Adds Smart Return To Home capability by recording the flight path in a memory optimimized format. This means the UAV can return to home by using only known-good flight paths.

The flight graph is stored as a series of delta elements at 1m resolution and a list of nodes. Both lists share the same buffer. Each delta element takes up 2 bytes or sometimes 6 bytes if the delta is large. The path can consist of multiple disconnected segments, in which case the gaps are stored as delta elements with a jump-bit set. Once in a while or when required the graph is consolidated, which means: - Points that lie roughly in a line are replaced by a single line - Points that lie close to previously recorded lines are pruned - For lines that pass close to each other a node element is created Furthermore: - The graph is recorded at a higher precision closer to home - If the graph becomes full, the overall precision is reduced and the whole graph is re-consolidated - If the graph becomes full once more, all data is removed except for the shortest path home at that moment. One of these actions is repeated at each subsequent fill-up. Path finding information is generated/refreshed on demand and stored in the nodes. During return-to-home, the best direction to home is continuously evaluated by using the information stored in the nodes. The graph recording and path finding is implemented in navigator/tracker.cpp. The graph based return-to-home is implemented in navigator/smart_rtl.cpp.
2026-05-25 18:27:35 +08:00 · 2020-10-04 12:16:45 -04:00
774 changed files with 15568 additions and 16026 deletions
@@ -10,24 +10,17 @@ pipeline {
          def build_nodes = [:]
          def docker_images = [
            armhf: "px4io/px4-dev-armhf:2020-04-01",
-            arm64: "px4io/px4-dev-aarch64:latest",
            base: "px4io/px4-dev-base-bionic:2020-04-01",
            nuttx: "px4io/px4-dev-nuttx-focal:2020-09-14",
            snapdragon: "lorenzmeier/px4-dev-snapdragon:2020-04-01"
          ]

          def armhf_builds = [
-            target: ["aerotenna_ocpoc_default", "beaglebone_blue_default", "emlid_navio2_default", "px4_raspberrypi_default", "scumaker_pilotpi_default"],
+            target: ["aerotenna_ocpoc_default", "beaglebone_blue_default", "emlid_navio2_default", "px4_raspberrypi_default", "scumaker_airpi2_default"],
            image: docker_images.armhf,
            archive: false
          ]

-          def arm64_builds = [
-            target: ["scumaker_pilotpi_arm64"],
-            image: docker_images.arm64,
-            archive: false
-          ]
-
          def base_builds = [
            target: ["px4_sitl_rtps"],
            image: docker_images.base,
@@ -48,6 +41,7 @@ pipeline {
                     "cubepilot_cubeyellow_console",
                     "cubepilot_cubeyellow_default",
                     "holybro_durandal-v1_default",
+                     "holybro_durandal-v1_stackcheck",
                     "holybro_kakutef7_default",
                     "holybro_pix32v5_default",
                     "intel_aerofc-v1_default",
@@ -59,7 +53,7 @@ pipeline {
                     "nxp_fmuk66-v3_socketcan",
                     "nxp_fmuk66-v3_rtps",
                     "nxp_fmurt1062-v1_default",
-                     "nxp_ucans32k146_default",
+                     "nxp_rddrone-uavcan146_default",
                     "omnibus_f4sd_default",
                     "px4_fmu-v2_default",
                     "px4_fmu-v2_fixedwing",
@@ -836,8 +836,6 @@ void statusFTDI() {
  // run logger
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "logger on"'
  // status commands
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "free"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "work_queue status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "board_adc test"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander check"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander status"'
@@ -848,15 +846,14 @@ void statusFTDI() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dataman status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "df"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dmesg"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ekf2 status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "free"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "gps status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener adc_report"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener battery_status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener cpuload"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_attitude"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_local_position"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_selector_status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_sensor"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_sensor_bias"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener logger_status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_accel"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_accel_fifo"'
@@ -887,7 +884,6 @@ void statusFTDI() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink status streams"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mount"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "modules status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mtd status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param show"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param status"'
@@ -905,8 +901,6 @@ void statusFTDI() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "uorb top -1 -a"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ver all"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "work_queue status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ekf2 status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "free"'
  // stop logger
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "logger off"'
 }
@@ -915,8 +909,6 @@ void statusSEGGER() {
  // run logger
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "logger on"'
  // status commands
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "free"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "work_queue status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "board_adc test"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "commander check"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "commander status"'
@@ -927,13 +919,12 @@ void statusSEGGER() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "dataman status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "df -h"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "dmesg"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "ekf2 status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "free"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "gps status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener adc_report"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener battery_status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener cpuload"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_attitude"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_local_position"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_selector_status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_sensor_bias"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener logger_status"'
@@ -966,7 +957,6 @@ void statusSEGGER() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mavlink status streams"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mavlink status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mount"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "modules status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mtd status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param show"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param status"'
@@ -984,14 +974,12 @@ void statusSEGGER() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "uorb top -1 -a"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "ver all"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "work_queue status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "ekf2 status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "free"'
  // stop logger
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "logger off"'
 }

 void cleanupFTDI() {
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "modules stop-all"'
+  // wipe sdcard
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander stop"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink stop-all"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "navigator stop"'
@@ -1021,7 +1009,7 @@ void cleanupFTDI() {
 }

 void cleanupSEGGER() {
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "modules stop-all"'
+  // wipe sdcard
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "commander stop"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mavlink stop-all"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "navigator stop"'
@@ -19,7 +19,6 @@ jobs:
          beaglebone_blue_default,
          emlid_navio2_default,
          px4_raspberrypi_default,
-          scumaker_pilotpi_default,
          ]
    steps:
    - uses: actions/checkout@v1
@@ -1,50 +0,0 @@
-name: Linux ARM64 Targets
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-aarch64:latest
-    strategy:
-      matrix:
-        config: [
-          scumaker_pilotpi_arm64,
-          ]
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: ${{matrix.config}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: make ${{matrix.config}}
-      run: make ${{matrix.config}}
-    - name: ccache post-run
-      run: ccache -s
@@ -27,6 +27,7 @@ jobs:
          cubepilot_cubeyellow_console,
          cubepilot_cubeyellow_default,
          holybro_durandal-v1_default,
+          holybro_durandal-v1_stackcheck,
          holybro_kakutef7_default,
          holybro_pix32v5_default,
          intel_aerofc-v1_default,
@@ -39,7 +40,7 @@ jobs:
          nxp_fmuk66-v3_socketcan,
          nxp_fmuk66-v3_rtps,
          nxp_fmurt1062-v1_default,
-          nxp_ucans32k146_default,
+          nxp_rddrone-uavcan146_default,
          omnibus_f4sd_default,
          px4_fmu-v2_default,
          px4_fmu-v2_fixedwing,
@@ -15,10 +15,10 @@ jobs:
      fail-fast: false
      matrix:
        config:
-          - {latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo", model: "iris"          } # Alaska
-          - {latitude: "-38.071235", longitude:  "145.281220", altitude:  "31", build_type: "RelWithDebInfo", model: "standard_vtol" } # Australia
-          - {latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo", model: "tailsitter"    } # Florida
-          - {latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage",       model: "standard_vtol" } # Zurich
+          - {latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo"} # Alaska
+          - {latitude: "-38.071235", longitude:  "145.281220", altitude:  "31", build_type: "RelWithDebInfo"} # Australia
+          - {latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo"} # Florida
+          - {latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage"} # Zurich
    container:
      image: px4io/px4-dev-simulation-focal:2020-08-14
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
@@ -28,9 +28,9 @@ jobs:
        token: ${{ secrets.ACCESS_TOKEN }}

    - name: Download MAVSDK
-      run: wget https://github.com/mavlink/MAVSDK/releases/download/v0.33.1/mavsdk_0.33.1_ubuntu20.04_amd64.deb
+      run: wget https://github.com/mavlink/MAVSDK/releases/download/v0.30.1/mavsdk_0.30.1_ubuntu18.04_amd64.deb
    - name: Install MAVSDK
-      run: dpkg -i mavsdk_0.33.1_ubuntu20.04_amd64.deb
+      run: dpkg -i mavsdk_0.30.1_ubuntu18.04_amd64.deb

    - name: Prepare ccache timestamp
      id: ccache_cache_timestamp
@@ -92,7 +92,7 @@ jobs:
        PX4_HOME_LON: ${{matrix.config.longitude}}
        PX4_HOME_ALT: ${{matrix.config.altitude}}
        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} test/mavsdk_tests/configs/sitl.json
+      run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early test/mavsdk_tests/configs/sitl.json

    - name: Look at core files
      if: failure()
@@ -106,7 +106,7 @@ jobs:

    - name: Upload logs to flight review
      if: failure()
-      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ${GITHUB_WORKSPACE}/build/px4_sitl_default/tmp_mavsdk_tests/rootfs/log/*/*.ulg
+      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ./build/px4_sitl_default/tmp/rootfs/log/*/*.ulg

    - name: Upload px4 binary
      if: failure()
@@ -12,15 +12,15 @@
 	branch = master
 [submodule "Tools/sitl_gazebo"]
 	path = Tools/sitl_gazebo
-	url = https://github.com/PX4/PX4-SITL_gazebo.git
+	url = https://github.com/PX4/sitl_gazebo.git
 	branch = master
 [submodule "src/lib/matrix"]
 	path = src/lib/matrix
-	url = https://github.com/PX4/PX4-Matrix
+	url = https://github.com/PX4/Matrix.git
 	branch = master
 [submodule "src/lib/ecl"]
 	path = src/lib/ecl
-	url = https://github.com/PX4/PX4-ECL
+	url = https://github.com/PX4/ecl.git
 	branch = master
 [submodule "boards/atlflight/cmake_hexagon"]
 	path = boards/atlflight/cmake_hexagon
@@ -28,7 +28,7 @@
 	branch = px4
 [submodule "src/drivers/gps/devices"]
 	path = src/drivers/gps/devices
-	url = https://github.com/PX4/PX4-GPSDrivers
+	url = https://github.com/PX4/GpsDrivers.git
 	branch = master
 [submodule "src/modules/micrortps_bridge/micro-CDR"]
 	path = src/modules/micrortps_bridge/micro-CDR
@@ -37,11 +37,11 @@
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
 	url = https://github.com/PX4/NuttX.git
-	branch = px4_firmware_nuttx-10.0.0+
+	branch = px4_firmware_nuttx-9.1.0+
 [submodule "platforms/nuttx/NuttX/apps"]
 	path = platforms/nuttx/NuttX/apps
 	url = https://github.com/PX4/NuttX-apps.git
-	branch = px4_firmware_nuttx-10.0.0+
+	branch = px4_firmware_nuttx-9.1.0+
 [submodule "platforms/qurt/dspal"]
 	path = platforms/qurt/dspal
 	url = https://github.com/ATLFlight/dspal.git
@@ -86,11 +86,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: cubepilot_cubeyellow_default
-    emlid_navio2_default:
-      short: emlid_navio2
-      buildType: MinSizeRel
-      settings:
-        CONFIG: emlid_navio2_default
    holybro_durandal-v1_default:
      short: holybro_durandal-v1
      buildType: MinSizeRel
@@ -210,12 +210,10 @@ pipeline {
            sh('export')
            unstash 'metadata_airframes'
            unstash 'metadata_parameters'
-            unstash 'metadata_module_documentation'
            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
              sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_user_guide.git')
              sh('cp airframes.md px4_user_guide/en/airframes/airframe_reference.md')
              sh('cp parameters.md px4_user_guide/en/advanced_config/parameter_reference.md')
-              sh('cp -R modules/*.md px4_user_guide/en/modules/')
              sh('cd px4_user_guide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
              sh('cd px4_user_guide; git push origin master || true')
              sh('rm -rf px4_user_guide')
@@ -40,12 +40,8 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/master/en/co

 ## Maintenance Team

-  * Project: Founder
-    * [Lorenz Meier](https://github.com/LorenzMeier)
-  * Architecture
-    * [Daniel Agar](https://github.com/dagar)
-  * [Dev Call](https://github.com/PX4/Firmware/labels/devcall)
-    * [Ramon Roche](https://github.com/mrpollo)
+  * Project: Founder - [Lorenz Meier](https://github.com/LorenzMeier), Architecture: [Daniel Agar](https://github.com/dagar)
+    * [Dev Call](https://github.com/PX4/Firmware/labels/devcall) - [Ramon Roche](https://github.com/mrpollo)
  * Communication Architecture
    * [Beat Kueng](https://github.com/bkueng)
    * [Julian Oes](https://github.com/JulianOes)
@@ -59,22 +55,15 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/master/en/co
    * [Roman Bapst](https://github.com/RomanBapst)
  * [Fixed Wing Flight Control](https://github.com/PX4/Firmware/labels/fixedwing)
    * [Roman Bapst](https://github.com/RomanBapst)
-  * OS / NuttX
-    * [David Sidrane](https://github.com/davids5)
-  * Driver Architecture
-    * [Daniel Agar](https://github.com/dagar)
-  * Commander Architecture
-    * [Julian Oes](https://github.com/julianoes)
-  * [UAVCAN](https://github.com/PX4/Firmware/labels/uavcan)
-    * [Daniel Agar](https://github.com/dagar)
-  * [State Estimation](https://github.com/PX4/Firmware/issues?q=is%3Aopen+is%3Aissue+label%3A%22state+estimation%22)
-    * [Paul Riseborough](https://github.com/priseborough)
+  * OS / NuttX [David Sidrane](https://github.com/davids5)
+  * Driver Architecture [Daniel Agar](https://github.com/dagar)
+  * Commander Architecture [Julian Oes](https://github.com/julianoes)
+  * [UAVCAN](https://github.com/PX4/Firmware/labels/uavcan) [Daniel Agar](https://github.com/dagar)
+  * [State Estimation](https://github.com/PX4/Firmware/issues?q=is%3Aopen+is%3Aissue+label%3A%22state+estimation%22) - [Paul Riseborough](https://github.com/priseborough)
  * Vision based navigation
    * [Julian Kent](https://github.com/jkflying)
-  * Obstacle Avoidance
-    * [Martina Rivizzigno](https://github.com/mrivi)
-  * RTPS/ROS2 Interface
-    * [Nuno Marques](https://github.com/TSC21)
+  * Obstacle Avoidance - [Martina Rivizzigno](https://github.com/mrivi)
+  * RTPS/ROS2 Interface - [Nuno Marques](https://github.com/TSC21)

 See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/Firmware/graphs/contributors) (Github).

@@ -14,7 +14,7 @@ set +e
 # NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
 #
 #------------------------------------------------------------------------------
-set R /
+
 #
 # Mount the procfs.
 #
@@ -57,7 +57,7 @@ fi
 #
 # Optional board defaults: rc.board_defaults
 #
-set BOARD_RC_DEFAULTS ${R}etc/init.d/rc.board_defaults
+set BOARD_RC_DEFAULTS /etc/init.d/rc.board_defaults
 if [ -f $BOARD_RC_DEFAULTS ]
 then
 	echo "Board defaults: ${BOARD_RC_DEFAULTS}"
@@ -83,7 +83,7 @@ fi
 #
 # board sensors: rc.sensors
 #
-set BOARD_RC_SENSORS ${R}etc/init.d/rc.board_sensors
+set BOARD_RC_SENSORS /etc/init.d/rc.board_sensors
 if [ -f $BOARD_RC_SENSORS ]
 then
 	echo "Board sensors: ${BOARD_RC_SENSORS}"
@@ -95,7 +95,7 @@ unset BOARD_RC_SENSORS
 # Start UART/Serial device drivers.
 # Note: rc.serial is auto-generated from Tools/serial/generate_config.py
 #
-. ${R}etc/init.d/rc.serial
+. /etc/init.d/rc.serial

 # Check for flow sensor
 if param compare SENS_EN_PX4FLOW 1
@@ -104,4 +104,3 @@ then
 fi

 uavcannode start
-unset R
@@ -7,6 +7,6 @@
 # @maintainer Julian Oes <julian@oes.ch>
 #

-. ${R}etc/init.d/rc.mc_defaults
+sh /etc/init.d/rc.mc_defaults

 set MIXER quad_w
@@ -6,7 +6,7 @@
 # @type Quadrotor
 #

-. ${R}etc/init.d/rc.mc_defaults
+sh /etc/init.d/rc.mc_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -6,6 +6,6 @@
 # @type Quadrotor
 #

-. ${R}etc/init.d/airframes/4016_holybro_px4vision
+sh /etc/init.d/airframes/4016_holybro_px4vision

 set MIXER quad_x
@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #

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

 if [ $AUTOCNF = yes ]
 then
@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #

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

 if [ $AUTOCNF = yes ]
 then
@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #

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

 if [ $AUTOCNF = yes ]
 then
@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #

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

 if [ $AUTOCNF = yes ]
 then
@@ -5,7 +5,7 @@
 # @type Quadrotor
 #

-. ${R}etc/init.d/rc.mc_defaults
+sh /etc/init.d/rc.mc_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #

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

 if [ $AUTOCNF = yes ]
 then
@@ -5,4 +5,4 @@
 # @type Quadrotor Wide
 #

-. ${R}etc/init.d-posix/airframes/10016_iris
+sh /etc/init.d-posix/airframes/10016_iris
@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #

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

 if [ $AUTOCNF = yes ]
 then
@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #

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

 if [ $AUTOCNF = yes ]
 then
@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #

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

 if [ $AUTOCNF = yes ]
 then
@@ -3,7 +3,7 @@
 # @name UUV
 #

-. ${R}etc/init.d/rc.uuv_defaults
+sh /etc/init.d/rc.uuv_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -3,7 +3,7 @@
 # @name Hippocampus UUV
 #

-. ${R}etc/init.d/rc.uuv_defaults
+sh /etc/init.d/rc.uuv_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -1,20 +0,0 @@
-#!/bin/sh
-#
-# @name BlueROV2 Heavy Configuration
-#
-
-. ${R}etc/init.d/rc.uuv_defaults
-
-if [ $AUTOCNF = yes ]
-then
-	#Set data link loss failsafe mode (0: disabled)
-	param set NAV_DLL_ACT 0
-
-	# disable circuit breaker for airspeed sensor
-	param set CBRK_AIRSPD_CHK 162128
-
-fi
-
-set PWM_OUT 12345678
-set MIXER_FILE etc/mixers-sitl/vectored6dof_sitl.main.mix
-set MIXER custom
@@ -3,7 +3,7 @@
 # @name Plane SITL
 #

-. ${R}etc/init.d/rc.fw_defaults
+sh /etc/init.d/rc.fw_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -3,7 +3,7 @@
 # @name Plane SITL with camera
 #

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

 if [ $AUTOCNF = yes ]
 then
@@ -3,7 +3,7 @@
 # @name Plane SITL with catapult
 #

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

 if [ $AUTOCNF = yes ]
 then
@@ -3,7 +3,7 @@
 # @name Plane SITL with downward facing LIDAR.
 #

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

 if [ $AUTOCNF = yes ]
 then
@@ -3,7 +3,7 @@
 # @name Plane SITL
 #

-. ${R}etc/init.d/rc.fw_defaults
+sh /etc/init.d/rc.fw_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -3,7 +3,7 @@
 # @name Plane SITL
 #

-. ${R}etc/init.d/rc.fw_defaults
+sh /etc/init.d/rc.fw_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -1,47 +0,0 @@
-#!/bin/sh
-#
-# @name Plane SITL
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-if [ $AUTOCNF = yes ]
-then
-	param set EKF2_ARSP_THR 8
-	param set EKF2_FUSE_BETA 1
-	param set EKF2_MAG_ACCLIM 0
-	param set EKF2_MAG_YAWLIM 0
-
-	param set FW_LND_AIRSPD_SC 1
-	param set FW_LND_ANG 8
-	param set FW_THR_LND_MAX 0
-
-	param set FW_L1_PERIOD 15
-
-	param set FW_P_TC 0.5
-	param set FW_PR_FF 0.40
-	param set FW_PR_I 0.05
-	param set FW_PR_P 0.05
-
-	param set FW_R_TC 0.7
-	param set FW_RR_FF 0.20
-	param set FW_RR_I 0.02
-	param set FW_RR_P 0.22
-
-	param set FW_L1_PERIOD 12
-
-	param set FW_W_EN 1
-
-	param set MIS_LTRMIN_ALT 30
-	param set MIS_TAKEOFF_ALT 30
-
-	param set NAV_ACC_RAD 15
-	param set NAV_DLL_ACT 2
-	param set NAV_LOITER_RAD 50
-
-	param set RWTO_TKOFF 1
-
-fi
-
-set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
-set MIXER custom
@@ -1,56 +0,0 @@
-#!/bin/sh
-#
-# @name Plane SITL
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-if [ $AUTOCNF = yes ]
-then
-	param set EKF2_ARSP_THR 8
-	param set EKF2_FUSE_BETA 1
-	#param set EKF2_MAG_ACCLIM 0
-	#param set EKF2_MAG_YAWLIM 0
-
-	param set FW_LND_AIRSPD_SC 1.1
-	param set FW_LND_ANG 5
-	param set FW_THR_LND_MAX 0
-	param set FW_LND_HHDIST 30
-	param set FW_LND_FL_PMIN 9.5
-	param set FW_LND_FL_PMAX 20
-	param set FW_LND_FLALT 5
-	param set FW_LND_TLALT 15
-
-	param set FW_L1_PERIOD 25
-
-	param set FW_P_TC 0.4
-	param set FW_PR_FF 0.40
-	param set FW_PR_I 0.05
-	param set FW_PR_P 0.05
-
-	param set FW_R_TC 0.45
-	param set FW_RR_FF 0.40
-	param set FW_RR_I 0.132
-	param set FW_RR_P 0.085
-
-	param set FW_W_EN 1
-
-	param set MIS_LTRMIN_ALT 30
-	param set MIS_TAKEOFF_ALT 20
-	param set MIS_DIST_1WP 2500
-	param set MIS_DIST_WPS 10000
-
-	param set NAV_ACC_RAD 15
-	param set NAV_DLL_ACT 2
-	param set NAV_LOITER_RAD 50
-
-	param set RWTO_TKOFF 1
-	param set RWTO_MAX_PITCH 20
-	param set RWTO_MAX_ROLL 10
-	param set RWTO_PSP 8
-	param set RWTO_AIRSPD_SCL 1.8
-
-fi
-
-set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
-set MIXER custom
@@ -5,7 +5,7 @@
 # @type Standard VTOL
 #

-. ${R}etc/init.d/rc.vtol_defaults
+sh /etc/init.d/rc.vtol_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -14,9 +14,6 @@ then
 	param set FW_AIRSPD_TRIM 16
 	param set FW_L1_PERIOD 12

-	param set FW_RR_FF 0.1
-	param set FW_RR_P 0.01
-
 	param set MC_ROLLRATE_P 0.3

 	param set MIS_LTRMIN_ALT 10
@@ -25,7 +22,7 @@ then

 	param set MPC_ACC_HOR_MAX 2
 	param set MPC_ACC_HOR_MAX 2
-	param set MPC_THR_HOVER 0.58
+	param set MPC_THR_MIN 0.1
 	param set MPC_TKO_SPEED 1
 	param set MPC_XY_P 0.8
 	param set MPC_XY_VEL_P_ACC 3
@@ -5,7 +5,7 @@
 # @type VTOL Quad Tailsitter
 #

-. ${R}etc/init.d/rc.vtol_defaults
+sh /etc/init.d/rc.vtol_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -16,13 +16,17 @@ then

 	param set MC_ROLLRATE_P 0.3

+	param set MIS_LTRMIN_ALT 10
+	param set MIS_TAKEOFF_ALT 10
 	param set MIS_YAW_TMT 10

 	param set MPC_ACC_HOR_MAX 2
 	param set MPC_ACC_HOR_MAX 2
-	param set MPC_THR_MIN 0.3
+	param set MPC_THR_MIN 0.1
+	param set MPC_TKO_SPEED 1
 	param set MPC_XY_P 0.15
 	param set MPC_XY_VEL_D_ACC 0.1
+	param set MPC_XY_VEL_I_ACC 4
 	param set MPC_XY_VEL_P_ACC 1
 	param set MPC_Z_VEL_MAX_DN 1.5
 	param set MPC_Z_VEL_P_ACC 16
@@ -34,8 +38,6 @@ then
 	param set VT_F_TRANS_THR 0.7
 	param set VT_TYPE 0

-	param set WV_EN 0
-
 fi

 set MAV_TYPE 20
@@ -5,7 +5,7 @@
 # @type VTOL Tiltrotor
 #

-. ${R}etc/init.d/rc.vtol_defaults
+sh /etc/init.d/rc.vtol_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -3,7 +3,7 @@
 # @name Rover
 #

-. ${R}etc/init.d/rc.rover_defaults
+sh /etc/init.d/rc.rover_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -4,7 +4,7 @@
 # @type Rover
 # @class Rover

-. ${R}etc/init.d/rc.rover_defaults
+sh /etc/init.d/rc.rover_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -8,7 +8,7 @@
 # @maintainer ThunderFly s.r.o.
 #

-. ${R}etc/init.d/rc.rover_defaults
+sh /etc/init.d/rc.rover_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -3,7 +3,7 @@
 # @name Boat
 #

-. ${R}etc/init.d/rc.boat_defaults
+sh /etc/init.d/rc.boat_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -10,7 +10,7 @@
 #
 #

-. ${R}etc/init.d/rc.fw_defaults
+sh /etc/init.d/rc.fw_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -9,7 +9,7 @@
 # @output MAIN3 port thruster
 # @output MAIN4 tail thruster

-. ${R}etc/init.d/rc.airship_defaults
+sh /etc/init.d/rc.airship_defaults

 set MIXER cloudship
 set PWM_OUT 1234
@@ -7,6 +7,6 @@
 # @maintainer Jaeyoung Lim <jaeyoung@auterion.com>
 #

-. ${R}etc/init.d/rc.mc_defaults
+sh /etc/init.d/rc.mc_defaults

 set MIXER quad_w
@@ -7,7 +7,7 @@
 # @maintainer Jaeyoung Lim <jaeyoung@auterion.com>
 #

-. ${R}etc/init.d/rc.mc_defaults
+sh /etc/init.d/rc.mc_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -5,7 +5,7 @@
 # @type Hexarotor x
 #

-. ${R}etc/init.d/rc.mc_defaults
+sh /etc/init.d/rc.mc_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -51,15 +51,12 @@ px4_add_romfs_files(
 	1019_iris_dual_gps
 	1020_uuv_generic
 	1021_uuv_hippocampus
-	1022_uuv_bluerov2_heavy
 	1030_plane
 	1031_plane_cam
 	1032_plane_catapult
 	1033_plane_lidar
 	1033_rascal
 	1034_rascal-electric
-	1035_techpod
-	1036_malolo
 	1040_standard_vtol
 	1041_tailsitter
 	1042_tiltrotor
@@ -2,17 +2,6 @@

 # EKF2 replay script

-# shellcheck disable=SC2154
-if [ ! -f ${replay} ]; then
-	echo "Invalid replay log file ${replay}"
-	exit 1
-fi
-
-if [ ! -f replay_params.txt ]; then
-	echo "Creating $(pwd)/replay_params.txt"
-	ulog_params -i "${replay}" -d ' ' | grep -e '^EKF2' > replay_params.txt
-fi
-
 publisher_rules_file="orb_publisher.rules"
 cat <<EOF > "$publisher_rules_file"
 restrict_topics: sensor_combined, vehicle_gps_position, vehicle_land_detected
@@ -15,7 +15,7 @@ SCRIPT_DIR="$(CDPATH='' cd -- "$(dirname -- "$0")" && pwd)"
 # shellcheck disable=SC2154
 if [ "$replay_mode" = "ekf2" ]
 then
-	. ${R}etc/init.d-posix/rc.replay
+	sh etc/init.d-posix/rc.replay
 	exit 0
 fi

@@ -123,12 +123,10 @@ then

 	param set BAT_N_CELLS 4

-	param set CAL_ACC0_ID 1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
-	param set CAL_ACC1_ID 1310996 # 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
-	param set CAL_ACC2_ID 1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
-	param set CAL_GYRO0_ID 1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
-	param set CAL_GYRO1_ID 1310996 # 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
-	param set CAL_GYRO2_ID 1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
+	param set CAL_ACC0_ID 1311244
+	param set CAL_ACC1_ID 1311500
+	param set CAL_GYRO0_ID 1311244
+	param set CAL_GYRO1_ID 1311500
 	param set CAL_MAG0_ID 197388
 	param set CAL_MAG1_ID 197644

@@ -138,14 +136,31 @@ then
 	# Don't require RC calibration and configuration
 	param set COM_RC_IN_MODE 1

+	param set EKF2_ANGERR_INIT 0.01
+	param set EKF2_GBIAS_INIT 0.01
+
+	# Prevent high accel bias
+	param set COM_ARM_EKF_AB 0.005
+
 	# Speedup SITL startup
 	param set EKF2_REQ_GPS_H 0.5

-	# Multi-EKF
-	param set EKF2_MULTI_IMU 3
-	param set SENS_IMU_MODE 0
-	param set EKF2_MULTI_MAG 2
-	param set SENS_MAG_MODE 0
+	# LPE: GPS only mode
+	param set LPE_FUSION 145
+
+	param set MC_PITCH_P 6
+	param set MC_PITCHRATE_P 0.2
+	param set MC_ROLL_P 6
+	param set MC_ROLLRATE_P 0.2
+
+	param set MPC_Z_VEL_P_ACC 12.0
+	param set MPC_Z_VEL_I_ACC 3.0
+	param set MPC_XY_P 0.8
+	param set MPC_XY_VEL_P_ACC 4.0
+	param set MPC_XY_VEL_I_ACC 0.4
+	param set MPC_XY_VEL_D_ACC 0.32
+
+	param set RTL_RETURN_ALT 30

 	# By default log from boot until first disarm.
 	param set SDLOG_MODE 1
@@ -182,8 +197,7 @@ fi

 # Autostart ID
 autostart_file=''
-# shellcheck disable=SC2231
-for f in ${R}etc/init.d-posix/airframes/"$(param show -q SYS_AUTOSTART)"_*
+for f in etc/init.d-posix/airframes/"$(param show -q SYS_AUTOSTART)"_*
 do
 	filename=$(basename "$f")
 	case "$filename" in
@@ -200,7 +214,7 @@ if [ ! -e "$autostart_file" ]; then
 	exit 1
 fi

-. "$autostart_file"
+sh "$autostart_file"

 #
 # If autoconfig parameter was set, reset it and save parameters.
@@ -216,7 +230,6 @@ if ! replay tryapplyparams
 then
 	simulator start -c $simulator_tcp_port
 fi
-load_mon start
 battery_simulator start
 tone_alarm start
 rc_update start
@@ -240,7 +253,7 @@ fi
 # 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
+sh etc/init.d/rc.vehicle_setup

 # GCS link
 mavlink start -x -u $udp_gcs_port_local -r 4000000
@@ -261,7 +274,7 @@ mavlink start -x -u $udp_offboard_port_local -r 4000000 -m onboard -o $udp_offbo
 mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote

 # execute autostart post script if any
-[ -e "$autostart_file".post ] && . "$autostart_file".post
+[ -e "$autostart_file".post ] && sh "$autostart_file".post

 # Run script to start logging
 if param compare SYS_MC_EST_GROUP 2
@@ -270,7 +283,7 @@ then
 else
 	set LOGGER_ARGS "-p vehicle_attitude"
 fi
-. ${R}etc/init.d/rc.logging
+sh etc/init.d/rc.logging

 mavlink boot_complete
 replay trystart
@@ -36,7 +36,6 @@ add_subdirectory(airframes)
 px4_add_romfs_files(
 	rc.airship_apps
 	rc.airship_defaults
-	rc.boat_defaults
 	rc.fw_apps
 	rc.fw_defaults
 	rc.interface
@@ -15,7 +15,7 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #

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

 if [ $AUTOCNF = yes ]
 then
@@ -23,7 +23,7 @@
 # @board bitcraze_crazyflie exclude
 #

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

 if [ $AUTOCNF = yes ]
 then
@@ -21,7 +21,7 @@
 # @board bitcraze_crazyflie exclude
 #

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

 if [ $AUTOCNF = yes ]
 then
@@ -23,7 +23,7 @@
 # @board bitcraze_crazyflie exclude
 #

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

 if [ $AUTOCNF = yes ]
 then
@@ -23,7 +23,7 @@
 # @board bitcraze_crazyflie exclude
 #

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

 if [ $AUTOCNF = yes ]
 then
@@ -8,7 +8,7 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #

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

 set MIXER quad_x
 set PWM_OUT 1234
@@ -8,7 +8,7 @@
 # @maintainer Roman Bapst <roman@auterion.com>
 #

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

 if [ $AUTOCNF = yes ]
 then
@@ -22,7 +22,7 @@
 # @board bitcraze_crazyflie exclude
 #

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

 set MIXER hexa_cox

@@ -8,7 +8,7 @@
 # @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
 #

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

 set MIXER quad_x
 set PWM_OUT 1234
@@ -20,7 +20,7 @@
 # @board bitcraze_crazyflie exclude
 #

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

 set MIXER octo_cox

@@ -20,7 +20,7 @@
 # @board bitcraze_crazyflie exclude
 #

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

 if [ $AUTOCNF = yes ]
 then
@@ -18,7 +18,7 @@
 # @output AUX5 Throttle
 #

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

 if [ $AUTOCNF = yes ]
 then
@@ -13,7 +13,7 @@
 # @maintainer Roman Bapst <roman@px4.io>
 #

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

 if [ $AUTOCNF = yes ]
 then
@@ -22,7 +22,7 @@
 # @board bitcraze_crazyflie exclude
 #

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

 if [ $AUTOCNF = yes ]
 then
@@ -8,7 +8,7 @@
 # @maintainer Roman Bapst <roman@px4.io>
 #

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

 if [ $AUTOCNF = yes ]
 then
@@ -21,7 +21,7 @@
 # @board bitcraze_crazyflie exclude
 #

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

 if [ $AUTOCNF = yes ]
 then
@@ -21,7 +21,7 @@
 # @board bitcraze_crazyflie exclude
 #

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

 if [ $AUTOCNF = yes ]
 then
@@ -19,7 +19,7 @@
 # @board bitcraze_crazyflie exclude
 #

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

 if [ $AUTOCNF = yes ]
 then
@@ -11,7 +11,7 @@
 # @board bitcraze_crazyflie exclude
 #

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

 if [ $AUTOCNF = yes ]
 then
@@ -11,7 +11,7 @@
 # @board bitcraze_crazyflie exclude
 #

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

 if [ $AUTOCNF = yes ]
 then
@@ -11,7 +11,7 @@
 # @board bitcraze_crazyflie exclude
 #

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

 if [ $AUTOCNF = yes ]
 then
@@ -12,7 +12,7 @@
 # @board bitcraze_crazyflie exclude
 #

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

 if [ $AUTOCNF = yes ]
 then
@@ -20,7 +20,7 @@
 # @board bitcraze_crazyflie exclude
 #

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

 if [ $AUTOCNF = yes ]
 then
@@ -17,7 +17,7 @@
 # @output MAIN8 Pusher reverse channel
 #

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

 if [ $AUTOCNF = yes ]
 then
@@ -21,7 +21,7 @@
 # @board bitcraze_crazyflie exclude
 #

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

 if [ $AUTOCNF = yes ]
 then
@@ -24,7 +24,7 @@
 # @board bitcraze_crazyflie exclude
 #

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

 if [ $AUTOCNF = yes ]
 then
@@ -16,7 +16,7 @@
 # @board bitcraze_crazyflie exclude
 #

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

 if [ $AUTOCNF = yes ]
 then
@@ -16,7 +16,7 @@
 # @board bitcraze_crazyflie exclude
 #

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

 set MIXER tri_y_yaw+

@@ -16,7 +16,7 @@
 # @board bitcraze_crazyflie exclude
 #

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

 set MIXER tri_y_yaw-

@@ -17,7 +17,7 @@
 # @board bitcraze_crazyflie exclude
 #

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

 if [ $AUTOCNF = yes ]
@@ -18,7 +18,7 @@
 # @board bitcraze_crazyflie exclude
 #

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

 # Configure as helicopter (number 4 defined in commander_helper.cpp)
 set MAV_TYPE 4
@@ -24,7 +24,7 @@
 # @board bitcraze_crazyflie exclude
 #

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

 if [ $AUTOCNF = yes ]
 then
@@ -22,7 +22,7 @@
 # @board bitcraze_crazyflie exclude
 #

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

 if [ $AUTOCNF = yes ]
 then
@@ -24,7 +24,7 @@
 # @board bitcraze_crazyflie exclude
 #

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

 if [ $AUTOCNF = yes ]
 then
@@ -24,7 +24,7 @@
 # @board bitcraze_crazyflie exclude
 #

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

 if [ $AUTOCNF = yes ]
 then
@@ -25,7 +25,7 @@
 # @board bitcraze_crazyflie exclude
 #

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

 if [ $AUTOCNF = yes ]
 then
@@ -14,7 +14,7 @@
 # @board bitcraze_crazyflie exclude
 #

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

 if [ $AUTOCNF = yes ]
 then
@@ -19,6 +19,6 @@
 # @board bitcraze_crazyflie exclude
 #

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

 set MIXER fw_generic_wing
@@ -20,7 +20,7 @@
 # @board bitcraze_crazyflie exclude
 #

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

 if [ $AUTOCNF = yes ]
 then
@@ -21,7 +21,7 @@
 # @board bitcraze_crazyflie exclude
 #

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

 if [ $AUTOCNF = yes ]
 then
@@ -19,7 +19,7 @@
 # @board bitcraze_crazyflie exclude
 #

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

 if [ $AUTOCNF = yes ]
 then
@@ -21,7 +21,7 @@
 # @board bitcraze_crazyflie exclude
 #

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

 if [ $AUTOCNF = yes ]
 then
@@ -19,7 +19,7 @@
 # @board bitcraze_crazyflie exclude
 #

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

 if [ $AUTOCNF = yes ]
 then
@@ -17,6 +17,6 @@
 # @board bitcraze_crazyflie exclude
 #

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

 set MIXER Viper
@@ -20,7 +20,7 @@
 # @board bitcraze_crazyflie exclude
 #

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

 if [ $AUTOCNF = yes ]
 then
@@ -21,7 +21,7 @@
 # @board bitcraze_crazyflie exclude
 #

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

 if [ $AUTOCNF = yes ]
 then
@@ -19,7 +19,7 @@
 # @board bitcraze_crazyflie exclude
 #

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

 if [ $AUTOCNF = yes ]
 then
@@ -20,7 +20,7 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #

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

 set MIXER quad_x

@@ -11,7 +11,7 @@
 # @board bitcraze_crazyflie exclude
 #

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

 set MIXER quad_x
 set PWM_OUT 1234
--- a/Show More
+++ b/Show More