ROMFS: 50000_generic_ground_vehicle remove fmu-v2 exclude

- this allows px4_fmu-v2_rover to function until we have a better mechanism for including or excluding ROMFS dependencies #15711
landing_slope: added wrap_pi to getLandingSlope and getFlareCurve
2026-05-26 21:20:04 +08:00 · 2020-11-12 12:57:27 -05:00 · 2020-11-12 12:57:27 -05:00 · 2020-11-12 12:57:27 -05:00 · 2020-11-12 12:57:27 -05:00 · 2020-11-12 12:57:27 -05:00
1380 changed files with 18935 additions and 36823 deletions
@@ -0,0 +1,123 @@
+#!/usr/bin/env groovy
+
+pipeline {
+  agent none
+
+  stages {
+
+    stage('Build') {
+      agent {
+        docker {
+          image 'px4io/px4-dev-ros-melodic:2020-04-01'
+          args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
+        }
+      }
+      steps {
+        sh 'export'
+        sh 'make distclean'
+        sh 'ccache -s'
+        sh 'git fetch --tags'
+        sh 'make px4_sitl_default'
+        sh 'make px4_sitl_default sitl_gazebo'
+        sh 'make px4_sitl_default package'
+        sh 'ccache -s'
+        stash(name: "px4_sitl_package", includes: "build/px4_sitl_default/*.bz2")
+        archiveArtifacts(artifacts: "build/px4_sitl_default/*.bz2", fingerprint: true, onlyIfSuccessful: true)
+      }
+      post {
+        always {
+            sh 'make distclean'
+        }
+      }
+    } // stage Build
+
+    stage('ROS Tests') {
+      steps {
+        script {
+          def missions = [
+            [
+              name: "MC_avoidance",
+              test: "mavros_posix_test_avoidance.test",
+              mission: "avoidance",
+              vehicle: "iris_obs_avoid",
+              run_script: "rostest_avoidance_run.sh"
+            ],
+            [
+              name: "MC_safe_landing",
+              test: "mavros_posix_test_safe_landing.test",
+              mission: "MC_safe_landing",
+              vehicle: "iris_obs_avoid",
+              run_script: "rostest_avoidance_run.sh"
+            ],
+
+          ]
+
+          def test_nodes = [:]
+          for (def i = 0; i < missions.size(); i++) {
+            test_nodes.put(missions[i].name, createTestNode(missions[i]))
+          }
+
+          parallel test_nodes
+        } // script
+      } // steps
+    } // stage ROS Tests
+
+  } //stages
+
+  environment {
+    CCACHE_DIR = '/tmp/ccache'
+    CI = true
+  }
+
+  options {
+    buildDiscarder(logRotator(numToKeepStr: '10', artifactDaysToKeepStr: '20'))
+    timeout(time: 60, unit: 'MINUTES')
+  }
+} // pipeline
+
+def createTestNode(Map test_def) {
+  return {
+    node {
+      cleanWs()
+      docker.image("px4io/px4-dev-ros-melodic:2020-04-01").inside('-e HOME=${WORKSPACE}') {
+        stage(test_def.name) {
+          def run_script = test_def.get('run_script', 'rostest_px4_run.sh')
+          def test_ok = true
+          sh('export')
+
+          unstash('px4_sitl_package')
+          sh('tar -xjpvf build/px4_sitl_default/px4-px4_sitl_default*.bz2')
+
+          // run test
+          try {
+            sh('px4-px4_sitl_default*/px4/test/' + run_script + ' ' + test_def.test + ' mission:=' + test_def.mission + ' vehicle:=' + test_def.vehicle)
+
+          } catch (exc) {
+            // save all test artifacts for debugging
+            archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.ulg, .ros/**/rosunit-*.xml, .ros/**/rostest-*.log')
+            test_ok = false
+          }
+
+          // upload log to flight review (https://logs.px4.io/)
+          sh('px4-px4_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/log/*/*.ulg')
+
+          // log analysis
+          // process ekf log data
+          try {
+            sh('px4-px4_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py .ros/log/*/*.ulg')
+          } catch (exc) {
+            // save log analysis artifacts for debugging
+            archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.pdf, .ros/**/*.csv')
+            // FIXME: don't let the script to fail the build
+            // test_ok = false
+          }
+
+          if (!test_ok) {
+            error('ROS Test failed')
+          }
+        } // stage
+        cleanWs()
+      } // docker.image
+    } // node
+  } // return
+} // createTestNode
@@ -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",
+            nuttx: "px4io/px4-dev-nuttx-bionic:2020-04-01",
            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"],
            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,
@@ -39,8 +32,6 @@ pipeline {
                     "airmind_mindpx-v2_default",
                     "av_x-v1_default",
                     "bitcraze_crazyflie_default",
-                     "cuav_can-gps-v1_canbootloader",
-                     "cuav_can-gps-v1_default",
                     "cuav_nora_default",
                     "cuav_x7pro_default",
                     "cubepilot_cubeorange_console",
@@ -48,6 +39,7 @@ 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",
@@ -57,9 +49,8 @@ pipeline {
                     "mro_x21_default",
                     "nxp_fmuk66-v3_default",
                     "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",
@@ -118,7 +109,7 @@ pipeline {
    // TODO: actually upload artifacts to S3
    // stage('S3 Upload') {
    //   agent {
-    //     docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
+    //     docker { image 'px4io/px4-dev-base-bionic:2020-04-01' }
    //   }
    //   options {
    //         skipDefaultCheckout()
@@ -0,0 +1,90 @@
+#!/usr/bin/env groovy
+
+pipeline {
+  agent none
+  stages {
+
+    stage('Build') {
+
+      parallel {
+
+        stage('px4_sitl_default (OSX)') {
+          agent {
+            label 'mac'
+          }
+          environment {
+            CCACHE_BASEDIR = "${env.WORKSPACE}"
+          }
+          steps {
+            sh 'export'
+            sh 'make distclean'
+            sh 'git fetch --tags'
+            sh 'ccache -s'
+            sh 'make px4_sitl_default'
+            sh 'ccache -s'
+          }
+          post {
+            always {
+              sh 'make distclean'
+            }
+          }
+        } // stage px4_sitl_default
+
+        stage('px4_fmu-v5_default (OSX)') {
+          agent {
+            label 'mac'
+          }
+          environment {
+            CCACHE_BASEDIR = "${env.WORKSPACE}"
+          }
+          steps {
+            sh 'export'
+            sh 'make distclean'
+            sh 'git fetch --tags'
+            sh 'ccache -s'
+            sh 'make px4_fmu-v5_default'
+            sh 'ccache -s'
+          }
+          post {
+            always {
+              sh 'make distclean'
+            }
+          }
+        } // stage px4_fmu-v5_default
+
+        stage('sitl tests (OSX)') {
+          agent {
+            label 'mac'
+          }
+          environment {
+            CCACHE_BASEDIR = "${env.WORKSPACE}"
+          }
+          steps {
+            sh 'export'
+            sh 'make distclean'
+            sh 'git fetch --tags'
+            sh 'ccache -s'
+            sh 'make tests'
+            sh 'ccache -s'
+          }
+          post {
+            always {
+              sh 'make distclean'
+            }
+          }
+        } // stage sitl tests
+
+      } // parallel
+    } // stage Build
+
+  } // stages
+  environment {
+    CCACHE_CPP2 = '1'
+    CCACHE_DIR = '/tmp/ccache'
+    CI = true
+  }
+  options {
+    buildDiscarder(logRotator(numToKeepStr: '10', artifactDaysToKeepStr: '20'))
+    timeout(time: 120, unit: 'MINUTES')
+  }
+}
@@ -12,7 +12,7 @@ pipeline {
            stage("build px4_fmu-v2_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-bionic:2020-04-01'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -69,7 +69,7 @@ pipeline {
                }
              }
              options {
-                timeout(time: 90, unit: 'MINUTES')
+                timeout(time: 60, unit: 'MINUTES')
              }
            }
          }
@@ -80,7 +80,7 @@ pipeline {
            stage("build px4_fmu-v3_default") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-bionic:2020-04-01'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -143,7 +143,7 @@ pipeline {
                }
              }
              options {
-                timeout(time: 90, unit: 'MINUTES')
+                timeout(time: 60, unit: 'MINUTES')
              }
            } // stage test
          }
@@ -154,7 +154,7 @@ pipeline {
            stage("build px4_fmu-v4_default") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-bionic:2020-04-01'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -216,7 +216,7 @@ pipeline {
                }
              }
              options {
-                timeout(time: 90, unit: 'MINUTES')
+                timeout(time: 60, unit: 'MINUTES')
              }
            } // stage test
          }
@@ -227,7 +227,7 @@ pipeline {
            stage("build px4_fmu-v4pro_default") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-bionic:2020-04-01'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -290,7 +290,7 @@ pipeline {
                }
              }
              options {
-                timeout(time: 90, unit: 'MINUTES')
+                timeout(time: 60, unit: 'MINUTES')
              }
            } // stage test
          }
@@ -301,7 +301,7 @@ pipeline {
            stage("build px4_fmu-v5_default") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-bionic:2020-04-01'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -365,7 +365,7 @@ pipeline {
                }
              }
              options {
-                timeout(time: 90, unit: 'MINUTES')
+                timeout(time: 60, unit: 'MINUTES')
              }
            } // stage test
          }
@@ -376,7 +376,7 @@ pipeline {
            stage("build px4_fmu-v5_debug") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-bionic:2020-04-01'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -440,7 +440,7 @@ pipeline {
                }
              }
              options {
-                timeout(time: 90, unit: 'MINUTES')
+                timeout(time: 60, unit: 'MINUTES')
              }
            } // stage test
          }
@@ -451,7 +451,7 @@ pipeline {
            stage("build px4_fmu-v5_optimized") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-bionic:2020-04-01'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -513,7 +513,7 @@ pipeline {
                }
              }
              options {
-                timeout(time: 90, unit: 'MINUTES')
+                timeout(time: 60, unit: 'MINUTES')
              }
            } // stage test
          }
@@ -524,7 +524,7 @@ pipeline {
            stage("build px4_fmu-v5_stackcheck") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-bionic:2020-04-01'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -588,7 +588,7 @@ pipeline {
                }
              }
              options {
-                timeout(time: 90, unit: 'MINUTES')
+                timeout(time: 60, unit: 'MINUTES')
              }
            } // stage test
          }
@@ -599,7 +599,7 @@ pipeline {
            stage("build modalai_fc-v1_default") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-bionic:2020-04-01'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -661,7 +661,7 @@ pipeline {
                }
              }
              options {
-                timeout(time: 90, unit: 'MINUTES')
+                timeout(time: 60, unit: 'MINUTES')
              }
            } // stage test
          }
@@ -672,7 +672,7 @@ pipeline {
            stage("build holybro_durandal-v1_default") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-bionic:2020-04-01'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -740,7 +740,7 @@ pipeline {
                }
              }
              options {
-                timeout(time: 90, unit: 'MINUTES')
+                timeout(time: 60, unit: 'MINUTES')
              }
            } // stage test
          }
@@ -751,7 +751,7 @@ pipeline {
            stage("build nxp_fmuk66-v3_default") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-bionic:2020-04-01'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -803,7 +803,7 @@ pipeline {
                stage("tests") {
                  steps {
                    // run tests
-                    sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
+                    sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*` || true' // ignore failures for now (flaky console on test rack)
                  }
                }
                stage("reset") {
@@ -813,7 +813,7 @@ pipeline {
                }
              }
              options {
-                timeout(time: 90, unit: 'MINUTES')
+                timeout(time: 60, unit: 'MINUTES')
              }
            } // stage test
          }
@@ -828,7 +828,7 @@ pipeline {
  }
  options {
    buildDiscarder(logRotator(numToKeepStr: '20', artifactDaysToKeepStr: '40'))
-    timeout(time: 90, unit: 'MINUTES')
+    timeout(time: 60, unit: 'MINUTES')
  }
 }

@@ -836,27 +836,20 @@ 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 "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"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander calibrate accel quick; sleep 2; param show CAL_ACC*"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander calibrate gyro; sleep 2; param show CAL_GYRO*"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander calibrate level; sleep 2; param show SENS_BOARD*"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander calibrate mag quick; sleep 2; param show CAL_MAG*"'
  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_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"'
@@ -865,17 +858,13 @@ void statusFTDI() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_gyro"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_gyro_fifo"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_mag"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensors_status_imu"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener px4io_status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener system_power"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener vehicle_air_data"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener vehicle_angular_acceleration"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener vehicle_angular_velocity"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener vehicle_attitude"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener vehicle_imu"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener vehicle_imu_status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener vehicle_local_position"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener vehicle_magnetometer"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "logger status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ls /"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ls /dev"'
@@ -887,7 +876,6 @@ 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"'
@@ -900,13 +888,11 @@ void statusFTDI() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "sd_bench -r 2"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "sensors status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener cpuload; top once; listener cpuload"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "top once"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "uorb status"'
  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"'
 }
@@ -915,27 +901,20 @@ 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 "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"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "commander calibrate accel quick; sleep 2; param show CAL_ACC*"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "commander calibrate gyro; sleep 2; param show CAL_GYRO*"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "commander calibrate level; sleep 2; param show SENS_BOARD*"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "commander calibrate mag quick; sleep 2; param show CAL_MAG*"'
  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"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensor_accel"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensor_accel_fifo"'
@@ -944,17 +923,13 @@ void statusSEGGER() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensor_gyro"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensor_gyro_fifo"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensor_mag"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensors_status_imu"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener px4io_status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener system_power"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener vehicle_air_data"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener vehicle_angular_acceleration"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener vehicle_angular_velocity"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener vehicle_attitude"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener vehicle_imu"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener vehicle_imu_status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener vehicle_local_position"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener vehicle_magnetometer"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "logger status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "ls /"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "ls /dev"'
@@ -966,7 +941,6 @@ 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"'
@@ -979,19 +953,17 @@ void statusSEGGER() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "px4io status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "sd_bench -r 2"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "sensors status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener cpuload; top once; listener cpuload"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "top once"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "uorb status"'
  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"'
@@ -1002,15 +974,12 @@ void cleanupFTDI() {

  // drop any uncommited hardfaults
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "hardfault_log rearm"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "hardfault_log reset"'

-  // erase mtd
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mtd readtest"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mtd rwtest"'
+  // wipe parameters
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mtd erase"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param reset"'

  // disable buzzer and cleanup storage
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param reset_all"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SDLOG_DIRS_MAX 1"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
@@ -1021,7 +990,7 @@ 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"'
@@ -1032,15 +1001,12 @@ void cleanupSEGGER() {

  // drop any uncommited hardfaults
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "hardfault_log rearm"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "hardfault_log reset"'

-  // erase mtd
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mtd readtest"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mtd rwtest"'
+  // wipe parameters
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mtd erase"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param reset"'

  // disable buzzer and cleanup storage
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param reset_all"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set CBRK_BUZZER 782097"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set SDLOG_DIRS_MAX 1"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param save"'
@@ -1,42 +0,0 @@
-// For format details, see https://aka.ms/vscode-remote/devcontainer.json or this file's README at:
-// https://github.com/microsoft/vscode-dev-containers/tree/v0.134.0/containers/cpp
-{
-	"name": "px4-dev-nuttx",
-	"image": "px4io/px4-dev-nuttx-focal:2020-09-14",
-
-	"runArgs": [ "--cap-add=SYS_PTRACE", "--security-opt", "seccomp=unconfined" ],
-
-	// Set *default* container specific settings.json values on container create.
-	"settings": {
-		"terminal.integrated.shell.linux": "/bin/bash"
-	},
-
-	// Add the IDs of extensions you want installed when the container is created.
-	"extensions": [
-		"chiehyu.vscode-astyle",
-		"dan-c-underwood.arm",
-		"fredericbonnet.cmake-test-adapter",
-		"github.vscode-pull-request-github",
-		"marus25.cortex-debug",
-		"ms-azuretools.vscode-docker",
-		"ms-iot.vscode-ros",
-		"ms-python.python",
-		"ms-vscode.cmake-tools",
-		"ms-vscode.cpptools",
-		"ms-vscode.cpptools-extension-pack",
-		"redhat.vscode-yaml",
-		"streetsidesoftware.code-spell-checker",
-		"twxs.cmake",
-		"uavcan.dsdl",
-		"wholroyd.jinja",
-		"zixuanwang.linkerscript"
-	],
-
-	"containerUser": "user",
-	"containerEnv": {
-		"LOCAL_USER_ID": "${localEnv:UID}"
-	},
-
-	// Use 'forwardPorts' to make a list of ports inside the container available locally.
-	"forwardPorts": [14556],
-}
@@ -26,7 +26,11 @@ jobs:
          "module_documentation",
          "parameters_metadata",
        ]
-    container: px4io/px4-dev-nuttx-focal:2020-09-14
+        ubuntu_release: [
+          #bionic,
+          focal
+          ]
+    container: px4io/px4-dev-nuttx-${{ matrix.ubuntu_release }}:2020-04-01
    steps:
    - uses: actions/checkout@v1
      with:
@@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-clang:2020-08-14
+    container: px4io/px4-dev-clang:2020-04-01
    steps:
    - uses: actions/checkout@v1
      with:
@@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-armhf:2020-08-14
+    container: px4io/px4-dev-armhf:2020-04-01
    strategy:
      matrix:
        config: [
@@ -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
@@ -11,15 +11,13 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2020-09-14
+    container: px4io/px4-dev-nuttx-bionic:2020-04-01
    strategy:
      matrix:
        config: [
          airmind_mindpx-v2_default,
          av_x-v1_default,
          bitcraze_crazyflie_default,
-          cuav_can-gps-v1_canbootloader,
-          cuav_can-gps-v1_default,
          cuav_nora_default,
          cuav_x7pro_default,
          cubepilot_cubeorange_console,
@@ -27,6 +25,7 @@ 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,
@@ -37,9 +36,8 @@ jobs:
          nxp_fmuk66-v3_default,
          nxp_fmuk66-e_default,
          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,
@@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-09-14
+    container: px4io/px4-dev-base-focal:2020-04-01
    strategy:
      matrix:
        config: [
@@ -0,0 +1,29 @@
+name: Hardware Linux
+
+on:
+  push:
+    branches:
+    - 'master'
+
+jobs:
+  build:
+    runs-on: [emlid_navio2]
+    steps:
+    - uses: actions/checkout@v1
+
+    - name: Build
+      env:
+        CCACHE_BASEDIR: ${GITHUB_WORKSPACE}
+      run: |
+          make distclean
+          ccache -z
+          make emlid_navio2_default
+          ccache -s
+
+    # sanity check
+    - name: Sanity check
+      run: cd build/emlid_navio2_default/ && ./bin/px4 -s ../../posix-configs/rpi/px4_test.config
+
+    - name: Upload log to flight review
+      run: find . -name *.ulg
+      #run: ./Tools/upload_log.py -q --description "${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
@@ -19,7 +19,7 @@ jobs:
          - {test_file: "mavros_posix_test_safe_landing.test", vehicle: "iris_obs_avoid", mission: "MC_safe_landing", build_type: "RelWithDebInfo"}

    container:
-      image: px4io/px4-dev-ros-melodic:2020-08-14
+      image: px4io/px4-dev-ros-melodic:2020-04-01
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -25,7 +25,7 @@ jobs:
          - {vehicle: "tiltrotor",     mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}

    container:
-      image: px4io/px4-dev-ros-melodic:2020-08-14
+      image: px4io/px4-dev-ros-melodic:2020-04-01
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -20,7 +20,7 @@ jobs:
          #- {test_file: "mavros_posix_tests_offboard_rpyrt_ctl.test", vehicle: "iris", build_type: "RelWithDebInfo"}

    container:
-      image: px4io/px4-dev-ros-melodic:2020-08-14
+      image: px4io/px4-dev-ros-melodic:2020-04-01
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -12,7 +12,7 @@ jobs:

  airframe:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-09-14
+    container: px4io/px4-dev-base-focal:2020-04-01
    steps:
    - uses: actions/checkout@v1
      with:
@@ -27,7 +27,7 @@ jobs:

  module:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-09-14
+    container: px4io/px4-dev-base-focal:2020-04-01
    steps:
    - uses: actions/checkout@v1
      with:
@@ -42,7 +42,7 @@ jobs:

  parameter:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-09-14
+    container: px4io/px4-dev-base-focal:2020-04-01
    steps:
    - uses: actions/checkout@v1
      with:
@@ -57,7 +57,7 @@ jobs:

  uorb_graph:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2020-09-14
+    container: px4io/px4-dev-nuttx-focal:2020-04-01
    steps:
    - uses: actions/checkout@v1
      with:
@@ -70,23 +70,9 @@ jobs:
        ls -ls *
      # TODO: deploy graph_px4_sitl.json to S3 px4-travis:Firmware/master/

-  micrortps_agent:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-09-14
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: microRTPS agent
-      run: |
-        make px4_sitl_rtps
-        git clone https://github.com/PX4/micrortps_agent.git
-        cp -R build/px4_sitl_rtps/src/modules/micrortps_bridge/micrortps_agent/* micrortps_agent
-
  ROS_msgs:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-09-14
+    container: px4io/px4-dev-base-bionic:2020-04-01
    steps:
    - uses: actions/checkout@v1
      with:
@@ -99,7 +85,7 @@ jobs:

  ROS2_bridge:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-09-14
+    container: px4io/px4-dev-base-bionic:2020-04-01
    steps:
    - uses: actions/checkout@v1
      with:
@@ -15,12 +15,12 @@ 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
+      image: px4io/px4-dev-simulation-focal:2020-04-01
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -28,9 +28,9 @@ jobs:
        token: ${{ secrets.ACCESS_TOKEN }}

    - name: Download MAVSDK
-      run: wget https://github.com/mavlink/MAVSDK/releases/download/v0.33.1/mavsdk_0.33.1_ubuntu20.04_amd64.deb
+      run: wget https://github.com/mavlink/MAVSDK/releases/download/v0.27.0/mavsdk_0.27.0_ubuntu18.04_amd64.deb
    - name: Install MAVSDK
-      run: dpkg -i mavsdk_0.33.1_ubuntu20.04_amd64.deb
+      run: dpkg -i mavsdk_0.27.0_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
@@ -37,20 +37,14 @@
 [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-8.2
 [submodule "platforms/nuttx/NuttX/apps"]
 	path = platforms/nuttx/NuttX/apps
 	url = https://github.com/PX4/NuttX-apps.git
-	branch = px4_firmware_nuttx-10.0.0+
+	branch = px4_firmware_nuttx-8.2
 [submodule "platforms/qurt/dspal"]
 	path = platforms/qurt/dspal
 	url = https://github.com/ATLFlight/dspal.git
 [submodule "Tools/flightgear_bridge"]
 	path = Tools/flightgear_bridge
 	url = https://github.com/PX4/PX4-FlightGear-Bridge.git
-[submodule "Tools/jsbsim_bridge"]
-	path = Tools/jsbsim_bridge
-	url = https://github.com/PX4/px4-jsbsim-bridge.git
-[submodule "src/examples/gyro_fft/CMSIS_5"]
-	path = src/examples/gyro_fft/CMSIS_5
-	url = https://github.com/ARM-software/CMSIS_5.git
@@ -1,16 +1,75 @@
 {
    "configurations": [
        {
-            "name": "PX4",
-            "includePath": [
-                "${workspaceFolder}/**"
-            ],
-            "defines": [],
-            "macFrameworkPath": [],
+            "name": "Linux",
+            "browse": {
+                "limitSymbolsToIncludedHeaders": true,
+                "databaseFilename": "${workspaceFolder}/.vscode/browse.vc.db"
+            },
+            "compileCommands": "${workspaceFolder}/.vscode/compile_commands.json",
+            "compilerPath": "/usr/bin/g++",
            "configurationProvider": "ms-vscode.cmake-tools",
            "cppStandard": "c++14",
-            "cStandard": "c11"
+            "cStandard": "c11",
+            "defines": [
+                "__PX4_LINUX",
+                "__PX4_POSIX"
+            ],
+            "forcedInclude": [
+                "${workspaceFolder}/src/include/visibility.h"
+            ],
+            "includePath": [
+                "${workspaceFolder}/boards/px4/sitl/src",
+                "${workspaceFolder}/build/px4_sitl_default",
+                "${workspaceFolder}/platforms/common/include",
+                "${workspaceFolder}/platforms/posix/include",
+                "${workspaceFolder}/platforms/posix/src/px4/common/include",
+                "${workspaceFolder}/platforms/posix/src/px4/common/include",
+                "${workspaceFolder}/platforms/posix/src/px4/generic/generic/include",
+                "${workspaceFolder}/src",
+                "${workspaceFolder}/src/include",
+                "${workspaceFolder}/src/lib",
+                "${workspaceFolder}/src/lib",
+                "${workspaceFolder}/src/lib/matrix",
+                "${workspaceFolder}/src/modules"
+            ],
+            "intelliSenseMode": "${default}"
+        },
+        {
+            "name": "Mac",
+            "browse": {
+                "limitSymbolsToIncludedHeaders": true,
+                "databaseFilename": "${workspaceFolder}/.vscode/browse.vc.db"
+            },
+            "compileCommands": "${workspaceFolder}/.vscode/compile_commands.json",
+            "compilerPath": "/usr/bin/clang++",
+            "configurationProvider": "ms-vscode.cmake-tools",
+            "cppStandard": "c++14",
+            "cStandard": "c11",
+            "defines": [
+                "__PX4_DARWIN",
+                "__PX4_POSIX"
+            ],
+            "forcedInclude": [
+                "${workspaceFolder}/src/include/visibility.h"
+            ],
+            "includePath": [
+                "${workspaceFolder}/boards/px4/sitl/src",
+                "${workspaceFolder}/build/px4_sitl_default",
+                "${workspaceFolder}/platforms/common/include",
+                "${workspaceFolder}/platforms/posix/include",
+                "${workspaceFolder}/platforms/posix/src/px4/common/include",
+                "${workspaceFolder}/platforms/posix/src/px4/common/include",
+                "${workspaceFolder}/platforms/posix/src/px4/generic/generic/include",
+                "${workspaceFolder}/src",
+                "${workspaceFolder}/src/include",
+                "${workspaceFolder}/src/lib",
+                "${workspaceFolder}/src/lib",
+                "${workspaceFolder}/src/lib/matrix",
+                "${workspaceFolder}/src/modules"
+            ],
+            "intelliSenseMode": "${default}"
        }
    ],
    "version": 4
-}
+}
@@ -61,11 +61,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: av_x-v1_default
-    cuav_can-gps-v1_default:
-      short: cuav_can-gps-v1_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: cuav_can-gps-v1_default
    cuav_nora_default:
      short: cuav_nora
      buildType: MinSizeRel
@@ -86,11 +81,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: cubepilot_cubeyellow_default
-    emlid_navio2_default:
-      short: emlid_navio2
-      buildType: MinSizeRel
-      settings:
-        CONFIG: emlid_navio2_default
    holybro_durandal-v1_default:
      short: holybro_durandal-v1
      buildType: MinSizeRel
@@ -4,7 +4,6 @@
    "recommendations": [
        "chiehyu.vscode-astyle",
        "dan-c-underwood.arm",
-        "fredericbonnet.cmake-test-adapter",
        "github.vscode-pull-request-github",
        "marus25.cortex-debug",
        "ms-azuretools.vscode-docker",
@@ -12,9 +11,8 @@
        "ms-python.python",
        "ms-vscode.cmake-tools",
        "ms-vscode.cpptools",
-        "ms-vscode.cpptools-extension-pack",
        "redhat.vscode-yaml",
-        "streetsidesoftware.code-spell-checker",
+        "timonwong.shellcheck",
        "twxs.cmake",
        "uavcan.dsdl",
        "wholroyd.jinja",
@@ -3,34 +3,70 @@
        "astyle.c.enable": true,
        "astyle.cpp.enable": true,
        "breadcrumbs.enabled": true,
+        "cmake.autoRestartBuild": true,
+        "cmake.buildBeforeRun": true,
+        "cmake.buildDirectory": "${workspaceFolder}/build/${variant:CONFIG}",
+        "cmake.configureOnOpen": true,
+        "cmake.copyCompileCommands": "${workspaceFolder}/.vscode/compile_commands.json",
+        "cmake.debugConfig": {
+                "name": "SITL shell (gdb)",
+                "type": "cppdbg",
+                "request": "launch",
+                "program": "${command:cmake.launchTargetPath}",
+                "args": [
+                        "${workspaceFolder}/ROMFS/px4fmu_common",
+                        "-s",
+                        "etc/init.d-posix/rcS",
+                        "-t",
+                        "${workspaceFolder}/test_data"
+                ],
+                "stopAtEntry": false,
+                "cwd": "${command:cmake.buildDirectory}/tmp",
+                "environment": [
+                        {
+                                "name": "PX4_SIM_MODEL",
+                                "value": "shell"
+                        }
+                ],
+                "externalConsole": false,
+                "linux": {
+                        "MIMode": "gdb",
+                        "setupCommands": [
+                                {
+                                        "description": "Enable pretty-printing for gdb",
+                                        "text": "-enable-pretty-printing",
+                                        "ignoreFailures": true
+                                },
+                                {
+                                        "description": "PX4 ignore wq signals",
+                                        "text": "handle SIGCONT nostop noprint nopass",
+                                        "ignoreFailures": true
+                                }
+                        ]
+                },
+                "osx": {
+                        "MIMode": "lldb",
+                        "setupCommands": [
+                                {
+                                        "text": "pro hand -p true -s false -n false SIGCONT",
+                                }
+                        ]
+                }
+        },
        "C_Cpp.autoAddFileAssociations": false,
        "C_Cpp.clang_format_fallbackStyle": "none",
+        "C_Cpp.default.browse.databaseFilename": "${workspaceRoot}/.vscode/browse.vc.db",
        "C_Cpp.default.browse.limitSymbolsToIncludedHeaders": true,
        "C_Cpp.default.cppStandard": "c++14",
        "C_Cpp.default.cStandard": "c11",
+        "C_Cpp.default.intelliSenseMode": "gcc-x64",
+        "C_Cpp.default.macFrameworkPath": null,
        "C_Cpp.formatting": "Disabled",
        "C_Cpp.intelliSenseEngine": "Default",
+        "C_Cpp.intelliSenseEngineFallback": "Enabled",
        "C_Cpp.vcpkg.enabled": false,
        "C_Cpp.workspaceParsingPriority": "low",
-        "cmake.buildBeforeRun": true,
-        "cmake.buildDirectory": "${workspaceFolder}/build/${variant:CONFIG}",
-        "cmake.buildTask": true,
-        "cmake.configureOnOpen": true,
-        "cmake.ctest.parallelJobs": 1,
-        "cmake.skipConfigureIfCachePresent": true,
-        "cmakeExplorer.buildDir": "${workspaceFolder}/build/px4_sitl_test",
-        "cmakeExplorer.parallelJobs": 1,
-        "cmakeExplorer.suiteDelimiter": "-",
        "cortex-debug.enableTelemetry": false,
-        "cSpell.allowCompoundWords": true,
-        "cSpell.diagnosticLevel": "Hint",
-        "cSpell.showStatus": false,
-        "cSpell.words": [
-                "acro",
-                "rattitude",
-                "nuttx",
-                "esc"
-        ],
        "debug.toolBarLocation": "docked",
        "editor.acceptSuggestionOnEnter": "off",
        "editor.defaultFormatter": "chiehyu.vscode-astyle",
@@ -52,6 +88,7 @@
        "git.ignoreLimitWarning": true,
        "githubPullRequests.defaultMergeMethod": "squash",
        "githubPullRequests.telemetry.enabled": false,
+        "gitlens.advanced.telemetry.enabled": false,
        "files.associations": {
                "*.jinja": "jinja",
                "algorithm": "cpp",
@@ -129,15 +166,17 @@
        },
        "search.showLineNumbers": true,
        "search.smartCase": true,
+        "shellcheck.exclude": [2154],
        "telemetry.enableTelemetry": false,
        "terminal.integrated.copyOnSelection": true,
-        "terminal.integrated.rightClickBehavior": "paste",
+        "terminal.integrated.rightClickCopyPaste": true,
        "terminal.integrated.scrollback": 5000,
        "window.title": "${dirty} ${activeEditorMedium}${separator}${rootName}",
        "workbench.editor.highlightModifiedTabs": true,
        "workbench.enableExperiments": false,
        "workbench.settings.enableNaturalLanguageSearch": false,
+        "workbench.statusBar.feedback.visible": false,
        "yaml.schemas": {
-                "${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml"
+                "${workspaceRoot}/validation/module_schema.yaml": "${workspaceRoot}/src/modules/*/module.yaml"
        }
 }
@@ -3,58 +3,12 @@
    // for the documentation about the tasks.json format
    "version": "2.0.0",
    "tasks": [
-        {
-            "label": "build",
-            "type": "shell",
-            "command": "/bin/bash",
-            "args": [
-                "-c",
-                "${command:cmake.tasksBuildCommand}"
-            ],
-            "options": {
-                "cwd": "${command:cmake.buildDirectory}"
-            },
-            "group": {
-                "kind": "build",
-                "isDefault": true,
-            },
-            "problemMatcher": {
-                "base": "$gcc",
-                "fileLocation": ["relative", "${command:cmake.buildDirectory}"]
-            },
-            "presentation":{
-                "echo": false,
-                "showReuseMessage": false,
-                "clear": true,
-                "panel": "shared",
-                "group": "build"
-            }
-        },
-        {
-            "label": "test",
-            "type": "shell",
-            "command": "make tests",
-            "options": {
-                "cwd": "${workspaceFolder}"
-            },
-            "group": {
-                "kind": "test",
-                "isDefault": true,
-            },
-            "presentation":{
-                "echo": true,
-                "showReuseMessage": false,
-                "clear": false,
-                "panel": "shared",
-                "group": "test"
-            }
-        },
        {
            "label": "jmavsim build",
            "type": "shell",
            "command": "ant create_run_jar copy_res",
            "options": {
-                "cwd": "${workspaceFolder}/Tools/jMAVSim"
+                "cwd": "${workspaceRoot}/Tools/jMAVSim"
            },
            "problemMatcher": [],
            "presentation":{
@@ -63,7 +17,7 @@
                "focus": false,
                "panel": "shared",
                "showReuseMessage": false,
-                "clear": false,
+                "clear": true
            }
        },
        {
@@ -72,7 +26,7 @@
            "dependsOn": "jmavsim build",
            "command": "java -Djava.ext.dirs= -jar jmavsim_run.jar -r 250 -lockstep -tcp localhost:4560 -qgc",
            "options": {
-                "cwd": "${workspaceFolder}/Tools/jMAVSim/out/production",
+                "cwd": "${workspaceRoot}/Tools/jMAVSim/out/production",
                "env": {
                    "PX4_SIM_SPEED_FACTOR": "1"
                }
@@ -84,7 +38,7 @@
                "focus": false,
                "panel": "shared",
                "showReuseMessage": false,
-                "clear": false
+                "clear": true
            },
            "problemMatcher": [
                {
@@ -114,7 +68,7 @@
                "focus": false,
                "panel": "shared",
                "showReuseMessage": false,
-                "clear": false
+                "clear": true
            },
            "problemMatcher": []
        },
@@ -123,31 +77,31 @@
            "type": "shell",
            "command": "make px4_sitl_default sitl_gazebo",
            "options": {
-                "cwd": "${workspaceFolder}"
+                "cwd": "${workspaceRoot}"
            },
            "problemMatcher": [],
            "presentation":{
                "echo": true,
-                "reveal": "always",
+                "reveal": "never",
                "focus": false,
                "panel": "shared",
                "showReuseMessage": false,
-                "clear": false,
+                "clear": true
            }
        },
        {
-            "label": "gazebo start",
+            "label": "gazebo iris",
            "type": "shell",
            "dependsOn": "gazebo build",
            "options": {
-                "cwd": "${workspaceFolder}",
+                "cwd": "${workspaceRoot}",
                "env": {
-                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
-                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models",
+                    "GAZEBO_PLUGIN_PATH": "${workspaceRoot}/build/px4_sitl_default/build_gazebo",
+                    "GAZEBO_MODEL_PATH": "${workspaceRoot}/Tools/sitl_gazebo/models",
                    "PX4_SIM_SPEED_FACTOR": "1"
                }
            },
-            "command": "gzserver --verbose ${workspaceFolder}/Tools/sitl_gazebo/worlds/${input:gazeboWorld}.world",
+            "command": "gzserver --verbose ${workspaceRoot}/Tools/sitl_gazebo/worlds/iris.world",
            "isBackground": true,
            "presentation": {
                "echo": true,
@@ -155,7 +109,7 @@
                "focus": false,
                "panel": "shared",
                "showReuseMessage": false,
-                "clear": false
+                "clear": true
            },
            "problemMatcher": [
                {
@@ -176,26 +130,106 @@
            ]
        },
        {
-            "label": "gazebo",
+            "label": "gazebo plane",
            "type": "shell",
-            "dependsOn": "gazebo start",
+            "dependsOn": "gazebo build",
            "options": {
-                "cwd": "${workspaceFolder}",
+                "cwd": "${workspaceRoot}",
                "env": {
-                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
-                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models",
+                    "GAZEBO_PLUGIN_PATH": "${workspaceRoot}/build/px4_sitl_default/build_gazebo",
+                    "GAZEBO_MODEL_PATH": "${workspaceRoot}/Tools/sitl_gazebo/models",
                    "PX4_SIM_SPEED_FACTOR": "1"
                }
            },
-            "command": "gz model --verbose --spawn-file=${workspaceFolder}/Tools/sitl_gazebo/models/${input:vehicleModel}/${input:vehicleModel}.sdf --model-name=${input:vehicleModel} -x 1.01 -y 0.98 -z 0.83",
-            "isBackground": false,
+            "command": "gzserver --verbose ${workspaceRoot}/Tools/sitl_gazebo/worlds/plane.world",
+            "isBackground": true,
            "presentation": {
                "echo": true,
                "reveal": "never",
                "focus": false,
                "panel": "shared",
                "showReuseMessage": false,
-                "clear": false
+                "clear": true
+            },
+            "problemMatcher": [
+                {
+                    "pattern": [
+                        {
+                            "regexp": ".",
+                            "file": 1,
+                            "location": 2,
+                            "message": 3
+                        }
+                    ],
+                    "background": {
+                        "activeOnStart": true,
+                        "beginsPattern": ".",
+                        "endsPattern": ".",
+                    }
+                }
+            ]
+        },
+        {
+            "label": "gazebo standard_vtol",
+            "type": "shell",
+            "dependsOn": "gazebo build",
+            "options": {
+                "cwd": "${workspaceRoot}",
+                "env": {
+                    "GAZEBO_PLUGIN_PATH": "${workspaceRoot}/build/px4_sitl_default/build_gazebo",
+                    "GAZEBO_MODEL_PATH": "${workspaceRoot}/Tools/sitl_gazebo/models",
+                    "PX4_SIM_SPEED_FACTOR": "1"
+                }
+            },
+            "command": "gzserver --verbose ${workspaceRoot}/Tools/sitl_gazebo/worlds/standard_vtol.world",
+            "isBackground": true,
+            "presentation": {
+                "echo": true,
+                "reveal": "never",
+                "focus": false,
+                "panel": "shared",
+                "showReuseMessage": false,
+                "clear": true
+            },
+            "problemMatcher": [
+                {
+                    "pattern": [
+                        {
+                            "regexp": ".",
+                            "file": 1,
+                            "location": 2,
+                            "message": 3
+                        }
+                    ],
+                    "background": {
+                        "activeOnStart": true,
+                        "beginsPattern": ".",
+                        "endsPattern": ".",
+                    }
+                }
+            ]
+        },
+        {
+            "label": "gazebo tailsitter",
+            "type": "shell",
+            "dependsOn": "gazebo build",
+            "options": {
+                "cwd": "${workspaceRoot}",
+                "env": {
+                    "GAZEBO_PLUGIN_PATH": "${workspaceRoot}/build/px4_sitl_default/build_gazebo",
+                    "GAZEBO_MODEL_PATH": "${workspaceRoot}/Tools/sitl_gazebo/models",
+                    "PX4_SIM_SPEED_FACTOR": "1"
+                }
+            },
+            "command": "gzserver --verbose ${workspaceRoot}/Tools/sitl_gazebo/worlds/tailsitter.world",
+            "isBackground": true,
+            "presentation": {
+                "echo": true,
+                "reveal": "never",
+                "focus": false,
+                "panel": "shared",
+                "showReuseMessage": false,
+                "clear": true
            },
            "problemMatcher": [
                {
@@ -220,10 +254,10 @@
            "type": "shell",
            "dependsOn": "gazebo build",
            "options": {
-                "cwd": "${workspaceFolder}",
+                "cwd": "${workspaceRoot}",
                "env": {
-                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
-                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models",
+                    "GAZEBO_PLUGIN_PATH": "${workspaceRoot}/build/px4_sitl_default/build_gazebo",
+                    "GAZEBO_MODEL_PATH": "${workspaceRoot}/Tools/sitl_gazebo/models",
                    "PX4_SIM_SPEED_FACTOR": "1"
                }
            },
@@ -235,7 +269,7 @@
                "focus": false,
                "panel": "shared",
                "showReuseMessage": false,
-                "clear": false
+                "clear": true
            },
            "problemMatcher": [
                {
@@ -260,42 +294,12 @@
            "type": "shell",
            "command": "killall gzserver",
            "presentation": {
-                "echo": true,
-                "reveal": "silent",
+                "echo": false,
+                "reveal": "never",
                "focus": false,
                "panel": "shared",
                "showReuseMessage": false,
-                "clear": false
-            },
-            "problemMatcher": [],
-            "dependsOn":["px4_sitl_cleanup"]
-        },
-        {
-            "label": "px4_sitl_cleanup",
-            "type": "shell",
-            "command": "rm -rfv /tmp/px4*",
-            "presentation": {
-                "echo": true,
-                "reveal": "silent",
-                "focus": false,
-                "panel": "shared",
-                "showReuseMessage": false,
-                "clear": false
-            },
-            "problemMatcher": [],
-            "dependsOn":["px4_kill"]
-        },
-        {
-            "label": "px4_kill",
-            "type": "shell",
-            "command": "killall px4 || true",
-            "presentation": {
-                "echo": true,
-                "reveal": "silent",
-                "focus": false,
-                "panel": "shared",
-                "showReuseMessage": false,
-                "clear": false
+                "clear": true
            },
            "problemMatcher": []
        },
@@ -304,7 +308,7 @@
            "type": "shell",
            "command": "./Tools/mavlink_shell.py",
            "options": {
-                "cwd": "${workspaceFolder}"
+                "cwd": "${workspaceRoot}"
            },
            "presentation": {
                "echo": true,
@@ -321,7 +325,7 @@
            "type": "shell",
            "command": "miniterm.py --raw - 57600",
            "options": {
-                "cwd": "${workspaceFolder}"
+                "cwd": "${workspaceRoot}"
            },
            "presentation": {
                "echo": true,
@@ -333,41 +337,5 @@
            },
            "problemMatcher": []
        }
-    ],
-    "inputs": [
-        {
-            "type": "pickString",
-            "id": "vehicleModel",
-            "description": "gazebo model",
-            "options": [
-              "iris",
-              "typhoon_h480",
-              "plane",
-              "plane_catapult",
-              "plane_lidar",
-              "standard_vtol",
-              "tailsitter",
-              "tiltrotor",
-              "r1_rover",
-              "boat"
-            ],
-            "default": "iris"
-        },
-        {
-            "type": "pickString",
-            "id": "gazeboWorld",
-            "description": "gazebo world",
-            "options": [
-                "baylands",
-                "empty",
-                "ksql_airport",
-                "mcmillan_airfield",
-                "sonoma_raceway",
-                "warehouse",
-                "windy",
-                "yosemite"
-            ],
-            "default": "empty"
-        }
    ]
 }
@@ -12,10 +12,12 @@ pipeline {
        }
      }
      parallel {
+
+        // TODO: temporarily disabled 2020-06-03 waiting on mavlink update
        // stage('Catkin build on ROS workspace') {
        //   agent {
        //     docker {
-        //       image 'px4io/px4-dev-ros-melodic:2020-08-20'
+        //       image 'px4io/px4-dev-ros-melodic:2020-04-01'
        //       args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
        //     }
        //   }
@@ -52,42 +54,42 @@ pipeline {
        //     checkoutToSubdirectory('catkin_ws/src/Firmware')
        //   }
        // }
-
-        stage('Colcon build on ROS2 workspace') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-ros2-foxy:2020-08-20'
-              args '-e CCACHE_BASEDIR=$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/sitl_gazebo
-              git clone --recursive ${WORKSPACE}/colcon_ws/src/Firmware/Tools/sitl_gazebo src/mavlink_sitl_gazebo;
-              git -C ${WORKSPACE}/colcon_ws/src/Firmware fetch --tags;
-              source /opt/ros/bouncy/setup.sh;
-              source /opt/ros/melodic/setup.sh;
-              colcon build --event-handlers console_direct+ --symlink-install;
-            '''
-          }
-          post {
-            always {
-              sh 'rm -rf colcon_ws'
-            }
-          }
-          options {
-            checkoutToSubdirectory('colcon_ws/src/Firmware')
-          }
-        }
+        //
+        // stage('Colcon build on ROS2 workspace') {
+        //   agent {
+        //     docker {
+        //       image 'px4io/px4-dev-ros2-dashing:2020-04-01'
+        //       args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
+        //     }
+        //   }
+        //   steps {
+        //     sh 'ls -l'
+        //     sh '''#!/bin/bash -l
+        //       echo $0;
+        //       unset ROS_DISTRO;
+        //       mkdir -p colcon_ws/src;
+        //       cd colcon_ws;
+        //       git -C ${WORKSPACE}/colcon_ws/src/Firmware submodule update --init --recursive --force Tools/sitl_gazebo
+        //       git clone --recursive ${WORKSPACE}/colcon_ws/src/Firmware/Tools/sitl_gazebo src/mavlink_sitl_gazebo;
+        //       git -C ${WORKSPACE}/colcon_ws/src/Firmware fetch --tags;
+        //       source /opt/ros/bouncy/setup.sh;
+        //       source /opt/ros/melodic/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 {
-            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
+            docker { image 'px4io/px4-dev-base-bionic:2020-04-01' }
          }
          steps {
            sh 'make distclean'
@@ -106,7 +108,7 @@ pipeline {

        stage('Parameter') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
+            docker { image 'px4io/px4-dev-base-bionic:2020-04-01' }
          }
          steps {
            sh 'make distclean'
@@ -125,7 +127,7 @@ pipeline {

        stage('Module') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
+            docker { image 'px4io/px4-dev-base-bionic:2020-04-01' }
          }
          steps {
            sh 'make distclean'
@@ -145,7 +147,7 @@ pipeline {
        stage('uORB graphs') {
          agent {
            docker {
-              image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+              image 'px4io/px4-dev-nuttx-bionic:2020-04-01'
              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
            }
          }
@@ -174,7 +176,7 @@ pipeline {

        stage('Devguide') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
+            docker { image 'px4io/px4-dev-base-bionic:2020-04-01' }
          }
          steps {
            sh('export')
@@ -204,18 +206,16 @@ pipeline {

        stage('Userguide') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
+            docker { image 'px4io/px4-dev-base-bionic:2020-04-01' }
          }
          steps {
            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')
@@ -234,7 +234,7 @@ pipeline {

        stage('QGroundControl') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
+            docker { image 'px4io/px4-dev-base-bionic:2020-04-01' }
          }
          steps {
            sh('export')
@@ -260,39 +260,9 @@ pipeline {
          }
        }

-        stage('microRTPS agent') {
-          agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
-          }
-          steps {
-            sh('export')
-            sh('git fetch --all --tags')
-            sh('make distclean')
-            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 ${BRANCH_NAME} || true')
-              sh('rm -rf micrortps_agent')
-            }
-          }
-          when {
-            anyOf {
-              branch 'master'
-              branch 'pr-jenkins' // for testing
-            }
-          }
-        }
-
        stage('PX4 ROS msgs') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
+            docker { image 'px4io/px4-dev-base-bionic:2020-04-01' }
          }
          steps {
            sh('export')
@@ -300,12 +270,12 @@ pipeline {
            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
              // 'master' branch
-              sh('./msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
+              sh('python msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
              sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
              sh('cd px4_msgs; git push origin master || true')
              // 'ros1' branch
              sh('cd px4_msgs; git checkout ros1')
-              sh('./msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
+              sh('python msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
              sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
              sh('cd px4_msgs; git push origin ros1 || true')
              sh('rm -rf px4_msgs')
@@ -321,7 +291,7 @@ pipeline {

        stage('PX4 ROS2 bridge') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
+            docker { image 'px4io/px4-dev-base-bionic:2020-04-01' }
          }
          steps {
            sh('export')
@@ -364,7 +334,7 @@ pipeline {

        stage('S3') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
+            docker { image 'px4io/px4-dev-base-bionic:2020-04-01' }
          }
          steps {
            sh('export')
@@ -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).

@@ -34,7 +34,7 @@
 message(STATUS "ROMFS: ${config_romfs_root}")

 set(romfs_src_dir ${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root})
-set(romfs_gen_root_dir ${PX4_BINARY_DIR}/etc)
+set(romfs_gen_root_dir ${PX4_BINARY_DIR}/genromfs)

 set_property(GLOBAL PROPERTY PX4_ROMFS_FILES)
 set_property(GLOBAL PROPERTY PX4_ROMFS_CMAKE_FILES)
@@ -81,48 +81,21 @@ file(GLOB jinja_templates ${PX4_SOURCE_DIR}/Tools/serial/*.jinja)
 if (px4_constrained_flash_build)
 	set(added_arguments --constrained-flash)
 endif()
-# create list of relative romfs file names
-set(romfs_copy_files_relative)
-foreach(romfs_file IN LISTS romfs_copy_files)
-	string(REPLACE "${romfs_src_dir}/" "" romfs_file_rel ${romfs_file})
-	list(APPEND romfs_copy_files_relative ${romfs_file_rel})
-endforeach()
-# copy the ROMFS files by creating a tar and extracting it to the build
-# directory (which preserves the directory structure)
-file(MAKE_DIRECTORY ${romfs_gen_root_dir})
-set(romfs_tar_file ${PX4_BINARY_DIR}/romfs_files.tar)
-add_custom_command(
-	OUTPUT ${romfs_tar_file}
-	COMMAND ${CMAKE_COMMAND} -E tar cf ${romfs_tar_file} ${romfs_copy_files_relative}
-	WORKING_DIRECTORY ${romfs_src_dir}
-	DEPENDS
-		${romfs_copy_files}
-		${jinja_templates}
-		${module_config_files}
-		${romfs_cmake_files}
-		${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
-		${PX4_SOURCE_DIR}/Tools/px4airframes/markdownout.py
-		${PX4_SOURCE_DIR}/Tools/px4airframes/rcout.py
-		${PX4_SOURCE_DIR}/Tools/px4airframes/srcparser.py
-		${PX4_SOURCE_DIR}/Tools/px4airframes/srcscanner.py
-		${PX4_SOURCE_DIR}/Tools/px4airframes/xmlout.py
-		${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
-	)
-set(romfs_extract_stamp ${CMAKE_CURRENT_BINARY_DIR}/romfs_extract.stamp)
-add_custom_command(
-	OUTPUT ${romfs_extract_stamp}
-	COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file}
-	COMMAND ${CMAKE_COMMAND} -E touch ${romfs_extract_stamp}
-	WORKING_DIRECTORY ${romfs_gen_root_dir}
-	DEPENDS ${romfs_tar_file}
-	)
-
 add_custom_command(
 	OUTPUT
+		${romfs_gen_root_dir}/init.d/rcS
 		${romfs_gen_root_dir}/init.d/rc.serial
 		${romfs_gen_root_dir}/init.d/rc.autostart
 		${romfs_gen_root_dir}/init.d/rc.autostart.post
 		romfs_copy.stamp
+	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}
+	# TODO: we should only copy the files in ${romfs_copy_files}
+	COMMAND ${CMAKE_COMMAND} -E copy_directory ${romfs_src_dir} ${romfs_gen_root_dir}
+	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/init.d-posix
+	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/mixers-sitl
+	COMMAND ${CMAKE_COMMAND} -E remove ${romfs_gen_root_dir}/mixers/CMakeLists.txt
+	COMMAND ${CMAKE_COMMAND} -E remove ${romfs_gen_root_dir}/init.d/CMakeLists.txt
+	COMMAND ${CMAKE_COMMAND} -E remove ${romfs_gen_root_dir}/init.d/airframes/CMakeLists.txt
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
 		--airframes-path ${romfs_gen_root_dir}/init.d
 		--start-script ${romfs_gen_root_dir}/init.d/rc.autostart
@@ -133,13 +106,32 @@ add_custom_command(
 		--config-files ${module_config_files} #--verbose
 	COMMAND ${CMAKE_COMMAND} -E touch romfs_copy.stamp
 	DEPENDS
-		${romfs_extract_stamp}
+		${jinja_templates}
+		${module_config_files}
+		${romfs_cmake_files}
+		${romfs_copy_files}
+		${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
+		${PX4_SOURCE_DIR}/Tools/px4airframes/markdownout.py
+		${PX4_SOURCE_DIR}/Tools/px4airframes/rcout.py
+		${PX4_SOURCE_DIR}/Tools/px4airframes/srcparser.py
+		${PX4_SOURCE_DIR}/Tools/px4airframes/srcscanner.py
+		${PX4_SOURCE_DIR}/Tools/px4airframes/xmlout.py
+		${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
 	COMMENT "ROMFS: copying, generating airframes"
 	)

 # copy extras into ROMFS
 set(extras_dependencies)

+if(config_bl_file)
+	file(MAKE_DIRECTORY ${PX4_BINARY_DIR}/romfs_extras)
+	configure_file(${config_bl_file} ${PX4_BINARY_DIR}/romfs_extras COPYONLY)
+
+	list(APPEND extras_dependencies
+		${config_bl_file}
+		)
+endif()
+
 # copy px4io binary if configured
 if(config_io_board)
 	list(APPEND extras_dependencies
@@ -187,35 +179,17 @@ foreach(board_rc_file ${OPTIONAL_BOARD_RC})

 endforeach()

-list(APPEND extras_dependencies
-	${config_romfs_extra_dependencies}
-	)
-
-if (config_romfs_extra_files)
-	set(extras_copy_cmd COMMAND ${CMAKE_COMMAND} -E copy_if_different ${config_romfs_extra_files} ${romfs_gen_root_dir}/extras/)
-else()
-	set(extras_copy_cmd "")
-endif()
 add_custom_command(OUTPUT romfs_extras.stamp
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${romfs_gen_root_dir}/extras/
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/romfs_extras/
 	COMMAND ${CMAKE_COMMAND} -E copy_directory ${PX4_BINARY_DIR}/romfs_extras/ ${romfs_gen_root_dir}/extras/
-	${extras_copy_cmd}
 	COMMAND ${CMAKE_COMMAND} -E touch romfs_extras.stamp
 	DEPENDS
 		romfs_copy.stamp
-		${config_romfs_extra_files}
 		${extras_dependencies}
 	COMMENT "ROMFS: copying extras"
 	)

-add_custom_target(romfs_gen_files_target
-	DEPENDS
-		${romfs_extract_stamp}
-		${romfs_gen_root_dir}/init.d/rc.serial
-		romfs_extras.stamp
-	)
-
 add_custom_command(
 	OUTPUT romfs_pruned.stamp
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py --folder ${romfs_gen_root_dir} --board ${PX4_BOARD}
@@ -246,11 +220,7 @@ if("${CONFIG_FS_CROMFS}" STREQUAL "y")
 		COMMENT "ROMFS: generating image"
 	)

-	add_library(romfs STATIC nsh_romfsimg.c)
-	add_dependencies(romfs prebuild_targets)
-	set_target_properties(romfs PROPERTIES LINKER_LANGUAGE C)
-
-elseif("${CONFIG_FS_ROMFS}" STREQUAL "y")
+else()
 	# create romfs.img
 	find_program(GENROMFS genromfs)
 	if(NOT GENROMFS)
@@ -285,13 +255,13 @@ elseif("${CONFIG_FS_ROMFS}" STREQUAL "y")
 		COMMAND ${SED} 's/unsigned/const unsigned/g' nsh_romfsimg.c > nsh_romfsimg.c.tmp && ${CMAKE_COMMAND} -E rename nsh_romfsimg.c.tmp nsh_romfsimg.c
 		DEPENDS romfs.img
 	)
-
-	add_library(romfs STATIC nsh_romfsimg.c)
-	add_dependencies(romfs prebuild_targets)
-	set_target_properties(romfs PROPERTIES LINKER_LANGUAGE C)
 endif()


+add_library(romfs STATIC nsh_romfsimg.c)
+add_dependencies(romfs prebuild_targets)
+set_target_properties(romfs PROPERTIES LINKER_LANGUAGE C)
+

 # shellcheck
 find_program(SHELLCHECK_PATH shellcheck)
@@ -301,15 +271,11 @@ if(SHELLCHECK_PATH)
 	# TODO: fix SC2086, SC2166
 	add_custom_target(shellcheck
 		COMMAND ${SHELLCHECK_PATH} --shell=sh
-			--exclude=SC1090 # SC1090: use of source (.) - Can't follow non-constant source. Use a directive to specify location.
-			--exclude=SC1091 # SC1091: use of source (.) - Not following: xxxx openBinaryFile: does not exist (No such file or directory)
 			--exclude=SC2121 # SC2121: To assign a variable, use just 'var=value'
 			--exclude=SC2086 # SC2086: Double quote to prevent globbing and word splitting.
 			--exclude=SC2166 # SC2166: Prefer [ p ] || [ q ] as [ p -o q ] is not well defined.
 			--exclude=SC2154 # SC2154: <var> is referenced but not assigned (NuttX uses different asssignment)
 			--exclude=SC2164 # SC2164: Use 'cd ... || exit' or 'cd ... || return' in case cd fails.
-			--exclude=SC2169 # SC2169: In dash, 'source' in place of '.' is not supported. (we alias it)
-			--exclude=SC2039 # SC2039: In POSIX sh, 'source' in place of '.' is undefined. (we alias it)
 			--exclude=SC2181 # SC2181: Check exit code directly with e.g. 'if mycmd;', not indirectly with $?.
 			`find ${romfs_gen_root_dir}/init.d -type f`
 		DEPENDS ${romfs_gen_root_dir}/init.d/rc.autostart
@@ -14,7 +14,7 @@ set +e
 # NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
 #
 #------------------------------------------------------------------------------
-set R /
+
 #
 # Mount the procfs.
 #
@@ -51,25 +51,25 @@ fi
 param select $PARAM_FILE
 if ! param load
 then
-	param reset_all
+	param reset
 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}"
-	. $BOARD_RC_DEFAULTS
+	sh $BOARD_RC_DEFAULTS
 fi
 unset BOARD_RC_DEFAULTS

 #
 # Start system state indicator.
 #
-rgbled start -X -q
-rgbled_ncp5623c start -X -q
+rgbled start -X
+rgbled_ncp5623c start -X
 rgbled_pwm start

 if param greater LIGHT_EN_BLINKM 0
@@ -83,11 +83,11 @@ fi
 #
 # board sensors: rc.sensors
 #
-set BOARD_RC_SENSORS ${R}etc/init.d/rc.board_sensors
+set BOARD_RC_SENSORS /etc/init.d/rc.board_sensors
 if [ -f $BOARD_RC_SENSORS ]
 then
 	echo "Board sensors: ${BOARD_RC_SENSORS}"
-	. $BOARD_RC_SENSORS
+	sh $BOARD_RC_SENSORS
 fi
 unset BOARD_RC_SENSORS

@@ -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
+sh /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
@@ -33,8 +33,3 @@

 add_subdirectory(init.d)
 add_subdirectory(mixers)
-# TODO: make this configurable from the board config, or better combine
-if("${PX4_BOARD}" MATCHES "sitl")
-	add_subdirectory(mixers-sitl)
-	add_subdirectory(init.d-posix)
-endif()
@@ -7,6 +7,7 @@
 # @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/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/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/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/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/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/10016_iris
@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #

-. ${R}etc/init.d-posix/airframes/10016_iris
+sh /etc/init.d-posix/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/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/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
@@ -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/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/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/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
@@ -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
@@ -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
@@ -1,39 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2020 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-add_subdirectory(airframes)
-
-px4_add_romfs_files(
-	rc.replay
-	rcS
-)
@@ -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
@@ -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
@@ -1,12 +0,0 @@
-#!/bin/sh
-#
-# @name Quadrotor SITL model for JSBSim
-#
-# @type Quadrotor Wide
-#
-# @maintainer Jaeyoung Lim <jaeyoung@auterion.com>
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_w
@@ -1,35 +0,0 @@
-#!/bin/sh
-#
-# @name Hexacopter SITL model for JSBSim
-#
-# @type Hexarotor x
-#
-# @maintainer Jaeyoung Lim <jaeyoung@auterion.com>
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-if [ $AUTOCNF = yes ]
-then
-	param set MC_PITCHRATE_P 0.1
-	param set MC_PITCHRATE_I 0.05
-	param set MC_PITCH_P 6.0
-	param set MC_ROLLRATE_P 0.15
-	param set MC_ROLLRATE_I 0.1
-	param set MC_ROLL_P 6.0
-	param set MPC_XY_VEL_I_ACC 4
-	param set MPC_XY_VEL_P_ACC 3
-
-	param set RTL_DESCEND_ALT 10
-	param set RTL_LAND_DELAY 0
-
-	param set TRIG_INTERFACE 3
-	param set TRIG_MODE 4
-	param set MNT_MODE_IN 4
-	param set MNT_DO_STAB 2
-	param set MAV_PROTO_VER 2
-fi
-
-set MAV_TYPE 13
-
-set MIXER hexa_x
@@ -1,76 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2020 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-px4_add_romfs_files(
-	10016_iris
-	10020_if750a
-	10030_px4vision
-	1010_iris_opt_flow
-	1010_iris_opt_flow.post
-	1011_iris_irlock
-	1012_iris_rplidar
-	1013_iris_vision
-	1013_iris_vision.post
-	1014_solo
-	1015_iris_obs_avoid
-	1015_iris_obs_avoid.post
-	1016_iris_rtps
-	1016_iris_rtps.post
-	1017_iris_opt_flow_mockup
-	1018_iris_vision_velocity
-	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
-	1060_rover
-	1061_r1_rover
-	1062_tf-r1
-	1070_boat
-	3010_quadrotor_x
-	3011_hexarotor_x
-	17001_tf-g1
-	2507_cloudship
-	6011_typhoon_h480
-	6011_typhoon_h480.post
-)
@@ -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

@@ -44,12 +44,10 @@ else
 	# Find the matching Autostart ID (file name has the form: [0-9]+_${PX4_SIM_MODEL})
 	# TODO: unify with rc.autostart generation
 	# shellcheck disable=SC2012
-	REQUESTED_AUTOSTART=$(ls "$SCRIPT_DIR/airframes" | sed -n 's/^\([0-9][0-9]*\)_'${PX4_SIM_MODEL}'$/\1/p')
+	REQUESTED_AUTOSTART=$(ls "$SCRIPT_DIR" | sed -n 's/^\([0-9][0-9]*\)_'${PX4_SIM_MODEL}'$/\1/p')
 	if [ -z "$REQUESTED_AUTOSTART" ]; then
-		echo "Error: Unknown model $PX4_SIM_MODEL (not found by name on $SCRIPT_DIR/airframes)"
+		echo "Error: Unknown model '$PX4_SIM_MODEL'"
 		exit 1
-	else
-		echo "Info: found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
 	fi
 fi

@@ -103,7 +101,7 @@ then
 	set AUTOCNF yes

 	# Wipe out params except RC*, flight modes, total flight time, accel cal, gyro cal, next flight UUID
-	param reset_all SYS_AUTOSTART SYS_AUTOCONFIG RC* COM_FLTMODE* LND_FLIGHT_T_* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT_UUID
+	param reset_nostart RC* COM_FLTMODE* LND_FLIGHT_T_* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT_UUID
 fi

 # multi-instance setup
@@ -123,14 +121,14 @@ 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_ACC_PRIME 1311244
+
+	param set CAL_GYRO0_ID 1311244
+	param set CAL_GYRO_PRIME 1311244
+
 	param set CAL_MAG0_ID 197388
-	param set CAL_MAG1_ID 197644
+	param set CAL_MAG_PRIME 197388

 	param set CBRK_AIRSPD_CHK 0
 	param set CBRK_SUPPLY_CHK 894281
@@ -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/"$(param show -q SYS_AUTOSTART)"_*
 do
 	filename=$(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
@@ -34,9 +34,6 @@
 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
+sh /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
+sh /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
+sh /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
+sh /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
+sh /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
+sh /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
+sh /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
+sh /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
+sh /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
+sh /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
+sh /etc/init.d/rc.mc_defaults

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

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

 if [ $AUTOCNF = yes ]
 then
@@ -5,6 +5,8 @@
 # @type VTOL Octoplane
 # @class VTOL
 #
+# @maintainer
+#
 # @output MAIN1 motor 1
 # @output MAIN2 motor 2
 # @output MAIN3 motor 3
@@ -19,12 +21,11 @@
 # @output AUX4 Rudder
 # @output AUX5 Throttle
 #
-# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

 if [ $AUTOCNF = yes ]
 then
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Daniel Agar	97ab8277ed	ROMFS: 50000_generic_ground_vehicle remove fmu-v2 exclude - this allows px4_fmu-v2_rover to function until we have a better mechanism for including or excluding ROMFS dependencies #15711	2020-11-12 12:57:27 -05:00
AlexanderAurora	8068ed89f6	landing_slope: added wrap_pi to getLandingSlope and getFlareCurve - fixes https://github.com/PX4/PX4-Autopilot/issues/16132	2020-11-12 12:57:27 -05:00
Alex Mikhalev	a0a4b10885	Fix non-determinstic boot hang with crashdumps On boot, if board_hardfault_init finds a hardfault stored in BBSRAM, it checks if there is any data available on stdin to see if there is somebody there to respond to a prompt. But on boards such as cubeorange where there is not a serial console by default, the ioctl fails and bytesWaiting is uninitialized. So it will non-deterministally hang the boot process with no outside feedback if that value is not zero. Signed-off-by: Alex Mikhalev <alexmikhalevalex@gmail.com>	2020-11-12 12:57:27 -05:00
Julian Kent	377dc909ed	Check that home position is valid in RTL (#15964 )	2020-11-12 12:57:27 -05:00
Daniel Agar	8a516e5488	commander: preflight check don't read mag device_id	2020-11-12 12:57:27 -05:00
CUAVcaijie	d8778ac8df	Add a USB ardupilot * type	2020-11-12 12:57:27 -05:00
Jacob Dahl	92a9278a6a	fixed dps310 calibration coeffecient for c11	2020-11-12 12:57:27 -05:00
Julian Oes	508c09d610	commander: fix switch to loiter Sometimes, the mission_result timestamp is the same as the internal_state timestamp which would meant that we would not switch to LOITER even though the takeoff is clearly done at that point.	2020-11-12 12:57:27 -05:00
Daniel Agar	efabca854f	ekf2: update ecl with bug fixes - ecl/EKF: Improve robustness of yaw reset to bad inertial data (https://github.com/PX4/PX4-ECL/pull/914) - ecl/EKF: Use strength in Gauss (bug fix) (https://github.com/PX4/PX4-ECL/pull/933)	2020-11-12 11:27:56 -05:00
Daniel Agar	bdcccb1723	sensors: force parameter update if mag device id still isn't set	2020-10-22 09:36:00 -04:00
Beat Küng	8592fe2358	tests: don't run battery_simulator The battery migration interferes with the tests.	2020-10-20 11:43:41 -04:00
Beat Küng	5faf8bd52c	battery: disable secondary module by default Avoid a GCS showing 2 battery indicators. Alternatively we could also check the 'connected' flag, but this is more explicit.	2020-10-20 11:43:41 -04:00
Beat Küng	977479c370	battery: fix isFloatEqual(), use matrix::isEqualF Fixes param migration, e.g. if BAT_N_CELLS is set, migrates to BAT1_N_CELLS.	2020-10-20 11:43:41 -04:00
Beat Küng	6da456e7f5	fix EscBattery: remove _battery.publish(); updateBatteryStatus() already publishes	2020-10-20 11:43:41 -04:00
Daniel Agar	9fcbf18d82	battery: fix duplicate uORB publish and minor cleanup - run battery_status module on adc_report publications rather than a fixed schedule	2020-10-05 14:49:54 -04:00
Daniel Agar	3188408d81	boards: mRo Control Zero F7 fix RC input and cleanup sensors init	2020-10-05 14:49:54 -04:00
Daniel Agar	d3148f2656	commander: PreFlightCheck param_find all parameters immediately - this ensures the relevant parameters are marked active immediately before parameter sync - fixes https://github.com/PX4/Firmware/issues/15872	2020-10-03 17:52:46 -04:00
Beat Küng	665effca3b	kakutef7: fix output ordering Regression from `d2254c2e44`, I overlooked that they were defined in reverse order.	2020-10-03 17:52:46 -04:00
Alex Mikhalev	db37c632b4	uavcan: Increase uavcan main stack size I observed stack overflows when executing `uavcan params list`, so the stack size probably needs to be increased. Signed-off-by: Alex Mikhalev <alexmikhalevalex@gmail.com>	2020-10-03 17:52:46 -04:00
Nicolas Martin	50d768c79d	mc_pos_control: fix acc Z sign	2020-09-29 09:33:43 -04:00
Daniel Agar	740c471021	boards: CUAV Nora/X7pro fix BOARD_DSHOT_MOTOR_ASSIGNMENT - BOARD_DSHOT_MOTOR_ASSIGNMENT isn't needed if there's no remapping	2020-09-24 12:04:28 -04:00
Daniel Agar	8398e80fa5	boards: cubepilot orange/yellow fix BOARD_DSHOT_MOTOR_ASSIGNMENT	2020-09-24 12:04:28 -04:00
Daniel Agar	4f8bcec1d7	boards: cubeorange and cubeyellow disable serial console (used for ADSB on new carrier boards) - add console builds (cubepilot_cubeorange_console) for hardware test rack and developers	2020-09-21 13:44:54 -04:00
Mirko Denecke	f01fbdf8b5	CubeOrange and CubeYellow IMU heating fix	2020-09-16 10:28:33 -04:00
Nicolas MARTIN	db529aa013	temperature compensation: change sensor id not found message	2020-09-16 10:28:33 -04:00
Nicolas MARTIN	cd3db45d27	thermal calibrtation: do not calibrate sensor without temperature sensor	2020-09-16 10:28:33 -04:00
David Sidrane	71db0903a9	NuttX Critical STM32H7 Interrupt Storm on I2C	2020-09-07 15:36:11 -04:00
Dusan Zivkovic	bfc59f6d88	FlightTaskAuto: update waypoints on every iteration when in offtrack state	2020-09-07 15:25:06 -04:00
Daniel Agar	2bc4a5a44b	commander: HITL skip auto disarm if lockdown - auto disarm when locked down was added in #14766 to prevent user confusion in regular usage, but also breaks HITL where lockdown is enabled for safety - fixes #15686	2020-09-06 19:30:02 -04:00
Jonathan Hahn	33cabba185	fw_pos_control_l1: fix swapped TECS time parameters (#15685 ) Co-authored-by: Jonathan Hahn <hahn@wingcopter.com>	2020-09-04 15:14:00 -04:00
Matthias Grob	4cd7d44b4a	battery: switch to PublicationMulti for battery_status	2020-09-01 22:08:28 -04:00
Matthias Grob	7da7ebad3d	analog_battery: fix missing stdio include This was not a problem before because battery.h included the adc driver and implicitly snprintf was defined through there.	2020-09-01 22:08:28 -04:00
Matthias Grob	a809e4cfc8	commander_params: remove some double spaces	2020-09-01 22:08:28 -04:00
Matthias Grob	4db9d7131e	syslink_main: remove empty lines and struct keyword	2020-09-01 22:08:28 -04:00
Matthias Grob	f92c5aa688	ina226/voxlpm: make sure parameter sub is reset The subscription to parameter updates has to get copied otherwise the change detection will not get reset for next time.	2020-09-01 22:08:28 -04:00
Matthias Grob	165c8b23bf	battery: fix parameter migration and clarify	2020-09-01 22:08:28 -04:00
Matthias Grob	226f5f875d	BatterySimulator: remove SimulatorBattery It loads the battery parameters but then overwrites them with hardcoded values and it breaks the ModuleParams parent/child hierarchy. Both is undesired.	2020-09-01 22:08:28 -04:00
Oleg	af9c6e6fce	batterry_status: fix checking default a_per_v	2020-08-28 16:28:54 -04:00
bresch	c3a410e19c	ll40ls: set default rotation to downwards facing All the other distance sensors have their default rotation to downwards facing as well	2020-08-28 16:28:54 -04:00
Daniel Agar	427b17d8a1	bosch/bmi055: fix accel temperature reading - single register output is in 2's complement	2020-08-28 16:28:29 -04:00
CUAVcaijie	1672fc646f	boards: add UAVCAN timer override mechanism and CUAV X7 add CAN (#15348 ) * X7Pro adds CAN driver * UAVCAN timer selection moved to default.cmake * Modify some details about @CUAVcaijie UAVCAN timer selection moved to default.cmake * Put some timer parameters to micro_hal.h from board_config.h. Fix all h7 boards Co-authored-by: honglang <honglang@cuav.net>	2020-08-28 16:28:29 -04:00
modaltb	c915f0dca9	modalai_fc-v1 - power_monitor/voxlpm: add support for voxlpm v3 (INA231 sensors)	2020-08-28 16:28:01 -04:00