Multicopter attitude setpoint flag absolute yaw control

This allows to disable absolute yaw control while still using the attitude quaternion.
2026-08-17 00:20:35 +08:00 · 2020-10-21 08:37:19 +02:00
423 changed files with 2615 additions and 6936 deletions
@@ -10,24 +10,17 @@ pipeline {
          def build_nodes = [:]
          def docker_images = [
            armhf: "px4io/px4-dev-armhf:2020-04-01",
-            arm64: "px4io/px4-dev-aarch64:latest",
            base: "px4io/px4-dev-base-bionic:2020-04-01",
            nuttx: "px4io/px4-dev-nuttx-focal:2020-09-14",
            snapdragon: "lorenzmeier/px4-dev-snapdragon:2020-04-01"
          ]

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

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

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

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

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

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

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

 ## Maintenance Team

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

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

@@ -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
@@ -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
@@ -51,7 +51,6 @@ px4_add_romfs_files(
 	1019_iris_dual_gps
 	1020_uuv_generic
 	1021_uuv_hippocampus
-	1022_uuv_bluerov2_heavy
 	1030_plane
 	1031_plane_cam
 	1032_plane_catapult
@@ -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
@@ -141,12 +141,6 @@ then
 	# 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
-
 	# By default log from boot until first disarm.
 	param set SDLOG_MODE 1
 	# enable default, estimator replay and vision/avoidance logging profiles
@@ -216,7 +210,6 @@ if ! replay tryapplyparams
 then
 	simulator start -c $simulator_tcp_port
 fi
-load_mon start
 battery_simulator start
 tone_alarm start
 rc_update start
@@ -1,39 +0,0 @@
-#!/bin/sh
-#
-# @name NXP HoverGames
-#
-# @type Quadrotor x
-# @class Copter
-#
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-# @maintainer Iain Galloway <iain.galloway@nxp.com>
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-set PWM_OUT 1234
-
-if [ $AUTOCNF = yes ]
-then
-
-	param set IMU_GYRO_CUTOFF 40
-	param set IMU_DGYRO_CUTOFF 20
-	param set IMU_GYRO_RATEMAX 400
-
-	param set MC_ROLLRATE_P 0.18
-	param set MC_ROLLRATE_I 0.15
-	param set MC_ROLLRATE_D 0.003
-
-	param set MC_PITCHRATE_P 0.18
-	param set MC_PITCHRATE_I 0.15
-	param set MC_PITCHRATE_D 0.003
-
-fi
@@ -1,51 +0,0 @@
-#!/bin/sh
-#
-# @name BlueROV2 (Heavy Configuration)
-#
-# @type Vectored 6 DOF UUV
-# @class Underwater Robot
-#
-# @output MAIN1 motor 1 CCW, bow starboard horizontal, , propeller CCW
-# @output MAIN2 motor 2 CCW, bow port horizontal, propeller CCW
-# @output MAIN3 motor 3 CCW, stern starboard horizontal, propeller CW
-# @output MAIN4 motor 4 CCW, stern port horizontal, propeller CW
-# @output MAIN5 motor 5 CCW, bow starboard vertical, propeller CCW
-# @output MAIN6 motor 6 CCW, bow port vertical, propeller CW
-# @output MAIN7 motor 7 CCW, stern starboard vertical, propeller CW
-# @output MAIN8 motor 8 CCW, stern port vertical, propeller CCW
-#
-# @maintainer Thies Lennart Alff <thies.lennart.alff@tuhh.de>
-#
-# @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${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
-	# companion computer is connected via USB permanently
-	param set CBRK_USB_CHK 197848
-	param set CBRK_IO_SAFETY 22027
-
-	param set COM_PREARM_MODE 0
-
-	param set MAV_1_CONFIG 102
-
-	param set BAT1_A_PER_V 37.8798
-	param set BAT1_CAPACITY 18000
-	param set BAT1_V_DIV 11.0
-	param set BAT1_N_CELLS 4
-	param set BAT_V_OFFS_CURR 0.33
-fi
-
-set PWM_OUT 12345678
-# set MIXER IO_pass
-set MIXER vectored6dof
-
@@ -69,7 +69,6 @@ px4_add_romfs_files(
 	4014_s500
 	4015_holybro_s500
 	4016_holybro_px4vision
-	4017_nxp_hovergames
 	4020_hk_micro_pcb
 	4030_3dr_solo
 	4031_3dr_quad
@@ -159,5 +158,4 @@ px4_add_romfs_files(
 	# [60000, 61000] (Unmanned) Underwater Robots
 	60000_uuv_generic
 	60001_uuv_hippocampus
-	60002_uuv_bluerov2_heavy
 )
@@ -40,7 +40,7 @@ else
 		# EKF2
 		#
 		param set SYS_MC_EST_GROUP 2
-		ekf2 start &
+		ekf2 start
 	fi
 fi

@@ -8,7 +8,7 @@
 #
 # Start the attitude and position estimator.
 #
-ekf2 start &
+ekf2 start

 #
 # Start attitude controller.
@@ -40,7 +40,7 @@ else
 		# EKF2
 		#
 		param set SYS_MC_EST_GROUP 2
-		ekf2 start &
+		ekf2 start
 	fi
 fi

@@ -8,7 +8,7 @@
 #
 # Start the attitude and position estimator.
 #
-ekf2 start &
+ekf2 start
 #attitude_estimator_q start
 #local_position_estimator start

@@ -68,16 +68,9 @@ fi
 # Lightware i2c lidar sensor
 if param greater -s SENS_EN_SF1XX 0
 then
-	lightware_laser_i2c start -X
+	sf1xx start -X
 fi

-# Sensor HY-SRF05 or HC-SR05 ultrasonic sensor
-if param compare -s SENS_EN_SR05 1
-then
-	srf05 start
-fi
-
-
 # Heater driver for temperature regulated IMUs.
 if param compare -s SENS_EN_THERMAL 1
 then
@@ -9,7 +9,7 @@
 #                       Begin Estimator Group Selection                       #
 ###############################################################################

-ekf2 start &
+ekf2 start

 ###############################################################################
 #                        End Estimator Group Selection                        #
@@ -183,13 +183,6 @@ then
 		echo "UUV mixer undefined"
 	fi

-	if [ $MAV_TYPE = none ]
-	then
-		# Set default MAV_TYPE to submarine if not defined
-		set MAV_TYPE 12
-	fi
-
-	param set MAV_TYPE ${MAV_TYPE}
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface

@@ -206,5 +199,5 @@ fi
 if [ $VEHICLE_TYPE = none ]
 then
 	echo "No autostart ID found"
-	ekf2 start &
+	ekf2 start
 fi
@@ -9,7 +9,7 @@
 #                       Begin Estimator group selection                       #
 ###############################################################################

-ekf2 start &
+ekf2 start

 ###############################################################################
 #                        End Estimator group selection                        #
@@ -526,11 +526,6 @@ else
 		bst start -X
 	fi

-	if param compare IMU_GYRO_FFT_EN 1
-	then
-		gyro_fft start
-	fi
-
 	#
 	# Optional board supplied extras: rc.board_extras
 	#
@@ -42,5 +42,4 @@ px4_add_romfs_files(
 	standard_vtol_sitl.main.mix
 	tiltrotor_sitl.main.mix
 	uuv_x_sitl.main.mix
-	vectored6dof_sitl.main.mix
 )
@@ -1,32 +0,0 @@
-# Motor 1
-M: 2
-S: 0 2  -4000  -4000  0   -4000  +4000
-S: 0 3  +4000  +4000  0   -4000  +4000
-# Motor 2
-M: 2
-S: 0 2  +4000  +4000  0   -4000  +4000
-S: 0 3  +4000  +4000  0   -4000  +4000
-# Motor 3
-M: 2
-S: 0 2  -4000  -4000  0   -4000  +4000
-S: 0 3  +4000  +4000  0   -4000  +4000
-# Motor 4
-M: 2
-S: 0 2  +4000  +4000  0   -4000  +4000
-S: 0 3  +4000  +4000  0   -4000  +4000
-# Motor 5
-M: 2
-S: 0 0  -4000  -4000  0   -4000  +4000
-S: 0 1  +4000  +4000  0   -4000  +4000
-# Motor 6
-M: 2
-S: 0 0  -4000  -4000  0   -4000  +4000
-S: 0 1  -4000  -4000  0   -4000  +4000
-# Motor 7
-M: 2
-S: 0 0  +4000  +4000  0   -4000  +4000
-S: 0 1  +4000  +4000  0   -4000  +4000
-# Motor 8
-M: 2
-S: 0 0  +4000  +4000  0   -4000  +4000
-S: 0 1  -4000  -4000  0   -4000  +4000
@@ -85,7 +85,6 @@ px4_add_romfs_files(
 	tri_y_yaw+.main.mix
 	tri_y_yaw-.main.mix
 	uuv_x.main.mix
-	vectored6dof.main.mix
 	Viper.main.mix
 	vtol_AAERT.aux.mix
 	vtol_AAVVT.aux.mix
@@ -1,32 +0,0 @@
-# Motor 1
-M: 2
-S: 0 2  -4000  -4000  0   -4000  +4000
-S: 0 3  +4000  +4000  0   -4000  +4000
-# Motor 2
-M: 2
-S: 0 2  +4000  +4000  0   -4000  +4000
-S: 0 3  +4000  +4000  0   -4000  +4000
-# Motor 3
-M: 2
-S: 0 2  -4000  -4000  0   -4000  +4000
-S: 0 3  +4000  +4000  0   -4000  +4000
-# Motor 4
-M: 2
-S: 0 2  +4000  +4000  0   -4000  +4000
-S: 0 3  +4000  +4000  0   -4000  +4000
-# Motor 5
-M: 2
-S: 0 0  -4000  -4000  0   -4000  +4000
-S: 0 1  +4000  +4000  0   -4000  +4000
-# Motor 6
-M: 2
-S: 0 0  -4000  -4000  0   -4000  +4000
-S: 0 1  -4000  -4000  0   -4000  +4000
-# Motor 7
-M: 2
-S: 0 0  +4000  +4000  0   -4000  +4000
-S: 0 1  +4000  +4000  0   -4000  +4000
-# Motor 8
-M: 2
-S: 0 0  +4000  +4000  0   -4000  +4000
-S: 0 1  -4000  -4000  0   -4000  +4000
@@ -32,7 +32,7 @@ if ets_airspeed start -X
 then
 fi

-if lightware_laser_i2c start
+if sf1xx start
 then
 fi

@@ -5,8 +5,8 @@ function check_git_submodule {
 # The .git exists in a submodule if init and update have been done.
 if [[ -f $1"/.git" || -d $1"/.git" ]]; then

-	# always update within CI environment or configuring withing VSCode CMake where you can't interact
-	if [ "$CI" == "true" ] || [ -n "${VSCODE_PID+set}" ]; then
+	# CI environment always update
+	if [ "$CI" == "true" ]; then
 		git submodule --quiet sync --recursive -- $1
 		git submodule --quiet update --init --recursive --jobs=8 -- $1  || true
 		git submodule --quiet update --init --recursive --jobs=8 -- $1
@@ -5,12 +5,9 @@ if [ -z ${PX4_DOCKER_REPO+x} ]; then
 	if [[ $@ =~ .*px4_fmu.* ]]; then
 		# nuttx-px4fmu-v{1,2,3,4,5}
 		PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2020-09-14"
-	elif [[ $@ =~ .*ocpoc.* ]] || [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]]; then
-		# aerotenna_ocpoc_default, beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_pilotpi_default
+	elif [[ $@ =~ .*ocpoc.* ]] || [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*airpi2.* ]]; then
+		# aerotenna_ocpoc_default, beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_airpi2_default
 		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2020-04-01"
-	elif [[ $@ =~ .*pilotpi.arm64 ]]; then
-		# scumaker_pilotpi_arm64
-		PX4_DOCKER_REPO="px4io/px4-dev-aarch64:latest"
 	elif [[ $@ =~ .*eagle.* ]] || [[ $@ =~ .*excelsior.* ]]; then
 		# eagle, excelsior
 		PX4_DOCKER_REPO="lorenzmeier/px4-dev-snapdragon:2020-04-01"
@@ -14,14 +14,13 @@ from analysis.checks import perform_ecl_ekf_checks
 from analysis.post_processing import get_estimator_check_flags

 def analyse_ekf(
-        ulog: ULog, check_levels: Dict[str, float], multi_instance: int = 0,
-        red_thresh: float = 1.0, amb_thresh: float = 0.5, min_flight_duration_seconds: float = 5.0,
+        ulog: ULog, check_levels: Dict[str, float], red_thresh: float = 1.0,
+        amb_thresh: float = 0.5, min_flight_duration_seconds: float = 5.0,
        in_air_margin_seconds: float = 5.0, pos_checks_when_sensors_not_fused: bool = False) -> \
        Tuple[str, Dict[str, str], Dict[str, float], Dict[str, float]]:
    """
    :param ulog:
    :param check_levels:
-    :param multi_instance:
    :param red_thresh:
    :param amb_thresh:
    :param min_flight_duration_seconds:
@@ -31,19 +30,22 @@ def analyse_ekf(
    """

    try:
-        estimator_states = ulog.get_dataset('estimator_states', multi_instance).data
+        estimator_states = ulog.get_dataset('estimator_states').data
+        print('found estimator_states data')
    except:
-        raise PreconditionError('could not find estimator_states instance', multi_instance)
+        raise PreconditionError('could not find estimator_states data')

    try:
-        estimator_status = ulog.get_dataset('estimator_status', multi_instance).data
+        estimator_status = ulog.get_dataset('estimator_status').data
+        print('found estimator_status data')
    except:
-        raise PreconditionError('could not find estimator_status instance', multi_instance)
+        raise PreconditionError('could not find estimator_status data')

    try:
-        _ = ulog.get_dataset('estimator_innovations', multi_instance).data
+        _ = ulog.get_dataset('estimator_innovations').data
+        print('found estimator_innovations data')
    except:
-        raise PreconditionError('could not find estimator_innovations instance', multi_instance)
+        raise PreconditionError('could not find estimator_innovations data')

    try:
        in_air = InAirDetector(
@@ -69,7 +71,7 @@ def analyse_ekf(

    metrics = calculate_ecl_ekf_metrics(
        ulog, innov_flags, innov_fail_checks, sensor_checks, in_air, in_air_no_ground_effects,
-        multi_instance, red_thresh=red_thresh, amb_thresh=amb_thresh)
+        red_thresh=red_thresh, amb_thresh=amb_thresh)

    check_status, master_status = perform_ecl_ekf_checks(
        metrics, sensor_checks, innov_fail_checks, check_levels)
@@ -13,7 +13,7 @@ from analysis.detectors import InAirDetector
 def calculate_ecl_ekf_metrics(
        ulog: ULog, innov_flags: Dict[str, float], innov_fail_checks: List[str],
        sensor_checks: List[str], in_air: InAirDetector, in_air_no_ground_effects: InAirDetector,
-        multi_instance: int = 0, red_thresh: float = 1.0, amb_thresh: float = 0.5) -> Tuple[dict, dict, dict, dict]:
+        red_thresh: float = 1.0, amb_thresh: float = 0.5) -> Tuple[dict, dict, dict, dict]:

    sensor_metrics = calculate_sensor_metrics(
        ulog, sensor_checks, in_air, in_air_no_ground_effects,
@@ -22,9 +22,9 @@ def calculate_ecl_ekf_metrics(
    innov_fail_metrics = calculate_innov_fail_metrics(
        innov_flags, innov_fail_checks, in_air, in_air_no_ground_effects)

-    imu_metrics = calculate_imu_metrics(ulog, multi_instance, in_air_no_ground_effects)
+    imu_metrics = calculate_imu_metrics(ulog, in_air_no_ground_effects)

-    estimator_status_data = ulog.get_dataset('estimator_status', multi_instance).data
+    estimator_status_data = ulog.get_dataset('estimator_status').data

    # Check for internal filter nummerical faults
    ekf_metrics = {'filter_faults_max': np.amax(estimator_status_data['filter_fault_flags'])}
@@ -44,10 +44,10 @@ def calculate_ecl_ekf_metrics(

 def calculate_sensor_metrics(
        ulog: ULog, sensor_checks: List[str], in_air: InAirDetector,
-        in_air_no_ground_effects: InAirDetector, multi_instance: int = 0,
-        red_thresh: float = 1.0, amb_thresh: float = 0.5) -> Dict[str, float]:
+        in_air_no_ground_effects: InAirDetector, red_thresh: float = 1.0,
+        amb_thresh: float = 0.5) -> Dict[str, float]:

-    estimator_status_data = ulog.get_dataset('estimator_status', multi_instance).data
+    estimator_status_data = ulog.get_dataset('estimator_status').data

    sensor_metrics = dict()

@@ -131,9 +131,10 @@ def calculate_innov_fail_metrics(
    return innov_fail_metrics


-def calculate_imu_metrics(ulog: ULog, multi_instance, in_air_no_ground_effects: InAirDetector) -> dict:
+def calculate_imu_metrics(
+        ulog: ULog, in_air_no_ground_effects: InAirDetector) -> dict:

-    estimator_status_data = ulog.get_dataset('estimator_status', multi_instance).data
+    estimator_status_data = ulog.get_dataset('estimator_status').data

    imu_metrics = dict()

@@ -157,7 +158,7 @@ def calculate_imu_metrics(ulog: ULog, multi_instance, in_air_no_ground_effects:
                in_air_no_ground_effects, np.mean)

    # IMU bias checks
-    estimator_states_data = ulog.get_dataset('estimator_states', multi_instance).data
+    estimator_states_data = ulog.get_dataset('estimator_states').data

    imu_metrics['imu_dang_bias_median'] = np.sqrt(np.sum([np.square(calculate_stat_from_signal(
        estimator_states_data, 'estimator_states', signal, in_air_no_ground_effects, np.median))
@@ -17,7 +17,7 @@ from plotting.data_plots import TimeSeriesPlot, InnovationPlot, ControlModeSumma
 from analysis.detectors import PreconditionError
 import analysis.data_version_handler as dvh

-def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str) -> None:
+def create_pdf_report(ulog: ULog, output_plot_filename: str) -> None:
    """
    creates a pdf report of the ekf analysis.
    :param ulog:
@@ -29,18 +29,20 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
    # save the plots to PDF

    try:
-        estimator_status = ulog.get_dataset('estimator_status', multi_instance).data
+        estimator_status = ulog.get_dataset('estimator_status').data
+        print('found estimator_status data')
    except:
-        raise PreconditionError('could not find estimator_status instance', multi_instance)
+        raise PreconditionError('could not find estimator_status data')

    try:
-        estimator_states = ulog.get_dataset('estimator_states', multi_instance).data
+        estimator_states = ulog.get_dataset('estimator_states').data
+        print('found estimator_states data')
    except:
-        raise PreconditionError('could not find estimator_states instance', multi_instance)
+        raise PreconditionError('could not find estimator_states data')

    try:
-        estimator_innovations = ulog.get_dataset('estimator_innovations', multi_instance).data
-        estimator_innovation_variances = ulog.get_dataset('estimator_innovation_variances', multi_instance).data
+        estimator_innovations = ulog.get_dataset('estimator_innovations').data
+        estimator_innovation_variances = ulog.get_dataset('estimator_innovation_variances').data
        innovation_data = estimator_innovations
        for key in estimator_innovation_variances:
            # append 'var' to the field name such that we can distingush between innov and innov_var
@@ -63,7 +65,7 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
            for key in innovation_data:
                innovation_data[key] = innovation_data[key][0:innovation_data_min_length]

-        print('found innovation data (merged estimator_innovations + estimator_innovation_variances) instance', multi_instance)
+        print('found innovation data (merged estimator_innovations + estimator_innovation_variances)')

    except:
        raise PreconditionError('could not find innovation data')
@@ -90,21 +90,6 @@ def process_logdata_ekf(
    except:
        raise PreconditionError('could not open {:s}'.format(filename))

-    ekf_instances = 1
-
-    try:
-        estimator_selector_status = ulog.get_dataset('estimator_selector_status',).data
-        print('found estimator_selector_status (multi-ekf) data')
-
-        for instances_available in estimator_selector_status['instances_available']:
-            if instances_available > ekf_instances:
-                ekf_instances = instances_available
-
-        print(ekf_instances, 'ekf instances')
-
-    except:
-        print('could not find estimator_selector_status data')
-
    try:
        # get the dictionary of fail and warning test thresholds from a csv file
        with open(check_level_dict_filename, 'r') as file:
@@ -115,35 +100,30 @@ def process_logdata_ekf(
        raise PreconditionError('could not find {:s}'.format(check_level_dict_filename))

    in_air_margin = 5.0 if sensor_safety_margins else 0.0
+    # perform the ekf analysis
+    master_status, check_status, metrics, airtime_info = analyse_ekf(
+        ulog, check_levels, red_thresh=1.0, amb_thresh=0.5, min_flight_duration_seconds=5.0,
+        in_air_margin_seconds=in_air_margin)

-    for multi_instance in range(ekf_instances):
+    test_results = create_results_table(
+        check_table_filename, master_status, check_status, metrics, airtime_info)

-        print('\nestimator instance:', multi_instance)
+    # write metadata to a .csv file
+    with open('{:s}.mdat.csv'.format(filename), "w") as file:

-        # perform the ekf analysis
-        master_status, check_status, metrics, airtime_info = analyse_ekf(
-            ulog, check_levels, multi_instance, red_thresh=1.0, amb_thresh=0.5, min_flight_duration_seconds=5.0,
-            in_air_margin_seconds=in_air_margin)
+        file.write("name,value,description\n")

-        test_results = create_results_table(
-            check_table_filename, master_status, check_status, metrics, airtime_info)
+        # loop through the test results dictionary and write each entry on a separate row, with data comma separated
+        # save data in alphabetical order
+        key_list = list(test_results.keys())
+        key_list.sort()
+        for key in key_list:
+            file.write(key + "," + str(test_results[key][0]) + "," + test_results[key][1] + "\n")
+    print('Test results written to {:s}.mdat.csv'.format(filename))

-        # write metadata to a .csv file
-        with open('{:s}-{:d}.mdat.csv'.format(filename, multi_instance), "w") as file:
-
-            file.write("name,value,description\n")
-
-            # loop through the test results dictionary and write each entry on a separate row, with data comma separated
-            # save data in alphabetical order
-            key_list = list(test_results.keys())
-            key_list.sort()
-            for key in key_list:
-                file.write(key + "," + str(test_results[key][0]) + "," + test_results[key][1] + "\n")
-        print('Test results written to {:s}-{:d}.mdat.csv'.format(filename, multi_instance))
-
-        if plot:
-            create_pdf_report(ulog, multi_instance, '{:s}-{:d}.pdf'.format(filename, multi_instance))
-            print('Plots saved to {:s}-{:d}.pdf'.format(filename, multi_instance))
+    if plot:
+        create_pdf_report(ulog, '{:s}.pdf'.format(filename))
+        print('Plots saved to {:s}.pdf'.format(filename))

    return test_results

@@ -16,7 +16,7 @@ function spawn_model() {
 	MODEL=$1
 	N=$2 #Instance Number

-	SUPPORTED_MODELS=("iris" "iris_rtps" "plane" "standard_vtol" "rover" "r1_rover")
+	SUPPORTED_MODELS=("iris" "iris_rtps" "plane" "standard_vtol")
 	if [[ " ${SUPPORTED_MODELS[*]} " != *"$MODEL "* ]];
 	then
 		echo "ERROR: Currently only vehicle model $MODEL is not supported!"
@@ -113,7 +113,7 @@ def main():

    if args.port == None:
        if sys.platform == "darwin":
-            args.port = "/dev/tty.usbmodem01"
+            args.port = "/dev/tty.usbmodem1"
        else:
            serial_list = mavutil.auto_detect_serial(preferred_list=['*FTDI*',
                "*Arduino_Mega_2560*", "*3D_Robotics*", "*USB_to_UART*", '*PX4*', '*FMU*', "*Gumstix*"])
@@ -26,7 +26,7 @@ as well (such as `free`). Use `help` on the console to get a list of all
 available commands, and in most cases `command help` will print the usage.

 Since this is generated from source, errors must be reported/fixed
-in the [PX4-Autopilot](https://github.com/PX4/PX4-Autopilot) repository.
+in the [Firmware](https://github.com/PX4/Firmware) repository.
 The documentation pages can be generated by running the following command from
 the root of the Firmware directory:
 ```
@@ -72,7 +72,7 @@ The generated files will be written to the `modules` directory.
                result += "%s\n" % doc
            usage_string = module.usage_string()
            if len(usage_string) > 0:
-                result += '<a id="%s_usage"></a>\n### Usage\n```\n%s\n```\n' % (module.name(), usage_string)
+                result += "### Usage {#%s_usage}\n```\n%s\n```\n" % (module.name(), usage_string)
        return result

    def Save(self, dirname):
@@ -1,64 +0,0 @@
-let
-	pkgs = import (builtins.fetchTarball {
-		name = "nixos-20.09-2020-10-29";
-		url = "https://github.com/nixos/nixpkgs/archive/edb26126d98bc696f4f3e206583faa65d3d6e818.tar.gz";
-		sha256 = "1cl4ka4kk7kh3bl78g06dhiidazf65q8miyzaxi9930d6gwyzkci";
-	}) {};
-	empy = with pkgs.python3Packages; buildPythonPackage rec {
-		pname = "empy";
-		version = "3.3.4";
-		src = fetchPypi {
-			inherit pname version;
-			sha256 = "1cq1izl6l87i5i3vj0jcqfksh10kpiwpr2m19vgpj530bdw4kb3k";
-		};
-		doCheck = false;
-	};
-	pyros-genmsg = with pkgs.python3Packages; buildPythonPackage rec {
-		pname = "pyros-genmsg";
-		version = "0.5.8";
-		src = fetchPypi {
-			inherit version;
-			pname = "pyros_genmsg";
-			sha256 = "0y7l131lc77v0c1rhxza41cxnnxc7acfqzlqf84fdya0kiyv071w";
-		};
-		doCheck = false;
-	};
-	pyulog = with pkgs.python3Packages; buildPythonPackage rec {
-		pname = "pyulog";
-		version = "0.8.0";
-		src = fetchPypi {
-			inherit pname version;
-			sha256 = "1ivvhfi9rsrqdk9f06rj0q1d367ngyy0xyc2x9mdwjx3dazwgn45";
-		};
-		propagatedBuildInputs = [ numpy ];
-		doCheck = false;
-	};
-in pkgs.mkShell {
-	nativeBuildInputs = [ pkgs.cmake ];
-	buildInputs = [
-		pkgs.gcc-arm-embedded
-		pkgs.python3
-	] ++ (with pkgs.python3Packages; [
-		argcomplete
-		cerberus
-		coverage
-		empy
-		jinja2
-		matplotlib
-		numpy
-		packaging
-		pandas
-		pkgconfig
-		psutil
-		pygments
-		pyros-genmsg
-		pyserial
-		pyulog
-		pyyaml
-		requests
-		setuptools
-		six
-		toml
-		wheel
-	]);
-}
@@ -71,7 +71,6 @@ px4_add_board(
 		esc_calib
 		led_control
 		mixer
-		modules
 		motor_ramp
 		param
 		perf
@@ -88,7 +88,6 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mixer
-		modules
 		motor_ramp
 		motor_test
 		mtd
@@ -89,8 +89,8 @@ CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
-CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
+CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -95,7 +95,6 @@ px4_add_board(
 		#hardfault_log
 		led_control
 		mixer
-		modules
 		motor_ramp
 		motor_test
 		#mtd
@@ -93,7 +93,6 @@ px4_add_board(
 		#hardfault_log
 		led_control
 		mixer
-		modules
 		motor_ramp
 		motor_test
 		#mtd
@@ -88,7 +88,6 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mixer
-		modules
 		motor_ramp
 		motor_test
 		nshterm
@@ -122,6 +122,7 @@ CONFIG_NET_TCP_WRITE_BUFFERS=y
 CONFIG_NET_UDP=y
 CONFIG_NET_UDP_CHECKSUMS=y
 CONFIG_NFILE_DESCRIPTORS=12
+CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -67,7 +67,6 @@ px4_add_board(
 		esc_calib
 		led_control
 		mixer
-		modules
 		motor_ramp
 		param
 		perf
@@ -44,7 +44,6 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mixer
-		modules
 		motor_ramp
 		motor_test
 		mtd
@@ -85,6 +85,7 @@ CONFIG_MTD_AT24XX=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_NFILE_DESCRIPTORS=12
+CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -39,6 +39,7 @@ CONFIG_LIB_BOARDCTL=y
 CONFIG_MAX_TASKS=0
 CONFIG_MM_REGIONS=2
 CONFIG_NAME_MAX=0
+CONFIG_NFILE_STREAMS=0
 CONFIG_NUNGET_CHARS=0
 CONFIG_NXFONTS_DISABLE_16BPP=y
 CONFIG_NXFONTS_DISABLE_1BPP=y
@@ -69,8 +69,8 @@ CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
-CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
+CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -56,6 +56,7 @@ CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MM_REGIONS=3
 CONFIG_NFILE_DESCRIPTORS=5
+CONFIG_NFILE_STREAMS=3
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=245760
@@ -94,8 +94,8 @@ CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_PROGMEM=y
 CONFIG_MTD_RAMTRON=y
-CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
+CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -46,8 +46,6 @@
 #include <stm32_uart.h>
 #include <arch/board/board.h>
 #include "arm_internal.h"
-#include <px4_platform_common/init.h>
-

 extern int sercon_main(int c, char **argv);

@@ -66,7 +64,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 void board_late_initialize(void)
 {
-	px4_platform_console_init();
 	sercon_main(0, NULL);
 }

@@ -56,6 +56,7 @@ CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MM_REGIONS=3
 CONFIG_NFILE_DESCRIPTORS=5
+CONFIG_NFILE_STREAMS=3
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=245760
@@ -94,8 +94,8 @@ CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_PROGMEM=y
 CONFIG_MTD_RAMTRON=y
-CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
+CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -156,6 +156,7 @@ CONFIG_STDIO_BUFFER_SIZE=256
 CONFIG_STM32H7_ADC1=y
 CONFIG_STM32H7_BBSRAM=y
 CONFIG_STM32H7_BBSRAM_FILES=5
+CONFIG_STM32H7_BDMA=y
 CONFIG_STM32H7_BKPSRAM=y
 CONFIG_STM32H7_DMA1=y
 CONFIG_STM32H7_DMA2=y
@@ -46,7 +46,6 @@
 #include <stm32_uart.h>
 #include <arch/board/board.h>
 #include "arm_internal.h"
-#include <px4_platform_common/init.h>

 extern int sercon_main(int c, char **argv);

@@ -65,7 +64,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 void board_late_initialize(void)
 {
-	px4_platform_console_init();
 	sercon_main(0, NULL);
 }

@@ -56,6 +56,7 @@ CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MM_REGIONS=3
 CONFIG_NFILE_DESCRIPTORS=5
+CONFIG_NFILE_STREAMS=3
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=245760
@@ -95,8 +95,8 @@ CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_PROGMEM=y
 CONFIG_MTD_RAMTRON=y
-CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
+CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -96,8 +96,8 @@ CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_PROGMEM=y
 CONFIG_MTD_RAMTRON=y
-CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
+CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -46,7 +46,6 @@
 #include <stm32_uart.h>
 #include <arch/board/board.h>
 #include "arm_internal.h"
-#include <px4_platform_common/init.h>

 extern int sercon_main(int c, char **argv);

@@ -65,7 +64,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 void board_late_initialize(void)
 {
-	px4_platform_console_init();
 	sercon_main(0, NULL);
 }

@@ -94,8 +94,8 @@ CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
-CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
+CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -95,8 +95,8 @@ CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
-CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
+CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -33,6 +33,7 @@ CONFIG_MM_FILL_ALLOCATIONS=y
 CONFIG_MM_SMALL=y
 CONFIG_NAME_MAX=12
 CONFIG_NFILE_DESCRIPTORS=3
+CONFIG_NFILE_STREAMS=1
 CONFIG_PREALLOC_TIMERS=0
 CONFIG_RAM_SIZE=8192
 CONFIG_RAM_START=0x20000000
@@ -67,7 +67,6 @@ px4_add_board(
 		esc_calib
 		led_control
 		mixer
-		modules
 		motor_ramp
 		param
 		perf
@@ -130,7 +130,8 @@ int NavioRGBLed::task_spawn(int argc, char *argv[])
 	NavioRGBLed *instance = new NavioRGBLed();

 	if (instance) {
-		instance->set_task_id(task_id_is_work_queue);
+		_object.store(instance);
+		_task_id = task_id_is_work_queue;

 		if (instance->init() == PX4_OK) {
 			return PX4_OK;
@@ -141,6 +142,8 @@ int NavioRGBLed::task_spawn(int argc, char *argv[])
 	}

 	delete instance;
+	_object.store(nullptr);
+	_task_id = -1;

 	return PX4_ERROR;
 }
@@ -93,7 +93,6 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mixer
-		modules
 		motor_ramp
 		motor_test
 		mtd
@@ -56,6 +56,7 @@ CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MM_REGIONS=3
 CONFIG_NFILE_DESCRIPTORS=5
+CONFIG_NFILE_STREAMS=3
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=245760
@@ -95,8 +95,8 @@ CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_PROGMEM=y
 CONFIG_MTD_RAMTRON=y
-CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
+CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -96,8 +96,8 @@ CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_PROGMEM=y
 CONFIG_MTD_RAMTRON=y
-CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
+CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -46,7 +46,6 @@
 #include <stm32_uart.h>
 #include <arch/board/board.h>
 #include "arm_internal.h"
-#include <px4_platform_common/init.h>

 extern int sercon_main(int c, char **argv);

@@ -65,7 +64,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 void board_late_initialize(void)
 {
-	px4_platform_console_init();
 	sercon_main(0, NULL);
 }

@@ -0,0 +1,128 @@
+
+px4_add_board(
+	PLATFORM nuttx
+	VENDOR holybro
+	MODEL durandal-v1
+	LABEL stackcheck
+	TOOLCHAIN arm-none-eabi
+	ARCHITECTURE cortex-m7
+	ROMFSROOT px4fmu_common
+	#BUILD_BOOTLOADER
+	IO px4_io-v2_default
+	TESTING
+#	UAVCAN_INTERFACES 2  - No H7 or FD can support in UAVCAN
+	SERIAL_PORTS
+		GPS1:/dev/ttyS0
+		TEL1:/dev/ttyS1
+		TEL2:/dev/ttyS2
+		TEL4:/dev/ttyS3
+	DRIVERS
+		adc/board_adc
+		#barometer # all available barometer drivers
+		barometer/ms5611
+		batt_smbus
+		#camera_capture
+		#camera_trigger
+		#differential_pressure # all available differential pressure drivers
+		distance_sensor # all available distance sensor drivers
+		#dshot
+		gps
+		heater
+		#imu # all available imu drivers
+		#imu/adis16448
+		#imu/adis16477
+		#imu/adis16497
+		#imu/bosch/bmi088
+		imu/invensense/icm20689
+		#irlock
+		#lights/blinkm
+		#lights/rgbled
+		lights/rgbled_ncp5623c
+		#magnetometer # all available magnetometer drivers
+		magnetometer/isentek/ist8310
+		#mkblctrl
+		#optical_flow # all available optical flow drivers
+		#osd
+		#pca9685
+		#power_monitor/ina226
+		#protocol_splitter
+#		pwm_input  - Need to create arch/stm32 arch/stm32h7 arch/kinetis and reloacate
+#					   all arch dependant code there
+		pwm_out_sim
+		pwm_out
+		px4io
+		#roboclaw
+		#tap_esc
+		telemetry # all available telemetry drivers
+		test_ppm
+		tone_alarm
+#		uavcan - No H7 or FD can support in UAVCAN yet
+	MODULES
+		airspeed_selector
+		#attitude_estimator_q
+		battery_status
+		#camera_feedback
+		commander
+		dataman
+		ekf2
+		#esc_battery
+		events
+		fw_att_control
+		fw_pos_control_l1
+		land_detector
+		#landing_target_estimator
+		load_mon
+		#local_position_estimator
+		logger
+		mavlink
+		mc_att_control
+		mc_hover_thrust_estimator
+		mc_pos_control
+		mc_rate_control
+		#micrortps_bridge
+		navigator
+		rc_update
+		#rover_pos_control
+		sensors
+		#sih
+		#temperature_compensation
+		#vmount
+		vtol_att_control
+	SYSTEMCMDS
+		#bl_update
+		dmesg
+		dumpfile
+		esc_calib
+		hardfault_log
+		i2cdetect
+		led_control
+		mixer
+		motor_ramp
+		motor_test
+		mtd
+		nshterm
+		param
+		perf
+		pwm
+		reboot
+		reflect
+		sd_bench
+		system_time
+		tests # tests and test runner
+		top
+		topic_listener
+		tune_control
+		usb_connected
+		ver
+		work_queue
+	EXAMPLES
+		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		#hello
+		#hwtest # Hardware test
+		#matlab_csv_serial
+		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
+		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
+		#rover_steering_control # Rover example app
+		#uuv_example_app
+		#work_item
+	)
@@ -95,8 +95,8 @@ CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
-CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
+CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -94,8 +94,8 @@ CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
-CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
+CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -69,7 +69,6 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mixer
-		modules
 		motor_ramp
 		motor_test
 		mtd
@@ -77,6 +77,7 @@ CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_NFILE_DESCRIPTORS=12
+CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -69,7 +69,6 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mixer
-		modules
 		motor_ramp
 		motor_test
 		mtd
@@ -87,7 +87,6 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mixer
-		modules
 		motor_ramp
 		motor_test
 		mtd
@@ -93,8 +93,8 @@ CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
-CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
+CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -93,7 +93,6 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mixer
-		modules
 		motor_ramp
 		motor_test
 		mtd
@@ -93,8 +93,8 @@ CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
-CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
+CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -93,8 +93,8 @@ CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
-CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
+CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -90,7 +90,6 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mixer
-		modules
 		motor_ramp
 		motor_test
 		mtd
@@ -89,8 +89,8 @@ CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
-CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
+CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -22,7 +22,6 @@ px4_add_board(
 		camera_trigger
 		differential_pressure # all available differential pressure drivers
 		distance_sensor # all available distance sensor drivers
-		distance_sensor/srf05 # Specific driver
 		gps
 		#heater
 		#imu # all available imu drivers
@@ -133,6 +133,7 @@ CONFIG_NET_TCP_WRITE_BUFFERS=y
 CONFIG_NET_UDP=y
 CONFIG_NET_UDP_CHECKSUMS=y
 CONFIG_NFILE_DESCRIPTORS=12
+CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_BUILTIN_APPS=y
@@ -129,6 +129,7 @@ CONFIG_NET_TCP=y
 CONFIG_NET_TIMESTAMP=y
 CONFIG_NET_UDP=y
 CONFIG_NFILE_DESCRIPTORS=12
+CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_BUILTIN_APPS=y
@@ -269,11 +269,8 @@ __END_DECLS
 */
 // todo:Design this!

-#define DIRECT_PWM_OUTPUT_CHANNELS  8
-#define DIRECT_INPUT_TIMER_CHANNELS 8
-
-#define GPIO_ULTRASOUND_TRIGGER  /* PTD0 */  (GPIO_LOWDRIVE | GPIO_OUTPUT_ZERO | PIN_PORTD | PIN0)
-#define GPIO_ULTRASOUND_ECHO     /* PTA10 */ (GPIO_PULLUP | PIN_INT_BOTH | PIN_PORTA | PIN10)
+#define DIRECT_PWM_OUTPUT_CHANNELS  10
+#define DIRECT_INPUT_TIMER_CHANNELS 10

 /* Power supply control and monitoring GPIOs */
 // None
@@ -120,6 +120,9 @@ void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

+	px4_arch_configgpio(io_timer_channel_get_gpio_output(6)); // Echo trigger pin
+	px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(7)));
+
 	if (status >= 0) {
 		up_mdelay(6);
 	}
@@ -66,8 +66,8 @@ constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
 	initIOTimerChannel(io_timers, {Timer::FTM0, Timer::Channel7}, {GPIO::PortD, GPIO::Pin7}),
 	initIOTimerChannel(io_timers, {Timer::FTM3, Timer::Channel6}, {GPIO::PortE, GPIO::Pin11}),
 	initIOTimerChannel(io_timers, {Timer::FTM3, Timer::Channel7}, {GPIO::PortE, GPIO::Pin12}),
-//	initIOTimerChannel(io_timers, {Timer::FTM3, Timer::Channel0}, {GPIO::PortD, GPIO::Pin0}),
-//	initIOTimerChannel(io_timers, {Timer::FTM2, Timer::Channel0}, {GPIO::PortA, GPIO::Pin10}),
+	initIOTimerChannel(io_timers, {Timer::FTM3, Timer::Channel0}, {GPIO::PortD, GPIO::Pin0}),
+	initIOTimerChannel(io_timers, {Timer::FTM2, Timer::Channel0}, {GPIO::PortA, GPIO::Pin10}),
 };

 constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
@@ -22,7 +22,6 @@ px4_add_board(
 		camera_trigger
 		differential_pressure # all available differential pressure drivers
 		distance_sensor # all available distance sensor drivers
-		distance_sensor/srf05 # Specific driver
 		gps
 		#heater
 		#imu # all available imu drivers
@@ -89,7 +88,6 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mixer
-		modules
 		motor_ramp
 		motor_test
 		mtd
@@ -135,6 +135,7 @@ CONFIG_NET_TCP_WRITE_BUFFERS=y
 CONFIG_NET_UDP=y
 CONFIG_NET_UDP_CHECKSUMS=y
 CONFIG_NFILE_DESCRIPTORS=12
+CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_BUILTIN_APPS=y
@@ -130,6 +130,7 @@ CONFIG_NET_TCP=y
 CONFIG_NET_TIMESTAMP=y
 CONFIG_NET_UDP=y
 CONFIG_NFILE_DESCRIPTORS=12
+CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_BUILTIN_APPS=y
@@ -273,11 +273,8 @@ __END_DECLS
 */
 // todo:Design this!

-#define DIRECT_PWM_OUTPUT_CHANNELS  6
-#define DIRECT_INPUT_TIMER_CHANNELS 6
-
-#define GPIO_ULTRASOUND_TRIGGER  /* PTD0 */  (GPIO_LOWDRIVE | GPIO_OUTPUT_ZERO | PIN_PORTD | PIN0)
-#define GPIO_ULTRASOUND_ECHO     /* PTA10 */ (GPIO_PULLUP | PIN_INT_BOTH | PIN_PORTA | PIN10)
+#define DIRECT_PWM_OUTPUT_CHANNELS  8
+#define DIRECT_INPUT_TIMER_CHANNELS 8

 /* Power supply control and monitoring GPIOs */
 // None
@@ -120,6 +120,9 @@ void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

+	px4_arch_configgpio(io_timer_channel_get_gpio_output(6)); // Echo trigger pin
+	px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(7)));
+
 	if (status >= 0) {
 		up_mdelay(6);
 	}
@@ -64,8 +64,8 @@ constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
 	initIOTimerChannel(io_timers, {Timer::FTM0, Timer::Channel5}, {GPIO::PortD, GPIO::Pin5}),
 	initIOTimerChannel(io_timers, {Timer::FTM3, Timer::Channel6}, {GPIO::PortE, GPIO::Pin11}),
 	initIOTimerChannel(io_timers, {Timer::FTM3, Timer::Channel7}, {GPIO::PortE, GPIO::Pin12}),
-//	initIOTimerChannel(io_timers, {Timer::FTM3, Timer::Channel0}, {GPIO::PortD, GPIO::Pin0}),
-//	initIOTimerChannel(io_timers, {Timer::FTM2, Timer::Channel0}, {GPIO::PortA, GPIO::Pin10}),
+	initIOTimerChannel(io_timers, {Timer::FTM3, Timer::Channel0}, {GPIO::PortD, GPIO::Pin0}),
+	initIOTimerChannel(io_timers, {Timer::FTM2, Timer::Channel0}, {GPIO::PortA, GPIO::Pin10}),
 };

 constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
--- a/Show More
+++ b/Show More