WIP: in tree Dockerfile and github actions push to github registry

2026-05-24 21:47:35 +08:00 · 2021-05-06 15:08:03 -04:00
1990 changed files with 32392 additions and 142180 deletions
@@ -9,10 +9,11 @@ pipeline {
        script {
          def build_nodes = [:]
          def docker_images = [
-            armhf: "px4io/px4-dev-armhf:2021-09-08",
-            arm64: "px4io/px4-dev-aarch64:2021-09-08",
-            base: "px4io/px4-dev-base-bionic:2021-09-08",
-            nuttx: "px4io/px4-dev-nuttx-focal:2021-09-08",
+            armhf: "px4io/px4-dev-armhf:2021-04-29",
+            arm64: "px4io/px4-dev-aarch64:2021-04-29",
+            base: "px4io/px4-dev-base-bionic:2021-04-29",
+            nuttx: "px4io/px4-dev-nuttx-focal:2021-04-29",
+            snapdragon: "lorenzmeier/px4-dev-snapdragon:2020-04-01"
          ]

          def armhf_builds = [
@@ -38,11 +39,6 @@ pipeline {
                     "airmind_mindpx-v2_default",
                     "ark_can-flow_canbootloader",
                     "ark_can-flow_default",
-                     "ark_can-gps_canbootloader",
-                     "ark_can-gps_default",
-                     "ark_can-rtk-gps_canbootloader",
-                     "ark_can-rtk-gps_default",
-                     "atl_mantis-edu_default",
                     "av_x-v1_default",
                     "bitcraze_crazyflie_default",
                     "bitcraze_crazyflie21_default",
@@ -52,8 +48,6 @@ pipeline {
                     "cuav_x7pro_default",
                     "cubepilot_cubeorange_default",
                     "cubepilot_cubeyellow_default",
-                     "freefly_can-rtk-gps_canbootloader",
-                     "freefly_can-rtk-gps_default",
                     "holybro_can-gps-v1_canbootloader",
                     "holybro_can-gps-v1_default",
                     "holybro_durandal-v1_default",
@@ -61,7 +55,6 @@ pipeline {
                     "holybro_pix32v5_default",
                     "modalai_fc-v1_default",
                     "modalai_fc-v1_rtps",
-                     "modalai_fc-v2_default",
                     "mro_ctrl-zero-f7_default",
                     "mro_ctrl-zero-f7-oem_default",
                     "mro_ctrl-zero-h7_default",
@@ -76,8 +69,8 @@ pipeline {
                     "nxp_fmuk66-v3_rtps",
                     "nxp_fmuk66-v3_socketcan",
                     "nxp_fmurt1062-v1_default",
-                     "nxp_ucans32k146_canbootloader",
                     "nxp_ucans32k146_default",
+                     "nxp_ucans32k146_canbootloader",
                     "omnibus_f4sd_default",
                     "px4_fmu-v2_default",
                     "px4_fmu-v2_fixedwing",
@@ -110,8 +103,14 @@ pipeline {
            archive: true
          ]

+          def snapdragon_builds = [
+            target: ["atlflight_eagle_qurt", "atlflight_eagle_default"],
+            image: docker_images.snapdragon,
+            archive: false
+          ]
+
          def docker_builds = [
-            armhf_builds, base_builds, nuttx_builds_archive
+            armhf_builds, base_builds, nuttx_builds_archive//, snapdragon_builds
          ]

          for (def build_type = 0; build_type < docker_builds.size(); build_type++) {
@@ -131,7 +130,7 @@ pipeline {
    // TODO: actually upload artifacts to S3
    // stage('S3 Upload') {
    //   agent {
-    //     docker { image 'px4io/px4-dev-base-focal:2021-09-08' }
+    //     docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
    //   }
    //   options {
    //         skipDefaultCheckout()
@@ -156,14 +155,18 @@ pipeline {
  }
  options {
    buildDiscarder(logRotator(numToKeepStr: '5', artifactDaysToKeepStr: '14'))
-    timeout(time: 90, unit: 'MINUTES')
+    timeout(time: 60, unit: 'MINUTES')
  }
 }

 def createBuildNode(Boolean archive, String docker_image, String target) {
  return {

+    // TODO: fix the snapdragon image
    bypass_entrypoint = ''
+    if (docker_image == 'lorenzmeier/px4-dev-snapdragon:2020-04-01') {
+      bypass_entrypoint = ' --entrypoint=""'
+    }

    node {
      docker.withRegistry('https://registry.hub.docker.com', 'docker_hub_dagar') {
@@ -2,7 +2,7 @@
 // https://github.com/microsoft/vscode-dev-containers/tree/v0.134.0/containers/cpp
 {
 	"name": "px4-dev-nuttx",
-	"image": "px4io/px4-dev-nuttx-focal:2021-09-08",
+	"image": "px4io/px4-dev-nuttx-focal:2021-04-29",

 	"runArgs": [ "--cap-add=SYS_PTRACE", "--security-opt", "seccomp=unconfined" ],

@@ -4,7 +4,7 @@ about: Suggest an idea for this project

 ---

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

 **Describe problem solved by the proposed feature**
 A clear and concise description of the problem, if any, this feature will solve. E.g. I'm always frustrated when ...
@@ -1,24 +0,0 @@
-<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="90" height="20">
-  <linearGradient id="smooth" x2="0" y2="100%">
-    <stop offset="0" stop-color="#bbb" stop-opacity=".1"/>
-    <stop offset="1" stop-opacity=".1"/>
-  </linearGradient>
-
-  <mask id="round">
-    <rect width="90" height="20" rx="3" fill="#fff"/>
-  </mask>
-
-  <g mask="url(#round)">
-    <rect width="42" height="20" fill="#555"/>
-    <rect x="42" width="48" height="20" fill="#E01563"/>
-    <rect width="90" height="20" fill="url(#smooth)"/>
-  </g>
-
-  <g fill="#fff" text-anchor="middle" font-family="DejaVu Sans,Verdana,Geneva,sans-serif" font-size="11">
-    <text x="22" y="15" fill="#010101" fill-opacity=".3">slack</text>
-    <text x="22" y="14">slack</text>
-    <text x="65" y="15" fill="#010101" fill-opacity=".3">Join us!</text>
-    <text x="65" y="14">Join us!</text>
-  </g>
-</svg>
-
@@ -23,13 +23,12 @@ jobs:
          "shellcheck_all",
          "NO_NINJA_BUILD=1 px4_fmu-v5_default",
          "NO_NINJA_BUILD=1 px4_sitl_default",
-          "BUILD_MICRORTPS_AGENT=1 px4_sitl_rtps",
          "airframe_metadata",
          "module_documentation",
          "parameters_metadata",
        ]
    container:
-      image: px4io/px4-dev-nuttx-focal:2021-09-08
+      image: ghcr.io/px4/px4-dev:2021-05-06
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-clang:2021-09-08
+    container: px4io/px4-dev-clang:2021-04-29
    steps:
    - uses: actions/checkout@v1
      with:
@@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-armhf:2021-09-08
+    container: px4io/px4-dev-armhf:2021-04-29
    strategy:
      matrix:
        config: [
@@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-aarch64:2021-09-08
+    container: px4io/px4-dev-aarch64:2021-04-29
    strategy:
      matrix:
        config: [
@@ -4,6 +4,7 @@ on:
  push:
    branches:
    - 'master'
+    - 'github-actions'
  pull_request:
    branches:
    - '*'
@@ -11,52 +12,78 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-09-08
+    container: ghcr.io/px4/px4-dev:2021-05-06
    strategy:
      matrix:
        config: [
-          airmind_mindpx-v2,
-          ark_can-flow,
-          ark_can-gps,
-          ark_can-rtk-gps,
-          atl_mantis-edu,
-          av_x-v1,
-          bitcraze_crazyflie,
-          bitcraze_crazyflie21,
-          cuav_can-gps-v1,
-          cuav_nora,
-          cuav_x7pro,
-          cubepilot_cubeorange,
-          cubepilot_cubeyellow,
-          freefly_can-rtk-gps,
-          holybro_can-gps-v1,
-          holybro_durandal-v1,
-          holybro_kakutef7,
-          holybro_pix32v5,
-          modalai_fc-v1,
-          modalai_fc-v2,
-          mro_ctrl-zero-f7,
-          mro_ctrl-zero-f7-oem,
-          mro_ctrl-zero-h7,
-          mro_ctrl-zero-h7-oem,
-          mro_pixracerpro,
-          mro_x21,
-          mro_x21-777,
-          nxp_fmuk66-e,
-          nxp_fmuk66-v3,
-          nxp_fmurt1062-v1,
-          nxp_ucans32k146,
-          omnibus_f4sd,
-          px4_fmu-v2,
-          px4_fmu-v3,
-          px4_fmu-v4,
-          px4_fmu-v4pro,
-          px4_fmu-v5,
-          px4_fmu-v5x,
-          px4_fmu-v6u,
-          px4_fmu-v6x,
-          spracing_h7extreme,
-          uvify_core
+          airmind_mindpx-v2_default,
+          ark_can-flow_canbootloader,
+          ark_can-flow_debug,
+          ark_can-flow_default,
+          av_x-v1_default,
+          bitcraze_crazyflie21_default,
+          bitcraze_crazyflie_default,
+          cuav_can-gps-v1_canbootloader,
+          cuav_can-gps-v1_debug,
+          cuav_can-gps-v1_default,
+          cuav_nora_default,
+          cuav_x7pro_default,
+          cubepilot_cubeorange_default,
+          cubepilot_cubeorange_test,
+          cubepilot_cubeyellow_default,
+          cubepilot_cubeyellow_test,
+          cubepilot_io-v2_default,
+          holybro_can-gps-v1_canbootloader,
+          holybro_can-gps-v1_debug,
+          holybro_can-gps-v1_default,
+          holybro_durandal-v1_default,
+          holybro_kakutef7_default,
+          holybro_pix32v5_default,
+          modalai_fc-v1_default,
+          modalai_fc-v1_rtps,
+          mro_ctrl-zero-f7-oem_default,
+          mro_ctrl-zero-f7_default,
+          mro_ctrl-zero-h7-oem_default,
+          mro_ctrl-zero-h7_default,
+          mro_pixracerpro_default,
+          mro_x21-777_default,
+          mro_x21_default,
+          nxp_fmuk66-e_default,
+          nxp_fmuk66-e_rtps,
+          nxp_fmuk66-e_socketcan,
+          nxp_fmuk66-v3_default,
+          nxp_fmuk66-v3_rtps,
+          nxp_fmuk66-v3_socketcan,
+          nxp_fmurt1062-v1_default,
+          nxp_ucans32k146_canbootloader,
+          nxp_ucans32k146_default,
+          omnibus_f4sd_default,
+          px4_fmu-v2_default,
+          px4_fmu-v2_fixedwing,
+          px4_fmu-v2_multicopter,
+          px4_fmu-v2_rover,
+          px4_fmu-v3_default,
+          px4_fmu-v4_cannode,
+          px4_fmu-v4_default,
+          px4_fmu-v4pro_default,
+          px4_fmu-v5_ctrlalloc,
+          px4_fmu-v5_debug,
+          px4_fmu-v5_default,
+          px4_fmu-v5_fixedwing,
+          px4_fmu-v5_multicopter,
+          px4_fmu-v5_optimized,
+          px4_fmu-v5_rover,
+          px4_fmu-v5_rtps,
+          px4_fmu-v5_stackcheck,
+          px4_fmu-v5_uavcanv0periph,
+          px4_fmu-v5_uavcanv1,
+          px4_fmu-v5x_base_phy_DP83848C,
+          px4_fmu-v5x_default,
+          px4_fmu-v6u_default,
+          px4_fmu-v6x_default,
+          px4_io-v2_default,
+          spracing_h7extreme_default,
+          uvify_core_default
          ]
    steps:
    - uses: actions/checkout@v1
@@ -85,8 +112,8 @@ jobs:
          ccache -s
          ccache -z

-    - name: make all_variants_${{matrix.config}}
-      run: make all_variants_${{matrix.config}}
+    - name: make ${{matrix.config}}
+      run: make ${{matrix.config}}
    - name: make ${{matrix.config}} bloaty_compileunits
      run: make ${{matrix.config}} bloaty_compileunits || true
    - name: make ${{matrix.config}} bloaty_inlines
@@ -105,7 +132,7 @@ jobs:
      run: ccache -s

    - name: Upload px4 package
-      uses: actions/upload-artifact@v2
+      uses: actions/upload-artifact@v1
      with:
        name: px4_package_${{matrix.config}}
-        path: build/**/*.px4
+        path: build/${{matrix.config}}/${{matrix.config}}.px4
@@ -11,17 +11,14 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-09-08
+    container: ghcr.io/px4/px4-dev:2021-05-06
    strategy:
      matrix:
        config: [
          ark_can-flow_default,
-          ark_can-gps_default,
-          ark_can-rtk-gps_default,
          cuav_can-gps-v1_default,
-          freefly_can-rtk-gps_default,
          holybro_can-gps-v1_default,
-          nxp_ucans32k146_default,
+          #nxp_ucans32k146_default,
          px4_fmu-v4_cannode
          ]
    steps:
@@ -0,0 +1,31 @@
+name: Build and publish Docker image
+
+on:
+  push:
+    branches:
+    - 'master'
+    - 'github-actions'
+
+jobs:
+  docker:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Login to GitHub Container Registry
+        uses: docker/login-action@v1
+        with:
+          registry: ghcr.io
+          username: ${{ github.repository_owner }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Build and push
+        uses: docker/build-push-action@v2
+        with:
+          context: .
+          platforms: linux/amd64
+          push: true
+          tags: |
+            px4/px4-dev:latest
+            ghcr.io/px4/px4-dev:latest
+
+      - name: Image digest
+        run: echo ${{ steps.docker_build.outputs.digest }}
@@ -23,7 +23,7 @@ jobs:
    needs: enumerate_targets
    strategy:
      matrix: ${{fromJson(needs.enumerate_targets.outputs.matrix)}}
-    container: px4io/px4-dev-${{ matrix.container }}:2021-09-08
+    container: px4io/px4-dev-${{ matrix.container }}:2021-04-29
    steps:
    - uses: actions/checkout@v1
      with:
@@ -56,13 +56,13 @@ jobs:
    - name: ccache post-run
      run: ccache -s

-    - name: parameter & events metadata
+    - name: parameter metadata
      run: |
-        make ${{matrix.target}} ver_gen events_json
+        make ${{matrix.target}} ver_gen
        ./src/lib/version/get_git_tag_or_branch_version.sh build/${{ matrix.target }} >> $GITHUB_ENV
        cd build/${{ matrix.target }}
        mkdir _metadata || true
-        cp parameters.* events/*.xz _metadata
+        cp parameters.* _metadata

    - uses: jakejarvis/s3-sync-action@master
      with:
@@ -1,21 +0,0 @@
-name: EKF Change Indicator
-
-on: pull_request
-
-jobs:
-  unit_tests:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    steps:
-    - uses: actions/checkout@v2.3.1
-      with:
-        fetch-depth: 0
-    - name: checkout newest version of branch
-      run: |
-        git fetch origin pull/${{github.event.pull_request.number}}/head:${{github.head_ref}}
-        git checkout ${GITHUB_HEAD_REF}
-    - name: main test
-      run: make tests TESTFILTER=EKF
-    - name: Check if there is a functional change
-      run: git diff --exit-code
-      working-directory: src/modules/ekf2/test/change_indication
@@ -1,29 +0,0 @@
-name: EKF Update Change Indicator
-
-on: push
-
-jobs:
-  unit_tests:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    env:
-      GIT_COMMITTER_EMAIL: bot@px4.io
-      GIT_COMMITTER_NAME: PX4BuildBot
-    steps:
-    - uses: actions/checkout@v2.3.1
-      with:
-        fetch-depth: 0
-    - name: main test updates change indication files
-      run: make tests TESTFILTER=EKF
-    - name: Check if there exists diff and save result in variable
-      run: echo "CHANGE_INDICATED=$(git diff --exit-code --output=/dev/null || echo $?)" >> $GITHUB_ENV
-      working-directory: src/modules/ekf2/test/change_indication
-    - name: auto-commit any changes to change indication
-      uses: stefanzweifel/git-auto-commit-action@v4
-      with:
-        commit_message: '[AUTO COMMIT] update change indication'
-        commit_user_name: ${GIT_COMMITTER_NAME}
-        commit_user_email: ${GIT_COMMITTER_EMAIL}
-    - if: ${{env.CHANGE_INDICATED}}
-      name: if there is a functional change, fail check
-      run: exit 1
@@ -25,7 +25,7 @@ jobs:
          #- {vehicle: "tiltrotor",     mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}

    container:
-      image: px4io/px4-dev-ros-melodic:2021-09-08
+      image: px4io/px4-dev-ros-melodic:2021-04-29
      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:2021-09-08
+      image: px4io/px4-dev-ros-melodic:2021-04-29
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -11,7 +11,7 @@ jobs:

  airframe:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
+    container: ghcr.io/px4/px4-dev:2021-05-06
    steps:
    - uses: actions/checkout@v1
      with:
@@ -20,24 +20,13 @@ jobs:
    - name: airframe metadata
      run: |
        make airframe_metadata
-        ./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
        cd build/px4_sitl_default/docs
-      # TODO: deploy to userguide gitbook
-
-    - uses: jakejarvis/s3-sync-action@master
-      with:
-        args: --acl public-read
-      env:
-        AWS_S3_BUCKET: 'px4-travis'
-        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
-        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
-        AWS_REGION: 'us-west-1'
-        SOURCE_DIR: 'build/px4_sitl_default/docs/'
-        DEST_DIR: 'Firmware/${{ env.version }}/_general/'
+        ls -ls *
+      # TODO: deploy to userguide gitbook and s3

  module:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
+    container: ghcr.io/px4/px4-dev:2021-05-06
    steps:
    - uses: actions/checkout@v1
      with:
@@ -52,7 +41,7 @@ jobs:

  parameter:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
+    container: ghcr.io/px4/px4-dev:2021-05-06
    steps:
    - uses: actions/checkout@v1
      with:
@@ -74,36 +63,9 @@ jobs:
        SOURCE_DIR: 'build/px4_sitl_default/docs/'
        DEST_DIR: 'Firmware/${{ env.version }}/_general/'

-  events:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: events metadata
-      run: |
-        make extract_events
-        ./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
-        cd build/px4_sitl_default
-        mkdir _events_full || true
-        cp events/all_events_full.json.xz _events_full/all_events.json.xz
-
-    - uses: jakejarvis/s3-sync-action@master
-      with:
-        args: --acl public-read
-      env:
-        AWS_S3_BUCKET: 'px4-travis'
-        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
-        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
-        AWS_REGION: 'us-west-1'
-        SOURCE_DIR: 'build/px4_sitl_default/_events_full/'
-        DEST_DIR: 'Firmware/${{ env.version }}/_general/'
-
  uorb_graph:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-09-08
+    container: ghcr.io/px4/px4-dev:2021-05-06
    steps:
    - uses: actions/checkout@v1
      with:
@@ -118,7 +80,7 @@ jobs:

  micrortps_agent:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
+    container: ghcr.io/px4/px4-dev:2021-05-06
    steps:
    - uses: actions/checkout@v1
      with:
@@ -132,7 +94,7 @@ jobs:

  ROS_msgs:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
+    container: ghcr.io/px4/px4-dev:2021-05-06
    steps:
    - uses: actions/checkout@v1
      with:
@@ -145,7 +107,7 @@ jobs:

  ROS2_bridge:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
+    container: ghcr.io/px4/px4-dev:2021-05-06
    steps:
    - uses: actions/checkout@v1
      with:
@@ -154,4 +116,4 @@ jobs:
    - name: PX4 ROS2 bridge
      run: |
        git clone https://github.com/PX4/px4_ros_com.git
-        ./msg/tools/uorb_to_ros_urtps_topics.py -i msg/tools/urtps_bridge_topics.yaml -o px4_ros_com/templates/urtps_bridge_topics.yaml
+        ./msg/tools/uorb_to_ros_rtps_ids.py -i msg/tools/uorb_rtps_message_ids.yaml -o px4_ros_com/templates/uorb_rtps_message_ids.yaml
@@ -18,7 +18,7 @@ jobs:
    - name: Install Python3
      run: sudo apt-get install python3 python3-setuptools python3-pip -y
    - name: Install tools
-      run: pip3 install --user mypy types-requests flake8
+      run: pip3 install --user mypy flake8
    - name: Check MAVSDK test scripts with mypy
      run: $HOME/.local/bin/mypy --strict test/mavsdk_tests/*.py
    - name: Check MAVSDK test scripts with flake8
@@ -15,13 +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: "AddressSanitizer", 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", 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
    container:
-      image: px4io/px4-dev-simulation-focal:2021-09-08
+      image: px4io/px4-dev-simulation-focal:2021-04-29
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -108,5 +108,3 @@ src/systemcmds/topic_listener/listener_generated.cpp
 # SITL
 dataman
 eeprom/
-
-!src/drivers/distance_sensor/broadcom/afbrs50/Lib/*
@@ -18,6 +18,14 @@
 	path = src/lib/matrix
 	url = https://github.com/PX4/PX4-Matrix.git
 	branch = master
+[submodule "src/lib/ecl"]
+	path = src/lib/ecl
+	url = https://github.com/PX4/PX4-ECL.git
+	branch = master
+[submodule "boards/atlflight/cmake_hexagon"]
+	path = boards/atlflight/cmake_hexagon
+	url = https://github.com/PX4/cmake_hexagon.git
+	branch = px4
 [submodule "src/drivers/gps/devices"]
 	path = src/drivers/gps/devices
 	url = https://github.com/PX4/PX4-GPSDrivers.git
@@ -29,11 +37,14 @@
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
 	url = https://github.com/PX4/NuttX.git
-	branch = px4_firmware_nuttx-10.1.0+
+	branch = px4_firmware_nuttx-10.0.0+
 [submodule "platforms/nuttx/NuttX/apps"]
 	path = platforms/nuttx/NuttX/apps
 	url = https://github.com/PX4/NuttX-apps.git
-	branch = px4_firmware_nuttx-10.1.0+
+	branch = px4_firmware_nuttx-10.0.0+
+[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
@@ -54,23 +65,5 @@
 	url = https://github.com/UAVCAN/libcanard.git
 [submodule "src/drivers/uavcan_v1/legacy_data_types"]
 	path = src/drivers/uavcan_v1/legacy_data_types
-	url = https://github.com/PX4/public_regulated_data_types.git
+	url = https://github.com/px4/public_regulated_data_types/
 	branch = legacy
-[submodule "src/lib/crypto/monocypher"]
-	path = src/lib/crypto/monocypher
-	url = https://github.com/PX4/Monocypher.git
-	branch = px4
-[submodule "src/lib/events/libevents"]
-	path = src/lib/events/libevents
-	url = https://github.com/mavlink/libevents.git
-[submodule "Tools/simulation-ignition"]
-	path = Tools/simulation-ignition
-	url = https://github.com/Auterion/px4-simulation-ignition.git
-[submodule "src/lib/crypto/libtomcrypt"]
-	path = src/lib/crypto/libtomcrypt
-	url = https://github.com/PX4/libtomcrypt.git
-	branch = px4
-[submodule "src/lib/crypto/libtommath"]
-	path = src/lib/crypto/libtommath
-	url = https://github.com/PX4/libtommath.git
-	branch = px4
@@ -6,21 +6,6 @@ CONFIG:
      buildType: RelWithDebInfo
      settings:
        CONFIG: px4_sitl_default
-    px4_sitl_rtps:
-      short: px4_sitl_rtps
-      buildType: RelWithDebInfo
-      settings:
-        CONFIG: px4_sitl_rtps
-    px4_sitl_asan:
-      short: px4_sitl (AddressSanitizer)
-      buildType: AddressSanitizer
-      settings:
-        CONFIG: px4_sitl_default
-    px4_sitl_ubsan:
-      short: px4_sitl (UndefinedBehaviorSanitizer)
-      buildType: UndefinedBehaviorSanitizer
-      settings:
-        CONFIG: px4_sitl_default
    px4_sitl_replay:
      short: px4_sitl_replay
      buildType: RelWithDebInfo
@@ -66,16 +51,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: px4_fmu-v5x_default
-    px4_fmu-v6x_default:
-      short: px4_fmu-v6x
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_fmu-v6x_default
-    px4_fmu-v6x_bootloader:
-      short: px4_fmu-v6x_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_fmu-v6x_bootloader
    airmind_mindpx-v2_default:
      short: airmind_mindpx-v2
      buildType: MinSizeRel
@@ -91,31 +66,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: ark_can-flow_canbootloader
-    ark_can-gps_default:
-      short: ark_can-gps_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_can-gps_default
-    ark_can-gps_canbootloader:
-      short: ark_can-gps_canbootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_can-gps_canbootloader
-    ark_can-rtk-gps_default:
-      short: ark_can-rtk-gps_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_can-rtk-gps_default
-    ark_can-rtk-gps_canbootloader:
-      short: ark_can-rtk-gps_canbootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_can-rtk-gps_canbootloader
-    atl_mantis-edu_default:
-      short: atl_mantis-edu
-      buildType: MinSizeRel
-      settings:
-        CONFIG: atl_mantis-edu_default
    av_x-v1_default:
      short: av_x-v1
      buildType: MinSizeRel
@@ -156,16 +106,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: emlid_navio2_default
-    freefly_can-rtk-gps_default:
-      short: freefly_can-rtk-gps_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: freefly_can-rtk-gps_default
-    freefly_can-rtk-gps_canbootloader:
-      short: freefly_can-rtk-gps_canbootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: freefly_can-rtk-gps_canbootloader
    holybro_can-gps-v1_canbootloader:
      short: holybro_can-gps-v1_canbootloader
      buildType: MinSizeRel
@@ -186,11 +126,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: modalai_fc-v1_default
-    modalai_fc-v2_default:
-      short: modalai_fc-v2
-      buildType: MinSizeRel
-      settings:
-        CONFIG: modalai_fc-v2_default
    mro_ctrl-zero-f7_default:
      short: mro_ctrl-zero-f7
      buildType: MinSizeRel
@@ -31,6 +31,7 @@
                "esc"
        ],
        "debug.toolBarLocation": "docked",
+        "editor.acceptSuggestionOnEnter": "off",
        "editor.defaultFormatter": "chiehyu.vscode-astyle",
        "editor.dragAndDrop": false,
        "editor.insertSpaces": false,
@@ -129,10 +129,6 @@ define_property(GLOBAL PROPERTY PX4_MODULE_PATHS
                 BRIEF_DOCS "PX4 module paths"
                 FULL_DOCS "List of paths to all PX4 modules"
                 )
-define_property(GLOBAL PROPERTY PX4_SRC_FILES
-                 BRIEF_DOCS "src files from all PX4 modules & libs"
-                 FULL_DOCS "SRC files from px4_add_{module,library}"
-                 )

 #=============================================================================
 # configuration
@@ -421,9 +417,6 @@ foreach(module ${config_module_list})
 	add_subdirectory(src/${module})
 endforeach()

-# add events lib after modules and libs as it needs to know all source files (PX4_SRC_FILES)
-add_subdirectory(src/lib/events EXCLUDE_FROM_ALL)
-
 # must be the last module before firmware
 add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL)
 target_link_libraries(parameters_interface INTERFACE parameters)
@@ -443,10 +436,8 @@ endforeach()

 add_custom_command(OUTPUT ${uorb_graph_config}
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/uorb_graph/create.py
-		${graph_module_list} --src-path src/lib
-		--merge-depends
+		${graph_module_list}
 		--exclude-path src/examples
-		--exclude-path src/lib/parameters # FIXME: enable & fix
 		--file ${PX4_SOURCE_DIR}/Tools/uorb_graph/graph_${uorb_graph_config}
 	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 	COMMENT "Generating uORB graph"
@@ -0,0 +1,29 @@
+#
+# PX4 development environment
+#
+
+FROM ubuntu:20.04
+LABEL maintainer="Daniel Agar <daniel@agar.ca>"
+
+COPY Tools/setup/ubuntu.sh /tmp/ubuntu.sh
+COPY Tools/setup/requirements.txt /tmp/requirements.txt
+RUN DEBIAN_FRONTEND=noninteractive /tmp/ubuntu.sh --no-sim-tools \
+	&& apt-get -y autoremove \
+	&& apt-get clean autoclean \
+	&& rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
+
+# create user with id 1001 (jenkins docker workflow default)
+RUN useradd --shell /bin/bash -u 1001 -c "" -m user && usermod -a -G dialout user
+
+ENV CCACHE_UMASK=000
+ENV PATH="/usr/lib/ccache:$PATH"
+
+# SITL UDP PORTS
+EXPOSE 14556/udp
+EXPOSE 14557/udp
+
+# create and start as LOCAL_USER_ID
+COPY Tools/setup/entrypoint.sh /usr/local/bin/entrypoint.sh
+ENTRYPOINT ["/usr/local/bin/entrypoint.sh"]
+
+CMD ["/bin/bash"]
@@ -15,7 +15,7 @@ pipeline {
        // stage('Catkin build on ROS workspace') {
        //   agent {
        //     docker {
-        //       image 'px4io/px4-dev-ros-melodic:2021-05-04'
+        //       image 'px4io/px4-dev-ros-melodic:2021-04-29'
        //       args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
        //     }
        //   }
@@ -56,7 +56,7 @@ pipeline {
        stage('Colcon build on ROS2 workspace') {
          agent {
            docker {
-              image 'px4io/px4-dev-ros2-foxy:2021-05-04'
+              image 'px4io/px4-dev-ros2-foxy:2021-04-29'
              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
            }
          }
@@ -85,7 +85,7 @@ pipeline {

        stage('Airframe') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
+            docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
          }
          steps {
            sh 'make distclean'
@@ -105,7 +105,7 @@ pipeline {

        stage('Parameter') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
+            docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
          }
          steps {
            sh 'make distclean'
@@ -125,7 +125,7 @@ pipeline {

        stage('Module') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
+            docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
          }
          steps {
            sh 'make distclean'
@@ -143,28 +143,10 @@ pipeline {
          }
        }

-        stage('msg file docs') {
-          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
-          }
-          steps {
-            sh 'mkdir -p build/msg_docs; ./msg/tools/generate_msg_docs.py -d build/msg_docs'
-            dir('build') {
-              archiveArtifacts(artifacts: 'msg_docs/*.md')
-              stash includes: 'msg_docs/*.md', name: 'msg_documentation'
-            }
-          }
-          post {
-            always {
-              sh 'make distclean'
-            }
-          }
-        }
-
        stage('uORB graphs') {
          agent {
            docker {
-              image 'px4io/px4-dev-nuttx-focal:2021-05-04'
+              image 'px4io/px4-dev-nuttx-focal:2021-04-29'
              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
            }
          }
@@ -174,8 +156,8 @@ pipeline {
            sh 'git fetch --all --tags'
            sh 'make uorb_graphs'
            dir('Tools/uorb_graph') {
-              archiveArtifacts(artifacts: 'graph_*.json')
-              stash includes: 'graph_*.json', name: 'uorb_graph'
+              archiveArtifacts(artifacts: 'graph_px4_sitl.json')
+              stash includes: 'graph_px4_sitl.json', name: 'uorb_graph'
            }
          }
          post {
@@ -194,22 +176,18 @@ pipeline {

        stage('Userguide') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
+            docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
          }
          steps {
            sh('export')
            unstash 'metadata_airframes'
            unstash 'metadata_parameters'
            unstash 'metadata_module_documentation'
-            unstash 'msg_documentation'
-            unstash 'uorb_graph'
            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
              sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_user_guide.git')
              sh('cp airframes.md px4_user_guide/en/airframes/airframe_reference.md')
              sh('cp parameters.md px4_user_guide/en/advanced_config/parameter_reference.md')
              sh('cp -R modules/*.md px4_user_guide/en/modules/')
-              sh('cp -R graph_*.json px4_user_guide/.vuepress/public/en/middleware/')
-              sh('cp -R msg_docs/*.md px4_user_guide/en/msg_docs/')
              sh('cd px4_user_guide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
              sh('cd px4_user_guide; git push origin master || true')
              sh('rm -rf px4_user_guide')
@@ -228,7 +206,7 @@ pipeline {

        stage('QGroundControl') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
+            docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
          }
          steps {
            sh('export')
@@ -256,7 +234,7 @@ pipeline {

        stage('microRTPS agent') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
+            docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
          }
          steps {
            sh('export')
@@ -286,7 +264,7 @@ pipeline {

        stage('PX4 ROS msgs') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
+            docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
          }
          steps {
            sh('export')
@@ -315,7 +293,7 @@ pipeline {

        stage('PX4 ROS2 bridge') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
+            docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
          }
          steps {
            sh('export')
@@ -323,7 +301,7 @@ 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_ros_com.git -b ${BRANCH_NAME}")
              // deploy uORB RTPS ID map
-              sh('./msg/tools/uorb_to_ros_urtps_topics.py -i msg/tools/urtps_bridge_topics.yaml -o px4_ros_com/templates/urtps_bridge_topics.yaml')
+              sh('./msg/tools/uorb_to_ros_rtps_ids.py -i msg/tools/uorb_rtps_message_ids.yaml -o px4_ros_com/templates/uorb_rtps_message_ids.yaml')
              sh('cd px4_ros_com; git status; git add .; git commit -a -m "Update uORB RTPS ID map `date`" || true')
              sh('cd px4_ros_com; git push origin ${BRANCH_NAME} || true')
              // deploy uORB RTPS required tools
@@ -358,7 +336,7 @@ pipeline {

        stage('S3') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
+            docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
          }
          steps {
            sh('export')
@@ -396,7 +374,7 @@ pipeline {
    GIT_COMMITTER_NAME = "PX4BuildBot"
  }
  options {
-    buildDiscarder(logRotator(numToKeepStr: '20', artifactDaysToKeepStr: '30'))
-    timeout(time: 90, unit: 'MINUTES')
+    buildDiscarder(logRotator(numToKeepStr: '10', artifactDaysToKeepStr: '20'))
+    timeout(time: 60, unit: 'MINUTES')
  }
 }
@@ -63,7 +63,7 @@ all: px4_sitl_default
 space := $(subst ,, )

 define make_list
-     $(shell [ -f .github/workflows/compile_${1}.yml ] && cat .github/workflows/compile_${1}.yml | sed -E 's|[[:space:]]+(.*),|check_\1|g' | grep check_${2})
+     $(shell cat .github/workflows/compile_${1}.yml | sed -E 's|[[:space:]]+(.*),|check_\1|g' | grep check_${2})
 endef

 # Parsing
@@ -165,16 +165,10 @@ ifdef PYTHON_EXECUTABLE
 	CMAKE_ARGS += -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
 endif

-# Check if the microRTPS agent is to be built
-ifdef BUILD_MICRORTPS_AGENT
-  CMAKE_ARGS += -DBUILD_MICRORTPS_AGENT=ON
-endif
-
 # Functions
 # --------------------------------------------------------------------
 # describe how to build a cmake config
 define cmake-build
-	$(eval CMAKE_ARGS += -DCONFIG=$(1))
 	@$(eval BUILD_DIR = "$(SRC_DIR)/build/$(1)")
 	@# check if the desired cmake configuration matches the cache then CMAKE_CACHE_CHECK stays empty
 	@$(call cmake-cache-check)
@@ -214,7 +208,7 @@ define colorecho
 endef

 # Get a list of all config targets boards/*/*.cmake
-ALL_CONFIG_TARGETS := $(shell find boards -maxdepth 3 -mindepth 3 -name '*.cmake' -print | sed -e 's|boards\/||' | sed -e 's|\.cmake||' | sed -e 's|\/|_|g' | sort)
+ALL_CONFIG_TARGETS := $(shell find boards -maxdepth 3 -mindepth 3 ! -name '*common*' ! -name '*sdflight*' -name '*.cmake' -print | sed -e 's|boards\/||' | sed -e 's|\.cmake||' | sed -e 's|\/|_|g' | sort)

 # ADD CONFIGS HERE
 # --------------------------------------------------------------------
@@ -222,12 +216,16 @@ ALL_CONFIG_TARGETS := $(shell find boards -maxdepth 3 -mindepth 3 -name '*.cmake

 # All targets.
 $(ALL_CONFIG_TARGETS):
-	@$(call cmake-build,$@$(BUILD_DIR_SUFFIX))
+	@$(eval PX4_CONFIG = $@)
+	@$(eval CMAKE_ARGS += -DCONFIG=$(PX4_CONFIG))
+	@$(call cmake-build,$(PX4_CONFIG)$(BUILD_DIR_SUFFIX))

 # Filter for only default targets to allow omiting the "_default" postfix
 CONFIG_TARGETS_DEFAULT := $(patsubst %_default,%,$(filter %_default,$(ALL_CONFIG_TARGETS)))
 $(CONFIG_TARGETS_DEFAULT):
-	@$(call cmake-build,$@_default$(BUILD_DIR_SUFFIX))
+	@$(eval PX4_CONFIG = $@_default)
+	@$(eval CMAKE_ARGS += -DCONFIG=$(PX4_CONFIG))
+	@$(call cmake-build,$(PX4_CONFIG)$(BUILD_DIR_SUFFIX))

 all_config_targets: $(ALL_CONFIG_TARGETS)
 all_default_targets: $(CONFIG_TARGETS_DEFAULT)
@@ -240,6 +238,16 @@ endef
 # All targets with just dependencies but no recipe must either be marked as phony (or have the special @: as recipe).
 .PHONY: all px4_sitl_default all_config_targets all_default_targets

+# Multi- config targets.
+eagle_default: atlflight_eagle_default atlflight_eagle_qurt
+eagle_rtps: atlflight_eagle_rtps atlflight_eagle_qurt-rtps
+
+excelsior_default: atlflight_excelsior_default atlflight_excelsior_qurt
+excelsior_rtps: atlflight_excelsior_rtps atlflight_excelsior_qurt-rtps
+
+.PHONY: eagle_default eagle_rtps
+.PHONY: excelsior_default excelsior_rtps
+
 # Other targets
 # --------------------------------------------------------------------

@@ -266,6 +274,7 @@ misc_qgc_extra_firmware: \
 	check_bitcraze_crazyflie_default \
 	check_bitcraze_crazyflie21_default \
 	check_airmind_mindpx-v2_default \
+	check_px4_fmu-v2_lpe \
 	sizes

 # builds with RTPS
@@ -293,17 +302,10 @@ check_%:
 	@$(MAKE) --no-print-directory $(subst check_,,$@)
 	@echo

-all_variants_%:
-	@echo 'Building all $(subst all_variants_,,$@) variants:'  $(filter $(subst all_variants_,,$@)_%, $(ALL_CONFIG_TARGETS))
-	@echo
-	$(foreach a,$(filter $(subst all_variants_,,$@)_%, $(ALL_CONFIG_TARGETS)), $(call cmake-build,$(a)$(BUILD_DIR_SUFFIX)))
-
 uorb_graphs:
-	@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --exclude-path src/lib/parameters --merge-depends --file Tools/uorb_graph/graph_full
-	@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --exclude-path src/lib/parameters --exclude-path src/modules/mavlink --merge-depends --file Tools/uorb_graph/graph_full_no_mavlink
+	@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --exclude-path src/lib --file Tools/uorb_graph/graph_full
 	@$(MAKE) --no-print-directory px4_fmu-v2_default uorb_graph
 	@$(MAKE) --no-print-directory px4_fmu-v4_default uorb_graph
-	@$(MAKE) --no-print-directory px4_fmu-v5_default uorb_graph
 	@$(MAKE) --no-print-directory px4_sitl_default uorb_graph


@@ -313,21 +315,18 @@ coverity_scan: px4_sitl_default

 # Documentation
 # --------------------------------------------------------------------
-.PHONY: parameters_metadata airframe_metadata module_documentation extract_events px4_metadata doxygen
+.PHONY: parameters_metadata airframe_metadata module_documentation px4_metadata doxygen

 parameters_metadata:
 	@$(MAKE) --no-print-directory px4_sitl_default metadata_parameters ver_gen

 airframe_metadata:
-	@$(MAKE) --no-print-directory px4_sitl_default metadata_airframes ver_gen
+	@$(MAKE) --no-print-directory px4_sitl_default metadata_airframes

 module_documentation:
 	@$(MAKE) --no-print-directory px4_sitl_default metadata_module_documentation

-extract_events:
-	@$(MAKE) --no-print-directory px4_sitl_default metadata_extract_events ver_gen
-
-px4_metadata: parameters_metadata airframe_metadata module_documentation extract_events
+px4_metadata: parameters_metadata airframe_metadata module_documentation

 doxygen:
 	@mkdir -p "$(SRC_DIR)"/build/doxygen
@@ -354,6 +353,7 @@ format:
 .PHONY: rostest python_coverage

 tests:
+	$(eval CMAKE_ARGS += -DCONFIG=px4_sitl_test)
 	$(eval CMAKE_ARGS += -DTESTFILTER=$(TESTFILTER))
 	$(eval ARGS += test_results)
 	$(eval ASAN_OPTIONS += color=always:check_initialization_order=1:detect_stack_use_after_return=1)
@@ -468,30 +468,28 @@ validate_module_configs:
 .PHONY: clean submodulesclean submodulesupdate gazeboclean distclean

 clean:
-	@[ ! -d "$(SRC_DIR)/build" ] || find "$(SRC_DIR)/build" -mindepth 1 -maxdepth 1 -type d -exec sh -c "echo {}; cmake --build {} -- clean || rm -rf {}" \; # use generated build system to clean, wipe build directory if it fails
-	@git submodule foreach git clean -dX --force # some submodules generate build artifacts in source
+	@rm -rf "$(SRC_DIR)"/build
+	@git submodule foreach git clean -df

 submodulesclean:
 	@git submodule foreach --quiet --recursive git clean -ff -x -d
 	@git submodule update --quiet --init --recursive --force || true
 	@git submodule sync --recursive
-	@git submodule update --init --recursive --force --jobs 4
+	@git submodule update --init --recursive --force

 submodulesupdate:
-	@git submodule update --quiet --init --recursive --jobs 4 || true
+	@git submodule update --quiet --init --recursive || true
 	@git submodule sync --recursive
-	@git submodule update --init --recursive --jobs 4
-	@git fetch --all --tags --recurse-submodules=yes --jobs=4
+	@git submodule update --init --recursive

 gazeboclean:
 	@rm -rf ~/.gazebo/*

 distclean: gazeboclean
-	@git submodule deinit --force $(SRC_DIR)
-	@rm -rf "$(SRC_DIR)/build"
-	@git clean --force -X "$(SRC_DIR)/msg/" "$(SRC_DIR)/platforms/" "$(SRC_DIR)/posix-configs/" "$(SRC_DIR)/ROMFS/" "$(SRC_DIR)/src/" "$(SRC_DIR)/test/" "$(SRC_DIR)/Tools/"
+	@git submodule deinit -f .
+	@git clean -ff -x -d -e ".cproject" -e ".idea" -e ".project" -e ".settings" -e ".vscode"

-# Help / Error / Misc
+# Help / Error
 # --------------------------------------------------------------------

 # All other targets are handled by PX4_MAKE. Add a rule here to avoid printing an error.
@@ -505,7 +503,7 @@ help:
 	@echo "Where <target> is one of:"
 	@$(MAKE) -pRrq -f $(lastword $(MAKEFILE_LIST)) : 2>/dev/null | \
 		awk -v RS= -F: '/^# File/,/^# Finished Make data base/ {if ($$1 !~ "^[#.]") {print $$1}}' | sort | \
-		egrep -v -e '^[^[:alnum:]]' -e '^($(subst $(space),|,$(ALL_CONFIG_TARGETS)))$$' -e '_default$$' -e '^(Makefile)'
+		egrep -v -e '^[^[:alnum:]]' -e '^($(subst $(space),|,$(ALL_CONFIG_TARGETS)))$$' -e '_default$$' -e '^(posix|eagle|Makefile)'
 	@echo
 	@echo "Or, $(MAKE) <config_target> [<make_target(s)>]"
 	@echo "Use '$(MAKE) list_config_targets' for a list of configuration targets."
@@ -525,18 +523,3 @@ check_px4: $(call make_list,nuttx,"px4") \

 check_nxp: $(call make_list,nuttx,"nxp") \
 	sizes
-
-ifneq ($(ROS2_WS_DIR),)
-  ROS2_WS_DIR := $(basename ${ROS2_WS_DIR})
-else
-  ROS2_WS_DIR := ~/colcon_ws
-endif
-
-update_ros2_bridge:
-	@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --all
-
-update_px4_ros_com:
-	@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --px4_ros_com
-
-update_px4_msgs:
-	@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --px4_msgs
@@ -4,11 +4,11 @@

 [![Nuttx Targets](https://github.com/PX4/PX4-Autopilot/workflows/Nuttx%20Targets/badge.svg)](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22Nuttx+Targets%22?branch=master) [![SITL Tests](https://github.com/PX4/PX4-Autopilot/workflows/SITL%20Tests/badge.svg?branch=master)](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22SITL+Tests%22)

-[![Slack](/.github/slack.svg)](https://join.slack.com/t/px4/shared_invite/zt-si4xo5qs-R4baYFmMjlrT4rQK5yUnaA)
+[![Slack](https://px4-slack.herokuapp.com/badge.svg)](http://slack.px4.io)

 This repository holds the [PX4](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/PX4-Autopilot/tree/master/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.

-PX4 is highly portable, OS-independent and supports Linux, NuttX and MacOS out of the box.
+PX4 is highly portable, OS-independent and supports Linux, NuttX and QuRT out of the box.

 * Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/PX4-Autopilot/blob/master/LICENSE))
 * [Supported airframes](https://docs.px4.io/master/en/airframes/airframe_reference.html) ([portfolio](http://px4.io/#airframes)):
@@ -110,7 +110,7 @@ This repository contains code supporting Pixhawk standard boards (best supported
  * [Hex Cube Yellow](https://docs.px4.io/master/en/flight_controller/cubepilot_cube_yellow.html)
  * [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
  * [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
-  * [Bitcraze Crazyflie 2.0](https://docs.px4.io/master/en/complete_vehicles/crazyflie2.html)
+  * [Bitcraze Crazyflie 2.0](https://docs.px4.io/master/en/flight_controller/crazyflie2.html)
  * [Omnibus F4 SD](https://docs.px4.io/master/en/flight_controller/omnibus_f4_sd.html)
  * [Holybro Kakute F7](https://docs.px4.io/master/en/flight_controller/kakutef7.html)
  * [Raspberry PI with Navio 2](https://docs.px4.io/master/en/flight_controller/raspberry_pi_navio2.html)
@@ -115,12 +115,10 @@ add_custom_command(
 set(romfs_extract_stamp ${CMAKE_CURRENT_BINARY_DIR}/romfs_extract.stamp)
 add_custom_command(
 	OUTPUT ${romfs_extract_stamp}
-	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/*
 	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}
-	VERBATIM
 	)

 add_custom_command(
@@ -15,6 +15,15 @@ set +e
 #
 #------------------------------------------------------------------------------
 set R /
+#
+# Mount the procfs.
+#
+mount -t procfs /proc
+
+#
+# Start CDC/ACM serial driver.
+#
+sercon

 #
 # Print full system version.
@@ -34,10 +34,9 @@
 add_subdirectory(airframes)

 px4_add_romfs_files(
-	px4-rc.mavlink
 	px4-rc.params
-	px4-rc.rtps
 	px4-rc.simulator
+	px4-rc.mavlink
 	rc.replay
 	rcS
 )
@@ -8,6 +8,6 @@
 . ${R}etc/init.d/rc.mc_defaults

 param set-default MC_PITCHRATE_P 0.1
-param set-default MC_ROLLRATE_P 0.05
+param set-default MC_ROLLRATE_P 0.1

 set MIXER quad_x
@@ -0,0 +1,8 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (RTPS)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d-posix/airframes/10016_iris
@@ -11,6 +11,8 @@ param set-default NAV_DLL_ACT 0
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

+#param set CBRK_GPSFAIL 240024
+
 set MAV_TYPE 12
 param set MAV_TYPE ${MAV_TYPE}

@@ -11,6 +11,8 @@ param set-default NAV_DLL_ACT 0
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

+#param set CBRK_GPSFAIL 240024
+
 set MAV_TYPE 12
 param set MAV_TYPE ${MAV_TYPE}

@@ -42,9 +42,15 @@ param set-default NAV_LOITER_RAD 50

 param set-default RWTO_TKOFF 1

+# fix takeoff failure for JSBsim in autonomous mission mode.
+#param set FW_THR_SLEW_MAX 0.3
+
 param set-default RWTO_MAX_PITCH 20
 param set-default RWTO_MAX_ROLL 10

+# fix takeoff failure for JSBsim in autonomous mission mode.
+#param set-default RWTO_MAX_THR 0.6
+
 param set-default RWTO_PSP 8
 param set-default RWTO_AIRSPD_SCL 1.8

@@ -42,9 +42,15 @@ param set-default NAV_LOITER_RAD 50

 param set-default RWTO_TKOFF 1

+# fix takeoff failure for JSBsim in autonomous mission mode.
+#param set FW_THR_SLEW_MAX 0.3
+
 param set-default RWTO_MAX_PITCH 20
 param set-default RWTO_MAX_ROLL 10

+# fix takeoff failure for JSBsim in autonomous mission mode.
+#param set RWTO_MAX_THR 0.6
+
 param set-default RWTO_PSP 8
 param set-default RWTO_AIRSPD_SCL 1.8

@@ -1,54 +0,0 @@
-#!/bin/sh
-#
-# @name Plane SITL
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-param set-default EKF2_ARSP_THR 8
-param set-default EKF2_FUSE_BETA 1
-param set-default EKF2_MAG_ACCLIM 0
-param set-default EKF2_MAG_YAWLIM 0
-
-param set-default FW_LND_AIRSPD_SC 1
-param set-default FW_LND_ANG 8
-param set-default FW_THR_LND_MAX 0
-
-param set-default FW_L1_PERIOD 12
-
-param set-default FW_MAN_P_MAX 30
-
-param set-default FW_PR_I 0.4
-param set-default FW_PR_P 0.9
-param set-default FW_PR_FF 0.2
-param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MAX 32
-param set-default FW_P_LIM_MIN -15
-
-param set-default FW_RR_FF 0.1
-param set-default FW_RR_P 0.3
-
-param set-default FW_THR_MAX 0.6
-param set-default FW_THR_MIN 0.05
-param set-default FW_THR_CRUISE 0.25
-
-param set-default FW_T_ALT_TC 2
-param set-default FW_T_CLMB_MAX 8
-param set-default FW_T_HRATE_FF 0.5
-param set-default FW_T_SINK_MAX 2.7
-param set-default FW_T_SINK_MIN 2.2
-param set-default FW_T_TAS_TC 2
-
-param set-default FW_W_EN 1
-
-param set-default MIS_LTRMIN_ALT 30
-param set-default MIS_TAKEOFF_ALT 30
-
-param set-default NAV_ACC_RAD 15
-param set-default NAV_DLL_ACT 2
-param set-default NAV_LOITER_RAD 50
-
-param set-default RWTO_TKOFF 1
-
-set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
-set MIXER custom
@@ -14,8 +14,7 @@

 param set-default EKF2_ARSP_THR 8
 param set-default EKF2_FUSE_BETA 1
-
-param set-default FW_AIRSPD_STALL 8
+param set-default ASPD_STALL 10.0

 param set-default FW_P_RMAX_NEG 20.0
 param set-default FW_P_RMAX_POS 60.0
@@ -46,6 +46,8 @@ px4_add_romfs_files(
 	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
@@ -60,7 +62,6 @@ px4_add_romfs_files(
 	1034_rascal-electric
 	1035_techpod
 	1036_malolo
-	1037_believer
 	1040_standard_vtol
 	1041_tailsitter
 	1042_tiltrotor
@@ -1,5 +1,5 @@
 #!/bin/sh
 # shellcheck disable=SC2154

-#param set-default MAV_SYS_ID $((px4_instance+1))
-#param set-default IMU_INTEG_RATE 250
+#param set MAV_SYS_ID $((px4_instance+1))
+#param set IMU_INTEG_RATE 250
@@ -21,6 +21,8 @@ then
 fi

 # initialize script variables
+set AUX_MODE                    none
+set AUX_BANK2			none
 set IO_PRESENT                  no
 set MAV_TYPE                    none
 set MIXER                       none
@@ -46,10 +48,10 @@ else
 	# shellcheck disable=SC2012
 	REQUESTED_AUTOSTART=$(ls "${R}etc/init.d-posix/airframes" | sed -n 's/^\([0-9][0-9]*\)_'${PX4_SIM_MODEL}'$/\1/p')
 	if [ -z "$REQUESTED_AUTOSTART" ]; then
-		echo "ERROR  [init] Unknown model $PX4_SIM_MODEL (not found by name on ${R}etc/init.d-posix/airframes)"
+		echo "Error: Unknown model $PX4_SIM_MODEL (not found by name on ${R}etc/init.d-posix/airframes)"
 		exit 1
 	else
-		echo "INFO  [init] found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
+		echo "Info: found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
 	fi
 fi

@@ -120,9 +122,11 @@ then

 	param set SENS_BOARD_X_OFF 0.000001
 	param set SENS_DPRES_OFF 0.001
+
+	param set SYS_RESTART_TYPE 2
 fi

-param set-default BAT1_N_CELLS 4
+param set-default BAT_N_CELLS 4

 param set-default CBRK_AIRSPD_CHK 0
 param set-default CBRK_SUPPLY_CHK 894281
@@ -221,11 +225,6 @@ sensors start
 commander start
 navigator start

-# Try to start the micrortps_client with UDP transport if module exists
-if px4-micrortps_client status > /dev/null 2>&1
-then
-	. px4-rc.rtps
-fi

 if param greater -s MNT_MODE_IN -1
 then
@@ -42,6 +42,7 @@ px4_add_romfs_files(
 	rc.fw_apps
 	rc.fw_defaults
 	rc.interface
+	rc.io
 	rc.logging
 	rc.mc_apps
 	rc.mc_defaults
@@ -13,13 +13,12 @@
 # @output MAIN6 gear
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
-# @board px4_fmu-v2 exclude
 #

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


-param set-default BAT1_N_CELLS 3
+param set-default BAT_N_CELLS 3

 param set-default FW_AIRSPD_MAX 20
 param set-default FW_AIRSPD_MIN 12
@@ -38,9 +38,8 @@ param set-default MC_YAWRATE_P 0.25
 param set-default MC_YAWRATE_I 0.25
 param set-default MC_YAWRATE_D 0

-param set-default BAT1_V_DIV 12.27559
-param set-default BAT1_A_PER_V 15.39103
-
+param set-default BAT_V_DIV 12.27559
+param set-default BAT_A_PER_V 15.39103
 set MIXER quad_w

 set PWM_OUT 1234
@@ -26,7 +26,7 @@
 . ${R}etc/init.d/rc.mc_defaults


-param set-default BAT1_N_CELLS 4
+param set-default BAT_N_CELLS 4

 param set-default MC_ROLL_P 7
 param set-default MC_ROLLRATE_P 0.13
@@ -26,8 +26,8 @@
 . ${R}etc/init.d/rc.mc_defaults


-param set-default BAT1_N_CELLS 6
-param set-default BAT1_V_EMPTY 3.5
+param set-default BAT_N_CELLS 6
+param set-default BAT_V_EMPTY 3.5

 param set-default MC_ROLL_P 7
 param set-default MC_ROLLRATE_P 0.08
@@ -45,7 +45,6 @@ param set-default MC_YAWRATE_D 0
 param set-default MPC_XY_VEL_MAX 2

 param set-default PWM_MAIN_MIN 1080
-
 set MIXER quad_w

 set PWM_OUT 1234
@@ -6,7 +6,6 @@
 # @class Copter
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
-# @board px4_fmu-v2 exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -14,7 +14,7 @@
 . ${R}etc/init.d/rc.vtol_defaults


-param set-default BAT1_N_CELLS 3
+param set-default BAT_N_CELLS 3

 param set-default COM_RC_IN_MODE 1

@@ -56,6 +56,7 @@ param set-default RTL_DESCEND_ALT 10
 param set-default RTL_RETURN_ALT 30

 param set-default SDLOG_DIRS_MAX 7
+param set-default SYS_RESTART_TYPE 2

 param set-default VT_F_TRANS_THR 0.75
 param set-default VT_MOT_ID 1234
@@ -19,7 +19,6 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 # @board bitcraze_crazyflie exclude
-# @board px4_fmu-v2 exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -26,5 +26,3 @@ param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
 param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027
-
-param set SIH_VEHICLE_TYPE 0
@@ -1,40 +0,0 @@
-#!/bin/sh
-#
-# @name SIH plane AERT
-#
-# @type Simulation
-# @class Plane
-#
-# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
-#
-# @board px4_fmu-v2 exclude
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-set MIXER AERT
-set PWM_OUT 1234
-
-# set SYS_HITL to 2 to start the SIH and avoid sensors startup
-param set-default SYS_HITL 2
-
-# disable some checks to allow to fly:
-# - with usb
-param set-default CBRK_USB_CHK 197848
-# - without real battery
-param set-default CBRK_SUPPLY_CHK 894281
-# - without safety switch
-param set-default COM_PREARM_MODE 0
-param set-default CBRK_IO_SAFETY 22027
-
-param set-default BAT_N_CELLS 3
-
-param set SIH_T_MAX 6.0
-param set SIH_MASS 0.3
-param set SIH_IXX 0.00402
-param set SIH_IYY 0.0144
-param set SIH_IZZ 0.0177
-param set SIH_IXZ 0.00046
-param set SIH_KDV 0.2
-
-param set SIH_VEHICLE_TYPE 1 	# sih as fixed wing
@@ -44,8 +44,7 @@ param set-default MPC_HOLD_MAX_XY 0.25
 param set-default MPC_THR_MIN 0.15
 param set-default MPC_Z_VEL_MAX_DN 2

-param set-default BAT1_N_CELLS 4
-
+param set-default BAT_N_CELLS 4
 set MIXER octo_cox_w

 set PWM_OUT 12345678
@@ -23,9 +23,9 @@
 . ${R}etc/init.d/rc.vtol_defaults


-param set-default BAT1_CAPACITY 23000
-param set-default BAT1_N_CELLS 4
-param set-default BAT1_R_INTERNAL 0.0025
+param set-default BAT_CAPACITY 23000
+param set-default BAT_N_CELLS 4
+param set-default BAT_R_INTERNAL 0.0025

 param set-default CBRK_AIRSPD_CHK 162128
 param set-default CBRK_IO_SAFETY 22027
@@ -23,7 +23,8 @@
 . ${R}etc/init.d/rc.vtol_defaults


-param set-default BAT1_N_CELLS 6
+
+param set-default BAT_N_CELLS 6

 param set-default FW_AIRSPD_MAX 30
 param set-default FW_AIRSPD_MIN 19
@@ -70,6 +71,7 @@ param set-default MPC_JERK_AUTO 4
 param set-default MPC_LAND_SPEED 1
 param set-default MPC_MAN_TILT_MAX 25
 param set-default MPC_MAN_Y_MAX 40
+param set-default MPC_POS_MODE 3
 param set-default MPC_SPOOLUP_TIME 1.5
 param set-default MPC_THR_HOVER 0.45
 param set-default MPC_TILTMAX_AIR 25
@@ -13,7 +13,6 @@
 # @maintainer Trent Lukaczyk <aerialhedgehog@gmail.com>
 #
 # @board bitcraze_crazyflie exclude
-# @board px4_fmu-v2 exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -13,7 +13,6 @@
 # @maintainer Trent Lukaczyk <aerialhedgehog@gmail.com>
 #
 # @board bitcraze_crazyflie exclude
-# @board px4_fmu-v2 exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -26,8 +26,8 @@
 . ${R}etc/init.d/rc.fw_defaults


-param set-default BAT1_CAPACITY 2500
-param set-default BAT1_N_CELLS 3
+param set-default BAT_CAPACITY 2500
+param set-default BAT_N_CELLS 3

 param set-default PWM_AUX_RATE 50
 param set-default PWM_MAIN_RATE 50
@@ -46,6 +46,5 @@ param set-default FW_R_LIM 40
 param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
 param set-default FW_P_RMAX_NEG 20
-
 set MIXER TF-AutoG2
 set MIXER_AUX pass
@@ -21,8 +21,8 @@
 . ${R}etc/init.d/rc.fw_defaults


-param set-default BAT1_CAPACITY 3300
-param set-default BAT1_N_CELLS 3
+param set-default BAT_CAPACITY 3300
+param set-default BAT_N_CELLS 3

 param set-default PWM_AUX_RATE 50
 param set-default PWM_MAIN_RATE 50
@@ -26,8 +26,7 @@ param set-default GPS_UBX_DYNMODEL 8
 param set-default SER_TEL2_BAUD 9600

 param set-default SENS_BOARD_ROT 0
-set MAV_TYPE 8
-param set MAV_TYPE ${MAV_TYPE}
+        param set MAV_TYPE 8  # MAV_TYPE_FREE_BALLOON


 set MIXER IO_pass
@@ -23,7 +23,6 @@
 # @maintainer William Peale <develop707@gmail.com>
 #
 # @board bitcraze_crazyflie exclude
-# @board px4_fmu-v2 exclude
 #

 set VEHICLE_TYPE mc
@@ -48,7 +48,8 @@ param set-default PWM_MAIN_DISARM 1000
 # the payload bay is pitched up about 7 degrees
 param set-default SENS_BOARD_Y_OFF 7

-set MIXER fw_generic_wing
+
+set MIXER phantom

 # Provide ESC a constant 1000 us pulse
 set PWM_OUT 4
@@ -23,7 +23,7 @@

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

-param set-default BAT1_N_CELLS 2
+param set-default BAT_N_CELLS 2
 param set-default FW_AIRSPD_MAX 15
 param set-default FW_AIRSPD_MIN 10
 param set-default FW_AIRSPD_TRIM 13
@@ -48,7 +48,7 @@ param set-default PWM_MAIN_DISARM 1000
 set MAV_TYPE 1

 # Set mixer.
-set MIXER fw_generic_wing
+set MIXER wingwing

 # Provide ESC a constant 1000 us pulse.
 set PWM_OUT 4
@@ -27,4 +27,5 @@ param set-default FW_AIRSPD_TRIM 15

 param set-default NAV_LOITER_RAD 150

-set MIXER fw_generic_wing
+
+set MIXER FX79
@@ -49,7 +49,8 @@ param set-default PWM_MAIN_DISARM 1000
 # the payload bay is pitched up about 7 degrees
 param set-default SENS_BOARD_Y_OFF 11.9

-set MIXER fw_generic_wing
+
+set MIXER phantom

 # Provide ESC a constant 1000 us pulse
 set PWM_OUT 4
@@ -63,6 +63,6 @@ param set-default PWM_MAIN_REV2 1
 param set-default PWM_MAIN_MIN 900
 param set-default PWM_MAIN_MAX 2100

-set MIXER fw_generic_wing

+set MIXER caipi
 set PWM_OUT 1234
@@ -6,7 +6,6 @@
 # @class Copter
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
-# @board px4_fmu-v2 exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -127,9 +127,9 @@ param set-default IMU_GYRO_CUTOFF 100
 param set-default SENS_EN_PMW3901 1

 # Power Parameters
-param set-default BAT1_N_CELLS 4
-param set-default BAT1_A_PER_V 36.364
-param set-default BAT1_V_DIV 18.182
+param set-default BAT_N_CELLS 4
+param set-default BAT_A_PER_V 36.364
+param set-default BAT_V_DIV 18.182

 # Circuit breakers
 param set-default CBRK_IO_SAFETY 22027
@@ -0,0 +1,38 @@
+#!/bin/sh
+#
+# @name Hobbyking Micro PCB
+#
+# @type Quadrotor x
+# @class Copter
+#
+# @maintainer Thomas Gubler <thomas@px4.io>
+#
+# @board px4_fmu-v2 exclude
+# @board px4_fmu-v3 exclude
+# @board px4_fmu-v4 exclude
+# @board px4_fmu-v4pro exclude
+# @board px4_fmu-v5 exclude
+# @board px4_fmu-v5x exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+set MIXER quad_x
+set PWM_OUT 1234
+
+
+param set-default MC_ROLL_P 7
+param set-default MC_ROLLRATE_P 0.1
+param set-default MC_ROLLRATE_I 0.05
+param set-default MC_ROLLRATE_D 0.003
+param set-default MC_PITCH_P 7
+param set-default MC_PITCHRATE_P 0.1
+param set-default MC_PITCHRATE_I 0.05
+param set-default MC_PITCHRATE_D 0.003
+param set-default MC_YAW_P 2.8
+param set-default MC_YAWRATE_P 0.2
+param set-default MC_YAWRATE_I 0.1
+param set-default MC_YAWRATE_D 0
+
+param set-default PWM_MAIN_MIN 1200
@@ -48,6 +48,7 @@ param set-default CBRK_IO_SAFETY    22027
 param set-default CBRK_SUPPLY_CHK   894281

 # RC configuration
+param set-default RC_MAP_MODE_SW    5
 param set-default RC_MAP_PITCH      2
 param set-default RC_MAP_ROLL       1
 param set-default RC_MAP_THROTTLE   3
@@ -54,7 +54,7 @@ param set-default DSHOT_CONFIG 600
 param set-default SYS_HAS_BARO 0
 param set-default SYS_HAS_MAG 0

-param set-default BAT1_N_CELLS 2
+param set-default BAT_N_CELLS 2
 # The Whoop uses reversed props
 set MIXER quad_h
 set PWM_OUT 1234
@@ -20,7 +20,7 @@ set PWM_OUT 1234


 # The set does not include a battery, but most people will probably use 4S
-param set-default BAT1_N_CELLS 4
+param set-default BAT_N_CELLS 4

 param set-default IMU_GYRO_CUTOFF 120
 param set-default IMU_DGYRO_CUTOFF 45
@@ -17,7 +17,7 @@ set MIXER quad_x
 set PWM_OUT 1234


-param set-default BAT1_N_CELLS 4
+param set-default BAT_N_CELLS 4

 param set-default GPS_1_CONFIG 0
 param set-default RC_PORT_CONFIG 201
@@ -17,7 +17,7 @@ set MIXER quad_x
 set PWM_OUT 1234


-param set-default BAT1_N_CELLS 6
+param set-default BAT_N_CELLS 6

 param set-default MC_ROLL_P 6.5
 param set-default MC_ROLLRATE_P 0.05
@@ -1,207 +0,0 @@
-#!/bin/sh
-#
-# @name Advanced Technology Labs (ATL) Mantis EDU
-#
-# @type Quadrotor x
-# @class Copter
-#
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-#
-# @maintainer
-# @board px4_fmu-v2 exclude
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER none
-set MIXER_AUX none
-
-
-# Battery settings
-param set-default BAT_CRIT_THR 0.20
-param set-default BAT_EMERGEN_THR 0.05
-param set-default BAT_LOW_THR 0.25
-
-param set-default BAT1_CAPACITY 2800.0
-param set-default BAT1_N_CELLS 3
-param set-default BAT1_R_INTERNAL 0.02
-param set-default BAT1_V_CHARGED 4.26
-param set-default BAT1_V_EMPTY 3.45
-
-param set-default CBRK_SUPPLY_CHK 894281
-
-param set-default COM_DISARM_LAND 0.1
-param set-default COM_DISARM_PRFLT 3
-param set-default COM_DL_LOSS_T 10
-param set-default COM_FLTMODE1 -1
-param set-default COM_FLTMODE2 -1
-param set-default COM_FLTMODE3 -1
-param set-default COM_FLTMODE4  2
-param set-default COM_FLTMODE5 -1
-param set-default COM_FLTMODE6  6
-param set-default COM_RC_LOSS_T 3
-param set-default COM_RC_OVERRIDE 1
-
-
-# ekf2
-param set-default EKF2_AID_MASK 35
-param set-default EKF2_BARO_DELAY 0
-param set-default EKF2_BARO_NOISE 2.0
-
-param set-default EKF2_BCOEF_X 31.5
-param set-default EKF2_BCOEF_Y 25.5
-
-param set-default EKF2_GPS_DELAY 100
-param set-default EKF2_GPS_POS_X 0.06
-param set-default EKF2_GPS_POS_Y 0.0
-param set-default EKF2_GPS_POS_Z 0.0
-param set-default EKF2_GPS_V_NOISE 0.5
-
-param set-default EKF2_IMU_POS_X 0.06
-param set-default EKF2_IMU_POS_Y 0.0
-param set-default EKF2_IMU_POS_Z 0.0
-
-param set-default EKF2_MAG_DELAY 0
-param set-default EKF2_MAG_NOISE 0.1
-
-param set-default EKF2_MIN_RNG 0.15
-
-param set-default EKF2_OF_DELAY 38
-param set-default EKF2_OF_GATE 2.0
-param set-default EKF2_OF_POS_X -0.035
-param set-default EKF2_OF_POS_Y 0.0
-param set-default EKF2_OF_POS_Z 0.033
-
-param set-default EKF2_PCOEF_XN -0.3
-param set-default EKF2_PCOEF_XP -0.4
-param set-default EKF2_PCOEF_YN -0.4
-param set-default EKF2_PCOEF_YP -0.4
-param set-default EKF2_PCOEF_Z 0.0
-
-param set-default EKF2_RNG_A_VMAX 1.0
-param set-default EKF2_RNG_AID 0
-param set-default EKF2_RNG_DELAY 55
-param set-default EKF2_RNG_POS_X -0.035
-param set-default EKF2_RNG_POS_Y 0.0
-param set-default EKF2_RNG_POS_Z 0.033
-
-param set-default EKF2_TERR_NOISE 1.0
-
-
-# Maximum allowed angle velocity in the landed state
-param set-default LNDMC_ROT_MAX 40.0
-
-# Maximum vertical velocity allowed in the landed state
-param set-default LNDMC_Z_VEL_MAX 0.7
-
-
-# filtering
-param set-default IMU_DGYRO_CUTOFF 50
-param set-default IMU_GYRO_CUTOFF 65
-
-
-# Pitch angle & rate setting
-param set-default MC_PITCHRATE_P 0.075
-param set-default MC_PITCHRATE_I 0.1
-param set-default MC_PITCHRATE_D 0.0005
-param set-default MC_PITCHRATE_MAX 360.0
-param set-default MC_PITCH_P 8.0
-
-# Roll angle & rate setting
-param set-default MC_ROLLRATE_P 0.055
-param set-default MC_ROLLRATE_I 0.1
-param set-default MC_ROLLRATE_D 0.0005
-param set-default MC_ROLLRATE_MAX 360.0
-param set-default MC_ROLL_P 8.0
-
-# Yaw angle & rate setting
-param set-default MC_YAWRATE_P 0.1
-param set-default MC_YAWRATE_I 0.1
-param set-default MC_YAWRATE_MAX 120.0
-param set-default MC_YAW_P 2.5
-
-param set-default MPC_ACC_DOWN_MAX 2.0
-param set-default MPC_ACC_HOR 3.0
-param set-default MPC_ACC_HOR_MAX 10.0
-param set-default MPC_ACC_UP_MAX 3.0
-param set-default MPC_ALT_MODE 0
-param set-default MPC_LAND_SPEED 0.5
-param set-default MPC_LAND_VEL_XY 10
-param set-default MPC_MAN_TILT_MAX 20
-param set-default MPC_YAWRAUTO_MAX 80.0
-param set-default MPC_POS_MODE 4
-param set-default MPC_THR_HOVER 0.54
-param set-default MPC_THR_MAX 0.9
-param set-default MPC_THR_MIN 0.06
-param set-default MPC_TILTMAX_AIR 30
-param set-default MPC_XY_P 1.0
-param set-default MPC_XY_VEL_D 0.005
-param set-default MPC_XY_VEL_I 0.02
-param set-default MPC_XY_VEL_P 0.15
-param set-default MPC_Z_P 2.0
-param set-default MPC_Z_VEL_D 0.0
-param set-default MPC_Z_VEL_I 0.02
-param set-default MPC_Z_VEL_MAX_DN 2.0
-param set-default MPC_Z_VEL_MAX_UP 3.0
-param set-default MPC_Z_VEL_P 0.27
-
-
-# gimbal configuration
-param set-default MNT_MODE_IN 1
-param set-default MNT_MODE_OUT 2
-param set-default MNT_MAN_PITCH 1
-
-
-# RC
-param set-default RC_CHAN_CNT       12
-
-param set-default RC_MAP_THROTTLE   1
-param set-default RC_MAP_ROLL       2
-param set-default RC_MAP_PITCH      3
-param set-default RC_MAP_YAW        4
-param set-default RC_MAP_FLTMODE    5
-param set-default RC_MAP_AUX1       7
-
-param set-default RC1_DZ            10
-param set-default RC1_MAX           3413
-param set-default RC1_MIN           683
-param set-default RC1_REV           1
-param set-default RC1_TRIM          683
-param set-default RC2_DZ            10
-param set-default RC2_MAX           3413
-param set-default RC2_MIN           683
-param set-default RC2_REV           -1
-param set-default RC2_TRIM          2048
-param set-default RC3_DZ            10
-param set-default RC3_MAX           3413
-param set-default RC3_MIN           683
-param set-default RC3_REV           1
-param set-default RC3_TRIM          2048
-param set-default RC4_DZ            10
-param set-default RC4_MAX           3413
-param set-default RC4_MIN           683
-param set-default RC4_REV           -1
-param set-default RC4_TRIM          2048
-param set-default RC5_DZ            10
-param set-default RC5_MAX           3414
-param set-default RC5_MIN           2048
-param set-default RC5_REV           1
-param set-default RC5_TRIM          2048
-param set-default RC7_DZ            10
-param set-default RC7_MAX           3413
-param set-default RC7_MIN           683
-param set-default RC7_REV           1
-param set-default RC7_TRIM          2048
-
-
-# optical flow
-param set-default SENS_FLOW_MAXR   7.4
-param set-default SENS_FLOW_MINHGT 0.15
-param set-default SENS_FLOW_MAXHGT 5.0
-param set-default SENS_FLOW_ROT    4
-
-
-mixer load /dev/tap_esc /etc/mixers/quad_x.main.mix
@@ -27,29 +27,48 @@ set PWM_OUT 1234


 # Attitude & rate gains
+#param set MC_ROLL_P 7
 param set-default MC_ROLLRATE_P 0.15
+#param set MC_ROLLRATE_I 0.9
 param set-default MC_ROLLRATE_D 0.0013

+#param set MC_PITCH_P 7
 param set-default MC_PITCHRATE_P 0.15
+#param set MC_PITCHRATE_I 1.1
 param set-default MC_PITCHRATE_D 0.0016

 param set-default MC_YAW_P 2.8
 param set-default MC_YAWRATE_P 0.2
+#param set MC_YAWRATE_I 0.15
 param set-default MC_YAWRATE_D 0
 param set-default MC_YAW_FF 0.5

+#param set MC_ROLL_TC 0.19
+#param set MC_PITCH_TC 0.16
+
+# Manual mode settings: Unleash Draco R's power :)
+#param set MPC_MAN_TILT_MAX 70
+#param set MC_PITCHRATE_MAX 1600
+#param set MC_ROLLRATE_MAX 1600
+#param set MC_YAWRATE_MAX 700
 param set-default MPC_MANTHR_MAX 0.9
 param set-default MPC_MANTHR_MIN 0.08
+#param set MPC_MAN_TILT_MAX 35
+#param set MPC_TILTMAX_AIR 20

 # Filter settings
 param set-default IMU_DGYRO_CUTOFF 90
 param set-default IMU_GYRO_CUTOFF 100

+# Thrust curve (avoids the need for TPA)
+#param set THR_MDL_FAC 0.25
+
 # System
 param set-default PWM_MAIN_MAX 1950
 param set-default PWM_MAIN_MIN 1100
 param set-default PWM_MAIN_RATE 0

+#param set SYS_FMU_TASK 1
 param set-default SENS_BOARD_ROT 10

 # EKF2
@@ -73,10 +92,11 @@ param set-default MPC_TKO_RAMP_T 1
 param set-default MPC_TKO_SPEED 1.1
 param set-default MPC_VEL_MANUAL 3

-param set-default BAT1_SOURCE 0
-param set-default BAT1_N_CELLS 4
-param set-default BAT1_V_DIV 10.14
-param set-default BAT1_A_PER_V 18.18
+param set-default BAT_SOURCE 0
+param set-default BAT_N_CELLS 4
+param set-default BAT_V_DIV 10.14
+param set-default BAT_A_PER_V 18.18
+#param set CBRK_IO_SAFETY 22027
 param set-default COM_DISARM_LAND 2

 # Filter settings
@@ -86,6 +106,9 @@ param set-default IMU_DGYRO_CUTOFF 70
 # Don't try to be intelligent on RC loss: just cut the motors
 param set-default NAV_RCL_ACT 6

+# enable to use high-rate logging for better rate tracking analysis
+# param set SDLOG_PROFILE 19
+
 # TELEM1 ttyS1 - Wifi module
 param set-default MAV_0_CONFIG 101
 param set-default MAV_0_RATE 0
@@ -73,13 +73,25 @@ param set-default PWM_MAIN_RATE 0

 param set-default SENS_BOARD_ROT 2

-param set-default BAT1_SOURCE 0
+param set-default BAT_SOURCE 0
 param set-default CBRK_IO_SAFETY 22027
+#param set COM_DISARM_LAND 3

 # Filter settings
 param set-default IMU_GYRO_CUTOFF 90
 param set-default IMU_DGYRO_CUTOFF 100

+# Don't try to be intelligent on RC loss: just cut the motors
+#param set NAV_RCL_ACT 6
+
 # enable to use high-rate logging for better rate tracking analysis
 param set-default SDLOG_PROFILE 27

+# TELEM1 ttyS1
+#param set MAV_0_CONFIG 101
+#param set MAV_0_MODE 2  # onboard
+#param set MAV_0_RATE 20000
+#param set SER_TEL1_BAUD 921600
+
+# TELEM2 ttyS2
+#param set MAV_1_CONFIG 0
@@ -27,21 +27,44 @@ set PWM_OUT 1234


 # Attitude & rate gains
+#param set MC_ROLL_P 7
 param set-default MC_ROLLRATE_P 0.15
+#param set MC_ROLLRATE_I 0.9
 param set-default MC_ROLLRATE_D 0.0013

+#param set MC_PITCH_P 7
 param set-default MC_PITCHRATE_P 0.15
+#param set MC_PITCHRATE_I 1.1
 param set-default MC_PITCHRATE_D 0.0016

 param set-default MC_YAW_P 2.8
 param set-default MC_YAWRATE_P 0.2
+#param set MC_YAWRATE_I 0.15
 param set-default MC_YAWRATE_D 0

+#param set MC_ROLL_TC 0.19
+#param set MC_PITCH_TC 0.16
+
+# Manual mode settings: Unleash Draco R's power :)
+#param set MPC_MAN_TILT_MAX 70
+#param set MC_PITCHRATE_MAX 1600
+#param set MC_ROLLRATE_MAX 1600
+#param set MC_YAWRATE_MAX 700
 param set-default MPC_MANTHR_MIN 0.08
+#param set MPC_MAN_TILT_MAX 35
+#param set MPC_TILTMAX_AIR 20

 # Filter settings
 param set-default IMU_GYRO_CUTOFF 100

+# Thrust curve (avoids the need for TPA)
+#param set THR_MDL_FAC 0.25
+
+# Obsolete
+#param set PWM_MAIN_MAX 1950
+#param set PWM_MAIN_MIN 1100
+#param set PWM_MAIN_RATE 0
+
 # Sensors
 param set-default SENS_BOARD_ROT 10
 # Yaw 180
@@ -79,10 +102,11 @@ param set-default MPC_TKO_RAMP_T 1
 param set-default MPC_TKO_SPEED 1.1
 param set-default MPC_VEL_MANUAL 3

-param set-default BAT1_SOURCE 0
-param set-default BAT1_N_CELLS 4
-param set-default BAT1_V_DIV 10.14
-param set-default BAT1_A_PER_V 18.18
+param set-default BAT_SOURCE 0
+param set-default BAT_N_CELLS 4
+param set-default BAT_V_DIV 10.14
+param set-default BAT_A_PER_V 18.18
+#param set CBRK_IO_SAFETY 22027
 param set-default COM_DISARM_LAND 2

 # Filter settings
@@ -91,6 +115,9 @@ param set-default IMU_GYRO_CUTOFF 90
 # Don't try to be intelligent on RC loss: just cut the motors
 param set-default NAV_RCL_ACT 6

+# enable to use high-rate logging for better rate tracking analysis
+# param set SDLOG_PROFILE 19
+
 # TELEM1 ttyS1 - Wifi module
 param set-default MAV_0_CONFIG 101
 param set-default MAV_0_RATE 0
@@ -38,6 +38,8 @@ param set-default MC_ACRO_R_MAX 1000
 param set-default MC_ACRO_P_MAX 1000
 param set-default MC_ACRO_Y_MAX 1000

+# param set NAV_RCL_ACT 6 # Lockdown
+
 param set-default PWM_MAIN_MIN 1075
 param set-default PWM_MAIN_RATE 400
 param set-default PWM_MAIN_DISARM 900
@@ -21,7 +21,7 @@ set MIXER quad_x
 set PWM_OUT 1234


-param set-default BAT1_N_CELLS 1
+param set-default BAT_N_CELLS 1

 param set-default MC_ROLL_P 8
 param set-default MC_ROLLRATE_P 0.19
@@ -24,6 +24,9 @@

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

+#Parameters here:
+param set LED_RGB_MAXBRT 8
+

 # Configure this as Quadrotor
 # set MAV_TYPE 14
@@ -32,18 +32,17 @@ set PWM_OUT 1234
 param reset_all SYS_AUTOSTART SYS_AUTOCONFIG RC* COM_FLTMODE* LND_FLIGHT_T_* TC_* CAL_ACC* CAL_GYRO* CAL_MAG* SENS_BOARD* EKF2_MAGBIAS*

 # battery
+param set-default BAT_CAPACITY 2750
 param set-default BAT_CRIT_THR 0.15
 param set-default BAT_EMERGEN_THR 0.075
 param set-default BAT_LOW_THR 0.20
-
-param set-default BAT1_CAPACITY 2750
-param set-default BAT1_N_CELLS 4
-param set-default BAT1_R_INTERNAL 0.06
-param set-default BAT1_SOURCE 1
-param set-default BAT1_V_CHARGED 4.15
-param set-default BAT1_V_DIV 11.1625
-param set-default BAT1_V_EMPTY 3.65
-param set-default BAT1_V_OFFS_CURR -0.0045
+param set-default BAT_N_CELLS 4
+param set-default BAT_R_INTERNAL 0.06
+param set-default BAT_SOURCE 1
+param set-default BAT_V_CHARGED 4.15
+param set-default BAT_V_DIV 11.1625
+param set-default BAT_V_EMPTY 3.65
+param set-default BAT_V_OFFS_CURR -0.0045

 # sensor calibration
 param set-default CAL_MAG_SIDES 63
@@ -189,7 +188,7 @@ param set-default CAL_ACC1_PRIO 0
 param set-default CAL_GYRO0_PRIO 255
 param set-default CAL_GYRO1_PRIO 0
 # Logger mode. Default(1) + estimator replay(2) + thermal calibration(4)
-param set-default SDLOG_PROFILE 6
+param set SDLOG_PROFILE 6

 # Do not start frsky_telemetry on port ttyS6 by default, PGA460 lives there. 500 is in arbitrary unused number.
 param set TEL_FRSKY_CONFIG 500
@@ -19,9 +19,9 @@
 set MIXER quad_x_cw
 set PWM_OUT 1234

-param set-default BAT1_N_CELLS 1
-param set-default BAT1_CAPACITY 240
-param set-default BAT1_SOURCE 1
+param set-default BAT_N_CELLS 1
+param set-default BAT_CAPACITY 240
+param set-default BAT_SOURCE 1

 param set-default CBRK_SUPPLY_CHK 894281
 param set-default CBRK_USB_CHK 197848
@@ -24,6 +24,7 @@ param set-default SYS_HAS_MAG 0
 param set-default EKF2_AID_MASK 2
 param set-default EKF2_MAG_TYPE 5

+param set-default BAT_N_CELLS 1
 param set-default BAT1_N_CELLS 1
 param set-default BAT1_SOURCE 1

@@ -53,6 +54,8 @@ param set-default MPC_Z_VEL_P_ACC 8
 param set-default MPC_Z_VEL_I_ACC 6
 param set-default MPC_HOLD_MAX_XY 0.1
 param set-default MPC_MAX_FLOW_HGT 3
+#param set IMU_GYRO_NF_FREQ 10
+#param set IMU_GYRO_NF_BW 20

 param set-default NAV_RCL_ACT 3

@@ -16,7 +16,7 @@
 . ${R}etc/init.d/rc.rover_defaults


-param set-default BAT1_N_CELLS 2
+param set-default BAT_N_CELLS 2

 param set-default EKF2_ANGERR_INIT 0.01
 param set-default EKF2_GBIAS_INIT 0.01
@@ -2,7 +2,7 @@
 #
 # @name Aion Robotics R1 UGV
 #
-# @url https://www.aionrobotics.com/r1
+# @url http://docs.aionrobotics.com/en/latest/r1-ugv.html
 #
 # @type Rover
 # @class Rover
@@ -19,7 +19,7 @@
 . ${R}etc/init.d/rc.rover_defaults


-param set-default BAT1_N_CELLS 4
+param set-default BAT_N_CELLS 4

 param set-default EKF2_GBIAS_INIT 0.01
 param set-default EKF2_ANGERR_INIT 0.01
@@ -72,6 +72,7 @@ param set-default GND_MAX_ANG 3.1415
 param set-default RBCLW_BAUD 8
 param set-default RBCLW_COUNTS_REV 1200
 param set-default RBCLW_ADDRESS 128
+# param set SER_TEL4_BAUD 115200
 # 104 corresponds to Telem 4
 param set-default RBCLW_SER_CFG 104
 # Start this driver after setting parameters, because the driver uses some of those parameters.
@@ -21,7 +21,7 @@
 . ${R}etc/init.d/rc.rover_defaults


-param set-default BAT1_N_CELLS 2
+param set-default BAT_N_CELLS 2

 param set-default EKF2_GBIAS_INIT 0.01
 param set-default EKF2_ANGERR_INIT 0.01
@@ -20,7 +20,6 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 # @board bitcraze_crazyflie exclude
-# @board px4_fmu-v2 exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -20,6 +20,7 @@ param set-default NAV_DLL_ACT 0
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

+#param set CBRK_GPSFAIL 240024
 set MAV_TYPE 12
 param set MAV_TYPE ${MAV_TYPE}

@@ -20,6 +20,7 @@ param set-default NAV_DLL_ACT 0
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

+#param set CBRK_GPSFAIL 240024
 set MAV_TYPE 12
 param set MAV_TYPE ${MAV_TYPE}

@@ -116,9 +116,9 @@ param set-default COM_DISARM_LAND 3
 param set-default PWM_MAIN_RATE 0

 # Battery
-param set-default BAT1_SOURCE 0
-param set-default BAT1_N_CELLS 4
-param set-default BAT1_V_DIV 10.133
+param set-default BAT_SOURCE 0
+param set-default BAT_N_CELLS 4
+param set-default BAT_V_DIV 10.133

 # TELEM1 ttyS1
 param set-default MAV_0_CONFIG 101
@@ -39,7 +39,6 @@ px4_add_romfs_files(
 	1001_rc_quad_x.hil
 	1002_standard_vtol.hil
 	1100_rc_quad_x_sih.hil
-	1101_rc_plane_sih.hil

 	# [2000, 2999] Standard planes"
 	2100_standard_plane
@@ -72,6 +71,7 @@ px4_add_romfs_files(
 	4016_holybro_px4vision
 	4017_nxp_hovergames
 	4018_s500_ctrlalloc
+	4020_hk_micro_pcb
 	4030_3dr_solo
 	4031_3dr_quad
 	4040_reaper
@@ -81,7 +81,6 @@ px4_add_romfs_files(
 	4052_holybro_qav250
 	4053_holybro_kopis2
 	4060_dji_matrice_100
-	4061_atl_mantis_edu
 	4071_ifo
 	4072_draco
 	4073_ifo-s
@@ -17,10 +17,6 @@ set OUTPUT_DEV none
 set OUTPUT_AUX_DEV /dev/pwm_output1
 set OUTPUT_EXTRA_DEV /dev/pwm_output0

-# set these before starting the modules
-param set PWM_AUX_OUT ${PWM_AUX_OUT}
-param set PWM_MAIN_OUT ${PWM_OUT}
-
 #
 # If mount (gimbal) control is enabled and output mode is AUX, set the aux
 # mixer to mount (override the airframe-specific MIXER_AUX setting).
@@ -33,6 +29,12 @@ then
        fi
 fi

+# USE_IO is set to 'no' for all boards w/o px4io driver or SYS_USE_IO disabled
+if [ $USE_IO = no -a $AUX_BANK2 = none ]
+then
+	set AUX_MODE none
+fi
+
 #
 # Set the default output mode if none was set.
 #
@@ -74,6 +76,15 @@ then
 		fi
 	fi

+	if [ $OUTPUT_MODE = $OUTPUT_CMD ]
+	then
+		if ! $OUTPUT_CMD mode_$FMU_MODE
+		then
+			echo "$OUTPUT_CMD start failed"
+			tune_control play error
+		fi
+	fi
+
 	if [ $OUTPUT_MODE = uavcan_esc ]
 	then
 		if param compare UAVCAN_ENABLE 0
@@ -82,24 +93,19 @@ then
 		fi
 	fi

+	if [ $OUTPUT_MODE = io ]
+	then
+		. ${R}etc/init.d/rc.io
+	fi
+
 	#
-	# Start IO for PWM output or RC input if needed.
+	# Start IO for RC input if needed.
 	#
 	if [ $IO_PRESENT = yes ]
 	then
-		if ! px4io start
+		if [ $OUTPUT_MODE != io ]
 		then
-			echo "PX4IO start failed"
-			tune_control play -t 18 # PROG_PX4IO_ERR
-		fi
-	fi
-
-	if [ $OUTPUT_MODE = $OUTPUT_CMD -o $OUTPUT_MODE = io ]
-	then
-		if ! $OUTPUT_CMD start
-		then
-			echo "$OUTPUT_CMD start failed"
-			tune_control play error
+			. ${R}etc/init.d/rc.io
 		fi
 	fi
 fi
@@ -155,7 +161,7 @@ else
 	fi
 fi

-if [ $MIXER_AUX != none ]
+if [ $MIXER_AUX != none -a $AUX_MODE != none ]
 then
 	#
 	# Load aux mixer.
@@ -173,26 +179,34 @@ then

 	if [ $MIXER_AUX_FILE != none ]
 	then
-		# Append aux mixer to main device.
-		if param greater SYS_HITL 0
+		# Start the output module
+		if $OUTPUT_CMD mode_${AUX_MODE}
 		then
-			if mixer append ${OUTPUT_DEV} ${MIXER_AUX_FILE}
+			# Append aux mixer to main device.
+			if param greater SYS_HITL 0
 			then
-				echo "INFO  [init] Mixer: ${MIXER_AUX_FILE} appended to ${OUTPUT_DEV}"
-			else
-				echo "ERROR  [init] Failed appending mixer: ${MIXER_AUX_FILE}"
+				if mixer append ${OUTPUT_DEV} ${MIXER_AUX_FILE}
+				then
+					echo "INFO  [init] Mixer: ${MIXER_AUX_FILE} appended to ${OUTPUT_DEV}"
+				else
+					echo "ERROR  [init] Failed appending mixer: ${MIXER_AUX_FILE}"
+				fi
 			fi
-		fi
-		if [ -e $OUTPUT_AUX_DEV -a $OUTPUT_MODE != hil ]
-		then
-			if mixer load ${OUTPUT_AUX_DEV} ${MIXER_AUX_FILE}
+			if [ -e $OUTPUT_AUX_DEV -a $OUTPUT_MODE != hil ]
 			then
-				echo "INFO  [init] Mixer: ${MIXER_AUX_FILE} on ${OUTPUT_AUX_DEV}"
+				if mixer load ${OUTPUT_AUX_DEV} ${MIXER_AUX_FILE}
+				then
+					echo "INFO  [init] Mixer: ${MIXER_AUX_FILE} on ${OUTPUT_AUX_DEV}"
+				else
+					echo "ERROR  [init] Failed loading mixer: ${MIXER_AUX_FILE}"
+				fi
 			else
-				echo "ERROR  [init] Failed loading mixer: ${MIXER_AUX_FILE}"
+				echo "INFO  [init] setting PWM_AUX_OUT none"
+				set PWM_AUX_OUT none
 			fi
 		else
-			echo "INFO  [init] setting PWM_AUX_OUT none"
+			echo "ERROR: Could not start: pwm_out mode_pwm"
+			tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
 			set PWM_AUX_OUT none
 		fi

@@ -212,6 +226,36 @@ then
 	fi
 fi

+if [ $MIXER_AUX != none -a $AUX_MODE = none -a -e $OUTPUT_AUX_DEV ]
+then
+	#
+	# Load aux mixer.
+	#
+	if [ -f ${SDCARD_MIXERS_PATH}/${MIXER_AUX}.aux.mix ]
+	then
+		set MIXER_AUX_FILE ${SDCARD_MIXERS_PATH}/${MIXER_AUX}.aux.mix
+	else
+
+		if [ -f /etc/mixers/${MIXER_AUX}.aux.mix ]
+		then
+			set MIXER_AUX_FILE /etc/mixers/${MIXER_AUX}.aux.mix
+		fi
+	fi
+
+	if mixer load ${OUTPUT_AUX_DEV} ${MIXER_AUX_FILE}
+	then
+		echo "INFO  [init] Mixer: ${MIXER_AUX_FILE} on ${OUTPUT_AUX_DEV}"
+
+		# Set PWM_AUX output frequency.
+		if [ $PWM_AUX_RATE != none ]
+		then
+			pwm rate -c ${PWM_AUX_OUT} -r ${PWM_AUX_RATE} -d ${OUTPUT_AUX_DEV}
+		fi
+	else
+		echo "ERROR  [init] Failed loading mixer: ${MIXER_AUX_FILE}"
+	fi
+fi
+
 if [ $OUTPUT_MODE = pwm_out -o $OUTPUT_MODE = io ]
 then
 	if [ $PWM_OUT != none ]
@@ -0,0 +1,23 @@
+#!/bin/sh
+#
+# PX4IO interface init script.
+#
+
+# If $OUTPUT_MODE indicated Hardware-int-the-loop simulation, px4io should not publish actuator_outputs,
+# instead, pwm_out_sim will publish that uORB
+if [ $OUTPUT_MODE = hil ]
+then
+    set HIL_ARG $OUTPUT_MODE
+fi
+
+if [ $IO_PRESENT = yes ]
+then
+	if px4io start $HIL_ARG
+	then
+		# Allow PX4IO to recover from midair restarts.
+		px4io recovery
+	else
+		echo "PX4IO start failed"
+		tune_control play -t 18 # PROG_PX4IO_ERR
+	fi
+fi
@@ -57,7 +57,6 @@ mc_rate_control start
 # Start Multicopter Attitude Controller.
 #
 mc_att_control start
-mc_autotune_attitude_control start

 #
 # Start Multicopter Position Controller.
@@ -26,12 +26,6 @@ then
 	batt_smbus start -X
 fi

-# Start batmon driver if enabled using BATMON_DRIVER_EN
-if param compare -s BATMON_DRIVER_EN 1
-then
-	batmon start -X  #start on external bus
-fi
-
 # Sensors on the PWM interface bank
 if param compare -s SENS_EN_LL40LS 1
 then
@@ -117,42 +111,7 @@ fi
 # ADIS16448 spi external IMU
 if param compare -s SENS_EN_ADIS164X 1
 then
-	if param compare -s SENS_OR_ADIS164X 0
-	then
-		adis16448 -S start
-	fi
-	if param compare -s SENS_OR_ADIS164X 4
-	then
-		adis16448 -S start -R 4
-	fi
-fi
-
-# Eagle Tree airspeed sensor external I2C
-if param compare -s SENS_EN_ETSASPD 1
-then
-	ets_airspeed start -X
-fi
-
-# Sensirion SDP3X differential pressure sensor external I2C
-if param compare -s SENS_EN_SDP3X 1
-then
-	if ! sdp3x_airspeed start -X
-	then
-		# try another common address
-		sdp3x_airspeed start -X -a 0x22
-	fi
-fi
-
-# TE MS4525 differential pressure sensor external I2C
-if param compare -s SENS_EN_MS4525 1
-then
-	ms4525_airspeed start -X
-fi
-
-# TE MS5525 differential pressure sensor external I2C
-if param compare -s SENS_EN_MS5525 1
-then
-	ms5525_airspeed start -X
+	adis16448 -S start
 fi

 # probe for optional external I2C devices
@@ -171,6 +130,30 @@ then

 	# start last (wait for possible icm20948 passthrough mode)
 	ak09916 -X -q start
+
+	# differential pressure sensors
+	if [ ${VEHICLE_TYPE} = fw -o ${VEHICLE_TYPE} = vtol ]
+	then
+		# Always try to start the airspeed sensors
+		# even if their usage might be disabled
+		sdp3x_airspeed start -X -q
+		sdp3x_airspeed start -X -a 0x22 -q
+
+		# Pixhawk 2.1 has a MS5611 on I2C which gets wrongly
+		# detected as MS5525 because the chip manufacturer was so
+		# clever to assign the same I2C address and skip a WHO_AM_I
+		# register.
+		if [ $BOARD_FMUV3 = 21 ]
+		then
+			ms5525_airspeed start -X -b 2 -q
+		else
+			ms5525_airspeed start -X -q
+		fi
+
+		ms4525_airspeed start -X -q
+
+		ets_airspeed start -X -q
+	fi
 fi

 ###############################################################################
@@ -13,8 +13,6 @@ param set-default MIS_YAW_TMT 10
 param set-default EKF2_ARSP_THR 10
 param set-default EKF2_FUSE_BETA 1

-param set-default HTE_VXY_THR 2.0
-
 param set-default MIS_DIST_WPS 5000

 param set-default MPC_ACC_HOR_MAX 2
@@ -22,13 +22,15 @@ set +e
 #
 set R /
 set AUTOCNF no
+set AUX_MODE pwm
 set FCONFIG /fs/microsd/etc/config.txt
 set FEXTRAS /fs/microsd/etc/extras.txt
+set FMU_MODE pwm
 set FRC /fs/microsd/etc/rc.txt
 set IOFW "/etc/extras/px4_io-v2_default.bin"
 set IO_PRESENT no
 set LOGGER_ARGS ""
-set LOGGER_BUF 8
+set LOGGER_BUF  14
 set MAV_TYPE none
 set MIXER none
 set MIXER_AUX none
@@ -49,6 +51,16 @@ set STARTUP_TUNE 1
 set USE_IO no
 set VEHICLE_TYPE none

+#
+# Mount the procfs.
+#
+mount -t procfs /proc
+
+#
+# Start CDC/ACM serial driver.
+#
+sercon
+
 #
 # Print full system version.
 #
@@ -57,43 +69,8 @@ ver all
 #
 # Try to mount the microSD card.
 #
-set SDCARD_AVAILABLE no
 # REBOOTWORK this needs to start after the flight control loop.
 if mount -t vfat /dev/mmcsd0 /fs/microsd
-then
-	set PX4_INIT_TEST_FILE "/fs/microsd/.px4_init_test_file"
-	date >> $PX4_INIT_TEST_FILE
-
-	if [ -f $PX4_INIT_TEST_FILE ]
-	then
-		cat $PX4_INIT_TEST_FILE
-		rm $PX4_INIT_TEST_FILE
-
-		if [ ! -f $PX4_INIT_TEST_FILE ]
-		then
-			set SDCARD_AVAILABLE yes
-		fi
-	fi
-fi
-
-if [ $SDCARD_AVAILABLE = no ]
-then
-	set STARTUP_TUNE 14 # tune 14 = SD_INIT
-	if mkfatfs -F 32 /dev/mmcsd0
-	then
-		if mount -t vfat /dev/mmcsd0 /fs/microsd
-		then
-			set SDCARD_AVAILABLE yes
-			echo "INFO [init] card formatted"
-
-		else
-			set STARTUP_TUNE 15 # tune 15 = SD_ERROR
-			echo "ERROR [init] format failed"
-		fi
-	fi
-fi
-
-if [ $SDCARD_AVAILABLE = yes ]
 then
 	if hardfault_log check
 	then
@@ -104,8 +81,47 @@ then
 			hardfault_log reset
 		fi
 	fi
+
+	# Prevent MacOS and Ubuntu from creating unnecessary temporary files on the microSD card
+
+	# block MacOS Spotlight indexing (.Spotlight-V100 folder)
+	if [ ! -f "/fs/microsd/.metadata_never_index" ]; then
+		cat > /fs/microsd/.metadata_never_index
+	fi
+
+	# block MacOS trashes
+	if [ ! -f "/fs/microsd/.Trashes" ]; then
+		cat > /fs/microsd/.Trashes
+	fi
+
+	# block MacOS logging of filesystem events
+	if [ ! -d "/fs/microsd/.fseventsd" ]; then
+		mkdir /fs/microsd/.fseventsd
+	fi
+
+	if [ ! -f "/fs/microsd/.fseventsd/no_log" ]; then
+		cat > /fs/microsd/.fseventsd/no_log
+	fi
+
+	# block Ubuntu trash
+	if [ ! -f "/fs/microsd/.Trash-1000" ]; then
+		cat > /fs/microsd/.Trash-1000
+	fi
+
+else
+	# tune SD_INIT
+	set STARTUP_TUNE 14 # tune 14 = SD_INIT
+	if mkfatfs /dev/mmcsd0
+	then
+		if mount -t vfat /dev/mmcsd0 /fs/microsd
+		then
+			echo "INFO [init] card formatted"
+		else
+			set STARTUP_TUNE 15 # tune 15 = SD_ERROR
+			echo "ERROR [init] format failed"
+		fi
+	fi
 fi
-unset SDCARD_AVAILABLE

 #
 # Look for an init script on the microSD card.
@@ -139,7 +155,7 @@ else
 	then
 		param reset_all
 	fi
-	if ver hwcmp PX4_FMU_V5X PX4_FMU_V6X
+	if ver hwtypecmp V5X00 V5X90 V5Xa0
 	then
 		netman update -i eth0
 	fi
@@ -369,14 +385,43 @@ else
 		commander start
 	fi

-	# Pre-takeoff continuous magnetometer calibration
-	if param compare -s MBE_ENABLE 1
+	# Sensors on the PWM interface bank.
+	if param compare -s SENS_EN_LL40LS 1
 	then
-		mag_bias_estimator start
+		# Clear pins 5 and 6.
+		set FMU_MODE pwm4
+		set AUX_MODE pwm4
+	fi
+
+
+	# Check if ATS is enabled
+	if param compare FD_EXT_ATS_EN 1
+	then
+		# Clear pins 5 and 6.
+		set FMU_MODE pwm4
+		set AUX_MODE pwm4
 	fi

 	if param greater -s TRIG_MODE 0
 	then
+		# We ONLY support trigger on pins 5+6 or 7+8 when simultanously using AUX for actuator output.
+		if param compare TRIG_PINS 56
+		then
+			# clear pins 5 and 6
+			set FMU_MODE pwm4
+			set AUX_MODE pwm4
+		else
+			if param compare TRIG_PINS 78
+			then
+				# clear pins 7 and 8
+				set FMU_MODE pwm6
+				set AUX_MODE pwm6
+			else
+				set FMU_MODE none
+				set AUX_MODE none
+			fi
+		fi
+
 		camera_trigger start
 		camera_feedback start
 	fi
@@ -404,7 +449,14 @@ else
 		rc_input start $RC_INPUT_ARGS
 	fi

-	# Camera capture driver (before pwm_out)
+	#
+	# Configure vehicle type specific parameters.
+	# 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
+
+	# Camera capture driver
 	if param greater -s CAM_CAP_FBACK 0
 	then
 		if camera_capture start
@@ -413,13 +465,6 @@ else
 		fi
 	fi

-	#
-	# Configure vehicle type specific parameters.
-	# 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
-
 	#
 	# Start the navigator.
 	#
@@ -519,8 +564,10 @@ fi
 #
 unset R
 unset AUTOCNF
+unset AUX_MODE
 unset FCONFIG
 unset FEXTRAS
+unset FMU_MODE
 unset FRC
 unset IO_PRESENT
 unset IOFW
--- a/Show More
+++ b/Show More