Add airframe

Add advanced plane
2026-05-27 23:10:05 +08:00 · 2022-08-31 17:54:23 +02:00 · 2022-08-31 17:44:27 +02:00
2030 changed files with 73769 additions and 79756 deletions
@@ -42,8 +42,6 @@ pipeline {
                     "ark_can-gps_default",
                     "ark_can-rtk-gps_canbootloader",
                     "ark_can-rtk-gps_default",
-                     "ark_fmu-v6x_bootloader",
-                     "ark_fmu-v6x_default",
                     "atl_mantis-edu_default",
                     "av_x-v1_default",
                     "bitcraze_crazyflie_default",
@@ -69,18 +67,23 @@ pipeline {
                     "matek_h743-slim_default",
                     "matek_h743_default",
                     "modalai_fc-v1_default",
+                     "modalai_fc-v1_rtps",
                     "modalai_fc-v2_default",
-                     "modalai_voxl2-io_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",
@@ -98,6 +101,7 @@ pipeline {
                     "px4_fmu-v5_debug",
                     "px4_fmu-v5_default",
                     "px4_fmu-v5_lto",
+                     "px4_fmu-v5_rtps",
                     "px4_fmu-v5_stackcheck",
                     "px4_fmu-v5_uavcanv0periph",
                     "px4_fmu-v5x_default",
@@ -61,13 +61,9 @@ pipeline {
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_RATEMAX" --value "2000"'
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "13000"'   // generic vtol standard
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
-                    sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
-
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
                    checkStatus()
                    quickCalibrate()
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
                  }
                }
                stage("print topics") {
@@ -136,12 +132,8 @@ pipeline {
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_RATEMAX" --value "2000"'
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "13000"'   // generic vtol standard
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
-                    sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
-
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
                    checkStatus()
                    quickCalibrate()
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
                  }
                }
                stage("print topics") {
@@ -160,6 +152,76 @@ pipeline {
          }
        }

+        stage("px4_fmu-v3_test") {
+          stages {
+            stage("build px4_fmu-v3_test") {
+              agent {
+                docker {
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
+                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                }
+              }
+              steps {
+                checkoutSCM()
+                sh 'make px4_fmu-v3_test'
+                sh 'make px4_fmu-v3_test bootloader_elf'
+                sh 'ccache -s'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v3_test'
+              }
+              post {
+                always {
+                  sh 'make distclean; git clean -ff -x -d .'
+                }
+              }
+            } // stage build
+            stage("hardware") {
+              agent {
+                label 'px4_fmu-v3'
+              }
+              stages {
+                stage("flash") {
+                  steps {
+                    sh 'export'
+                    sh 'find /dev/serial'
+                    unstash 'px4_fmu-v3_test'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_test/px4_fmu-v3_bootloader.elf'
+                    // flash board and watch bootup
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    resetBoard()
+                  }
+                }
+                stage("tests") {
+                  steps {
+                    runTests()
+                  }
+                }
+                stage("status") {
+                  steps {
+                    // configure
+                    resetParameters()
+                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "13000"'   // generic vtol standard
+                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
+                    checkStatus()
+                    quickCalibrate()
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
+                  }
+                }
+                stage("print topics") {
+                  steps {
+                    printTopics()
+                  }
+                }
+              }
+              post {
+                always {
+                  sh 'cat /tmp/pyserial_spy_file.txt || true'
+                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf || true'
+                }
+              }
+            } // stage test
+          }
+        }
+
        stage("px4_fmu-v4_test") {
          stages {
            stage("build px4_fmu-v4_test") {
@@ -209,12 +271,8 @@ pipeline {
                    resetParameters()
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"'    // generic quadcopter
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
-                    sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
-
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
                    checkStatus()
                    quickCalibrate()
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
                  }
                }
                stage("print topics") {
@@ -282,13 +340,9 @@ pipeline {
                    resetParameters()
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "13000"'   // generic vtol standard
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
-                    sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
-
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
                    checkStatus()
                    quickCalibrate()
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
                  }
                }
                stage("print topics") {
@@ -377,7 +431,6 @@ pipeline {
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true'       // limit cpu usage
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true'       // limit cpu usage
-                    sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
                    checkStatus()
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
                  }
@@ -460,7 +513,6 @@ pipeline {
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true'       // limit cpu usage
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true'       // limit cpu usage
-                    sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
                    checkStatus()
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
                  }
@@ -530,13 +582,9 @@ pipeline {
                    resetParameters()
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"'    // generic quadcopter
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
-                    sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
-
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
                    checkStatus()
                    quickCalibrate()
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
                  }
                }
                stage("print topics") {
@@ -605,12 +653,8 @@ pipeline {
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_RATEMAX" --value "400"'
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"'    // generic quadcopter
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
-                    sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
-
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
                    checkStatus()
                    quickCalibrate()
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
                  }
                }
                stage("print topics") {
@@ -685,7 +729,13 @@ void checkStatus() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
+  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'

+  // run logger
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sleep 1"' // sleep before continuing
  // status commands
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount"'
@@ -721,6 +771,8 @@ void checkStatus() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf latency"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ps"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm info -d /dev/pwm_output0"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm info -d /dev/pwm_output1" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm_out status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
@@ -729,6 +781,8 @@ void checkStatus() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ver all"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
+  // stop logger
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"'
 }

 void resetParameters() {
@@ -803,6 +857,7 @@ void printTopics() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_0" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_1" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_2" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_3" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_outputs" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener adc_report" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener airspeed_validated" || true'
@@ -864,10 +919,12 @@ void printTopics() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener system_power" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener task_stack_info" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener telemetry_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener test_motor" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener trajectory_setpoint" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener tune_control" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_acceleration" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_air_data" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_acceleration" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_velocity" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude_setpoint" || true'
@@ -884,7 +941,7 @@ void printTopics() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_odometry" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_rates_setpoint" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener failsafe_flags" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_status_flags" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vtol_vehicle_status" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener yaw_estimator_status" || true'
 }
@@ -19,8 +19,9 @@
 *.jar    binary
 *.xml    text eol=lf

-# PX4 msgs, etc
+# PX4 mixers, msgs, etc
 *.bin    binary
+*.mix    text eol=lf
 *.msg    text eol=lf
 *.config text eol=lf
 *.sdf    text eol=lf
@@ -5,7 +5,7 @@ labels: feature-request

 ---

-For general questions please use [PX4 Discuss](http://discuss.px4.io/) or Discord (you can find an invite link on this project README).
+For general questions please use [PX4 Discuss](http://discuss.px4.io/) or Slack (you can find an invite link on this project README).

 ## 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 ...
@@ -1,29 +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.

-Thank you for your contribution!
+## 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...

-Get early feedback through
- Dronecode Discord: https://discord.gg/dronecode
- PX4 Discuss: http://discuss.px4.io/
- opening a draft pr and sharing the link
+## 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.

-### Solved Problem
-When ... I found that ...
+## 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.

-Fixes #{Github issue ID}
-
-### Solution
- Add ... for ...
- Refactor ...
-
-### Alternatives
-We could also ...
-
-### Test coverage
- Unit/integration test: ...
- Simulation/hardware testing logs: https://review.px4.io/
-
-### Context
-Related links, screenshot before/after, video
+## Additional context
+Add any other related context or media.
@@ -3,7 +3,7 @@ name: Checks
 on:
  push:
    branches:
-    - 'main'
+    - 'master'
  pull_request:
    branches:
    - '*'
@@ -23,6 +23,7 @@ jobs:
          "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",
@@ -3,7 +3,7 @@ name: Clang Tidy
 on:
  push:
    branches:
-    - 'main'
+    - 'master'
  pull_request:
    branches:
    - '*'
@@ -3,7 +3,7 @@ name: Linux Targets
 on:
  push:
    branches:
-    - 'main'
+    - 'master'
  pull_request:
    branches:
    - '*'
@@ -3,7 +3,7 @@ name: Linux ARM64 Targets
 on:
  push:
    branches:
-    - 'main'
+    - 'master'
  pull_request:
    branches:
    - '*'
@@ -3,7 +3,7 @@ name: MacOS build
 on:
  push:
    branches:
-    - 'main'
+    - 'master'
  pull_request:
    branches:
    - '*'
@@ -3,7 +3,7 @@ name: Nuttx Targets
 on:
  push:
    branches:
-    - 'main'
+    - 'master'
  pull_request:
    branches:
    - '*'
@@ -21,7 +21,6 @@ jobs:
          ark_can-gps,
          ark_can-rtk-gps,
          ark_cannode,
-          ark_fmu-v6x,
          atl_mantis-edu,
          av_x-v1,
          bitcraze_crazyflie,
@@ -3,7 +3,7 @@ name: Deploy metadata for all targets
 on:
  push:
    branches:
-    - 'main'
+    - 'master'
    - 'release/*'
    - 'pr-metadata-test'

@@ -1,44 +0,0 @@
-name: Failsafe Simulator Build
-
-on:
-  push:
-    branches:
-    - 'main'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    defaults:
-      run:
-        shell: bash
-    strategy:
-      fail-fast: false
-      matrix:
-        check: [
-          "failsafe_web",
-        ]
-    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: install emscripten
-      run: |
-        git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk
-        cd _emscripten_sdk
-        ./emsdk install latest
-        ./emsdk activate latest
-    - name: ${{matrix.check}}
-      run: |
-        . ./_emscripten_sdk/emsdk_env.sh
-        make ${{matrix.check}}
@@ -3,7 +3,7 @@ name: MAVROS Mission Tests
 on:
  push:
    branches:
-    - 'main'
+    - 'master'
  pull_request:
    branches:
    - '*'
@@ -3,7 +3,7 @@ name: MAVROS Offboard Tests
 on:
  push:
    branches:
-    - 'main'
+    - 'master'
  pull_request:
    branches:
    - '*'
@@ -3,7 +3,7 @@ name: Metadata
 on:
  push:
    branches:
-    - 'main'
+    - 'master'
    - 'release/*'
    - 'pr-metadata-test'

@@ -116,7 +116,7 @@ jobs:
        ls -ls *
      # TODO: deploy graph_px4_sitl.json to S3 px4-travis:Firmware/master/

-  ROS2_msgs:
+  micrortps_agent:
    runs-on: ubuntu-latest
    container: px4io/px4-dev-base-focal:2021-09-08
    steps:
@@ -124,8 +124,34 @@ jobs:
      with:
        token: ${{ secrets.ACCESS_TOKEN }}

-    - name: PX4 ROS2 msgs
+    - 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
-        rm px4_msgs/msg/*.msg
-        cp msg/*.msg px4_msgs/msg/
+        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
@@ -3,7 +3,7 @@ name: Python CI Checks
 on:
  push:
    branches:
-    - 'main'
+    - 'master'
  pull_request:
    branches:
    - '*'
@@ -3,7 +3,7 @@ name: SITL Tests
 on:
  push:
    branches:
-    - 'main'
+    - 'master'
  pull_request:
    branches:
    - '*'
@@ -16,7 +16,7 @@ jobs:
      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: "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

@@ -47,8 +47,6 @@ GTAGS
 *.files
 *.includes

-Tools/jlink-nuttx.so
-
 # CLion ignores
 .idea
 cmake-build-*/
@@ -95,6 +93,7 @@ rules.ninja
 /googletest-*/
 /logs
 /mavsdk_tests
+/test_mixer_multirotor
 /unit-*
 /uORB/
 DartConfiguration.tcl
@@ -9,23 +9,27 @@
 [submodule "Tools/simulation/jmavsim/jMAVSim"]
 	path = Tools/simulation/jmavsim/jMAVSim
 	url = https://github.com/PX4/jMAVSim.git
-	branch = main
+	branch = master
 [submodule "Tools/simulation/gazebo/sitl_gazebo"]
 	path = Tools/simulation/gazebo/sitl_gazebo
 	url = https://github.com/PX4/PX4-SITL_gazebo.git
-	branch = main
+	branch = master
 [submodule "src/drivers/gps/devices"]
 	path = src/drivers/gps/devices
 	url = https://github.com/PX4/PX4-GPSDrivers.git
-	branch = main
+	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
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
 	url = https://github.com/PX4/NuttX.git
-	branch = px4_firmware_nuttx-10.3.0+
+	branch = px4_firmware_nuttx-10.1.0+
 [submodule "platforms/nuttx/NuttX/apps"]
 	path = platforms/nuttx/NuttX/apps
 	url = https://github.com/PX4/NuttX-apps.git
-	branch = px4_firmware_nuttx-10.3.0+
+	branch = px4_firmware_nuttx-10.1.0+
 [submodule "Tools/flightgear_bridge"]
 	path = Tools/simulation/flightgear/flightgear_bridge
 	url = https://github.com/PX4/PX4-FlightGear-Bridge.git
@@ -49,7 +53,6 @@
 [submodule "src/lib/events/libevents"]
 	path = src/lib/events/libevents
 	url = https://github.com/mavlink/libevents.git
-	branch = main
 [submodule "src/lib/crypto/libtomcrypt"]
 	path = src/lib/crypto/libtomcrypt
 	url = https://github.com/PX4/libtomcrypt.git
@@ -60,5 +63,4 @@
 	branch = px4
 [submodule "src/modules/microdds_client/Micro-XRCE-DDS-Client"]
 	path = src/modules/microdds_client/Micro-XRCE-DDS-Client
-	url = https://github.com/PX4/Micro-XRCE-DDS-Client.git
-	branch = px4
+	url = https://github.com/eProsima/Micro-XRCE-DDS-Client.git
@@ -11,7 +11,7 @@ matrix:
      dist: xenial
      # In order to stay under the coverity rate limit, we only run this weekly
      # and not on push which is configured in travis-ci settings.
-      if: branch = main
+      if: branch = master

 before_install:
    - echo -n | openssl s_client -connect scan.coverity.com:443 | sed -ne '/-BEGIN CERTIFICATE-/,/-END CERTIFICATE-/p' | sudo tee -a /etc/ssl/certs/ca-
@@ -6,11 +6,16 @@ CONFIG:
      buildType: RelWithDebInfo
      settings:
        CONFIG: px4_sitl_default
-    px4_sitl_nolockstep:
-      short: px4_sitl_nolockstep
+    px4_sitl_ign:
+      short: px4_sitl_ign
      buildType: RelWithDebInfo
      settings:
-        CONFIG: px4_sitl_nolockstep
+        CONFIG: px4_sitl_ign
+    px4_sitl_rtps:
+      short: px4_sitl_rtps
+      buildType: RelWithDebInfo
+      settings:
+        CONFIG: px4_sitl_rtps
    px4_sitl_asan:
      short: px4_sitl (AddressSanitizer)
      buildType: AddressSanitizer
@@ -131,16 +136,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: ark_cannode_canbootloader
-    ark_fmu-v6x_bootloader:
-      short: ark_fmu-v6x_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_fmu-v6x_bootloader
-    ark_fmu-v6x_default:
-      short: ark_fmu-v6x_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_fmu-v6x_default
    atl_mantis-edu_default:
      short: atl_mantis-edu
      buildType: MinSizeRel
@@ -236,11 +231,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: modalai_fc-v2_default
-    modalai_voxl2-io_default:
-      short: modalai_voxl2-io
-      buildType: MinSizeRel
-      settings:
-        CONFIG: modalai_voxl2-io_default
    mro_ctrl-zero-f7_default:
      short: mro_ctrl-zero-f7
      buildType: MinSizeRel
@@ -133,5 +133,6 @@
        "workbench.settings.enableNaturalLanguageSearch": false,
        "yaml.schemas": {
                "${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml"
-        }
+        },
+        "cortex-debug.openocdPath": "${env:PICO_SDK_PATH}/../openocd/src/openocd"       // Added for rp2040
 }
@@ -56,17 +56,15 @@
            "options": {
                "cwd": "${workspaceFolder}/Tools/simulation/jmavsim/jMAVSim"
            },
-            "presentation": {
+            "problemMatcher": [],
+            "presentation":{
                "echo": true,
                "reveal": "never",
-                "revealProblems": "onProblem",
                "focus": false,
-                "panel": "dedicated",
+                "panel": "shared",
                "showReuseMessage": false,
                "clear": false,
-                "close": true
-            },
-            "problemMatcher": []
+            }
        },
        {
            "label": "jmavsim",
@@ -83,28 +81,24 @@
            "presentation": {
                "echo": true,
                "reveal": "never",
-                "revealProblems": "onProblem",
                "focus": false,
-                "panel": "dedicated",
+                "panel": "shared",
                "showReuseMessage": false,
-                "clear": false,
-                "close": true
+                "clear": false
            },
            "problemMatcher": []
        },
        {
            "label": "jmavsim kill",
            "type": "shell",
-            "command": "kill $(ps aux | grep jmavsim | grep -v 'grep' | awk '{print $2}') || true",
+            "command": "kill $(ps aux | grep jmavsim | grep -v 'grep' | awk '{print $2}')",
            "presentation": {
-                "echo": true,
+                "echo": false,
                "reveal": "never",
-                "revealProblems": "onProblem",
                "focus": false,
-                "panel": "dedicated",
+                "panel": "shared",
                "showReuseMessage": false,
-                "clear": false,
-                "close": true
+                "clear": false
            },
            "problemMatcher": [],
            "dependsOn":["px4_sitl_cleanup"]
@@ -116,17 +110,15 @@
            "options": {
                "cwd": "${workspaceFolder}"
            },
-            "presentation": {
+            "problemMatcher": [],
+            "presentation":{
                "echo": true,
-                "reveal": "never",
-                "revealProblems": "onProblem",
+                "reveal": "always",
                "focus": false,
-                "panel": "dedicated",
+                "panel": "shared",
                "showReuseMessage": false,
                "clear": false,
-                "close": true
-            },
-            "problemMatcher": [],
+            }
        },
        {
            "label": "gazebo start",
@@ -140,17 +132,15 @@
                    "PX4_SIM_SPEED_FACTOR": "1"
                }
            },
-            "command": "gzserver --verbose ${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/worlds/empty.world",
+            "command": "gzserver --verbose ${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/worlds/${input:gazeboWorld}.world",
            "isBackground": true,
            "presentation": {
                "echo": true,
                "reveal": "never",
-                "revealProblems": "onProblem",
                "focus": false,
-                "panel": "dedicated",
+                "panel": "shared",
                "showReuseMessage": false,
-                "clear": false,
-                "close": true
+                "clear": false
            },
            "problemMatcher": [
                {
@@ -182,8 +172,46 @@
                    "PX4_SIM_SPEED_FACTOR": "1"
                }
            },
-            "command": "gz model --verbose --spawn-file=${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/models/iris/iris.sdf --model-name=iris -x 1.01 -y 0.98 -z 0.83",
+            "command": "gz model --verbose --spawn-file=${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/models/${input:gazeboModel}/${input:gazeboModel}.sdf --model-name=${input:gazeboModel} -x 1.01 -y 0.98 -z 0.83",
            "isBackground": false,
+            "presentation": {
+                "echo": true,
+                "reveal": "never",
+                "focus": false,
+                "panel": "shared",
+                "showReuseMessage": false,
+                "clear": false
+            },
+            "problemMatcher": [
+                {
+                    "pattern": [
+                        {
+                            "regexp": ".",
+                            "file": 1,
+                            "location": 2,
+                            "message": 3
+                        }
+                    ],
+                    "background": {
+                        "activeOnStart": true,
+                        "beginsPattern": ".",
+                        "endsPattern": ".",
+                    }
+                }
+            ]
+        },
+        {
+            "label": "ign gazebo",
+            "type": "shell",
+            "options": {
+                "cwd": "${workspaceFolder}",
+                "env": {
+                    "IGN_GAZEBO_RESOURCE_PATH": "${workspaceFolder}/Tools/simulation/ignition/models",
+                    "PX4_SIM_SPEED_FACTOR": "1"
+                }
+            },
+            "command": "ign gazebo -v 4 -r ${workspaceFolder}/Tools/simulation/ignition/worlds/${input:ignWorld}.sdf",
+            "isBackground": true,
            "presentation": {
                "echo": true,
                "reveal": "never",
@@ -212,30 +240,6 @@
                }
            ]
        },
-        {
-            "label": "ign gazebo",
-            "type": "shell",
-            "options": {
-                "cwd": "${workspaceFolder}",
-                "env": {
-                    "IGN_GAZEBO_RESOURCE_PATH": "${workspaceFolder}/Tools/simulation/gz/models",
-                }
-            },
-            "command": "ign gazebo -v 4 -r ${workspaceFolder}/Tools/simulation/gz/worlds/${input:gzWorld}.sdf",
-            "isBackground": true,
-            "presentation": {
-                "echo": true,
-                "reveal": "always",
-                "revealProblems": "onProblem",
-                "focus": true,
-                "panel": "dedicated",
-                "showReuseMessage": false,
-                "clear": false,
-                "close": false
-            },
-            "problemMatcher": [],
-            "dependsOn":["ign gazebo kill"]
-        },
        {
            "label": "gazebo kill",
            "type": "shell",
@@ -256,7 +260,7 @@
        {
            "label": "ign gazebo kill",
            "type": "shell",
-            "command": "pkill -9 -f 'ign gazebo' || true",
+            "command": "pkill -9 -f ign || true",
            "presentation": {
                "echo": true,
                "reveal": "never",
@@ -342,12 +346,46 @@
    "inputs": [
        {
            "type": "pickString",
-            "id": "gzWorld",
-            "description": "gz world",
+            "id": "ignWorld",
+            "description": "Ignition world",
            "options": [
                "default"
            ],
            "default": "default"
+        },
+        {
+            "type": "pickString",
+            "id": "gazeboModel",
+            "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"
        }
    ]
 }
@@ -1,6 +1,6 @@
 ############################################################################
 #
-# Copyright (c) 2017 - 2022 PX4 Development Team. All rights reserved.
+# Copyright (c) 2017 - 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
@@ -143,17 +143,25 @@ define_property(GLOBAL PROPERTY PX4_SRC_FILES
 # configuration
 #

+set(CONFIG "px4_sitl_default" CACHE STRING "desired configuration")
+
 include(px4_add_module)
 set(config_module_list)
 set(config_kernel_list)

 # Find Python
-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")
+# 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)
@@ -199,11 +207,6 @@ if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake/init.cmake")
 	include(init)
 endif()

-#=============================================================================
-# project definition
-#
-project(px4 CXX C ASM)
-
 # CMake build type (Debug Release RelWithDebInfo MinSizeRel Coverage)
 if(NOT CMAKE_BUILD_TYPE)
 	if(${PX4_PLATFORM} STREQUAL "nuttx")
@@ -232,6 +235,11 @@ endif()
 set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release;RelWithDebInfo;MinSizeRel;Coverage;AddressSanitizer;UndefinedBehaviorSanitizer")
 message(STATUS "cmake build type: ${CMAKE_BUILD_TYPE}")

+#=============================================================================
+# project definition
+#
+project(px4 CXX C ASM)
+
 # Check if LTO option and check if toolchain supports it
 if(LTO)
    include(CheckIPOSupported)
@@ -248,9 +256,15 @@ set(CMAKE_C_STANDARD 11)
 set(CMAKE_C_STANDARD_REQUIRED ON)
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)

-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PX4_BINARY_DIR})
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${PX4_BINARY_DIR})
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${PX4_BINARY_DIR})
+# For the catkin build process, unset build of dynamically-linked binaries
+# and do not change CMAKE_RUNTIME_OUTPUT_DIRECTORY
+if (NOT CATKIN_DEVEL_PREFIX)
+	set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PX4_BINARY_DIR})
+	set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${PX4_BINARY_DIR})
+	set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${PX4_BINARY_DIR})
+else()
+	SET(BUILD_SHARED_LIBS OFF)
+endif()

 #=============================================================================

@@ -295,6 +309,21 @@ endif()

 include(ccache)

+#=============================================================================
+# find programs and packages
+#
+
+# see if catkin was invoked to build this
+if (CATKIN_DEVEL_PREFIX)
+	message(STATUS "catkin ENABLED")
+	find_package(catkin REQUIRED)
+	if (catkin_FOUND)
+		catkin_package()
+	else()
+		message(FATAL_ERROR "catkin not found")
+	endif()
+endif()
+
 #=============================================================================
 # get chip and chip manufacturer
 #
@@ -385,6 +414,7 @@ if(BUILD_TESTING)
 			DEPENDS
 				px4
 				examples__dyn_hello
+				test_mixer_multirotor
 			USES_TERMINAL
 			COMMENT "Running tests"
 			WORKING_DIRECTORY ${PX4_BINARY_DIR})
@@ -421,10 +451,10 @@ add_subdirectory(src/lib/metadata EXCLUDE_FROM_ALL)
 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)
+target_link_libraries(parameters_interface INTERFACE usr_parameters)
+target_link_libraries(kernel_parameters_interface INTERFACE parameters)
 else()
-	target_link_libraries(parameters_interface INTERFACE parameters)
+target_link_libraries(parameters_interface INTERFACE parameters)
 endif()

 # firmware added last to generate the builtin for included modules
@@ -457,13 +487,17 @@ include(doxygen)
 include(metadata)
 include(package)

+# print size
+add_custom_target(size
+	COMMAND size $<TARGET_FILE:px4>
+	DEPENDS px4
+	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 ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
 	USES_TERMINAL
 )
-
-if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake/finalize.cmake")
-	include(finalize)
-endif()
@@ -829,6 +829,7 @@ RECURSIVE              = YES
 # run.

 EXCLUDE                = @CMAKE_SOURCE_DIR@/src/modules/uavcan/libuavcan \
+                         @CMAKE_SOURCE_DIR@/src/modules/micrortps_bridge/micro-CDR \
                         @CMAKE_SOURCE_DIR@/src/examples \
                         @CMAKE_SOURCE_DIR@/src/templates

@@ -13,6 +13,76 @@ pipeline {
        }
      }
      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/simulation/gazebo/sitl_gazebo
+        //       git clone --recursive ${WORKSPACE}/catkin_ws/src/Firmware/Tools/simulation/gazebo/sitl_gazebo src/mavlink_sitl_gazebo;
+        //       git -C ${WORKSPACE}/catkin_ws/src/Firmware fetch --tags;
+        //       source /opt/ros/melodic/setup.bash;
+        //       export PYTHONPATH=/opt/ros/$ROS_DISTRO/lib/python2.7/dist-packages:/usr/lib/python2.7/dist-packages:/usr/local/lib/python2.7/dist-packages;
+        //       catkin init;
+        //       catkin build -j$(nproc) -l$(nproc);
+        //     '''
+        //     // test if the binary was correctly installed and runs using 'mavros_posix_sitl.launch'
+        //     sh '''#!/bin/bash -l
+        //       echo $0;
+        //       source catkin_ws/devel/setup.bash;
+        //       rostest px4 pub_test.launch;
+        //     '''
+        //   }
+        //   post {
+        //     always {
+        //       sh 'rm -rf catkin_ws'
+        //     }
+        //     failure {
+        //       archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.xml, .ros/**/*.log')
+        //     }
+        //   }
+        //   options {
+        //     checkoutToSubdirectory('catkin_ws/src/Firmware')
+        //   }
+        // }
+
+        stage('Colcon build on ROS2 workspace') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-ros2-foxy:2021-08-18'
+              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
+            }
+          }
+          steps {
+            sh 'ls -l'
+            sh '''#!/bin/bash -l
+              echo $0;
+              unset ROS_DISTRO;
+              mkdir -p colcon_ws/src;
+              cd colcon_ws;
+              git -C ${WORKSPACE}/colcon_ws/src/Firmware submodule update --init --recursive --force Tools/simulation/gazebo/sitl_gazebo;
+              git -C ${WORKSPACE}/colcon_ws/src/Firmware fetch --tags;
+              source /opt/ros/foxy/setup.sh;
+              colcon build --event-handlers console_direct+ --symlink-install;
+            '''
+          }
+          post {
+            always {
+              sh 'rm -rf colcon_ws'
+            }
+          }
+          options {
+            checkoutToSubdirectory('colcon_ws/src/Firmware')
+          }
+        }

        stage('Airframe') {
          agent {
@@ -79,7 +149,7 @@ pipeline {
            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
          }
          steps {
-            sh 'mkdir -p build/msg_docs; ./Tools/msg/generate_msg_docs.py -d build/msg_docs'
+            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'
@@ -92,36 +162,6 @@ pipeline {
          }
        }

-        stage('failsafe docs') {
-          agent {
-            docker { image 'px4io/px4-dev-nuttx-focal:2021-08-18' }
-          }
-          steps {
-            sh '''#!/bin/bash -l
-            echo $0;
-            git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk;
-            cd _emscripten_sdk;
-            ./emsdk install latest;
-            ./emsdk activate latest;
-            cd ..;
-            . ./_emscripten_sdk/emsdk_env.sh;
-            make failsafe_web;
-            cd build/px4_sitl_default_failsafe_web;
-            mkdir -p failsafe_sim;
-            cp index.* parameters.json failsafe_sim;
-            '''
-            dir('build/px4_sitl_default_failsafe_web') {
-              archiveArtifacts(artifacts: 'failsafe_sim/*')
-              stash includes: 'failsafe_sim/*', name: 'failsafe_sim'
-            }
-          }
-          post {
-            always {
-              sh 'make distclean; git clean -ff -x -d .'
-            }
-          }
-        }
-
        stage('uORB graphs') {
          agent {
            docker {
@@ -163,7 +203,6 @@ pipeline {
            unstash 'metadata_parameters'
            unstash 'metadata_module_documentation'
            unstash 'msg_documentation'
-            unstash 'failsafe_sim'
            unstash 'uorb_graph'
            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
              sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/PX4-user_guide.git')
@@ -172,7 +211,6 @@ pipeline {
              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('cp -R failsafe_sim/* PX4-user_guide/.vuepress/public/en/config/failsafe')
              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')
@@ -219,6 +257,37 @@ 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 ${BRANCH_NAME} || true')
+              sh('rm -rf micrortps_agent')
+            }
+          }
+          when {
+            anyOf {
+              branch 'main'
+              branch 'master' // should be removed, but in case there is something going on...
+              branch 'pr-jenkins' // for testing
+            }
+          }
+        }
+
        stage('PX4 ROS msgs') {
          agent {
            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
@@ -228,17 +297,67 @@ pipeline {
            sh('make distclean; git clean -ff -x -d .')
            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
-              // 'main' branch
-              sh('rm -f px4_msgs/msg/*.msg')
-              sh('cp msg/*.msg px4_msgs/msg/')
+              // 'master' branch
+              sh('./msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
              sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
-              sh('cd px4_msgs; git push origin main || true')
+              sh('cd px4_msgs; git push origin master || true')
+              // 'ros1' branch
+              sh('cd px4_msgs; git checkout ros1')
+              sh('./msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
+              sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
+              sh('cd px4_msgs; git push origin ros1 || true')
              sh('rm -rf px4_msgs')
            }
          }
          when {
            anyOf {
              branch 'main'
+              branch 'master' // should be removed, but in case there is something going on...
+              branch 'pr-jenkins' // for testing
+            }
+          }
+        }
+
+        stage('PX4 ROS2 bridge') {
+          agent {
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
+          }
+          steps {
+            sh('export')
+            sh('make distclean; git clean -ff -x -d .')
+            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
+              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_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('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
+              sh('cp msg/tools/uorb_rtps_classifier.py px4_ros_com/scripts/uorb_rtps_classifier.py')
+              sh('cp msg/tools/generate_microRTPS_bridge.py px4_ros_com/scripts/generate_microRTPS_bridge.py')
+              sh('cp msg/tools/px_generate_uorb_topic_files.py px4_ros_com/scripts/px_generate_uorb_topic_files.py')
+              sh('cp msg/tools/px_generate_uorb_topic_helper.py px4_ros_com/scripts/px_generate_uorb_topic_helper.py')
+              // deploy templates
+              sh('cp msg/templates/urtps/microRTPS_agent.cpp.em px4_ros_com/templates/microRTPS_agent.cpp.em')
+              sh('cp msg/templates/urtps/microRTPS_timesync.cpp.em px4_ros_com/templates/microRTPS_timesync.cpp.em')
+              sh('cp msg/templates/urtps/microRTPS_timesync.h.em px4_ros_com/templates/microRTPS_timesync.h.em')
+              sh('cp msg/templates/urtps/microRTPS_transport.cpp px4_ros_com/templates/microRTPS_transport.cpp')
+              sh('cp msg/templates/urtps/microRTPS_transport.h px4_ros_com/templates/microRTPS_transport.h')
+              sh('cp msg/templates/urtps/Publisher.cpp.em px4_ros_com/templates/Publisher.cpp.em')
+              sh('cp msg/templates/urtps/Publisher.h.em px4_ros_com/templates/Publisher.h.em')
+              sh('cp msg/templates/urtps/Subscriber.cpp.em px4_ros_com/templates/Subscriber.cpp.em')
+              sh('cp msg/templates/urtps/Subscriber.h.em px4_ros_com/templates/Subscriber.h.em')
+              sh('cp msg/templates/urtps/RtpsTopics.cpp.em px4_ros_com/templates/RtpsTopics.cpp.em')
+              sh('cp msg/templates/urtps/RtpsTopics.h.em px4_ros_com/templates/RtpsTopics.h.em')
+              sh('cd px4_ros_com; git status; git add .; git commit -a -m "Update uORB RTPS script tools `date`" || true')
+              sh('cd px4_ros_com; git push origin ${BRANCH_NAME} || true')
+              sh('rm -rf px4_msgs')
+            }
+          }
+          when {
+            anyOf {
+              branch 'main'
+              branch 'master' // should be removed, but in case there is something going on...
+              branch 'pr-jenkins' // for testing
            }
          }
        }
@@ -17,8 +17,6 @@ menu "Toolchain"
            bool "posix"
        config PLATFORM_QURT
            bool "qurt"
-        config PLATFORM_ROS2
-            bool "ros2"
    endchoice

    config BOARD_PLATFORM
@@ -26,7 +24,6 @@ menu "Toolchain"
        default "nuttx" if PLATFORM_NUTTX
        default "posix" if PLATFORM_POSIX
        default "qurt" if PLATFORM_QURT
-        default "ros2" if PLATFORM_ROS2

    config BOARD_LOCKSTEP
        bool "Force enable lockstep"
@@ -40,8 +37,8 @@ menu "Toolchain"
        help
            forces nolockstep behaviour, despite REPLAY env variable

-    config BOARD_LINUX_TARGET
-        bool "Linux OS Target"
+    config BOARD_LINUX
+        bool "Linux OS"
        depends on PLATFORM_POSIX
        help
            Board Platform is running the Linux operating system
@@ -193,7 +190,3 @@ endmenu
 menu "examples"
 source "src/examples/Kconfig"
 endmenu
-
-menu "platforms"
-source "platforms/common/Kconfig"
-endmenu
@@ -129,54 +129,57 @@ else
 	BUILD_DIR_SUFFIX :=
 endif

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

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

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

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

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

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

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

 endif

 # Pick up specific Python path if set
 ifdef PYTHON_EXECUTABLE
-	override CMAKE_ARGS += -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
+	CMAKE_ARGS += -DPYTHON_EXECUTABLE=${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
-	$(eval override CMAKE_ARGS += -DCONFIG=$(1))
+	$(eval CMAKE_ARGS += -DCONFIG=$(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)
@@ -248,7 +251,7 @@ endef
 # Other targets
 # --------------------------------------------------------------------

-.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware
+.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware check_rtps

 # QGroundControl flashable NuttX firmware
 qgc_firmware: px4fmu_firmware misc_qgc_extra_firmware
@@ -273,7 +276,15 @@ misc_qgc_extra_firmware: \
 	check_airmind_mindpx-v2_default \
 	sizes

-.PHONY: sizes check quick_check uorb_graphs
+# builds with RTPS
+check_rtps: \
+	check_px4_fmu-v3_rtps \
+	check_px4_fmu-v4_rtps \
+	check_px4_fmu-v4pro_rtps \
+	check_px4_sitl_rtps \
+	sizes
+
+.PHONY: sizes check quick_check check_rtps uorb_graphs

 sizes:
 	@-find build -name *.elf -type f | xargs size 2> /dev/null || :
@@ -307,10 +318,8 @@ px4io_update:
 	@$(MAKE) --no-print-directory px4_io-v2_default
 	@$(MAKE) --no-print-directory cubepilot_io-v2_default
 	# px4_io-v2_default
-	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/ark/fmu-v6x/extras/px4_io-v2_default.bin
 	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/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
@@ -324,11 +333,7 @@ px4io_update:
 	cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
 	git status

-jlink-nuttx:
-	$(CC) -shared -fPIC platforms/nuttx/NuttX/nuttx/tools/jlink-nuttx.c -o Tools/jlink-nuttx.so
-
-
-bootloaders_update: ark_fmu-v6x_bootloader 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
+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
@@ -378,7 +383,7 @@ format:
 .PHONY: rostest python_coverage

 tests:
-	$(eval override CMAKE_ARGS += -DTESTFILTER=$(TESTFILTER))
+	$(eval CMAKE_ARGS += -DTESTFILTER=$(TESTFILTER))
 	$(eval ARGS += test_results)
 	$(eval ASAN_OPTIONS += color=always:check_initialization_order=1:detect_stack_use_after_return=1)
 	$(eval UBSAN_OPTIONS += color=always)
@@ -486,9 +491,7 @@ shellcheck_all:

 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 "$(SRC_DIR)/src/modules/microdds_client/dds_topics.yaml" \
-	-not -path "$(SRC_DIR)/src/lib/crypto/libtommath/*" -print0 | \
+	-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

 # Cleanup
@@ -554,12 +557,17 @@ check_px4: $(call make_list,nuttx,"px4") \
 check_nxp: $(call make_list,nuttx,"nxp") \
 	sizes

-.PHONY: failsafe_web run_failsafe_web_server
-failsafe_web:
-	@if ! command -v emcc; then echo -e "Install emscripten first: https://emscripten.org/docs/getting_started/downloads.html\nAnd source the env: source <path>/emsdk_env.sh"; exit 1; fi
-	@$(MAKE) --no-print-directory px4_sitl_default failsafe_test parameters_xml \
-		PX4_CMAKE_BUILD_TYPE=Release BUILD_DIR_SUFFIX=_failsafe_web \
-		CMAKE_ARGS="-DCMAKE_CXX_COMPILER=em++ -DCMAKE_C_COMPILER=emcc"
-run_failsafe_web_server: failsafe_web
-	@cd build/px4_sitl_default_failsafe_web && \
-		python3 -m http.server
+ifneq ($(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
@@ -4,7 +4,7 @@

 [![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)

-[![Discord Shield](https://discordapp.com/api/guilds/1022170275984457759/widget.png?style=shield)](https://discord.gg/dronecode)
+[![Slack](/.github/slack.svg)](https://join.slack.com/t/px4/shared_invite/zt-si4xo5qs-R4baYFmMjlrT4rQK5yUnaA)

 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.

@@ -75,7 +75,7 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://docs.px4.io/main/en/con
    * [Paul Riseborough](https://github.com/priseborough)
  * Vision based navigation and Obstacle Avoidance
    * [Markus Achtelik](https://github.com/markusachtelik)
-  * DDS/ROS2 Interface
+  * 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).
@@ -31,11 +31,6 @@ then
 	set PARAM_FILE /dev/eeeprom0
 fi

-if mft query -q -k MTD -s MTD_PARAMETERS -v /mnt/qspi/params
-then
-	set PARAM_FILE /mnt/qspi/params
-fi
-
 #
 # Load parameters.
 #
@@ -32,6 +32,7 @@
 ############################################################################

 add_subdirectory(init.d)
+add_subdirectory(mixers)
 # TODO: make this configurable from the board config, or better combine
 if("${PX4_BOARD}" MATCHES "sitl")
 	add_subdirectory(init.d-posix)
@@ -36,6 +36,7 @@ add_subdirectory(airframes)
 px4_add_romfs_files(
 	px4-rc.mavlink
 	px4-rc.params
+	px4-rc.rtps
 	px4-rc.simulator
 	rc.replay
 	rcS
@@ -30,3 +30,4 @@ param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
+
@@ -14,7 +14,7 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=xvert}
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_TYPE 0
 param set-default VT_FW_DIFTHR_EN 1
-param set-default VT_FW_DIFTHR_S_Y 0.3
+param set-default VT_FW_DIFTHR_SC 0.3
 param set-default MPC_MAN_Y_MAX 60
 param set-default MC_PITCH_P 5

@@ -10,7 +10,6 @@
 # EKF2: Vision position and heading
 param set-default EKF2_AID_MASK 24
 param set-default EKF2_EV_DELAY 5
-param set-default EKF2_EV_CTRL 15
 param set-default EKF2_GPS_CTRL 0

 # LPE: Vision + baro
@@ -8,6 +8,7 @@
 param set-default EKF2_MAG_ACCLIM 0
 param set-default EKF2_MAG_YAWLIM 0

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

 param set-default FW_L1_PERIOD 12
@@ -40,6 +41,7 @@ param set-default FW_T_SINK_MIN 2.2

 param set-default FW_W_EN 1

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

 param set-default NAV_ACC_RAD 15
@@ -5,6 +5,7 @@

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

+param set-default FW_LND_AIRSPD_SC 1.1
 param set-default FW_LND_ANG 5
 param set-default FW_LND_FL_PMIN 9.5
 param set-default FW_LND_FL_PMAX 20
@@ -23,6 +24,7 @@ param set-default FW_RR_P 0.085

 param set-default FW_W_EN 1

+param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 20
 param set-default MIS_DIST_1WP 2500
 param set-default MIS_DIST_WPS 10000
@@ -31,7 +33,11 @@ param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2

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

 param set-default CA_AIRFRAME 1

@@ -5,6 +5,7 @@

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

+param set-default FW_LND_AIRSPD_SC 1.1
 param set-default FW_LND_ANG 5
 param set-default FW_LND_FL_PMIN 9.5
 param set-default FW_LND_FL_PMAX 20
@@ -23,6 +24,7 @@ param set-default FW_RR_P 0.085

 param set-default FW_W_EN 1

+param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 20
 param set-default MIS_DIST_1WP 2500
 param set-default MIS_DIST_WPS 10000
@@ -31,7 +33,11 @@ param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2

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

 param set-default CA_AIRFRAME 1

@@ -8,6 +8,7 @@
 param set-default EKF2_MAG_ACCLIM 0
 param set-default EKF2_MAG_YAWLIM 0

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

 param set-default FW_L1_PERIOD 15
@@ -26,6 +27,7 @@ param set-default FW_L1_PERIOD 12

 param set-default FW_W_EN 1

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

 param set-default NAV_ACC_RAD 15
@@ -5,6 +5,7 @@

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

+param set-default FW_LND_AIRSPD_SC 1.1
 param set-default FW_LND_ANG 5
 param set-default FW_LND_FL_PMIN 9.5
 param set-default FW_LND_FL_PMAX 20
@@ -23,6 +24,7 @@ param set-default FW_RR_P 0.085

 param set-default FW_W_EN 1

+param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 20
 param set-default MIS_DIST_1WP 2500
 param set-default MIS_DIST_WPS 10000
@@ -31,7 +33,9 @@ param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2

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

 param set-default CA_AIRFRAME 1

@@ -8,6 +8,7 @@
 param set-default EKF2_MAG_ACCLIM 0
 param set-default EKF2_MAG_YAWLIM 0

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

 param set-default FW_L1_PERIOD 12
@@ -33,11 +34,14 @@ param set-default FW_T_TAS_TC 2

 param set-default FW_W_EN 1

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

 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2

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

 param set-default CA_AIRFRAME 1
@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# @name Advanced Plane SITL
+# @name Plane SITL
 #

 . ${R}etc/init.d/rc.fw_defaults
@@ -8,19 +8,30 @@
 param set-default EKF2_MAG_ACCLIM 0
 param set-default EKF2_MAG_YAWLIM 0

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

 param set-default FW_L1_PERIOD 12

-param set-default FW_MAN_P_MAX 30
+param set-default FW_PR_P 0.9
+param set-default FW_PR_FF 0.5
+param set-default FW_PR_I 0.5
+param set-default TRIM_PITCH -0.15

 param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15

+param set-default FW_RR_FF 0.5
+param set-default FW_RR_P 0.3
+param set-default FW_RR_I 0.5
+
+param set-default FW_YR_FF 0.5
+param set-default FW_YR_P 0.6
+param set-default FW_YR_I 0.5
+
 param set-default FW_SPOILERS_LND 0.4

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

@@ -30,6 +41,7 @@ param set-default FW_T_SINK_MIN 2.2

 param set-default FW_W_EN 1

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

 param set-default NAV_ACC_RAD 15
@@ -37,7 +49,6 @@ param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1

-#param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 1

 param set-default CA_ROTOR_COUNT 1
@@ -62,7 +73,3 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
-
-
-set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
-set MIXER custom
@@ -61,7 +61,6 @@ param set-default FW_T_CLMB_MAX 8
 param set-default FW_T_SINK_MAX 2.7
 param set-default FW_T_SINK_MIN 2.2

-param set-default MC_AIRMODE 1
 param set-default MC_ROLLRATE_P 0.3
 param set-default MC_YAW_P 1.6

@@ -77,6 +76,8 @@ param set-default NAV_ACC_RAD 5

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

@@ -58,7 +58,6 @@ param set-default FW_T_SINK_MAX 2.7
 param set-default FW_T_SINK_MIN 2.2
 param set-default FW_T_TAS_TC 2

-param set-default MC_AIRMODE 1
 param set-default MC_ROLLRATE_P 0.3

 param set-default MPC_ACC_HOR_MAX 2
@@ -70,7 +69,7 @@ param set-default MPC_XY_VEL_D_ACC 0.1
 param set-default NAV_ACC_RAD 5

 param set-default VT_FW_DIFTHR_EN 1
-param set-default VT_FW_DIFTHR_S_Y 0.5
+param set-default VT_FW_DIFTHR_SC 0.5
 param set-default VT_F_TRANS_DUR 1.5
 param set-default VT_F_TRANS_THR 0.7
 param set-default VT_TYPE 0
@@ -34,6 +34,8 @@ param set-default CA_SV_CS1_TYPE 2
 param set-default CA_SV_CS2_TRQ_P 1.0
 param set-default CA_SV_CS2_TYPE 3
 param set-default CA_SV_CS_COUNT 3
+param set-default CA_SV_TL0_CT 0
+param set-default CA_SV_TL1_CT 0
 param set-default CA_SV_TL_COUNT 2

 param set-default PWM_MAIN_FUNC1 101
@@ -60,7 +62,6 @@ param set-default FW_T_CLMB_MAX 8
 param set-default FW_T_SINK_MAX 2.7
 param set-default FW_T_SINK_MIN 2.2

-param set-default MC_AIRMODE 1
 param set-default MC_YAWRATE_P 0.3
 param set-default MC_YAWRATE_I 0.3

@@ -18,6 +18,7 @@ param set-default GND_THR_CRUISE 0.3
 param set-default GND_THR_MAX 0.5
 param set-default GND_THR_MIN 0

+param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01
 param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2
@@ -18,6 +18,7 @@ param set-default GND_THR_CRUISE 0.3
 param set-default GND_THR_MAX 0.5
 param set-default GND_THR_MIN 0

+param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01
 param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2
@@ -25,6 +25,7 @@ param set-default GND_THR_CRUISE 0.3
 param set-default GND_THR_MAX 0.5
 param set-default GND_THR_MIN 0

+param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01
 param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2
@@ -18,6 +18,7 @@ param set-default GND_THR_CRUISE 0.85
 param set-default GND_THR_MAX 1
 param set-default GND_THR_MIN 0

+param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01
 param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2
@@ -20,6 +20,7 @@ param set-default FW_W_EN 1

 param set-default FW_RR_P 0.08

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

 param set-default NAV_ACC_RAD 20
@@ -20,6 +20,7 @@ param set-default FW_W_EN 1

 param set-default FW_RR_P 0.08

+param set-default MIS_LTRMIN_ALT 50
 param set-default MIS_TAKEOFF_ALT 7

 param set-default NAV_ACC_RAD 20
@@ -1,15 +1,17 @@
 #!/bin/sh
 #
-# @name Gazebo x500
+# @name Ignition Gazebo X3
 #
 # @type Quadrotor
 #

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

-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
+PX4_SIMULATOR=${PX4_SIMULATOR:=ignition}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500}
+PX4_SIM_WORLD=${PX4_SIM_WORLD:=default}
+
+param set-default SYS_CTRL_ALLOC 1

 param set-default CA_AIRFRAME 0
 param set-default CA_ROTOR_COUNT 4
@@ -30,19 +32,19 @@ param set-default CA_ROTOR3_PX -0.13
 param set-default CA_ROTOR3_PY 0.20
 param set-default CA_ROTOR3_KM -0.05

-param set-default SIM_GZ_FUNC1 101
-param set-default SIM_GZ_FUNC2 102
-param set-default SIM_GZ_FUNC3 103
-param set-default SIM_GZ_FUNC4 104
+param set-default SIM_IGN_FUNC1 101
+param set-default SIM_IGN_FUNC2 102
+param set-default SIM_IGN_FUNC3 103
+param set-default SIM_IGN_FUNC4 104

-param set-default SIM_GZ_MIN1 150
-param set-default SIM_GZ_MIN2 150
-param set-default SIM_GZ_MIN3 150
-param set-default SIM_GZ_MIN4 150
+param set-default SIM_IGN_MIN1 150
+param set-default SIM_IGN_MIN2 150
+param set-default SIM_IGN_MIN3 150
+param set-default SIM_IGN_MIN4 150

-param set-default SIM_GZ_MAX1 1000
-param set-default SIM_GZ_MAX2 1000
-param set-default SIM_GZ_MAX3 1000
-param set-default SIM_GZ_MAX4 1000
+param set-default SIM_IGN_MAX1 1000
+param set-default SIM_IGN_MAX2 1000
+param set-default SIM_IGN_MAX3 1000
+param set-default SIM_IGN_MAX4 1000

 param set-default MPC_THR_HOVER 0.60
@@ -0,0 +1,80 @@
+#!/bin/sh
+#
+# @name Ignition Gazebo X4
+#
+# @type Quadrotor
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=ignition}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=x4}
+PX4_SIM_WORLD=${PX4_SIM_WORLD:=default}
+
+param set-default SYS_CTRL_ALLOC 1
+
+param set-default CA_AIRFRAME 0
+param set-default CA_ROTOR_COUNT 6
+
+param set-default CA_ROTOR0_PX  0.25
+param set-default CA_ROTOR0_PY -0.15
+param set-default CA_ROTOR0_KM  0.05
+
+param set-default CA_ROTOR1_PX  0.00
+param set-default CA_ROTOR1_PY -0.29
+param set-default CA_ROTOR1_KM -0.05
+
+param set-default CA_ROTOR2_PX -0.25
+param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR2_KM  0.05
+
+param set-default CA_ROTOR3_PX -0.25
+param set-default CA_ROTOR3_PY  0.15
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default CA_ROTOR4_PX  0.00
+param set-default CA_ROTOR4_PY  0.29
+param set-default CA_ROTOR4_KM  0.05
+
+param set-default CA_ROTOR5_PX  0.25
+param set-default CA_ROTOR5_PY  0.15
+param set-default CA_ROTOR5_KM -0.05
+
+param set-default SIM_IGN_FUNC1 101
+param set-default SIM_IGN_FUNC2 102
+param set-default SIM_IGN_FUNC3 103
+param set-default SIM_IGN_FUNC4 104
+param set-default SIM_IGN_FUNC5 105
+param set-default SIM_IGN_FUNC6 106
+
+param set-default SIM_IGN_MIN1 150
+param set-default SIM_IGN_MIN2 150
+param set-default SIM_IGN_MIN3 150
+param set-default SIM_IGN_MIN4 150
+param set-default SIM_IGN_MIN5 150
+param set-default SIM_IGN_MIN6 150
+
+param set-default SIM_IGN_MAX1 1000
+param set-default SIM_IGN_MAX2 1000
+param set-default SIM_IGN_MAX3 1000
+param set-default SIM_IGN_MAX4 1000
+param set-default SIM_IGN_MAX5 1000
+param set-default SIM_IGN_MAX6 1000
+
+
+param set-default MC_PITCHRATE_D 0.0016
+param set-default MC_PITCHRATE_I 0.2500
+param set-default MC_PITCHRATE_P 0.1831
+param set-default MC_PITCH_P 5.216
+
+param set-default MC_ROLLRATE_D 0.0022
+param set-default MC_ROLLRATE_I 0.2095
+param set-default MC_ROLLRATE_P 0.1570
+param set-default MC_ROLL_P 6.081
+
+param set-default MC_YAWRATE_D 0.0009
+param set-default MC_YAWRATE_I 0.1800
+param set-default MC_YAWRATE_P 0.1773
+param set-default MC_YAW_P 5.386490
+
+param set-default MPC_THR_HOVER 0.61
@@ -80,6 +80,7 @@ px4_add_romfs_files(
 	17002_tf-g2
 	2507_cloudship

+	6001_x4
 	6011_typhoon_h480
 	6011_typhoon_h480.post
 )
@@ -3,7 +3,7 @@

 udp_offboard_port_local=$((14580+px4_instance))
 udp_offboard_port_remote=$((14540+px4_instance))
-[ "$px4_instance" -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps
+[ $px4_instance -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps
 udp_onboard_payload_port_local=$((14280+px4_instance))
 udp_onboard_payload_port_remote=$((14030+px4_instance))
 udp_onboard_gimbal_port_local=$((13030+px4_instance))
@@ -0,0 +1,4 @@
+#!/bin/sh
+# shellcheck disable=SC2154
+
+micrortps_client start -t UDP -r $((2019+2*px4_instance)) -s $((2020+2*px4_instance))
@@ -6,104 +6,40 @@ param set-default IMU_INTEG_RATE 250

 if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0" ]; then

-	if simulator_sih start; then
-
-		sensor_baro_sim start
-		sensor_gps_sim start
-		sensor_mag_sim start
-
-	else
-		echo "ERROR [init] simulator_sih failed to start"
+	if ! simulator_sih start; then
+		echo "ERROR  [init] simulator_sih failed to start"
 		exit 1
 	fi

-elif [ "$PX4_SIMULATOR" = "gz" ]; then
+elif [ "$PX4_SIMULATOR" = "ignition" ]; then

 	# source generated gazebo_env.sh for IGN_GAZEBO_RESOURCE_PATH
-	if [ -f ./gazebo_env.sh ]; then
+	if [ -f gazebo_env.sh ]; then
 		. ./gazebo_env.sh
-
 	elif [ -f ../gazebo_env.sh ]; then
 		. ../gazebo_env.sh
 	fi

-	gz_command="ign" # "ign" before garden
-	gz_sub_command="gazebo" # "gazebo" before garden
+	if ! ign service --info --service /world/${PX4_SIM_WORLD}/create | grep "ignition.msgs.EntityFactory"; then
+		# starting ign gazebo with ${PX4_SIM_WORLD} world
+		echo "INFO  [init] starting ign gazebo"

-	# look for running ${gz_command} gazebo world
-	gz_world=$( ${gz_command} topic -l | grep -m 1 -e "/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
-
-	# shellcheck disable=SC2153
-	if [ -z "${gz_world}" ] && [ -n "${PX4_GZ_WORLDS}" ] && [ -n "${PX4_GZ_WORLD}" ]; then
-
-		echo "INFO  [init] starting gazebo with world: ${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf"
-
-		${gz_command} ${gz_sub_command} --verbose=1 -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &
-
-		if [ -z "${HEADLESS}" ]; then
-			# HEADLESS not set, starting ign gazebo gui
-			${gz_command} gazebo -g &
+		if [ -z $HEADLESS ]; then
+			ign gazebo --verbose=1 -r "${PX4_IGN_GAZEBO_WORLDS}/${PX4_SIM_WORLD}.sdf" &
+		else
+			# starting ign gazebo headless
+			ign gazebo --verbose=1 -r -s "${PX4_IGN_GAZEBO_WORLDS}/${PX4_SIM_WORLD}.sdf" &
 		fi
-
 	else
-		echo "INFO  [init] gazebo already running world: ${gz_world}"
-		PX4_GZ_WORLD=${gz_world}
+		echo "INFO  [init] ign gazebo already running"
 	fi

-	# start gz_bridge
-	if [ -n "${PX4_GZ_MODEL}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ]; then
-		# model specified, gz_bridge will spawn model
-
-		if [ -n "${PX4_GZ_MODEL_POSE}" ]; then
-			# Clean potential input line formatting.
-			model_pose="$( echo "${PX4_GZ_MODEL_POSE}" | sed -e 's/^[ \t]*//; s/[ \t]*$//; s/,/ /g; s/  / /g; s/ /,/g' )"
-			echo "INFO  [init] PX4_GZ_MODEL_POSE set, spawning at: ${model_pose}"
-
-		else
-			echo "WARN  [init] PX4_GZ_MODEL_POSE not set, spawning at origin."
-			model_pose="0,0,0,0,0,0"
-		fi
-
-		# start gz bridge with pose arg.
-		if gz_bridge start -p "${model_pose}" -m "${PX4_GZ_MODEL}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
-			sensor_baro_sim start
-			sensor_gps_sim start
-			sensor_mag_sim start
-
-		else
-			echo "ERROR [init] gazebo failed to start"
-			exit 1
-		fi
-
-	elif [ -n "${PX4_GZ_MODEL_NAME}" ] && [ -z "${PX4_GZ_MODEL}" ]; then
-		# model name specificed, gz_bridge will attach to existing model
-
-		if gz_bridge start -n "${PX4_GZ_MODEL_NAME}" -w "${PX4_GZ_WORLD}"; then
-			sensor_baro_sim start
-			sensor_gps_sim start
-			sensor_mag_sim start
-
-		else
-			echo "ERROR [init] gazebo failed to start"
-			exit 1
-		fi
-
-	elif [ -n "${PX4_SIM_MODEL}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ] && [ -z "${PX4_GZ_MODEL}" ]; then
-
-		echo "WARN  [init] PX4_GZ_MODEL_NAME or PX4_GZ_MODEL not set using PX4_SIM_MODEL."
-
-		if gz_bridge start -m "${PX4_SIM_MODEL}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
-			sensor_baro_sim start
-			sensor_gps_sim start
-			sensor_mag_sim start
-
-		else
-			echo "ERROR [init] gazebo failed to start"
-			exit 1
-		fi
-
+	if simulator_ignition_bridge start -m "${PX4_SIM_MODEL}" -w "${PX4_SIM_WORLD}"; then
+		sensor_baro_sim start
+		sensor_gps_sim start
+		sensor_mag_sim start
 	else
-		echo "ERROR [init] failed to pass only PX4_GZ_MODEL_NAME or PX4_GZ_MODEL"
+		echo "ERROR  [init] ign gazebo failed to start"
 		exit 1
 	fi

@@ -120,13 +56,13 @@ else
 			echo "PX4 SIM HOST: localhost"
 			simulator_mavlink start -c $simulator_tcp_port
 		else
-			echo "PX4 SIM HOST: ${PX4_SIM_HOST_ADDR}"
-			simulator_mavlink start -t "${PX4_SIM_HOST_ADDR}" "${simulator_tcp_port}"
+			echo "PX4 SIM HOST: $PX4_SIM_HOST_ADDR"
+			simulator_mavlink start -t $PX4_SIM_HOST_ADDR $simulator_tcp_port
 		fi

 	else
-		echo "PX4 SIM HOST: ${PX4_SIM_HOSTNAME}"
-		simulator_mavlink start -h "${PX4_SIM_HOSTNAME}" "${simulator_tcp_port}"
+		echo "PX4 SIM HOST: $PX4_SIM_HOSTNAME"
+		simulator_mavlink start -h $PX4_SIM_HOSTNAME $simulator_tcp_port
 	fi

 fi
@@ -1,9 +1,6 @@
 #!/bin/sh

-# Un comment and use set +e to ignore and set -e to enable 'exit on error control'
-set +e
-# Un comment the line below to help debug scripts by printing a trace of the script commands
-#set -x
+set -e

 # PX4 commands need the 'px4-' prefix in bash.
 # (px4-alias.sh is expected to be in the PATH)
@@ -26,6 +23,16 @@ then
 fi

 # initialize script variables
+set IO_PRESENT                  no
+set MIXER                       skip
+set MIXER_AUX                   none
+set MIXER_FILE                  none
+set OUTPUT_MODE                 sim
+set EXTRA_MIXER_MODE            none
+set PWM_OUT                     none
+set PWM_AUX_OUT                 none
+set SDCARD_MIXERS_PATH          etc/mixers
+set USE_IO                      no
 set VEHICLE_TYPE                none
 set LOGGER_ARGS                 ""
 set LOGGER_BUF                  1000
@@ -55,7 +62,7 @@ then
 	# shellcheck disable=SC2012
 	REQUESTED_AUTOSTART=$(ls "${R}etc/init.d-posix/airframes" | sed -n 's/^\([0-9][0-9]*\)_'${PX4_SIM_MODEL}'$/\1/p')
 	if [ -z "$REQUESTED_AUTOSTART" ]; then
-		echo "ERROR [init] Unknown model $PX4_SIM_MODEL (not found by name on ${R}etc/init.d-posix/airframes)"
+		echo "ERROR  [init] Unknown model $PX4_SIM_MODEL (not found by name on ${R}etc/init.d-posix/airframes)"
 		exit 1
 	else
 		SYS_AUTOSTART=$REQUESTED_AUTOSTART
@@ -65,45 +72,18 @@ fi

 # Load parameters
 set PARAM_FILE parameters.bson
-set PARAM_BACKUP_FILE parameters_backup.bson
-
 param select $PARAM_FILE
-if [ -f $PARAM_FILE ]; then

-	if ! param import
+if [ -f $PARAM_FILE ]
+then
+	if param load
 	then
-		echo "ERROR [init] param import failed"
-
-		param dump $PARAM_FILE
-
-		# try to make a backup copy
-		cp $PARAM_FILE param_import_fail.bson
-
-		# try importing from backup file
-		if [ -f $PARAM_BACKUP_FILE ]
-		then
-			echo "[init] importing from parameter backup"
-
-			# dump current backup file contents for comparison
-			param dump $PARAM_BACKUP_FILE
-
-			param import $PARAM_BACKUP_FILE
-
-			# overwrite invalid $PARAM_FILE with backup
-			cp $PARAM_BACKUP_FILE $PARAM_FILE
-		fi
-
-		param status
+		echo "[param] Loaded: $PARAM_FILE"
+	else
+		echo "[param] FAILED loading $PARAM_FILE"
 	fi
-
-elif [ -f $PARAM_BACKUP_FILE ]; then
-	echo "ERROR [init] primary param file $PARAM_FILE unavailable, using backup $PARAM_BACKUP_FILE"
-	param import $PARAM_BACKUP_FILE
 fi

-param select-backup $PARAM_BACKUP_FILE
-
-
 # exit early when the minimal shell is requested
 [ $RUN_MINIMAL_SHELL = yes ] && exit 0

@@ -142,9 +122,7 @@ then
 	param set CAL_GYRO2_ID 1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION

 	param set CAL_MAG0_ID 197388
-	param set CAL_MAG0_PRIO 50
 	param set CAL_MAG1_ID 197644
-	param set CAL_MAG1_PRIO 50

 	param set SENS_BOARD_X_OFF 0.000001
 	param set SENS_DPRES_OFF 0.001
@@ -249,32 +227,19 @@ manual_control start
 sensors start
 commander start

-if ! pwm_out_sim start -m sim
-then
-	tune_control play error
-fi
-
-#
 # Configure vehicle type specific parameters.
-# Note: rc.vehicle_setup is the entry point for all vehicle type specific setup.
+# Note: rc.vehicle_setup is the entry point for rc.interface,
+#       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
+#
 . ${R}etc/init.d/rc.vehicle_setup

 navigator start

-# Try to start the microdds_client with UDP transport if module exists
-microdds_ns=""
-if [ "$px4_instance" -ne "0" ]
+# Try to start the micrortps_client with UDP transport if module exists
+if px4-micrortps_client status > /dev/null 2>&1
 then
-	# Assign new xrce dds key based on instance number and set default namespace
-	param set XRCE_DDS_KEY ${px4_instance}
-	microdds_ns="-n px4_$px4_instance"
+	. px4-rc.rtps
 fi
-if [ -n "$PX4_MICRODDS_NS" ]
-then
-	# Override namespace if environment variable is defined
-	microdds_ns="-n $PX4_MICRODDS_NS"
-fi
-microdds_client start -t udp -p 8888 $microdds_ns

 if param greater -s MNT_MODE_IN -1
 then
@@ -297,12 +262,6 @@ then
 	gyro_calibration start
 fi

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

@@ -41,7 +41,7 @@ px4_add_romfs_files(
 	rc.boat_defaults
 	rc.fw_apps
 	rc.fw_defaults
-	rc.heli_defaults
+	rc.interface
 	rc.logging
 	rc.mc_apps
 	rc.mc_defaults
@@ -31,12 +31,14 @@ param set-default MC_PITCH_P 6
 param set-default MC_PITCHRATE_P 0.2
 param set-default MC_ROLL_P 6
 param set-default MC_ROLLRATE_P 0.3
+param set-default MIS_LTRMIN_ALT 10
 param set-default MIS_TAKEOFF_ALT 10
 param set-default MIS_YAW_TMT 10

 param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_THR_MIN 0.1
+param set-default MPC_TKO_SPEED 1
 param set-default MPC_XY_P 0.8
 param set-default MPC_XY_VEL_D_ACC 0.1
 param set-default MPC_XY_VEL_I_ACC 4
@@ -53,6 +55,8 @@ param set-default RTL_RETURN_ALT 30
 param set-default SDLOG_DIRS_MAX 7

 param set-default VT_F_TRANS_THR 0.75
+param set-default VT_MOT_ID 1234
+param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_TYPE 2

 param set-default CA_AIRFRAME 2
@@ -22,7 +22,7 @@ param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_MOT_COUNT 2
 param set-default VT_TYPE 0
 param set-default VT_FW_DIFTHR_EN 1
-param set-default VT_FW_DIFTHR_S_Y 0.3
+param set-default VT_FW_DIFTHR_SC 0.3
 param set-default MPC_MAN_Y_MAX 60
 param set-default MC_PITCH_P 5

@@ -99,6 +99,8 @@ param set-default MPC_YAWRAUTO_MAX 20

 param set-default NAV_LOITER_RAD 100

+param set-default PWM_AUX_DISARM 950
+
 param set-default PWM_MAIN_DIS5 1500
 param set-default PWM_MAIN_DIS6 1500
 param set-default PWM_MAIN_DIS7 900
@@ -114,6 +116,8 @@ param set-default MAV_1_FORWARD 1
 param set-default SER_TEL2_BAUD 57600

 param set-default VT_TYPE 2
+param set-default VT_MOT_ID 1234
+param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_F_TRANS_THR 1
 param set-default VT_PITCH_MIN 8
 param set-default VT_FW_QC_P 55
@@ -122,6 +126,7 @@ param set-default VT_TRANS_MIN_TM 15
 param set-default VT_B_TRANS_DUR 8
 param set-default VT_FWD_THRUST_SC 4
 param set-default VT_F_TRANS_DUR 1
+param set-default VT_IDLE_PWM_MC 1025
 param set-default VT_B_REV_OUT 0.5
 param set-default VT_B_TRANS_THR 0.7
 param set-default VT_TRANS_TIMEOUT 22
@@ -65,6 +65,7 @@ param set-default COM_SPOOLUP_TIME 1.5
 param set-default MPC_THR_HOVER 0.45
 param set-default MPC_TILTMAX_AIR 25
 param set-default MPC_TKO_RAMP_T 1.8
+param set-default MPC_TKO_SPEED 1
 param set-default MPC_VEL_MANUAL 3
 param set-default MPC_XY_CRUISE 3
 param set-default MPC_XY_VEL_MAX 3.5
@@ -75,6 +76,7 @@ param set-default NAV_ACC_RAD 3

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

 param set-default SENS_BOARD_ROT 4

@@ -84,7 +86,10 @@ param set-default VT_B_DEC_MSS 1.5
 param set-default VT_B_TRANS_DUR 12
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_FWD_THRUST_SC 1.2
+param set-default VT_FW_MOT_OFFID 5678
 param set-default VT_F_TR_OL_TM 8
+param set-default VT_IDLE_PWM_MC 1000
+param set-default VT_MOT_ID 5678
 param set-default VT_PSHER_RMP_DT 2
 param set-default VT_TRANS_MIN_TM 4
 param set-default VT_TYPE 2
@@ -16,7 +16,10 @@

 param set-default MAV_TYPE 21

+param set-default VT_IDLE_PWM_MC 1100
 param set-default VT_TYPE 1
+param set-default VT_MOT_ID 1234
+param set-default VT_FW_MOT_OFFID 24

 param set-default CA_AIRFRAME 3
 param set-default CA_ROTOR_COUNT 4
@@ -1,27 +1,55 @@
 #!/bin/sh
 #
-# @name Generic Helicopter (Tail ESC)
+# @name Blade 130X
 #
 # @type Helicopter
 # @class Copter
 #
+# @maintainer Bart Slinger <bartslinger@gmail.com>
+#
+# @output Motor1 main motor
+# @output Servo1 front swashplate servo
+# @output Servo2 right swashplate servo
+# @output Servo3 left swashplate servo
+# @output Servo4 tail-rotor servo
+#
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
 #

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


-# Disable PID gains for initial setup. These should be enabled after setting the FF gain.
-# P is expected to be lower than FF.
+
+param set-default ATT_BIAS_MAX 0
+
+param set-default CBRK_IO_SAFETY 22027
+
+param set-default MC_ROLL_P 5
 param set-default MC_ROLLRATE_P 0
 param set-default MC_ROLLRATE_I 0
 param set-default MC_ROLLRATE_D 0
-param set-default MC_ROLLRATE_FF 0.1
+param set-default MC_ROLLRATE_FF 0.15
 param set-default MC_PITCHRATE_P 0
 param set-default MC_PITCHRATE_I 0
 param set-default MC_PITCHRATE_D 0
-param set-default MC_PITCHRATE_FF 0.1
+param set-default MC_PITCHRATE_FF 0.15
+param set-default MC_YAW_P 3
+param set-default MC_YAWRATE_P 0.1
+param set-default MC_YAWRATE_I 0
+param set-default MC_ROLLRATE_MAX 720
+param set-default MC_PITCHRATE_MAX 720
+param set-default MC_YAWRATE_MAX 400
+param set-default MC_ACRO_R_MAX 360
+param set-default MC_ACRO_P_MAX 360
+
+param set-default MPC_THR_MIN 0.06
+param set-default MPC_MANTHR_MIN 0.06
+
+param set-default PWM_MAIN_MIN 1075

 param set-default CA_AIRFRAME 10

@@ -24,6 +24,9 @@
 param set-default BAT1_CAPACITY 3300
 param set-default BAT1_N_CELLS 3

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

 param set-default FW_AIRSPD_MAX 20
@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# @name PX4 Vision Dev Kit v1
+# @name PX4 Vision DevKit Platform
 #
 # @type Quadrotor x
 # @class Copter
@@ -60,9 +60,11 @@ param set-default CP_DIST 6
 param set-default MPC_ACC_DOWN_MAX 5
 param set-default MPC_ACC_HOR_MAX 10
 param set-default MPC_ACC_UP_MAX 4
+param set-default MPC_MANTHR_MIN 0
 param set-default MPC_MAN_Y_MAX 120
 param set-default MPC_TILTMAX_AIR 45
 param set-default MPC_THR_HOVER 0.3
+param set-default MPC_TKO_SPEED 1
 param set-default MPC_VEL_MANUAL 5
 param set-default MPC_XY_CRUISE 5
 param set-default MPC_XY_VEL_MAX 5
@@ -79,6 +81,9 @@ param set-default CP_GO_NO_DATA 1
 # Navigator Parameters
 param set-default NAV_ACC_RAD 2

+# use oneshot motor output protocol
+param set-default PWM_MAIN_RATE 0
+
 # RTL Parameters
 param set-default RTL_DESCEND_ALT 5
 param set-default RTL_RETURN_ALT 5
@@ -1,126 +0,0 @@
-#!/bin/sh
-#
-# @name PX4 Vision Dev Kit v1.5
-#
-# @type Quadrotor x
-# @class Copter
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-# Commander Parameters
-param set-default COM_OBS_AVOID 1
-param set-default COM_DISARM_LAND 0.5
-
-# EKF2 parameters
-param set-default EKF2_AID_MASK 35
-param set-default EKF2_IMU_POS_X 0.02
-param set-default EKF2_GPS_POS_X 0.055
-param set-default EKF2_GPS_POS_Z -0.15
-param set-default EKF2_MIN_RNG 0.03
-param set-default EKF2_OF_POS_X 0.055
-param set-default EKF2_OF_POS_Y 0.02
-param set-default EKF2_OF_POS_Z 0.065
-param set-default EKF2_REQ_HDRIFT 0.3
-param set-default EKF2_REQ_SACC 1
-param set-default EKF2_REQ_VDRIFT 0.3
-param set-default EKF2_RNG_A_HMAX 8
-param set-default EKF2_RNG_A_VMAX 2
-param set-default EKF2_RNG_POS_X 0.055
-param set-default EKF2_RNG_POS_Y -0.01
-param set-default EKF2_RNG_POS_Z 0.065
-param set-default EKF2_PCOEF_XP -0.25
-param set-default EKF2_PCOEF_YN -0.55
-param set-default EKF2_PCOEF_YP -0.55
-
-# MAVLink parameters
-param set-default MAV_0_CONFIG 101
-param set-default MAV_1_CONFIG 102
-param set-default MAV_1_RATE 80000
-param set-default MAV_1_MODE 9
-param set-default SER_TEL1_BAUD 921600
-
-# Vehicle attitude PID tuning
-param set-default MC_ACRO_EXPO 0
-param set-default MC_ACRO_EXPO_Y 0
-param set-default MC_ACRO_P_MAX 200
-param set-default MC_ACRO_R_MAX 200
-param set-default MC_ACRO_SUPEXPO 0
-param set-default MC_ACRO_SUPEXPOY 0
-param set-default MC_ACRO_Y_MAX 150
-param set-default MC_PITCHRATE_D 0.0015
-param set-default MC_ROLLRATE_D 0.0015
-param set-default MC_YAWRATE_P 0.3
-
-# Position Control Tuning
-param set-default CP_DIST 6
-param set-default MPC_ACC_DOWN_MAX 5
-param set-default MPC_ACC_HOR_MAX 10
-param set-default MPC_ACC_UP_MAX 4
-param set-default MPC_MANTHR_MIN 0
-param set-default MPC_MAN_Y_MAX 120
-param set-default MPC_TILTMAX_AIR 45
-param set-default MPC_THR_HOVER 0.3
-param set-default MPC_VEL_MANUAL 5
-param set-default MPC_XY_CRUISE 5
-param set-default MPC_XY_VEL_MAX 5
-param set-default MPC_XY_VEL_P_ACC 1.58
-param set-default MPC_XY_TRAJ_P 0.3
-param set-default MPC_Z_TRAJ_P 0.3
-param set-default MPC_Z_VEL_P_ACC 5
-param set-default MPC_Z_VEL_I_ACC 3
-param set-default MPC_LAND_ALT1 3
-param set-default MPC_LAND_ALT2 1
-param set-default MPC_POS_MODE 3
-param set-default CP_GO_NO_DATA 1
-
-# Navigator Parameters
-param set-default NAV_ACC_RAD 2
-
-# RTL Parameters
-param set-default RTL_DESCEND_ALT 5
-param set-default RTL_RETURN_ALT 5
-
-# Logging Parameters
-param set-default SDLOG_PROFILE 131
-
-# Sensors Parameters
-param set-default SENS_CM8JL65_CFG 202
-param set-default SENS_FLOW_MAXHGT 25
-param set-default SENS_FLOW_MINHGT 0.5
-param set-default IMU_GYRO_CUTOFF 100
-param set-default SENS_TFLOW_CFG 103
-
-# Power Parameters
-param set-default BAT1_N_CELLS 4
-param set-default BAT1_A_PER_V 36.364
-param set-default BAT1_V_DIV 18.182
-
-# Circuit breakers
-param set-default CBRK_IO_SAFETY 22027
-
-param set-default THR_MDL_FAC 0.3
-
-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
-
-# Outputs
-param set-default PWM_AUX_FUNC1 101
-param set-default PWM_AUX_FUNC2 102
-param set-default PWM_AUX_FUNC3 103
-param set-default PWM_AUX_FUNC4 104
-
@@ -42,6 +42,8 @@ param set-default MC_YAW_P 4
 param set-default MPC_MANTHR_MIN 0
 param set-default MPC_MAN_TILT_MAX 60

+param set-default DSHOT_CONFIG 600
+
 param set-default SYS_HAS_BARO 0
 param set-default SYS_HAS_MAG 0

@@ -26,6 +26,7 @@ param set-default MC_ROLLRATE_MAX 1600
 param set-default MC_PITCHRATE_MAX 1600
 param set-default MC_YAWRATE_MAX 1000

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

 param set-default THR_MDL_FAC 0.3
@@ -44,6 +44,8 @@ param set-default MPC_THR_HOVER 0.25
 param set-default MPC_THR_MIN 0.05
 param set-default MPC_Z_VEL_I_ACC 1.7

+param set-default PWM_MAIN_MIN 1050
+
 param set-default THR_MDL_FAC 0.3

 param set-default CA_ROTOR_COUNT 4
@@ -32,6 +32,7 @@ param set-default IMU_DGYRO_CUTOFF 90
 param set-default IMU_GYRO_CUTOFF 100

 # System
+param set-default PWM_MAIN_MIN 1100

 param set-default SENS_BOARD_ROT 10

@@ -53,6 +54,7 @@ param set-default MPC_XY_VEL_P_ACC 2.6
 param set-default MPC_XY_VEL_I_ACC 1.2
 param set-default MPC_XY_VEL_D_ACC 0.2
 param set-default MPC_TKO_RAMP_T 1
+param set-default MPC_TKO_SPEED 1.1
 param set-default MPC_VEL_MANUAL 3

 param set-default BAT1_SOURCE 0
@@ -62,6 +62,7 @@ param set-default MPC_XY_VEL_P_ACC 2.6
 param set-default MPC_XY_VEL_I_ACC 1.2
 param set-default MPC_XY_VEL_D_ACC 0.2
 param set-default MPC_TKO_RAMP_T 1
+param set-default MPC_TKO_SPEED 1.1
 param set-default MPC_VEL_MANUAL 3

 param set-default BAT1_SOURCE 0
@@ -39,6 +39,7 @@ param set-default GND_THR_CRUISE 0.3
 param set-default GND_THR_MAX 0.5
 param set-default GND_THR_MIN 0

+param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01

 param set-default NAV_ACC_RAD 0.5
@@ -1,74 +0,0 @@
-#!/bin/sh
-#
-# @name Aion Robotics R1 UGV
-#
-# @url https://www.aionrobotics.com/r1
-#
-# @type Rover
-# @class Rover
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.rover_defaults
-
-param set-default BAT1_N_CELLS 4
-
-param set-default EKF2_GBIAS_INIT 0.01
-param set-default EKF2_ANGERR_INIT 0.01
-param set-default EKF2_MAG_TYPE 1
-
-param set-default FW_AIRSPD_MIN 0
-param set-default FW_AIRSPD_TRIM 1
-param set-default FW_AIRSPD_MAX 3
-
-param set-default GND_SP_CTRL_MODE 1
-param set-default GND_L1_DIST 5
-param set-default GND_L1_PERIOD 3
-param set-default GND_THR_CRUISE 0.7
-param set-default GND_THR_MAX 0.5
-
-# Because this is differential drive, it can make a turn with radius 0.
-# This corresponds to a turn angle of pi radians.
-# If a special case is made for differential-drive, this will need to change.
-param set-default GND_MAX_ANG 3.142
-param set-default GND_WHEEL_BASE 0.3
-
-# TODO: Set to -1.0, to allow reversing. This will require many changes in the codebase
-# to support negative throttle.
-param set-default GND_THR_MIN 0
-param set-default GND_SPEED_P 0.25
-param set-default GND_SPEED_I 3
-param set-default GND_SPEED_D 0.001
-param set-default GND_SPEED_IMAX 0.125
-param set-default GND_SPEED_THR_SC 1
-
-param set-default MIS_TAKEOFF_ALT 0.01
-
-param set-default NAV_ACC_RAD 0.5
-
-# Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor
-param set-default CBRK_AIRSPD_CHK 162128
-
-# Differential drive acts like ackermann steering with a maximum turn angle of 180 degrees, or pi radians
-param set-default GND_MAX_ANG 3.1415
-
-param set-default RBCLW_BAUD 8
-param set-default RBCLW_COUNTS_REV 1200
-param set-default RBCLW_ADDRESS 128
-# 104 corresponds to Telem 4
-param set-default RBCLW_SER_CFG 104
-# Start this driver after setting parameters, because the driver uses some of those parameters.
-# roboclaw start /dev/ttyS3
-
-# Set geometry & output configration
-param set-default CA_AIRFRAME 6
-param set-default CA_R_REV 3
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_DIS1 1500
-param set-default PWM_MAIN_DIS2 1500
-param set-default PWM_MAIN_TIM0 50
-param set-default PWM_MAIN_TIM1 50
-
@@ -45,6 +45,7 @@ param set-default GND_SPEED_D 0.001
 param set-default GND_SPEED_IMAX 0.125
 param set-default GND_SPEED_THR_SC 1

+param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01

 param set-default NAV_ACC_RAD 0.5
@@ -61,6 +61,7 @@ param set-default IMU_GYRO_CUTOFF 100
 param set-default THR_MDL_FAC 0.25

 # System
+param set-default PWM_MAIN_MIN 1100
 param set-default PWM_MAIN_DIS5 980
 param set-default PWM_MAIN_DIS6 980

@@ -57,7 +57,6 @@ px4_add_romfs_files(
 	4016_holybro_px4vision
 	4017_nxp_hovergames
 	4019_x500_v2
-	4020_holybro_px4vision_v1_5
 	4040_reaper
 	4041_beta75x
 	4050_generic_250
@@ -118,7 +117,6 @@ px4_add_romfs_files(

 	50000_generic_ground_vehicle
 	50004_nxpcup_car_dfrobot_gpx
-	50003_aion_robotics_r1_rover

 	# [60000, 61000] (Unmanned) Underwater Robots
 	60000_uuv_generic
@@ -48,10 +48,13 @@ fi
 #                        End Estimator Group Selection                        #
 ###############################################################################

-#
-# Start Control Allocator
-#
-control_allocator start
+if param compare SYS_CTRL_ALLOC 1
+then
+	#
+	# Start Control Allocator
+	#
+	control_allocator start
+fi

 #
 # Start Airship Attitude Controller.
@@ -9,3 +9,9 @@ set VEHICLE_TYPE airship

 # MAV_TYPE_AIRSHIP 7
 param set-default MAV_TYPE 7
+
+#
+# This is the gimbal pass mixer.
+#
+set MIXER_AUX pass
+set PWM_AUX_OUT 1234
@@ -2,6 +2,7 @@
 #
 # External airframe startup script (on SD card)
 #
+set SDCARD_MIXERS_PATH ${SDCARD_EXT_PATH}/mixers

 if [ -e ${SDCARD_EXT_PATH}/rc.autostart ]
 then
@@ -13,9 +13,29 @@ param set-default MAV_TYPE 11
 #
 # Default parameters for UGVs.
 #
+param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01

 param set-default NAV_ACC_RAD 2

 # Temporary.
 param set-default NAV_FW_ALT_RAD 1000
+
+#
+# Enable servo output on pins 3 and 4 (steering and thrust)
+# but also include 1+2 as they form together one output group
+# and need to be set together.
+#
+set PWM_OUT 1234
+
+#
+# PWM Hz - 50 Hz is the normal rate in RC cars, higher rates
+# may damage analog servos.
+#
+set PWM_MAIN_RATE 50
+
+#
+# This is the gimbal pass mixer.
+#
+set MIXER_AUX pass
+set PWM_AUX_OUT 1234
@@ -10,10 +10,13 @@
 #
 ekf2 start &

-#
-# Start Control Allocator
-#
-control_allocator start
+if param compare SYS_CTRL_ALLOC 1
+then
+	#
+	# Start Control Allocator
+	#
+	control_allocator start
+fi

 #
 # Start attitude controller.
@@ -43,10 +43,20 @@ param set-default RTL_LAND_DELAY -1
 param set-default NAV_ACC_RAD 10

 param set-default MIS_DIST_WPS 5000
+param set-default MIS_LTRMIN_ALT 25
 param set-default MIS_TAKEOFF_ALT 25
-param set-default MIS_TKO_LAND_REQ 2
+
+param set-default PWM_MAIN_RATE 50

 #
 # FW takeoff acceleration can easily exceed ublox GPS 2G default.
 #
 param set-default GPS_UBX_DYNMODEL 8
+
+#
+# This is the gimbal pass mixer.
+#
+set MIXER_AUX pass
+
+set PWM_AUX_RATE 50
+set PWM_AUX_OUT 1234
@@ -1,17 +0,0 @@
-#!/bin/sh
-#
-# Helicopter default parameters.
-#
-# NOTE: Script variables are declared/initialized/unset in the rcS script.
-#
-
-# Inherit from mc
-. ${R}etc/init.d/rc.mc_defaults
-
-param set-default MAV_TYPE 4
-
-param set-default COM_PREARM_MODE 2
-param set-default COM_SPOOLUP_TIME 10
-
-# No need for minimum collective pitch (or airmode) to keep torque authority
-param set-default MPC_MANTHR_MIN 0
@@ -0,0 +1,284 @@
+#!/bin/sh
+#
+# Script to configure control interfaces.
+#
+#
+# NOTE: environment variable references:
+#  If the dollar sign ('$') is followed by a left bracket ('{') then the
+#  variable name is terminated with the right bracket character ('}').
+#  Otherwise, the variable name goes to the end of the argument.
+#
+
+set OUTPUT_CMD pwm_out
+set MIXER_AUX_FILE none
+set MIXER_EXTRA_FILE none
+
+set OUTPUT_DEV none
+set OUTPUT_AUX_DEV /dev/pwm_output1
+set OUTPUT_EXTRA_DEV /dev/pwm_output0
+
+# set these before starting the modules
+if [ $PWM_AUX_OUT != none ]
+then
+
+	param set PWM_AUX_OUT ${PWM_AUX_OUT}
+fi
+
+
+if [ $PWM_OUT != none ]
+then
+	param set PWM_MAIN_OUT ${PWM_OUT}
+fi
+
+#
+# If mount (gimbal) control is enabled and output mode is AUX, set the aux
+# mixer to mount (override the airframe-specific MIXER_AUX setting).
+#
+if param greater -s MNT_MODE_IN -1
+then
+        if param compare -s MNT_MODE_OUT 0
+        then
+                set MIXER_AUX mount
+        fi
+fi
+
+#
+# Set the default output mode if none was set.
+#
+if [ $OUTPUT_MODE = none -a $OUTPUT_MODE != skip ]
+then
+	if [ $USE_IO = yes ]
+	then
+		# Enable IO output only if IO is present.
+		if [ $IO_PRESENT = yes ]
+		then
+			set OUTPUT_MODE io
+			if param greater -s DSHOT_CONFIG 0
+			then
+				set OUTPUT_CMD dshot
+			fi
+		fi
+	else
+		if param greater -s DSHOT_CONFIG 0
+		then
+			set OUTPUT_MODE dshot
+			set OUTPUT_CMD dshot
+		else
+			set OUTPUT_MODE pwm_out
+		fi
+	fi
+fi
+
+#
+# If OUTPUT_MODE = none then something is wrong with setup and we shouldn't try to enable output.
+#
+if [ $OUTPUT_MODE != none -a $OUTPUT_MODE != skip ]
+then
+
+	if [ $OUTPUT_MODE = hil -o $OUTPUT_MODE = sim ]
+	then
+		if ! pwm_out_sim start -m $OUTPUT_MODE
+		then
+			tune_control play error
+		fi
+	fi
+
+	if [ $OUTPUT_MODE = uavcan_esc ]
+	then
+		if param compare UAVCAN_ENABLE 0
+		then
+			param set UAVCAN_ENABLE 3
+		fi
+	fi
+
+	#
+	# Start IO for PWM output or RC input if needed.
+	#
+	if [ $IO_PRESENT = yes ]
+	then
+		if ! px4io start
+		then
+			echo "PX4IO start failed"
+			tune_control play -t 18 # PROG_PX4IO_ERR
+		fi
+	fi
+
+	if [ $OUTPUT_MODE = $OUTPUT_CMD -o $OUTPUT_MODE = io ]
+	then
+		if param compare SYS_CTRL_ALLOC 1
+		then
+			pwm_out start
+			dshot start
+		else
+			if ! $OUTPUT_CMD start
+			then
+				echo "$OUTPUT_CMD start failed"
+				tune_control play error
+			fi
+		fi
+	fi
+fi
+
+if [ $MIXER != none -a $MIXER != skip ]
+then
+	#
+	# Load main mixer.
+	#
+	if [ $MIXER_AUX = none -a $USE_IO = yes ]
+	then
+		set MIXER_AUX ${MIXER}
+	fi
+
+	if [ "$MIXER_FILE" = none ]
+	then
+		if [ -f ${SDCARD_MIXERS_PATH}/${MIXER}.main.mix ]
+		then
+			# Use the mixer file from the SD-card if it exists.
+			set MIXER_FILE ${SDCARD_MIXERS_PATH}/${MIXER}.main.mix
+		else
+			# Try out the old convention, for backward compatibility.
+			if [ -f ${SDCARD_MIXERS_PATH}/${MIXER}.mix ]
+			then
+				set MIXER_FILE ${SDCARD_MIXERS_PATH}/${MIXER}.mix
+			else
+				set MIXER_FILE /etc/mixers/${MIXER}.main.mix
+			fi
+		fi
+	fi
+
+	set OUTPUT_DEV /dev/pwm_output0
+
+	if [ $OUTPUT_MODE = uavcan_esc ]
+	then
+		set OUTPUT_DEV /dev/uavcan/esc
+	fi
+
+	if mixer load ${OUTPUT_DEV} ${MIXER_FILE}
+	then
+		echo "INFO  [init] Mixer: ${MIXER_FILE} on ${OUTPUT_DEV}"
+
+	else
+		echo "ERROR  [init] Failed loading mixer: ${MIXER_FILE}"
+		tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
+	fi
+
+else
+	if [ $MIXER != skip ]
+	then
+		echo "ERROR  [init] Mixer undefined"
+		tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
+	fi
+fi
+
+if [ $MIXER_AUX != none ]
+then
+	#
+	# Load aux mixer.
+	#
+	if [ -f ${SDCARD_MIXERS_PATH}/${MIXER_AUX}.aux.mix ]
+	then
+		set MIXER_AUX_FILE ${SDCARD_MIXERS_PATH}/${MIXER_AUX}.aux.mix
+	else
+
+		if [ -f /etc/mixers/${MIXER_AUX}.aux.mix ]
+		then
+			set MIXER_AUX_FILE /etc/mixers/${MIXER_AUX}.aux.mix
+		fi
+	fi
+
+	if [ $MIXER_AUX_FILE != none ]
+	then
+		# Append aux mixer to main device.
+		if param greater SYS_HITL 0
+		then
+			if mixer append ${OUTPUT_DEV} ${MIXER_AUX_FILE}
+			then
+				echo "INFO  [init] Mixer: ${MIXER_AUX_FILE} appended to ${OUTPUT_DEV}"
+			else
+				echo "ERROR  [init] Failed appending mixer: ${MIXER_AUX_FILE}"
+			fi
+		fi
+		if [ -e $OUTPUT_AUX_DEV -a $OUTPUT_MODE != hil ]
+		then
+			if mixer load ${OUTPUT_AUX_DEV} ${MIXER_AUX_FILE}
+			then
+				echo "INFO  [init] Mixer: ${MIXER_AUX_FILE} on ${OUTPUT_AUX_DEV}"
+			else
+				echo "ERROR  [init] Failed loading mixer: ${MIXER_AUX_FILE}"
+			fi
+		else
+			echo "INFO  [init] setting PWM_AUX_OUT none"
+			set PWM_AUX_OUT none
+		fi
+
+		# for DShot do not configure pwm values
+		if [ $OUTPUT_CMD != dshot ]
+		then
+			# Set min / max for aux out and rates.
+			if [ $PWM_AUX_OUT != none ]
+			then
+				# Set PWM_AUX output frequency.
+				if [ $PWM_AUX_RATE != none ]
+				then
+					pwm rate -c ${PWM_AUX_OUT} -r ${PWM_AUX_RATE} -d ${OUTPUT_AUX_DEV}
+				fi
+			fi
+		fi
+	fi
+fi
+
+if [ $OUTPUT_MODE = pwm_out -o $OUTPUT_MODE = io ]
+then
+	if [ $PWM_OUT != none -a $PWM_MAIN_RATE != none ]
+	then
+		# Set PWM output frequency.
+		if ! param compare SYS_CTRL_ALLOC 1
+		then
+			pwm rate -c ${PWM_OUT} -r ${PWM_MAIN_RATE}
+		fi
+	fi
+fi
+
+if [ $EXTRA_MIXER_MODE != none ]
+then
+
+	if [ -f ${SDCARD_MIXERS_PATH}/${MIXER_EXTRA}.aux.mix ]
+	then
+		# Use the mixer file from the SD-card if it exists.
+		set MIXER_EXTRA_FILE ${SDCARD_MIXERS_PATH}/${MIXER_EXTRA}.aux.mix
+	else
+		# Try out the old convention, for backward compatibility.
+		if [ -f ${SDCARD_MIXERS_PATH}/${MIXER_EXTRA}.mix ]
+		then
+			set MIXER_EXTRA_FILE ${SDCARD_MIXERS_PATH}/${MIXER_EXTRA}.mix
+		else
+			set MIXER_EXTRA_FILE /etc/mixers/${MIXER_EXTRA}.aux.mix
+		fi
+	fi
+
+
+	if mixer load ${OUTPUT_EXTRA_DEV} ${MIXER_EXTRA_FILE}
+	then
+		echo "INFO  [init] Mixer: ${MIXER_EXTRA_FILE} on ${OUTPUT_EXTRA_DEV}"
+	else
+		echo "ERROR  [init] Failed loading mixer: ${MIXER_EXTRA_FILE}"
+		tune_control play -t 20
+	fi
+
+	if [ $PWM_EXTRA_OUT != none ]
+	then
+		# Set PWM output frequency.
+		if [ $PWM_EXTRA_RATE != none ]
+		then
+			pwm rate -c ${PWM_EXTRA_OUT} -r ${PWM_EXTRA_RATE}
+		fi
+	fi
+fi
+
+unset OUTPUT_CMD
+unset MIXER_AUX_FILE
+unset MIXER_EXTRA_FILE
+
+unset OUTPUT_DEV
+unset OUTPUT_AUX_DEV
+unset OUTPUT_EXTRA_DEV
@@ -48,10 +48,13 @@ fi
 #                        End Estimator Group Selection                        #
 ###############################################################################

-#
-# Start Control Allocator
-#
-control_allocator start
+if param compare SYS_CTRL_ALLOC 1
+then
+	#
+	# Start Control Allocator
+	#
+	control_allocator start
+fi

 #
 # Start Multicopter Rate Controller.
@@ -20,4 +20,19 @@ param set-default NAV_ACC_RAD 2
 param set-default RTL_RETURN_ALT 30
 param set-default RTL_DESCEND_ALT 10

+param set-default PWM_MAIN_MAX 1950
+param set-default PWM_MAIN_MIN 1075
+param set-default PWM_MAIN_RATE 400
+
 param set-default GPS_UBX_DYNMODEL 6
+
+#
+# This is the gimbal pass mixer.
+#
+set MIXER_AUX pass
+
+set MIXER quad_x
+
+set PWM_OUT 1234
+
+set PWM_AUX_OUT 1234
@@ -12,10 +12,13 @@ ekf2 start &
 #attitude_estimator_q start
 #local_position_estimator start

-#
-# Start Control Allocator
-#
-control_allocator start
+if param compare SYS_CTRL_ALLOC 1
+then
+	#
+	# Start Control Allocator
+	#
+	control_allocator start
+fi

 #
 # Start attitude controllers.
@@ -13,6 +13,7 @@ param set-default MAV_TYPE 10
 #
 # Default parameters for UGVs.
 #
+param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01

 param set-default NAV_ACC_RAD 2
@@ -20,3 +21,22 @@ param set-default NAV_LOITER_RAD 2

 # Temporary.
 param set-default NAV_FW_ALT_RAD 1000
+
+#
+# Enable servo output on pins 3 and 4 (steering and thrust)
+# but also include 1+2 as they form together one output group
+# and need to be set together.
+#
+set PWM_OUT 1234
+
+#
+# PWM Hz - 50 Hz is the normal rate in RC cars, higher rates
+# may damage analog servos.
+#
+set PWM_MAIN_RATE 50
+
+#
+# This is the gimbal pass mixer.
+#
+set MIXER_AUX pass
+set PWM_AUX_OUT 1234
@@ -191,10 +191,7 @@ then
 	ist8308 -X -q start
 	ist8310 -X -q start
 	lis2mdl -X -q start
-	if ! lis3mdl -X -q start
-	then
-		lis3mdl -X -q -a 0x1c start
-	fi
+	lis3mdl -X -q start
 	qmc5883l -X -q start
 	rm3100 -X -q start

@@ -15,10 +15,13 @@ ekf2 start &
 #                        End Estimator Group Selection                        #
 ###############################################################################

-#
-# Start Control Allocator
-#
-control_allocator start
+if param compare SYS_CTRL_ALLOC 1
+then
+	#
+	# Start Control Allocator
+	#
+	control_allocator start
+fi

 #
 # Start UUV Attitude Controller.
@@ -9,3 +9,24 @@ set VEHICLE_TYPE uuv

 # MAV_TYPE_SUBMARINE 12
 param set-default MAV_TYPE 12
+
+param set-default PWM_MAIN_MAX 1950
+param set-default PWM_MAIN_MIN 1050
+param set-default PWM_MAIN_DISARM 1500
+
+#
+# PWM Hz - 50 Hz is the normal rate in RC cars, boats etc,
+# higher rates may damage analog servos.
+#
+set PWM_MAIN_RATE 50
+
+#
+# Enable servo output on pins 1-4
+set PWM_OUT 1234
+
+#
+# This is the gimbal pass mixer.
+#
+set MIXER_AUX pass
+set PWM_AUX_OUT 1234
+set PWM_AUX_RATE 50
@@ -10,6 +10,14 @@
 #
 if [ $VEHICLE_TYPE = fw ]
 then
+	if [ $MIXER = none ]
+	then
+		echo "FW mixer undefined"
+	fi
+
+	# Load mixer and configure outputs.
+	. ${R}etc/init.d/rc.interface
+
 	# Start standard fixedwing apps.
 	. ${R}etc/init.d/rc.fw_apps
 fi
@@ -19,6 +27,14 @@ fi
 #
 if [ $VEHICLE_TYPE = mc ]
 then
+	if [ $MIXER = none ]
+	then
+		echo "MC mixer undefined"
+	fi
+
+	# Load mixer and configure outputs.
+	. ${R}etc/init.d/rc.interface
+
 	# Start standard multicopter apps.
 	. ${R}etc/init.d/rc.mc_apps
 fi
@@ -28,6 +44,14 @@ fi
 #
 if [ $VEHICLE_TYPE = rover ]
 then
+	if [ $MIXER = none ]
+	then
+		echo "rover mixer undefined"
+	fi
+
+	# Load mixer and configure outputs.
+	. ${R}etc/init.d/rc.interface
+
 	# Start standard UGV apps.
 	. ${R}etc/init.d/rc.rover_apps
 fi
@@ -37,6 +61,14 @@ fi
 #
 if [ $VEHICLE_TYPE = vtol ]
 then
+	if [ $MIXER = none ]
+	then
+		echo "VTOL mixer undefined"
+	fi
+
+	# Load mixer and configure outputs.
+	. ${R}etc/init.d/rc.interface
+
 	# Start standard vtol apps.
 	. ${R}etc/init.d/rc.vtol_apps
 fi
@@ -46,6 +78,14 @@ fi
 #
 if [ $VEHICLE_TYPE = airship ]
 then
+	if [ $MIXER = none ]
+	then
+		echo "Airship mixer undefined"
+	fi
+
+	# Load mixer and configure outputs.
+	. ${R}etc/init.d/rc.interface
+
 	# Start airship apps.
 	. ${R}etc/init.d/rc.airship_apps
 fi
@@ -55,6 +95,14 @@ fi
 #
 if [ $VEHICLE_TYPE = uuv ]
 then
+	if [ $MIXER = none ]
+	then
+		echo "UUV mixer undefined"
+	fi
+
+	# Load mixer and configure outputs.
+	. ${R}etc/init.d/rc.interface
+
 	# Start standard vtol apps.
 	. ${R}etc/init.d/rc.uuv_apps
 fi
@@ -15,10 +15,13 @@ ekf2 start &
 #                        End Estimator group selection                        #
 ###############################################################################

-#
-# Start Control Allocator
-#
-control_allocator start
+if param compare SYS_CTRL_ALLOC 1
+then
+	#
+	# Start Control Allocator
+	#
+	control_allocator start
+fi

 airspeed_selector start

@@ -19,7 +19,6 @@ param set-default EKF2_FUSE_BETA 1
 param set-default HTE_VXY_THR 2.0

 param set-default MIS_DIST_WPS 5000
-param set-default MIS_TKO_LAND_REQ 2

 param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_VEL_MANUAL 5
@@ -37,6 +36,9 @@ param set-default MC_YAW_P 2
 param set-default MC_YAWRATE_MAX 120
 param set-default MPC_MAN_Y_MAX 90

+param set-default PWM_AUX_RATE 50
+param set-default PWM_MAIN_RATE 400
+
 param set-default RTL_TYPE 1

 param set-default WV_EN 1
@@ -25,15 +25,29 @@ set FCONFIG /fs/microsd/etc/config.txt
 set FEXTRAS /fs/microsd/etc/extras.txt
 set FRC /fs/microsd/etc/rc.txt
 set IOFW "/etc/extras/px4_io-v2_default.bin"
+set IO_PRESENT no
 set LOGGER_ARGS ""
 set LOGGER_BUF 8
+set MIXER skip
+set MIXER_AUX none
+set MIXER_FILE none
+set MIXER_EXTRA none
+set OUTPUT_MODE none
 set PARAM_FILE ""
-set PARAM_BACKUP_FILE ""
+set PWM_OUT none
+set PWM_MAIN_RATE p:PWM_MAIN_RATE
+set PWM_AUX_OUT none
+set PWM_AUX_RATE p:PWM_AUX_RATE
+set PWM_EXTRA_OUT none
+set PWM_EXTRA_RATE p:PWM_EXTRA_RATE
+set EXTRA_MIXER_MODE none
 set RC_INPUT_ARGS ""
 set SDCARD_AVAILABLE no
 set SDCARD_EXT_PATH /fs/microsd/ext_autostart
 set SDCARD_FORMAT no
+set SDCARD_MIXERS_PATH /fs/microsd/etc/mixers
 set STARTUP_TUNE 1
+set USE_IO no
 set VEHICLE_TYPE none

 #
@@ -94,7 +108,6 @@ then
 	fi

 	set PARAM_FILE /fs/microsd/params
-	set PARAM_BACKUP_FILE "/fs/microsd/parameters_backup.bson"
 fi

 #
@@ -134,35 +147,30 @@ else

 		if [ -d "/fs/microsd" ]
 		then
-			# try to make a backup copy
-			cp $PARAM_FILE /fs/microsd/param_import_fail.bson
-
-			# try importing from backup file
-			if [ -f $PARAM_BACKUP_FILE ]
-			then
-				echo "[init] importing from parameter backup"
-
-				# dump current backup file contents for comparison
-				param dump $PARAM_BACKUP_FILE
-
-				param import $PARAM_BACKUP_FILE
-
-				# overwrite invalid $PARAM_FILE with backup
-				cp $PARAM_BACKUP_FILE $PARAM_FILE
-			fi
-
-			param status
-
 			dmesg >> /fs/microsd/param_import_fail.txt &
+
+			# try to make a backup copy
+			cp $PARAM_FILE /fs/microsd/param_import_fail.bson &
+		fi
+
+		# try importing from backup file
+		if [ -f "/fs/microsd/parameters_backup.bson" ]
+		then
+			echo "[init] importing from parameter backup"
+
+			# dump current backup file contents for comparison
+			param dump /fs/microsd/parameters_backup.bson
+
+			param import /fs/microsd/parameters_backup.bson
 		fi
 	fi

 	if [ $SDCARD_AVAILABLE = yes ]
 	then
-		param select-backup $PARAM_BACKUP_FILE
+		param select-backup /fs/microsd/parameters_backup.bson
 	fi

-	if ver hwcmp PX4_FMU_V5X PX4_FMU_V6X ARK_FMU_V6X
+	if ver hwcmp PX4_FMU_V5X PX4_FMU_V6X
 	then
 		netman update -i eth0
 	fi
@@ -228,7 +236,7 @@ else
 	# Waypoint storage.
 	# REBOOTWORK this needs to start in parallel.
 	#
-	if param compare -s SYS_DM_BACKEND 1
+	if param compare SYS_DM_BACKEND 1
 	then
 		dataman start -r
 	else
@@ -265,15 +273,44 @@ else
 	fi

 	#
-	# Start IO for PWM output or RC input if enabled
+	# Check if UAVCAN is enabled, default to it for ESCs.
 	#
-	if param compare -s SYS_USE_IO 1
+	if param greater -s UAVCAN_ENABLE 0
 	then
-		# Check if PX4IO present and update firmware if needed.
-		if [ -f $IOFW ]
+		# Start core UAVCAN module.
+		if uavcan start
 		then
-			if ! px4io checkcrc ${IOFW}
+			if param greater UAVCAN_ENABLE 2
 			then
+				set OUTPUT_MODE uavcan_esc
+			fi
+		else
+			tune_control play error
+		fi
+	else
+		if param greater -s CYPHAL_ENABLE 0
+		then
+			cyphal start
+		fi
+	fi
+
+	#
+	# Check if PX4IO present and update firmware if needed.
+	# Assumption IOFW set to firmware file and IO_PRESENT = no
+	#
+
+	if [ -f $IOFW ]
+	then
+		# Check for the mini using build with px4io fw file
+		# but not a px4IO
+		if ver hwtypecmp V5004000 V5006000
+		then
+			param set SYS_USE_IO 0
+		else
+			if px4io checkcrc ${IOFW}
+			then
+				set IO_PRESENT yes
+			else
 				# tune Program PX4IO
 				tune_control play -t 16 # tune 16 = PROG_PX4IO

@@ -284,6 +321,7 @@ else
 					if px4io checkcrc ${IOFW}
 					then
 						tune_control play -t 17 # tune 17 = PROG_PX4IO_OK
+						set IO_PRESENT yes
 					else
 						tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
 					fi
@@ -292,12 +330,20 @@ else
 				fi
 			fi
 		fi
+	fi

-		if ! px4io start
-		then
-			echo "PX4IO start failed"
-			set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
-		fi
+	#
+	# Set USE_IO flag.
+	#
+	if param compare -s SYS_USE_IO 1
+	then
+		set USE_IO yes
+	fi
+
+	if [ $USE_IO = yes -a $IO_PRESENT = no ]
+	then
+		echo "PX4IO not found"
+		set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
 	fi

 	#
@@ -307,38 +353,13 @@ else
 	rc_update start
 	manual_control start

-	# Start camera trigger, capture and PPS before pwm_out as they might access
-	# pwm pins
-	if param greater -s TRIG_MODE 0
-	then
-		camera_trigger start
-		camera_feedback start
-	fi
-	# PPS capture driver
-	if param greater -s PPS_CAP_ENABLE 0
-	then
-		pps_capture start
-	fi
-	# Camera capture driver
-	if param greater -s CAM_CAP_FBACK 0
-	then
-		if camera_capture start
-		then
-			camera_capture on
-		fi
-	fi
-
 	#
 	# Sensors System (start before Commander so Preflight checks are properly run).
 	# Commander needs to be this early for in-air-restarts.
 	#
 	if param greater SYS_HITL 0
 	then
-		if ! pwm_out_sim start -m hil
-		then
-			tune_control play error
-		fi
-
+		set OUTPUT_MODE hil
 		sensors start -h
 		commander start -h
 		# disable GPS
@@ -348,8 +369,6 @@ else
 		if param compare SYS_HITL 2
 		then
 			simulator_sih start
-			sensor_baro_sim start
-			sensor_mag_sim start
 		fi

 	else
@@ -378,14 +397,13 @@ else

 		sensors start
 		commander start
-
-		dshot start
-		pwm_out start
 	fi

 	#
 	# Configure vehicle type specific parameters.
-	# Note: rc.vehicle_setup is the entry point for all vehicle type specific setup.
+	# Note: rc.vehicle_setup is the entry point for rc.interface,
+	#       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
+	#
 	. ${R}etc/init.d/rc.vehicle_setup

 	# Pre-takeoff continuous magnetometer calibration
@@ -394,6 +412,12 @@ else
 		mag_bias_estimator start
 	fi

+	if param greater -s TRIG_MODE 0
+	then
+		camera_trigger start
+		camera_feedback start
+	fi
+
 	#
 	# Optional board mavlink streams: rc.board_mavlink
 	#
@@ -411,8 +435,26 @@ else
 	#
 	. ${R}etc/init.d/rc.serial

-	# Must be started after the serial config is read
-	rc_input start $RC_INPUT_ARGS
+	if [ $IO_PRESENT = no ]
+	then
+		# Must be started after the serial config is read
+		rc_input start $RC_INPUT_ARGS
+	fi
+
+	# PPS capture driver (before pwm_out)
+	if param greater -s PPS_CAP_ENABLE 0
+	then
+		pps_capture start
+	fi
+
+	# Camera capture driver (before pwm_out)
+	if param greater -s CAM_CAP_FBACK 0
+	then
+		if camera_capture start
+		then
+			camera_capture on
+		fi
+	fi

 	#
 	# Play the startup tune (if not disabled or there is an error)
@@ -463,12 +505,6 @@ else
 		px4flow start -X &
 	fi

-	# Payload deliverer module if gripper is enabled
-	if param compare -s PD_GRIPPER_EN 1
-	then
-		payload_deliverer start
-	fi
-
 	#
 	# Optional board supplied extras: rc.board_extras
 	#
@@ -510,23 +546,6 @@ else
 	fi
 	unset BOARD_BOOTLOADER_UPGRADE

-	#
-	# Check if UAVCAN is enabled, default to it for ESCs.
-	#
-	if param greater -s UAVCAN_ENABLE 0
-	then
-		# Start core UAVCAN module.
-		if ! uavcan start
-		then
-			tune_control play error
-		fi
-	else
-		if param greater -s CYPHAL_ENABLE 0
-		then
-			cyphal start
-		fi
-	fi
-
 #
 # End of autostart.
 #
@@ -539,16 +558,28 @@ unset R
 unset FCONFIG
 unset FEXTRAS
 unset FRC
+unset IO_PRESENT
 unset IOFW
 unset LOGGER_ARGS
 unset LOGGER_BUF
+unset MIXER
+unset MIXER_AUX
+unset MIXER_FILE
+unset OUTPUT_MODE
 unset PARAM_FILE
-unset PARAM_BACKUP_FILE
+unset PWM_AUX_OUT
+unset PWM_AUX_RATE
+unset PWM_MAIN_RATE
+unset PWM_OUT
+unset PWM_EXTRA_OUT
+unset PWM_EXTRA_RATE
 unset RC_INPUT_ARGS
 unset SDCARD_AVAILABLE
 unset SDCARD_EXT_PATH
 unset SDCARD_FORMAT
+unset SDCARD_MIXERS_PATH
 unset STARTUP_TUNE
+unset USE_IO
 unset VEHICLE_TYPE

 #
@@ -0,0 +1,88 @@
+# @board px4_fmu-v2 exclude
+Aileron/rudder/elevator/throttle/wheel/flaps mixer for PX4FMU
+=======================================================
+
+This file defines mixers suitable for controlling a fixed wing aircraft with
+aileron, rudder, elevator, throttle and steerable wheel controls using PX4FMU.
+The configuration assumes the aileron servo(s) are connected to PX4FMU servo
+output 0 and 1, the elevator to output 2, the rudder to output 3, the throttle
+to output 4 and the wheel to output 5.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps).
+
+Aileron mixer (roll + spoiler)
+---------------------------------
+
+This mixer assumes that the aileron servos are set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 2
+S: 0 0  10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000
+
+M: 2
+S: 0 0  10000  10000      0 -10000  10000
+S: 0 5 -10000 -10000      0 -10000  10000
+
+Elevator mixer
+------------
+Two scalers total (output, roll).
+
+This mixer assumes that the elevator servo is set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 1
+S: 0 1  -10000  -10000      0 -10000  10000
+
+Rudder mixer
+------------
+Two scalers total (output, yaw).
+
+This mixer assumes that the rudder servo is set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 1
+S: 0 2  10000  10000      0 -10000  10000
+
+Motor speed mixer
+-----------------
+Two scalers total (output, thrust).
+
+This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
+range.  Inputs below zero are treated as zero.
+
+M: 1
+S: 0 3      0  20000 -10000 -10000  10000
+
+Wheel mixer
+------------
+Two scalers total (output, yaw).
+
+This mixer assumes that the wheel servo is set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 1
+S: 0 2  10000  10000      0 -10000  10000
+
+
+Flaps / gimbal / payload mixer for last three channels,
+using the payload control group
+-----------------------------------------------------
+
+M: 1
+S: 0 4  10000  10000      0 -10000  10000
+
+M: 1
+S: 2 0  10000  10000      0 -10000  10000
+
+M: 1
+S: 2 2  10000  10000      0 -10000  10000
@@ -0,0 +1,77 @@
+# @board px4_fmu-v2 exclude
+Aileron/v-tail/throttle/wheel/flaps mixer for PX4FMU
+=======================================================
+
+This file defines mixers suitable for controlling a fixed wing aircraft with
+aileron, v-tail (rudder, elevator), throttle, steerable wheel and flaps
+using PX4FMU.
+The configuration assumes the aileron servos are connected to PX4FMU servo
+output 0 and 1, the tail servos to output 2 and 3, the throttle
+to output 4, the wheel to output 5 and the flaps to output 6 and 7.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon).
+
+Aileron mixer (roll + spoiler)
+---------------------------------
+
+This mixer assumes that the aileron servos are set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 2
+S: 0 0  10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000
+
+M: 2
+S: 0 0  10000  10000      0 -10000  10000
+S: 0 5 -10000 -10000      0 -10000  10000
+
+V-tail mixers
+-------------
+Three scalers total (output, roll, pitch).
+
+On the assumption that the two tail servos are physically reversed, the pitch
+input is inverted between the two servos.
+
+M: 2
+S: 0 2  -7000  -7000      0 -10000  10000
+S: 0 1  -8000  -8000      0 -10000  10000
+
+M: 2
+S: 0 2  -7000  -7000      0 -10000  10000
+S: 0 1   8000   8000      0 -10000  10000
+
+Motor speed mixer
+-----------------
+Two scalers total (output, thrust).
+
+This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
+range.  Inputs below zero are treated as zero.
+
+M: 1
+S: 0 3      0  20000 -10000 -10000  10000
+
+Wheel mixer
+------------
+Two scalers total (output, yaw).
+
+This mixer assumes that the wheel servo is set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 1
+S: 0 2 -10000 -10000      0 -10000  10000
+
+Flaps mixer
+------------
+Flap servos are physically reversed.
+
+M: 1
+S: 0 4      0   5000 -10000 -10000  10000
+
+M: 1
+S: 0 4      0  -5000  10000 -10000  10000
+
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Jaeyoung Lim	fcc0c79c01	Add airframe	2022-08-31 17:54:23 +02:00
Jaeyoung Lim	86706ce218	Add advanced plane	2022-08-31 17:44:27 +02:00