fly:
-# - with usb
-param set-default CBRK_USB_CHK 197848
-# - without real battery
-param set-default CBRK_SUPPLY_CHK 894281
-# - without safety switch
-param set-default COM_PREARM_MODE 0
-param set-default CBRK_IO_SAFETY 22027
-
-param set-default BAT_N_CELLS 3
-
-param set-default SIH_T_MAX 6.0
-param set-default SIH_MASS 0.3
-param set-default SIH_IXX 0.00402
-param set-default SIH_IYY 0.0144
-param set-default SIH_IZZ 0.0177
-param set-default SIH_IXZ 0.00046
-param set-default SIH_KDV 0.2
-
-param set-default SIH_VEHICLE_TYPE 1 	# sih as fixed wing
-param set-default RWTO_TKOFF 1  # enable takeoff from runway (as opposed to launched)
-
-
-param set-default CA_AIRFRAME 1
-
-param set-default CA_ROTOR_COUNT 1
-
-param set-default CA_SV_CS_COUNT 3
-param set-default CA_SV_CS0_TRQ_R -0.5
-param set-default CA_SV_CS0_TYPE 1
-param set-default CA_SV_CS1_TRQ_P 1.0
-param set-default CA_SV_CS1_TYPE 3
-param set-default CA_SV_CS2_TRQ_Y 1.0
-param set-default CA_SV_CS2_TYPE 4
-param set-default PWM_MAIN_FUNC3 201
-param set-default PWM_MAIN_FUNC4 202
-param set-default PWM_MAIN_FUNC5 203
-param set-default PWM_MAIN_FUNC6 101

ROMFS/px4fmu_common/init.d-posix/airframes/10042_xvert

@@ -1,66 +0,0 @@
-#!/bin/sh
-#
-# @name SIH Tailsitter Duo
-#
-# @type VTOL
-#
-# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-param set-default VT_ELEV_MC_LOCK 0
-param set-default VT_TYPE 0
-param set-default VT_FW_DIFTHR_EN 1
-param set-default VT_FW_DIFTHR_SC 0.3
-param set-default MPC_MAN_Y_MAX 60
-param set-default MC_PITCH_P 5
-
-param set-default MAV_TYPE 19
-
-# disable some checks to allow to fly:
-# - with usb
-param set-default CBRK_USB_CHK 197848
-# - without real battery
-param set-default CBRK_SUPPLY_CHK 894281
-# - without safety switch
-param set-default COM_PREARM_MODE 0
-param set-default CBRK_IO_SAFETY 22027
-
-param set-default BAT_N_CELLS 3
-
-param set-default SIH_T_MAX 2.0
-param set-default SIH_Q_MAX 0.0165
-param set-default SIH_MASS 0.2
-# IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
-param set-default SIH_IXX 0.00354
-param set-default SIH_IYY 0.000625
-param set-default SIH_IZZ 0.00300
-param set-default SIH_IXZ 0.0
-param set-default SIH_KDV 0.2
-param set-default SIH_L_ROLL 0.145
-
-# sih as tailsitter
-param set-default SIH_VEHICLE_TYPE 2
-
-param set-default CA_AIRFRAME 4
-
-param set-default CA_ROTOR_COUNT 2
-param set-default CA_ROTOR0_PX 0
-param set-default CA_ROTOR0_PY 2
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX 0
-param set-default CA_ROTOR1_PY -1
-param set-default CA_ROTOR1_KM 0.05
-
-param set-default CA_SV_CS_COUNT 2
-param set-default CA_SV_CS0_TYPE 5
-param set-default CA_SV_CS0_TRQ_P 0.5
-param set-default CA_SV_CS0_TRQ_Y -0.5
-param set-default CA_SV_CS1_TYPE 6
-param set-default CA_SV_CS1_TRQ_P 0.5
-param set-default CA_SV_CS1_TRQ_Y 0.5
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC5 201
-param set-default PWM_MAIN_FUNC6 202

ROMFS/px4fmu_common/init.d-posix/airframes/1010_iris_opt_flow

@@ -1,24 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (Optical Flow)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d-posix/airframes/10016_iris
-
-# EKF2
-param set-default EKF2_AID_MASK 2
-param set-default EKF2_EVP_NOISE 0.05
-param set-default EKF2_EVA_NOISE 0.05
-
-# LPE: Flow-only mode
-param set-default LPE_FUSION 242
-param set-default LPE_FAKE_ORIGIN 1
-
-param set-default MPC_ALT_MODE 2
-
-param set-default SENS_FLOW_ROT 6
-param set-default SENS_FLOW_MINHGT 0.7
-param set-default SENS_FLOW_MAXHGT 3.0
-param set-default SENS_FLOW_MAXR 2.5

ROMFS/px4fmu_common/init.d-posix/airframes/1011_iris_irlock

@@ -1,16 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (irlock)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d-posix/airframes/10016_iris
-
-# enable fusion of landing target velocity
-param set-default LTEST_MODE 1
-param set-default PLD_HACC_RAD 0.1
-param set-default RTL_PLD_MD 2
-
-# Start up Landing Target Estimator module
-landing_target_estimator start

ROMFS/px4fmu_common/init.d-posix/airframes/1012_iris_rplidar

@@ -1,11 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (rplidar)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d-posix/airframes/10016_iris
-
-param set-default LPE_FUSION 242
-

ROMFS/px4fmu_common/init.d-posix/airframes/1013_iris_vision

@@ -1,19 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (Vision)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d-posix/airframes/10016_iris
-
-# EKF2: Vision position and heading
-param set-default EKF2_AID_MASK 24
-param set-default EKF2_EV_DELAY 5
-
-# LPE: Vision + baro
-param set-default LPE_FUSION 132
-
-# AEQ: External heading set to use vision input
-param set-default ATT_EXT_HDG_M 1
-

ROMFS/px4fmu_common/init.d-posix/airframes/1015_iris_obs_avoid

@@ -1,12 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (Obstacle Avoidance)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d-posix/airframes/10016_iris
-
-param set-default COM_OBS_AVOID 1
-param set-default MPC_XY_CRUISE 5.0
-

ROMFS/px4fmu_common/init.d-posix/airframes/1015_iris_obs_avoid.post

@@ -1,2 +0,0 @@
-# shellcheck disable=SC2154
-mavlink start -x -u 14558 -r 4000000 -m onboard -o 14541 -p # add mavlink stream for SDK