update accelerometer calibration to use Levenberg Marquardt least squares fit

- update accel cal to use Levenberg Marquardt least squares fit (same as magnetometer) - this is more robust to user positioning error as it only requires a nice distribution of points and doesn't actually depend on the user holding the vehicle in each orientation (although the calibration flow is still structured this way) - use online Welford mean to gather clean readings per orientation - reset if movement during per side data gathering - detect invalid rotations (and soon auto correct like mag) - add `CAL_ACC_SIDES` (analogous to CAL_MAG_SIDES) to limit accel calibration to a subset of orientations (when full set is difficult or impossible) - accel quick calibration (commander calibrate accel quick) assume vehicle is aligned with gravity and adjust offsets immediately
mavlink: tests add git_mavlink_v2 dependency to avoid build race
2026-06-15 18:21:29 +08:00 · 2021-11-10 16:21:25 -05:00 · 2021-11-10 14:06:40 -05:00 · 2021-11-10 14:00:28 -05:00 · 2021-11-10 13:52:51 -05:00 · 2021-11-10 09:27:21 -05:00
1262 changed files with 36008 additions and 25720 deletions
--- a/.ci/Jenkinsfile-compile
+++ b/.ci/Jenkinsfile-compile
@ -59,6 +59,7 @@ pipeline {
                     "holybro_durandal-v1_default",
                     "holybro_kakutef7_default",
                     "holybro_pix32v5_default",
+                     "matek_h743-slim",
                     "modalai_fc-v1_default",
                     "modalai_fc-v1_rtps",
                     "modalai_fc-v2_default",
@ -79,21 +80,16 @@ pipeline {
                     "nxp_ucans32k146_canbootloader",
                     "nxp_ucans32k146_default",
                     "omnibus_f4sd_default",
+                     "raspberrypi_pico_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",
--- a/.ci/Jenkinsfile-hardware
+++ b/.ci/Jenkinsfile-hardware
@ -21,7 +21,7 @@ pipeline {
                sh 'make cubepilot_cubeorange_test'
                sh 'make cubepilot_cubeorange_test bootloader_elf'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'cubepilot_cubeorange_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'cubepilot_cubeorange_test'
              }
              post {
                always {
@ -70,6 +70,7 @@ pipeline {
              }
              post {
                always {
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf || true'
                    resetBoard()
                }
              }
@ -91,7 +92,7 @@ pipeline {
                sh 'make cuav_x7pro_test'
                sh 'make cuav_x7pro_test bootloader_elf'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'cuav_x7pro_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'cuav_x7pro_test'
              }
              post {
                always {
@ -138,6 +139,7 @@ pipeline {
              }
              post {
                always {
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/cuav_x7pro_test/cuav_x7pro_test.elf || true'
                    resetBoard()
                }
              }
@ -159,7 +161,7 @@ pipeline {
                sh 'make px4_fmu-v3_test'
                sh 'make px4_fmu-v3_test bootloader_elf'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v3_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v3_test'
              }
              post {
                always {
@ -206,6 +208,7 @@ pipeline {
              }
              post {
                always {
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf || true'
                    resetBoard()
                }
              }
@ -227,7 +230,7 @@ pipeline {
                sh 'make px4_fmu-v4_test'
                sh 'make px4_fmu-v4_test bootloader_elf'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v4_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v4_test'
              }
              post {
                always {
@ -273,6 +276,7 @@ pipeline {
              }
              post {
                always {
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf || true'
                    resetBoard()
                }
              }
@ -294,7 +298,7 @@ pipeline {
                sh 'make px4_fmu-v4pro_test'
                sh 'make px4_fmu-v4pro_test bootloader_elf'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v4pro_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v4pro_test'
              }
              post {
                always {
@ -341,6 +345,7 @@ pipeline {
              }
              post {
                always {
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf || true'
                    resetBoard()
                }
              }
@ -362,7 +367,7 @@ pipeline {
                sh 'make px4_fmu-v5_debug'
                sh 'make px4_fmu-v5_debug bootloader_elf'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_debug'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v5_debug'
              }
              post {
                always {
@ -394,14 +399,7 @@ pipeline {
                  steps {
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
-
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u"'
-
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
-
+                    //sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
                  }
@ -427,74 +425,7 @@ pipeline {
              }
              post {
                always {
-                    resetBoard()
-                }
-              }
-            } // stage test
-          }
-        }
-
-        stage("px4_fmu-v5_optimized") {
-          stages {
-            stage("build px4_fmu-v5_optimized") {
-              agent {
-                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
-                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-                }
-              }
-              steps {
-                checkoutSCM()
-                sh 'make px4_fmu-v5_optimized'
-                sh 'make px4_fmu-v5_optimized bootloader_elf'
-                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_optimized'
-              }
-              post {
-                always {
-                    sh 'make distclean'
-                }
-              }
-            } // stage build
-            stage("hardware") {
-              agent {
-                label 'px4_fmu-v5'
-              }
-              stages {
-                stage("flash") {
-                  steps {
-                    sh 'export'
-                    sh 'find /dev/serial'
-                    unstash 'px4_fmu-v5_optimized'
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_optimized/px4_fmu-v5_bootloader.elf'
-                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_optimized/px4_fmu-v5_optimized.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
-                  }
-                }
-                stage("tests") {
-                  steps {
-                    runTests()
-                  }
-                }
-                stage("status") {
-                  steps {
-                    // configure
-                    resetParameters()
-                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"'    // generic quadcopter
-                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
-                    checkStatus()
-                    quickCalibrate()
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
-                  }
-                }
-                stage("print topics") {
-                  steps {
-                    printTopics()
-                  }
-                }
-              }
-              post {
-                always {
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf || true'
                    resetBoard()
                }
              }
@ -516,7 +447,7 @@ pipeline {
                sh 'make px4_fmu-v5_stackcheck'
                sh 'make px4_fmu-v5_stackcheck bootloader_elf'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_stackcheck'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v5_stackcheck'
              }
              post {
                always {
@ -573,6 +504,7 @@ pipeline {
              }
              post {
                always {
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf || true'
                    resetBoard()
                }
              }
@ -594,7 +526,7 @@ pipeline {
                sh 'make px4_fmu-v5_test'
                sh 'make px4_fmu-v5_test bootloader_elf'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v5_test'
              }
              post {
                always {
@ -641,6 +573,7 @@ pipeline {
              }
              post {
                always {
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf || true'
                    resetBoard()
                }
              }
@ -648,73 +581,6 @@ pipeline {
          }
        }

-        // stage("modalai_fc-v1_test") {
-        //   stages {
-        //     stage("build modalai_fc-v1_test") {
-        //       agent {
-        //         docker {
-        //           image 'px4io/px4-dev-nuttx-focal:2021-09-08'
-        //           args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-        //         }
-        //       }
-        //       steps {
-        //         checkout scm
-        //         sh 'export'
-        //         sh 'make distclean'
-        //         sh 'ccache -s'
-        //         sh 'git fetch --tags'
-        //         sh 'make modalai_fc-v1_test'
-        //         sh 'make modalai_fc-v1_test bootloader_elf'
-        //         sh 'ccache -s'
-        //         stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'modalai_fc-v1_test'
-        //       }
-        //       post {
-        //         always {
-        //             sh 'make distclean'
-        //         }
-        //       }
-        //     } // stage build
-        //     stage("hardware") {
-        //       agent {
-        //         label 'modalai_fc-v1'
-        //       }
-        //       stages {
-        //         stage("flash") {
-        //           steps {
-        //             sh 'export'
-        //             sh 'find /dev/serial'
-        //             unstash 'modalai_fc-v1_test'
-        //             sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_test/modalai_fc-v1_bootloader.elf'
-        //             // flash board and watch bootup
-        //             sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_test/modalai_fc-v1_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
-        //           }
-        //         }
-        //         stage("tests") {
-        //           steps {
-        //             runTests()
-        //           }
-        //         }
-        //         stage("status") {
-        //           steps {
-        //             // configure
-        //             resetParameters()
-        //             sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"'    // generic quadcopter
-        //             sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
-        //             checkStatus()
-        //             quickCalibrate()
-        //           }
-        //         }
-        //         stage("print topics") {
-        //           steps {
-        //             printTopics()
-        //           }
-        //         }
-
-        //       }
-        //     } // stage test
-        //   }
-        // }
-
        stage("nxp_fmuk66-v3_test") {
          stages {
            stage("build nxp_fmuk66-v3_test") {
@ -729,7 +595,7 @@ pipeline {
                sh 'make nxp_fmuk66-v3_test'
                //sh 'make nxp_fmuk66-v3_test bootloader_elf'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'nxp_fmuk66-v3_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'nxp_fmuk66-v3_test'
              }
              post {
                always {
@ -776,6 +642,7 @@ pipeline {
              }
              post {
                always {
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf || true'
                    resetBoard()
                }
              }
@ -809,12 +676,26 @@ void checkoutSCM() {
 }

 void quickCalibrate() {
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate accel quick; sleep 1; param show CAL_ACC*"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate gyro; sleep 1; param show CAL_GYRO*"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate level; sleep 1; param show SENS_BOARD*"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate mag quick; sleep 1; param show CAL_MAG*"'

-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gyro_calibration status; param show CAL_GYRO*"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_*"' // parameters before
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gyro_calibration status || true"'
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate accel quick"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_ACC*"'
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate gyro"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_GYRO*"'
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate level"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SENS*"'
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate mag quick"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_MAG*"'
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_*"' // parameters after
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
 }

 void checkStatus() {
@ -904,8 +785,9 @@ void runTests() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u"'

-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
+  //sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'

+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander stop"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors stop"' // ignore irrelevant sensor timeouts during microbenchmarks
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "microbench all"'

@ -1020,10 +902,6 @@ void printTopics() {
 }

 void resetBoard() {
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd" || true'
-
  resetParameters()

  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 0" || true'
--- a/.clang-tidy
+++ b/.clang-tidy
@ -74,6 +74,7 @@ Checks:          '*,
                  -modernize-deprecated-headers,
                  -modernize-loop-convert,
                  -modernize-pass-by-value,
+                  -modernize-raw-string-literal,
                  -modernize-return-braced-init-list,
                  -modernize-use-auto,
                  -modernize-use-bool-literals,
@ -81,6 +82,7 @@ Checks:          '*,
                  -modernize-use-equals-default,
                  -modernize-use-equals-delete,
                  -modernize-use-override,
+                  -modernize-use-trailing-return-type,
                  -modernize-use-using,
                  -performance-inefficient-string-concatenation,
                  -readability-avoid-const-params-in-decls,
--- a/.github/workflows/checks.yml
+++ b/.github/workflows/checks.yml
@ -36,27 +36,6 @@ jobs:
      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::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: tests_${{matrix.ubuntu_release}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: tests_${{matrix.ubuntu_release}}-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 = 5" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
    - name: check environment
      run: |
          export
--- a/.github/workflows/clang-tidy.yml
+++ b/.github/workflows/clang-tidy.yml
@ -17,30 +17,5 @@ jobs:
      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::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: clang-tidy-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: clang-tidy-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 = 5" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
    - name: make clang-tidy-quiet
-      run: |
-        ccache -z
-        make clang-tidy-quiet
-        ccache -s
+      run: make clang-tidy-quiet
--- a/.github/workflows/compile_linux.yml
+++ b/.github/workflows/compile_linux.yml
@ -42,8 +42,9 @@ jobs:
          mkdir -p ~/.ccache
          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 5" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z

--- a/.github/workflows/compile_linux_arm64.yml
+++ b/.github/workflows/compile_linux_arm64.yml
@ -39,8 +39,9 @@ jobs:
          mkdir -p ~/.ccache
          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 5" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z

--- a/.github/workflows/compile_macos.yml
+++ b/.github/workflows/compile_macos.yml
@ -43,8 +43,9 @@ jobs:
          mkdir -p ~/.ccache
          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 5" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 40M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z

--- a/.github/workflows/compile_nuttx.yml
+++ b/.github/workflows/compile_nuttx.yml
@ -13,6 +13,7 @@ jobs:
    runs-on: ubuntu-latest
    container: px4io/px4-dev-nuttx-focal:2021-09-08
    strategy:
+      fail-fast: false
      matrix:
        config: [
          airmind_mindpx-v2,
@ -33,6 +34,7 @@ jobs:
          holybro_durandal-v1,
          holybro_kakutef7,
          holybro_pix32v5,
+          matek_h743-slim,
          modalai_fc-v1,
          modalai_fc-v2,
          mro_ctrl-zero-f7,
@ -47,6 +49,7 @@ jobs:
          nxp_fmurt1062-v1,
          nxp_ucans32k146,
          omnibus_f4sd,
+          raspberrypi_pico,
          px4_fmu-v2,
          px4_fmu-v3,
          px4_fmu-v4,
@ -80,13 +83,15 @@ jobs:
          mkdir -p ~/.ccache
          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 5" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 120M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z

    - name: make all_variants_${{matrix.config}}
      run: make all_variants_${{matrix.config}}
+      timeout-minutes: 45
    - name: make ${{matrix.config}} bloaty_compileunits
      run: make ${{matrix.config}} bloaty_compileunits || true
    - name: make ${{matrix.config}} bloaty_inlines
@ -108,4 +113,6 @@ jobs:
      uses: actions/upload-artifact@v2
      with:
        name: px4_package_${{matrix.config}}
-        path: build/**/*.px4
+        path: |
+          build/**/*.px4
+          build/**/*.bin
--- a/.github/workflows/compile_nuttx_cannode.yml
+++ b/.github/workflows/compile_nuttx_cannode.yml
@ -1,64 +0,0 @@
-name: NuttX UAVCAN firmware
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-09-08
-    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,
-          px4_fmu-v4_cannode
-          ]
-    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 = 5" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: make ${{matrix.config}}
-      run: make ${{matrix.config}}
-
-    - name: ccache post-run
-      run: ccache -s
-
-    - name: Upload px4 package
-      uses: actions/upload-artifact@v2
-      with:
-        name: px4_cannode_${{matrix.config}}
-        path: build/${{matrix.config}}/*.uavcan.bin
--- a/.github/workflows/deploy_all.yml
+++ b/.github/workflows/deploy_all.yml
@ -10,6 +10,7 @@ on:
 jobs:
  enumerate_targets:
    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2021-09-08
    outputs:
      matrix: ${{ steps.set-matrix.outputs.matrix }}
    steps:
@ -29,32 +30,8 @@ jobs:
      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: ${{matrix.target}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: ${{matrix.target}}-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 = 5" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
    - name: make ${{matrix.target}}
      run: make ${{matrix.target}}
-    - name: ccache post-run
-      run: ccache -s

    - name: parameter & events metadata
      run: |
--- a/.github/workflows/mavros_mission_tests.yml
+++ b/.github/workflows/mavros_mission_tests.yml
@ -49,8 +49,9 @@ jobs:
          mkdir -p ~/.ccache
          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 5" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z

@ -78,6 +79,7 @@ jobs:
      run: |
        export
        ./test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=${{matrix.config.mission}} vehicle:=${{matrix.config.vehicle}}
+      timeout-minutes: 45

    - name: Look at core files
      if: failure()
--- a/.github/workflows/mavros_offboard_tests.yml
+++ b/.github/workflows/mavros_offboard_tests.yml
@ -44,8 +44,9 @@ jobs:
          mkdir -p ~/.ccache
          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 5" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z

@ -73,6 +74,7 @@ jobs:
      run: |
        export
        ./test/rostest_px4_run.sh ${{matrix.config.test_file}} vehicle:=${{matrix.config.vehicle}}
+      timeout-minutes: 45

    - name: Look at core files
      if: failure()
--- a/.github/workflows/sitl_tests.yml
+++ b/.github/workflows/sitl_tests.yml
@ -50,8 +50,9 @@ jobs:
          mkdir -p ~/.ccache
          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 5" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z

@ -96,6 +97,7 @@ jobs:
        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}} --upload test/mavsdk_tests/configs/sitl.json
+      timeout-minutes: 45

    - name: Look at core files
      if: failure()
--- a/.gitmodules
+++ b/.gitmodules
@ -1,11 +1,11 @@
-[submodule "mavlink/include/mavlink/v2.0"]
-	path = mavlink/include/mavlink/v2.0
-	url = https://github.com/mavlink/c_library_v2.git
+[submodule "src/modules/mavlink/mavlink"]
+	path = src/modules/mavlink/mavlink
+	url = https://github.com/mavlink/mavlink.git
 	branch = master
 [submodule "src/drivers/uavcan/libuavcan"]
 	path = src/drivers/uavcan/libuavcan
-	url = https://github.com/PX4/libuavcan.git
-	branch = px4
+	url = https://github.com/dronecan/libuavcan.git
+	branch = main
 [submodule "Tools/jMAVSim"]
 	path = Tools/jMAVSim
 	url = https://github.com/PX4/jMAVSim.git
@ -65,7 +65,7 @@
 	url = https://github.com/mavlink/libevents.git
 [submodule "Tools/simulation-ignition"]
 	path = Tools/simulation-ignition
-	url = https://github.com/Auterion/px4-simulation-ignition.git
+	url = https://github.com/PX4/px4-simulation-ignition.git
 [submodule "src/lib/crypto/libtomcrypt"]
 	path = src/lib/crypto/libtomcrypt
 	url = https://github.com/PX4/libtomcrypt.git
--- a/.vscode/cmake-variants.yaml
+++ b/.vscode/cmake-variants.yaml
@ -106,6 +106,11 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: ark_can-rtk-gps_default
+    ark_can-rtk-gps_debug:
+      short: ark_can-rtk-gps_debug
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_can-rtk-gps_debug
    ark_can-rtk-gps_canbootloader:
      short: ark_can-rtk-gps_canbootloader
      buildType: MinSizeRel
@ -181,6 +186,11 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: holybro_durandal-v1_default
+    matek_h743-slim_default:
+      short: matek_h743-slim
+      buildType: MinSizeRel
+      settings:
+        CONFIG: matek_h743-slim_default
    modalai_fc-v1_default:
      short: modalai_fc-v1
      buildType: MinSizeRel
@ -216,3 +226,8 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: nxp_fmuk66-v3_default
+    raspberrypi_pico_default:
+      short: raspberrypi_pico
+      buildType: MinSizeRel
+      settings:
+        CONFIG: raspberrypi_pico_default
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@ -136,5 +136,6 @@
        "workbench.settings.enableNaturalLanguageSearch": false,
        "yaml.schemas": {
                "${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml"
-        }
+        },
+        "cortex-debug.openocdPath": "${env:PICO_SDK_PATH}/../openocd/src/openocd"       // Added for rp2040
 }
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@ -143,12 +143,33 @@ set(CONFIG "px4_sitl_default" CACHE STRING "desired configuration")
 include(px4_add_module)
 set(config_module_list)

+# Find Python
+# If using catkin, Python 2 is found since it points
+# to the Python libs installed with the ROS distro
+if (NOT CATKIN_DEVEL_PREFIX)
+	find_package(PythonInterp 3)
+	# We have a custom error message to tell users how to install python3.
+	if (NOT PYTHONINTERP_FOUND)
+		message(FATAL_ERROR "Python 3 not found. Please install Python 3:\n"
+			"    Ubuntu: sudo apt install python3 python3-dev python3-pip\n"
+			"    macOS: brew install python")
+	endif()
+else()
+	find_package(PythonInterp REQUIRED)
+endif()
+
+option(PYTHON_COVERAGE "Python code coverage" OFF)
+if(PYTHON_COVERAGE)
+	message(STATUS "python coverage enabled")
+	set(PYTHON_EXECUTABLE coverage run -p)
+endif()
+
 include(px4_config)
-include(px4_add_board)
-include(${PX4_CONFIG_FILE})
+include(kconfig)
 message(STATUS "PX4 config: ${PX4_CONFIG}")
 message(STATUS "PX4 platform: ${PX4_PLATFORM}")

+
 if(${PX4_PLATFORM} STREQUAL "posix")
 	if(ENABLE_LOCKSTEP_SCHEDULER)
 		add_definitions(-DENABLE_LOCKSTEP_SCHEDULER)
@ -283,27 +304,6 @@ if (CATKIN_DEVEL_PREFIX)
 	endif()
 endif()

-# Python
-# If using catkin, Python 2 is found since it points
-# to the Python libs installed with the ROS distro
-if (NOT CATKIN_DEVEL_PREFIX)
-	find_package(PythonInterp 3)
-	# We have a custom error message to tell users how to install python3.
-	if (NOT PYTHONINTERP_FOUND)
-		message(FATAL_ERROR "Python 3 not found. Please install Python 3:\n"
-			"    Ubuntu: sudo apt install python3 python3-dev python3-pip\n"
-			"    macOS: brew install python")
-	endif()
-else()
-	find_package(PythonInterp REQUIRED)
-endif()
-
-option(PYTHON_COVERAGE "Python code coverage" OFF)
-if(PYTHON_COVERAGE)
-	message(STATUS "python coverage enabled")
-	set(PYTHON_EXECUTABLE coverage run -p)
-endif()
-
 #=============================================================================
 # get chip and chip manufacturer
 #
--- a/26
+++ b/26
@ -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:2021-08-18'
        //       args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
        //     }
        //   }
@ -56,7 +56,7 @@ pipeline {
        stage('Colcon build on ROS2 workspace') {
          agent {
            docker {
-              image 'px4io/px4-dev-ros2-foxy:2021-05-04'
+              image 'px4io/px4-dev-ros2-foxy:2021-08-18'
              args '-e CCACHE_BASEDIR=$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 'px4io/px4-dev-base-focal:2021-08-18' }
          }
          steps {
            sh 'make distclean'
@ -105,7 +105,7 @@ pipeline {

        stage('Parameter') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
          }
          steps {
            sh 'make distclean'
@ -125,7 +125,7 @@ pipeline {

        stage('Module') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
          }
          steps {
            sh 'make distclean'
@ -145,7 +145,7 @@ pipeline {

        stage('msg file docs') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
          }
          steps {
            sh 'mkdir -p build/msg_docs; ./msg/tools/generate_msg_docs.py -d build/msg_docs'
@ -164,7 +164,7 @@ pipeline {
        stage('uORB graphs') {
          agent {
            docker {
-              image 'px4io/px4-dev-nuttx-focal:2021-05-04'
+              image 'px4io/px4-dev-nuttx-focal:2021-08-18'
              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
            }
          }
@ -194,7 +194,7 @@ pipeline {

        stage('Userguide') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
          }
          steps {
            sh('export')
@ -228,7 +228,7 @@ pipeline {

        stage('QGroundControl') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
          }
          steps {
            sh('export')
@ -256,7 +256,7 @@ pipeline {

        stage('microRTPS agent') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
          }
          steps {
            sh('export')
@ -286,7 +286,7 @@ pipeline {

        stage('PX4 ROS msgs') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
          }
          steps {
            sh('export')
@ -315,7 +315,7 @@ pipeline {

        stage('PX4 ROS2 bridge') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
          }
          steps {
            sh('export')
@ -358,7 +358,7 @@ pipeline {

        stage('S3') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
          }
          steps {
            sh('export')
--- a/188
+++ b/188
@ -0,0 +1,188 @@
+# PX4 Firmware Configuration
+
+
+mainmenu "PX4 Firmware Configuration"
+
+comment "Vendor: $(VENDOR)"
+comment "Model: $(MODEL)"
+comment "Label: $(LABEL)"
+
+menu "Toolchain"
+    choice
+        prompt "Platform"
+        default PLATFORM_NUTTX
+        config PLATFORM_NUTTX
+            bool "nuttx"
+        config PLATFORM_POSIX
+            bool "posix"
+        config PLATFORM_QURT
+            bool "qurt"
+    endchoice
+
+    config BOARD_PLATFORM
+        string
+        default "nuttx" if PLATFORM_NUTTX
+        default "posix" if PLATFORM_POSIX
+        default "qurt" if PLATFORM_QURT
+
+    config BOARD_LOCKSTEP
+        bool "Force enable lockstep"
+        depends on PLATFORM_POSIX
+        help
+            forces lockstep behaviour, despite REPLAY env variable
+
+    config BOARD_NOLOCKSTEP
+        bool "Force disable lockstep"
+        depends on PLATFORM_POSIX
+        help
+            forces nolockstep behaviour, despite REPLAY env variable
+
+    config BOARD_LINUX
+        bool "Linux OS"
+        depends on PLATFORM_POSIX
+        help
+            Board Platform is running the Linux operating system
+
+    config BOARD_TOOLCHAIN
+        string "Toolchain"
+        default ""
+
+    config BOARD_ARCHITECTURE
+        string "Architecture"
+        default ""
+
+    config BOARD_FULL_OPTIMIZATION
+        bool "Full optmization (O3)"
+        default n
+        help
+            Enables Cmake Release for -O3 optimization
+
+    config BOARD_ROMFSROOT
+        string "ROMFSROOT"
+        default "px4fmu_common"
+        help
+            relative path to the ROMFS root directory
+
+    config BOARD_BUILD_BOOTLOADER
+        bool "Enable bootloader"
+        help
+            flag to enable building and including the bootloader config
+
+    config BOARD_IO
+        string "IO board name"
+        help
+            name of IO board to be built and included in the ROMFS (requires a valid ROMFSROOT)
+
+    config BOARD_CONSTRAINED_FLASH
+        bool "Contrained flash"
+        help
+            flag to enable constrained flash options (eg limit init script status text)
+
+    config BOARD_NO_HELP
+        bool "No help"
+        help
+            optional condition flag to disable help text on constrained flash systems
+
+    config BOARD_CONSTRAINED_MEMORY
+        bool "Contrained memory"
+        help
+            flag to enable constrained memory options (eg limit maximum number of uORB publications)
+
+    config BOARD_EXTERNAL_METADATA
+        bool "External metadata"
+        help
+            flag to exclude metadata to reduce flash
+
+    config BOARD_LINKER_PREFIX
+        string "linker prefix"
+        help
+            optional to prefix on the Linker script.
+
+    config BOARD_COMPILE_DEFINITIONS
+        string "add custom compile definitions"
+        help
+            add custom compile defitions to this specific target
+endmenu #Toolchain
+
+config BOARD_TESTING
+    bool "Testing"
+    select SYSTEMCMDS_TESTS
+    help
+        flag to enable automatic inclusion of PX4 testing modules
+
+
+config BOARD_ETHERNET
+    bool "Ethernet"
+    help
+        flag to indicate that ethernet is enabled
+
+config BOARD_CRYPTO
+    string "Crypto"
+    help
+        Crypto implementation selection
+
+config BOARD_KEYSTORE
+    string "Keystore"
+    help
+        Keystore implememntation selection
+
+menu "Serial ports"
+
+    config BOARD_SERIAL_URT6
+        string "URT6 tty port"
+
+    config BOARD_SERIAL_GPS1
+        string "GPS1 tty port"
+
+    config BOARD_SERIAL_GPS2
+        string "GPS2 tty port"
+
+    config BOARD_SERIAL_GPS3
+        string "GPS3 tty port"
+
+    config BOARD_SERIAL_GPS4
+        string "GPS4 tty port"
+
+    config BOARD_SERIAL_GPS5
+        string "GPS5 tty port"
+
+    config BOARD_SERIAL_TEL1
+        string "TEL1 tty port"
+
+    config BOARD_SERIAL_TEL2
+        string "TEL2 tty port"
+
+    config BOARD_SERIAL_TEL3
+        string "TEL3 tty port"
+
+    config BOARD_SERIAL_TEL4
+        string "TEL4 tty port"
+
+    config BOARD_SERIAL_TEL5
+        string "TEL5 tty port"
+
+    config BOARD_SERIAL_RC
+        string "RC tty port"
+
+    config BOARD_SERIAL_WIFI
+        string "WIFI tty port"
+
+    config BOARD_SERIAL_PPB
+        string "PPB (Pixhawk Payload Bus) tty port"
+endmenu
+
+menu "drivers"
+source "src/drivers/Kconfig"
+endmenu
+
+menu "modules"
+source "src/modules/Kconfig"
+endmenu
+
+menu "systemcmds"
+source "src/systemcmds/Kconfig"
+endmenu
+
+menu "examples"
+source "src/examples/Kconfig"
+endmenu
--- a/9
+++ b/9
@ -213,8 +213,8 @@ define colorecho
 +@echo -e '${COLOR_BLUE}${1} ${NO_COLOR}'
 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)
+# Get a list of all config targets boards/*/*.px4board
+ALL_CONFIG_TARGETS := $(shell find boards -maxdepth 3 -mindepth 3 -name '*.px4board' -print | sed -e 's|boards\/||' | sed -e 's|\.px4board||' | sed -e 's|\/|_|g' | sort)

 # ADD CONFIGS HERE
 # --------------------------------------------------------------------
@ -232,6 +232,9 @@ $(CONFIG_TARGETS_DEFAULT):
 all_config_targets: $(ALL_CONFIG_TARGETS)
 all_default_targets: $(CONFIG_TARGETS_DEFAULT)

+updateconfig:
+	@./Tools/kconfig/updateconfig.py
+
 # board reorganization deprecation warnings (2018-11-22)
 define deprecation_warning
 	$(warning $(1) has been deprecated and will be removed, please use $(2)!)
@ -461,7 +464,7 @@ shellcheck_all:
 	@make px4_fmu-v5_default shellcheck

 validate_module_configs:
-	@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f -print0 | xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
+	@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f -not -path "$(SRC_DIR)/src/lib/mixer_module/*" -print0 | xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml

 # Cleanup
 # --------------------------------------------------------------------
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/10017_iris_ctrlalloc
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/10017_iris_ctrlalloc
@ -8,7 +8,8 @@
 #

 . ${R}etc/init.d/rc.mc_defaults
-. ${R}etc/init.d/rc.ctrlalloc
+
+param set-default SYS_CTRL_ALLOC 1

 param set-default MPC_USE_HTE 0

@ -45,4 +46,10 @@ param set-default CA_MC_R3_PY 0.1875
 param set-default CA_MC_R3_CT 6.5
 param set-default CA_MC_R3_KM -0.05

-set MIXER direct
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+
+set MIXER skip
+set MIXER_AUX none
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/10018_iris_foggy_lidar
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/10018_iris_foggy_lidar
@ -7,6 +7,5 @@

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

-param set-default EKF2_RNG_AID 1
 param set-default EKF2_RNG_A_HMAX 10

--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1020_uuv_generic
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1020_uuv_generic
@ -6,7 +6,6 @@
 . ${R}etc/init.d/rc.uuv_defaults

 #Set data link loss failsafe mode (0: disabled)
-param set-default NAV_DLL_ACT 0

 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1021_uuv_hippocampus
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1021_uuv_hippocampus
@ -6,7 +6,6 @@
 . ${R}etc/init.d/rc.uuv_defaults

 #Set data link loss failsafe mode (0: disabled)
-param set-default NAV_DLL_ACT 0

 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1022_uuv_bluerov2_heavy
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1022_uuv_bluerov2_heavy
@ -6,7 +6,6 @@
 . ${R}etc/init.d/rc.uuv_defaults

 #Set data link loss failsafe mode (0: disabled)
-param set-default NAV_DLL_ACT 0

 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane
@ -5,8 +5,6 @@

 . ${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

@ -18,7 +16,6 @@ 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
@ -46,7 +43,6 @@ 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

--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1033_rascal
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1033_rascal
@ -5,9 +5,6 @@

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

-param set-default EKF2_ARSP_THR 8
-param set-default EKF2_FUSE_BETA 1
-
 param set-default FW_LND_AIRSPD_SC 1.1
 param set-default FW_LND_ANG 5
 param set-default FW_THR_LND_MAX 0
@ -19,7 +16,6 @@ param set-default FW_LND_TLALT 15

 param set-default FW_L1_PERIOD 25

-param set-default FW_P_TC 0.4
 param set-default FW_PR_FF 0.40
 param set-default FW_PR_I 0.05
 param set-default FW_PR_P 0.05
@ -38,7 +34,6 @@ param set-default MIS_DIST_WPS 10000

 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

--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1034_rascal-electric
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1034_rascal-electric
@ -5,9 +5,6 @@

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

-param set-default EKF2_ARSP_THR 8
-param set-default EKF2_FUSE_BETA 1
-
 param set-default FW_LND_AIRSPD_SC 1.1
 param set-default FW_LND_ANG 5
 param set-default FW_THR_LND_MAX 0
@ -19,7 +16,6 @@ param set-default FW_LND_TLALT 15

 param set-default FW_L1_PERIOD 25

-param set-default FW_P_TC 0.4
 param set-default FW_PR_FF 0.40
 param set-default FW_PR_I 0.05
 param set-default FW_PR_P 0.05
@ -38,7 +34,6 @@ param set-default MIS_DIST_WPS 10000

 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

--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1035_techpod
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1035_techpod
@ -5,8 +5,6 @@

 . ${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

@ -35,7 +33,6 @@ 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

--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1036_malolo
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1036_malolo
@ -5,9 +5,6 @@

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

-param set-default EKF2_ARSP_THR 8
-param set-default EKF2_FUSE_BETA 1
-
 param set-default FW_LND_AIRSPD_SC 1.1
 param set-default FW_LND_ANG 5
 param set-default FW_THR_LND_MAX 0
@ -19,7 +16,6 @@ param set-default FW_LND_TLALT 15

 param set-default FW_L1_PERIOD 25

-param set-default FW_P_TC 0.4
 param set-default FW_PR_FF 0.40
 param set-default FW_PR_I 0.05
 param set-default FW_PR_P 0.05
@ -38,7 +34,6 @@ param set-default MIS_DIST_WPS 10000

 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
 param set-default RWTO_MAX_PITCH 20
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1037_believer
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1037_believer
@ -5,8 +5,6 @@

 . ${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

@ -18,7 +16,6 @@ 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
@ -46,7 +43,6 @@ 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

--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1038_glider
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1038_glider
@ -0,0 +1,9 @@
+#!/bin/sh
+#
+# @name Plane SITL with catapult
+#
+
+. ${R}etc/init.d-posix/airframes/1030_plane
+
+param set-default FW_THR_CRUISE 0.0
+param set-default RWTO_TKOFF 0
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol
@ -10,7 +10,6 @@
 param set-default FW_L1_PERIOD 12
 param set-default FW_MAN_P_MAX 30
 param set-default FW_PR_FF 0.2
-param set-default FW_PR_I 0.4
 param set-default FW_PR_P 0.9
 param set-default FW_PSP_OFF 2
 param set-default FW_P_LIM_MAX 32
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor
@ -10,7 +10,6 @@
 param set-default FW_L1_PERIOD 12
 param set-default FW_MAN_P_MAX 30
 param set-default FW_PR_FF 0.2
-param set-default FW_PR_I 0.4
 param set-default FW_PR_P 0.9
 param set-default FW_PSP_OFF 2
 param set-default FW_P_LIM_MAX 32
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop
@ -10,7 +10,6 @@
 param set-default FW_L1_PERIOD 12
 param set-default FW_MAN_P_MAX 30
 param set-default FW_PR_FF 0.2
-param set-default FW_PR_I 0.4
 param set-default FW_PR_P 0.9
 param set-default FW_PSP_OFF 2
 param set-default FW_P_LIM_MAX 32
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/17001_tf-g1
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/17001_tf-g1
@ -12,21 +12,12 @@

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

-param set-default EKF2_ARSP_THR 8
-param set-default EKF2_FUSE_BETA 1
-
 param set-default FW_AIRSPD_STALL 8

 param set-default FW_P_RMAX_NEG 20.0
-param set-default FW_P_RMAX_POS 60.0
 param set-default FW_W_RMAX 10
 param set-default FW_W_EN 1

-param set-default FW_PR_IMAX 0.4
-param set-default FW_R_TC 0.4
-param set-default FW_RR_FF 0.5
-param set-default FW_RR_I 0.1
-param set-default FW_RR_IMAX 0.2
 param set-default FW_RR_P 0.08

 param set-default MIS_LTRMIN_ALT 50
@ -42,7 +33,6 @@ param set-default FW_ARSP_SCALE_EN 0

 param set-default FW_AIRSPD_MAX 35
 param set-default FW_AIRSPD_MIN 7
-param set-default FW_AIRSPD_TRIM 15

 param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/3011_hexarotor_x
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/3011_hexarotor_x
@ -12,7 +12,6 @@
 param set-default MC_PITCHRATE_P 0.1
 param set-default MC_PITCHRATE_I 0.05
 param set-default MC_PITCH_P 6.0
-param set-default MC_ROLLRATE_P 0.15
 param set-default MC_ROLLRATE_I 0.1
 param set-default MC_ROLL_P 6.0
 param set-default MPC_XY_VEL_I_ACC 4
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/6012_typhoon_h480_ctrlalloc
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/6012_typhoon_h480_ctrlalloc
@ -6,7 +6,17 @@
 #

 . ${R}etc/init.d/rc.mc_defaults
-. ${R}etc/init.d/rc.ctrlalloc
+
+param set-default SYS_CTRL_ALLOC 1
+
+param set-default MC_PITCHRATE_P 0.0800
+param set-default MC_PITCHRATE_I 0.0400
+param set-default MC_PITCHRATE_D 0.0010
+param set-default MC_PITCH_P 9.0
+param set-default MC_ROLLRATE_P 0.0800
+param set-default MC_ROLLRATE_I 0.0400
+param set-default MC_ROLLRATE_D 0.0010
+param set-default MC_ROLL_P 9.0

 param set-default MPC_XY_VEL_I_ACC 4
 param set-default MPC_XY_VEL_P_ACC 3
@ -66,7 +76,14 @@ param set-default CA_MC_R5_PY -0.5
 param set-default CA_MC_R5_CT 9.5
 param set-default CA_MC_R5_KM -0.05

+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+param set-default PWM_MAIN_FUNC5 105
+param set-default PWM_MAIN_FUNC6 106
+
 set MAV_TYPE 13

-# set MIXER hexa_x
-set MIXER direct
+set MIXER skip
+set MIXER_AUX none
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/6012_typhoon_h480_ctrlalloc.post
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/6012_typhoon_h480_ctrlalloc.post
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
@ -61,6 +61,7 @@ px4_add_romfs_files(
 	1035_techpod
 	1036_malolo
 	1037_believer
+	1038_glider
 	1040_standard_vtol
 	1041_tailsitter
 	1042_tiltrotor
@ -76,6 +77,6 @@ px4_add_romfs_files(
 	2507_cloudship
 	6011_typhoon_h480
 	6011_typhoon_h480.post
-	6012_typhoon_ctrlalloc
-	6012_typhoon_ctrlalloc.post
+	6012_typhoon_h480_ctrlalloc
+	6012_typhoon_h480_ctrlalloc.post
 )
--- a/ROMFS/px4fmu_common/init.d-posix/rcS
+++ b/ROMFS/px4fmu_common/init.d-posix/rcS
@ -144,6 +144,8 @@ param set-default SENS_MAG_MODE 0

 param set-default IMU_GYRO_FFT_EN 1

+param set-default -s MC_AT_EN 1
+
 # By default log from boot until first disarm.
 param set-default SDLOG_MODE 1
 # enable default, estimator replay and vision/avoidance logging profiles
@ -217,6 +219,7 @@ load_mon start
 battery_simulator start
 tone_alarm start
 rc_update start
+manual_control start
 sensors start
 commander start
 navigator start
--- a/ROMFS/px4fmu_common/init.d/CMakeLists.txt
+++ b/ROMFS/px4fmu_common/init.d/CMakeLists.txt
@ -55,5 +55,4 @@ px4_add_romfs_files(
 	rc.vehicle_setup
 	rc.vtol_apps
 	rc.vtol_defaults
-	rc.ctrlalloc
 )
--- a/ROMFS/px4fmu_common/init.d/airframes/1000_rc_fw_easystar.hil
+++ b/ROMFS/px4fmu_common/init.d/airframes/1000_rc_fw_easystar.hil
@ -18,7 +18,6 @@

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

-
 param set-default BAT1_N_CELLS 3

 param set-default FW_AIRSPD_MAX 20
@ -30,22 +29,16 @@ param set-default FW_L1_DAMPING 0.74
 param set-default FW_L1_PERIOD 16
 param set-default FW_LND_ANG 15
 param set-default FW_LND_FLALT 5
-param set-default FW_LND_HHDIST 15
 param set-default FW_LND_HVIRT 13
 param set-default FW_LND_TLALT 5
 param set-default FW_THR_LND_MAX 0
 param set-default FW_PR_FF 0.35
-param set-default FW_PR_I 0.1
-param set-default FW_PR_IMAX 0.4
 param set-default FW_PR_P 0.2
 param set-default FW_RR_FF 0.6
-param set-default FW_RR_I 0.1
-param set-default FW_RR_IMAX 0.2
 param set-default FW_RR_P 0.3

 param set-default RWTO_TKOFF 1

-
 param set SYS_HITL 1

 # disable some checks to allow to fly
--- a/ROMFS/px4fmu_common/init.d/airframes/10015_tbs_discovery
+++ b/ROMFS/px4fmu_common/init.d/airframes/10015_tbs_discovery
@ -25,19 +25,12 @@

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

-
-param set-default MC_ROLL_P 6.5
 param set-default MC_ROLLRATE_P 0.1
 param set-default MC_ROLLRATE_I 0.05
 param set-default MC_ROLLRATE_D 0.0017
-param set-default MC_PITCH_P 6.5
 param set-default MC_PITCHRATE_P 0.14
 param set-default MC_PITCHRATE_I 0.1
 param set-default MC_PITCHRATE_D 0.0025
-param set-default MC_YAW_P 2.8
 param set-default MC_YAWRATE_P 0.28
-param set-default MC_YAWRATE_I 0.1
-param set-default MC_YAWRATE_D 0
-set MIXER quad_w

-set PWM_OUT 1234
+set MIXER quad_w
--- a/ROMFS/px4fmu_common/init.d/airframes/10016_3dr_iris
+++ b/ROMFS/px4fmu_common/init.d/airframes/10016_3dr_iris
@ -23,24 +23,18 @@

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

-
 # TODO tune roll/pitch separately
 param set-default MC_ROLL_P 7
-param set-default MC_ROLLRATE_P 0.15
 param set-default MC_ROLLRATE_I 0.05
 param set-default MC_ROLLRATE_D 0.004
 param set-default MC_PITCH_P 7
-param set-default MC_PITCHRATE_P 0.15
 param set-default MC_PITCHRATE_I 0.05
 param set-default MC_PITCHRATE_D 0.004
 param set-default MC_YAW_P 2.5
 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

 set MIXER quad_w
-
-set PWM_OUT 1234
--- a/ROMFS/px4fmu_common/init.d/airframes/10017_steadidrone_qu4d
+++ b/ROMFS/px4fmu_common/init.d/airframes/10017_steadidrone_qu4d
@ -25,7 +25,6 @@

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

-
 param set-default BAT1_N_CELLS 4

 param set-default MC_ROLL_P 7
@ -37,9 +36,4 @@ param set-default MC_PITCHRATE_P 0.19
 param set-default MC_PITCHRATE_I 0.05
 param set-default MC_PITCHRATE_D 0.004
 param set-default MC_YAW_P 4
-param set-default MC_YAWRATE_P 0.2
-param set-default MC_YAWRATE_I 0.1
-param set-default MC_YAWRATE_D 0
 set MIXER quad_w
-
-set PWM_OUT 1234
--- a/ROMFS/px4fmu_common/init.d/airframes/10018_tbs_endurance
+++ b/ROMFS/px4fmu_common/init.d/airframes/10018_tbs_endurance
@ -25,27 +25,19 @@

 . ${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 MC_ROLL_P 7
 param set-default MC_ROLLRATE_P 0.08
 param set-default MC_ROLLRATE_I 0.02
-param set-default MC_ROLLRATE_D 0.003
 param set-default MC_PITCH_P 7
 param set-default MC_PITCHRATE_P 0.13
 param set-default MC_PITCHRATE_I 0.02
 param set-default MC_PITCHRATE_D 0.005
-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 MPC_XY_VEL_MAX 2

 param set-default PWM_MAIN_MIN 1080

 set MIXER quad_w
-
-set PWM_OUT 1234
--- a/ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil
+++ b/ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil
@ -12,7 +12,6 @@
 . ${R}etc/init.d/rc.mc_defaults

 set MIXER quad_x
-set PWM_OUT 1234

 param set SYS_HITL 1

--- a/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil
+++ b/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil
@ -9,6 +9,7 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board holybro_kakutef7 exclude
 #

 . ${R}etc/init.d/rc.vtol_defaults
@ -18,10 +19,8 @@ param set-default BAT1_N_CELLS 3

 param set-default COM_RC_IN_MODE 1

-param set-default EKF2_AID_MASK 1
 param set-default EKF2_ANGERR_INIT 0.01
 param set-default EKF2_GBIAS_INIT 0.01
-param set-default EKF2_HGT_MODE 0
 param set-default EKF2_MAG_TYPE 1

 param set-default FW_AIRSPD_MAX 25
--- a/ROMFS/px4fmu_common/init.d/airframes/12002_steadidrone_mavrik
+++ b/ROMFS/px4fmu_common/init.d/airframes/12002_steadidrone_mavrik
@ -36,9 +36,6 @@ param set-default MC_ROLLRATE_D 0.009
 param set-default MC_ROLLRATE_MAX 180

 param set-default MC_YAW_P 3
-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 MPC_HOLD_MAX_XY 0.25
 param set-default MPC_THR_MIN 0.15
--- a/ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard
+++ b/ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard
@ -19,13 +19,13 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board holybro_kakutef7 exclude
 #

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


 param set-default PWM_AUX_DIS5 950
-param set-default PWM_MAIN_RATE 400

 param set-default VT_TYPE 2
 param set-default VT_MOT_ID 1234
--- a/ROMFS/px4fmu_common/init.d/airframes/13001_caipirinha_vtol
+++ b/ROMFS/px4fmu_common/init.d/airframes/13001_caipirinha_vtol
@ -14,6 +14,7 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board holybro_kakutef7 exclude
 #

 . ${R}etc/init.d/rc.vtol_defaults
@ -24,20 +25,14 @@ param set-default MAV_TYPE 19
 param set-default MC_ROLL_P 6
 param set-default MC_ROLLRATE_P 0.12
 param set-default MC_ROLLRATE_I 0.002
-param set-default MC_ROLLRATE_D 0.003
-param set-default MC_ROLLRATE_FF 0

 param set-default MC_PITCH_P 4.5
 param set-default MC_PITCHRATE_P 0.3
 param set-default MC_PITCHRATE_I 0.002
-param set-default MC_PITCHRATE_D 0.003
-param set-default MC_PITCHRATE_FF 0

 param set-default MC_YAW_P 3.8
 param set-default MC_YAWRATE_P 0.22
 param set-default MC_YAWRATE_I 0.02
-param set-default MC_YAWRATE_D 0
-param set-default MC_YAWRATE_FF 0

 param set-default VT_IDLE_PWM_MC  1080
 param set-default VT_ELEV_MC_LOCK 0
--- a/ROMFS/px4fmu_common/init.d/airframes/13002_firefly6
+++ b/ROMFS/px4fmu_common/init.d/airframes/13002_firefly6
@ -28,19 +28,13 @@ param set-default MC_ROLL_P 7
 param set-default MC_ROLLRATE_P 0.19
 param set-default MC_ROLLRATE_I 0.002
 param set-default MC_ROLLRATE_D 0.005
-param set-default MC_ROLLRATE_FF 0
 param set-default MC_PITCH_P 7
 param set-default MC_PITCHRATE_P 0.14
 param set-default MC_PITCHRATE_I 0.002
 param set-default MC_PITCHRATE_D 0.004
-param set-default MC_PITCHRATE_FF 0
 param set-default MC_YAW_P 4
 param set-default MC_YAWRATE_P 0.22
 param set-default MC_YAWRATE_I 0.02
-param set-default MC_YAWRATE_D 0
-param set-default MC_YAWRATE_FF 0
-
-param set-default PWM_MAIN_RATE 400

 param set-default VT_FW_MOT_OFFID 34
 param set-default VT_IDLE_PWM_MC 1080
--- a/ROMFS/px4fmu_common/init.d/airframes/13003_quad_tailsitter
+++ b/ROMFS/px4fmu_common/init.d/airframes/13003_quad_tailsitter
@ -15,12 +15,10 @@


 param set-default PWM_MAIN_MAX 2000
-param set-default PWM_MAIN_RATE 400

 param set-default VT_MOT_ID 1234
 param set-default VT_IDLE_PWM_MC  1080
 param set-default VT_TYPE 0
-param set-default VT_ELEV_MC_LOCK 1
 set MAV_TYPE 20

 set MIXER quad_x_vtol
--- a/ROMFS/px4fmu_common/init.d/airframes/13004_quad+_tailsitter
+++ b/ROMFS/px4fmu_common/init.d/airframes/13004_quad+_tailsitter
@ -22,13 +22,11 @@

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

-
 param set-default PWM_MAIN_MAX 2000
-param set-default PWM_MAIN_RATE 400

 param set-default VT_IDLE_PWM_MC  1080
 param set-default VT_TYPE 0
-param set-default VT_ELEV_MC_LOCK 1
+
 set MAV_TYPE 20

 set MIXER quad_+_vtol
--- a/ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad
+++ b/ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad
@ -19,42 +19,30 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board holybro_kakutef7 exclude
 #

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

-
 param set-default PWM_AUX_DIS5 950

-param set-default PWM_MAIN_RATE 400
-
 param set-default MC_ROLL_P 6
 param set-default MC_ROLLRATE_P 0.17
 param set-default MC_ROLLRATE_I 0.002
 param set-default MC_ROLLRATE_D 0.004
-param set-default MC_ROLLRATE_FF 0
 param set-default MC_PITCH_P 6
 param set-default MC_PITCHRATE_P 0.19
 param set-default MC_PITCHRATE_I 0.002
 param set-default MC_PITCHRATE_D 0.004
-param set-default MC_PITCHRATE_FF 0
-param set-default MC_YAW_P 2.8
 param set-default MC_YAWRATE_P 0.22
 param set-default MC_YAWRATE_I 0.02
-param set-default MC_YAWRATE_D 0
-param set-default MC_YAWRATE_FF 0
 param set-default MC_YAWRATE_MAX 40

 param set-default MPC_YAWRAUTO_MAX 40

-param set-default FW_PR_FF 0.5
 param set-default FW_PR_I 0.02
-param set-default FW_PR_IMAX 0.4
-param set-default FW_PR_P 0.08
 param set-default FW_RR_FF 0.6
 param set-default FW_RR_I 0.01
-param set-default FW_RR_IMAX 0.2
-param set-default FW_RR_P 0.05
 param set-default FW_THR_CRUISE 0.75

 param set-default VT_ARSP_BLEND 6
--- a/ROMFS/px4fmu_common/init.d/airframes/13006_vtol_standard_delta
+++ b/ROMFS/px4fmu_common/init.d/airframes/13006_vtol_standard_delta
@ -17,26 +17,16 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board holybro_kakutef7 exclude
 #

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


-param set-default MC_ROLL_P 6.5
-param set-default MC_ROLLRATE_P 0.15
 param set-default MC_ROLLRATE_I 0.01
-param set-default MC_ROLLRATE_D 0.003
-param set-default MC_ROLLRATE_FF 0
-param set-default MC_PITCH_P 6.5
-param set-default MC_PITCHRATE_P 0.15
 param set-default MC_PITCHRATE_I 0.01
-param set-default MC_PITCHRATE_D 0.003
-param set-default MC_PITCHRATE_FF 0
 param set-default MC_YAW_P 3.5
-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 MC_YAWRATE_FF 0
+
 param set-default MC_YAWRATE_MAX 50

 param set-default MPC_XY_P 0.8
@ -45,7 +35,6 @@ param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_YAWRAUTO_MAX 20

 param set-default PWM_AUX_DIS3 950
-param set-default PWM_MAIN_RATE 400

 param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
--- a/ROMFS/px4fmu_common/init.d/airframes/13007_vtol_AAVVT_quad
+++ b/ROMFS/px4fmu_common/init.d/airframes/13007_vtol_AAVVT_quad
@ -9,32 +9,24 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board holybro_kakutef7 exclude
 #

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


 param set-default MC_ROLL_P 7
-param set-default MC_ROLLRATE_P 0.15
 param set-default MC_ROLLRATE_I 0.002
-param set-default MC_ROLLRATE_D 0.003
-param set-default MC_ROLLRATE_FF 0
 param set-default MC_PITCH_P 7
 param set-default MC_PITCHRATE_P 0.12
 param set-default MC_PITCHRATE_I 0.002
-param set-default MC_PITCHRATE_D 0.003
-param set-default MC_PITCHRATE_FF 0
-param set-default MC_YAW_P 2.8
 param set-default MC_YAWRATE_P 0.22
 param set-default MC_YAWRATE_I 0.02
-param set-default MC_YAWRATE_D 0
-param set-default MC_YAWRATE_FF 0
 param set-default MC_YAWRATE_MAX 40

 param set-default MPC_YAWRAUTO_MAX 40

 param set-default PWM_AUX_DIS5 950
-param set-default PWM_MAIN_RATE 400

 param set-default VT_F_TRANS_THR 0.75
 param set-default VT_MOT_ID 1234
--- a/ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger
+++ b/ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger
@ -15,44 +15,32 @@


 param set-default FW_THR_CRUISE 65
-param set-default FW_PR_P 0.08
-param set-default FW_PR_FF 0.5
-param set-default FW_RR_P 0.05
 param set-default FW_RR_FF 0.6

 param set-default MIS_YAW_TMT 10

 param set-default MC_ROLL_P 7
-param set-default MC_ROLLRATE_P 0.15
 param set-default MC_ROLLRATE_I 0.1
 param set-default MC_ROLLRATE_D 0.004
-param set-default MC_ROLLRATE_FF 0
 param set-default MC_PITCH_P 7
-param set-default MC_PITCHRATE_P 0.15
 param set-default MC_PITCHRATE_I 0.1
 param set-default MC_PITCHRATE_D 0.004
-param set-default MC_PITCHRATE_FF 0
 param set-default MC_YAW_P 3.5
 param set-default MC_YAWRATE_P 0.6
 param set-default MC_YAWRATE_I 0.04
-param set-default MC_YAWRATE_D 0
-param set-default MC_YAWRATE_FF 0
 param set-default MC_YAWRATE_MAX 40

 param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_Z_VEL_MAX_DN 1.5
-param set-default MPC_TKO_SPEED 1.5
 param set-default MPC_LAND_SPEED 0.8
 param set-default MPC_YAWRAUTO_MAX 40

 param set-default PWM_AUX_DIS5 950
 param set-default PWM_AUX_REV1 1
 param set-default PWM_AUX_REV2 1
-param set-default PWM_MAIN_RATE 400

 param set-default VT_ARSP_TRANS 15
 param set-default VT_ARSP_BLEND 8
-param set-default VT_B_TRANS_DUR 4
 param set-default VT_F_TRANS_THR 0.75
 param set-default VT_IDLE_PWM_MC 1080
 param set-default VT_MOT_ID 1234
--- a/ROMFS/px4fmu_common/init.d/airframes/13009_vtol_spt_ranger
+++ b/ROMFS/px4fmu_common/init.d/airframes/13009_vtol_spt_ranger
@ -9,11 +9,11 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board holybro_kakutef7 exclude
 #

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

-
 param set-default FW_AIRSPD_MAX   22
 param set-default FW_AIRSPD_MIN   14
 param set-default FW_AIRSPD_TRIM  16
@ -68,10 +68,7 @@ param set-default PWM_AUX_REV4    1

 param set-default PWM_AUX_DIS5 950

-param set-default PWM_MAIN_RATE 400
-
 param set-default VT_ARSP_TRANS   15
-param set-default VT_B_TRANS_DUR  4
 param set-default VT_F_TRANS_THR    0.6
 param set-default VT_IDLE_PWM_MC 1180
 param set-default VT_MOT_ID 1234
--- a/ROMFS/px4fmu_common/init.d/airframes/13010_claire
+++ b/ROMFS/px4fmu_common/init.d/airframes/13010_claire
@ -13,14 +13,12 @@

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

-
 param set-default PWM_AUX_DISARM 1000
 param set-default PWM_AUX_MAX 2000
 param set-default PWM_AUX_MIN 1000
 param set-default PWM_AUX_RATE 50

 param set-default PWM_MAIN_MAX 2000
-param set-default PWM_MAIN_RATE 400

 param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 13
--- a/ROMFS/px4fmu_common/init.d/airframes/13012_convergence
+++ b/ROMFS/px4fmu_common/init.d/airframes/13012_convergence
@ -22,7 +22,6 @@

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

-
 param set-default CBRK_AIRSPD_CHK 162128

 param set-default FW_ARSP_MODE 1
@ -32,22 +31,14 @@ param set-default FW_MAN_R_MAX 50
 param set-default FW_ACRO_X_MAX   270
 param set-default FW_ACRO_Y_MAX   270
 param set-default FW_ACRO_Z_MAX   180
-param set-default FW_PR_FF    0.5
-param set-default FW_PR_P 0.08
 param set-default FW_PSP_OFF  5
 param set-default FW_P_LIM_MAX    30
 param set-default FW_P_LIM_MIN    -30
-param set-default FW_P_RMAX_NEG   60
-param set-default FW_P_RMAX_POS   60
 param set-default FW_RR_FF    0.33
 param set-default FW_RR_P 0.11
-param set-default FW_YR_FF    0.3
-param set-default FW_YR_P 0.05

-param set-default MC_PITCHRATE_D  0.003
 param set-default MC_PITCHRATE_P  0.15
 param set-default MC_PITCH_P  6
-param set-default MC_ROLLRATE_D   0.003
 param set-default MC_ROLLRATE_P   0.15
 param set-default MC_ROLL_P   6
 param set-default MC_YAWRATE_MAX  120
@ -57,9 +48,6 @@ param set-default MC_YAW_P    2.5
 param set-default MC_YAWRATE_P 0.3
 param set-default MPC_LAND_SPEED 1.2
 param set-default MPC_TKO_SPEED 2.5
-param set-default MPC_Z_VEL_MAX_UP 3
-
-param set-default PWM_MAIN_RATE 400

 param set-default SENS_BOARD_ROT 8

@ -69,11 +57,8 @@ param set-default VT_F_TR_OL_TM   4
 param set-default VT_FW_DIFTHR_EN 1
 param set-default VT_FW_DIFTHR_SC 0.17
 param set-default VT_FW_MOT_OFFID 3
-param set-default VT_FW_PERM_STAB 0
 param set-default VT_IDLE_PWM_MC 1200
 param set-default VT_MOT_ID 123
-param set-default VT_TILT_FW  1
-param set-default VT_TILT_MC  0
 param set-default VT_TILT_TRANS   0.45
 param set-default VT_TRANS_MIN_TM 1.2
 param set-default VT_TRANS_P2_DUR 1.3
--- a/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad
+++ b/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad
@ -22,7 +22,6 @@

 . ${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
@ -69,23 +68,13 @@ param set-default LNDMC_ALT_MAX 9999
 param set-default LNDMC_XY_VEL_MAX 1
 param set-default LNDMC_Z_VEL_MAX 0.7

-param set-default MC_ROLL_P 6.5
 param set-default MC_ROLLRATE_P 0.16
 param set-default MC_ROLLRATE_I 0.01
-param set-default MC_ROLLRATE_D 0.003
-param set-default MC_ROLLRATE_FF 0
 param set-default MC_ROLLRATE_MAX 80
-param set-default MC_PITCH_P 6.5
-param set-default MC_PITCHRATE_P 0.15
 param set-default MC_PITCHRATE_I 0.05
-param set-default MC_PITCHRATE_D 0.003
-param set-default MC_PITCHRATE_FF 0
 param set-default MC_PITCHRATE_MAX 80
 param set-default MC_YAW_P 3.5
-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 MC_YAWRATE_FF 0
+
 param set-default MC_YAWRATE_MAX 20
 param set-default MC_AIRMODE 1

@ -109,7 +98,6 @@ param set-default MPC_TILTMAX_AIR 25
 param set-default MPC_TILTMAX_LND 25
 param set-default MPC_YAWRAUTO_MAX 20

-param set-default NAV_DLL_ACT 0
 param set-default NAV_LOITER_RAD 100

 param set-default PWM_AUX_DISARM 950
@ -119,7 +107,6 @@ param set-default PWM_MAIN_DIS6 1500
 param set-default PWM_MAIN_DIS7 900
 param set-default PWM_MAIN_DIS8 900

-param set-default PWM_MAIN_RATE 400

 param set-default SENS_BOARD_ROT 18

@ -133,13 +120,11 @@ param set-default VT_TYPE 2
 param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_F_TRANS_THR 1
-param set-default VT_DWN_PITCH_MAX 8
+param set-default VT_PITCH_MIN 8
 param set-default VT_FW_QC_P 55
 param set-default VT_FW_QC_R 55
 param set-default VT_TRANS_MIN_TM 15
 param set-default VT_B_TRANS_DUR 8
-param set-default VT_WV_LND_EN 1
-param set-default VT_WV_LTR_EN 1
 param set-default VT_FWD_THRUST_SC 4
 param set-default VT_F_TRANS_DUR 1
 param set-default VT_IDLE_PWM_MC 1025
--- a/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark
+++ b/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark
@ -18,25 +18,22 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board holybro_kakutef7 exclude
 #

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

-
 param set-default BAT1_N_CELLS 6

 param set-default FW_AIRSPD_MAX 30
 param set-default FW_AIRSPD_MIN 19
 param set-default FW_AIRSPD_TRIM 23
 param set-default FW_L1_R_SLEW_MAX 40
-param set-default FW_LND_EARLYCFG 1
 param set-default FW_MAN_P_MAX 30
-param set-default FW_PR_I 0.1
 param set-default FW_PSP_OFF 3
 param set-default FW_P_LIM_MAX 18
 param set-default FW_P_LIM_MIN -25
 param set-default FW_RLL_TO_YAW_FF 0.1
-param set-default FW_RR_I 0.1
 param set-default FW_RR_P 0.08
 param set-default FW_R_LIM 45
 param set-default FW_R_RMAX 50
@ -46,22 +43,15 @@ param set-default FW_THR_SLEW_MAX 0.6
 param set-default FW_T_HRATE_FF 0
 param set-default FW_T_SINK_MAX 15
 param set-default FW_T_SINK_MIN 3
-param set-default FW_YR_I 0.1
 param set-default FW_YR_P 0.15

-param set-default IMU_GYRO_CUTOFF 40
-
 param set-default IMU_DGYRO_CUTOFF 15
-param set-default MC_PITCHRATE_I 0.2
 param set-default MC_PITCHRATE_MAX 60
-param set-default MC_ROLLRATE_I 0.2
 param set-default MC_ROLLRATE_MAX 60
 param set-default MC_YAWRATE_I 0.15
 param set-default MC_YAWRATE_MAX 40
 param set-default MC_YAWRATE_P 0.3

-param set-default MIS_TAKEOFF_ALT 30
-
 param set-default MPC_ACC_DOWN_MAX 2
 param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_ACC_UP_MAX 3
--- a/ROMFS/px4fmu_common/init.d/airframes/13030_generic_vtol_quad_tiltrotor
+++ b/ROMFS/px4fmu_common/init.d/airframes/13030_generic_vtol_quad_tiltrotor
@ -22,13 +22,11 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board holybro_kakutef7 exclude
 #

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

-
-param set-default PWM_MAIN_RATE 400
-
 param set-default VT_IDLE_PWM_MC 1100
 param set-default VT_TYPE 1
 param set-default VT_MOT_ID 1234
--- a/ROMFS/px4fmu_common/init.d/airframes/13050_generic_vtol_octo
+++ b/ROMFS/px4fmu_common/init.d/airframes/13050_generic_vtol_octo
@ -21,13 +21,12 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board holybro_kakutef7 exclude
 #

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

-
 param set-default PWM_AUX_DIS5 950
-param set-default PWM_MAIN_RATE 400

 param set-default VT_TYPE 2
 param set-default VT_MOT_ID 12345678
--- a/ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter
+++ b/ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter
@ -14,11 +14,11 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board holybro_kakutef7 exclude
 #

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

-
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_MOT_COUNT 2
 param set-default VT_TYPE 0
--- a/ROMFS/px4fmu_common/init.d/airframes/14001_tri_y_yaw+
+++ b/ROMFS/px4fmu_common/init.d/airframes/14001_tri_y_yaw+
@ -19,5 +19,3 @@
 . ${R}etc/init.d/rc.mc_defaults

 set MIXER tri_y_yaw+
-
-set PWM_OUT 1234
--- a/ROMFS/px4fmu_common/init.d/airframes/14002_tri_y_yaw-
+++ b/ROMFS/px4fmu_common/init.d/airframes/14002_tri_y_yaw-
@ -19,5 +19,3 @@
 . ${R}etc/init.d/rc.mc_defaults

 set MIXER tri_y_yaw-
-
-set PWM_OUT 1234
--- a/ROMFS/px4fmu_common/init.d/airframes/15001_coax_heli
+++ b/ROMFS/px4fmu_common/init.d/airframes/15001_coax_heli
@ -19,29 +19,19 @@
 . ${R}etc/init.d/rc.mc_defaults
 set MIXER coax

-
-param set-default MC_ROLL_P 6.5
 param set-default MC_ROLLRATE_P 0.17
 param set-default MC_ROLLRATE_I 0.05
 param set-default MC_ROLLRATE_D 0.005
-param set-default MC_ROLLRATE_FF 0
-param set-default MC_PITCH_P 6.5
 param set-default MC_PITCHRATE_P 0.17
 param set-default MC_PITCHRATE_I 0.05
 param set-default MC_PITCHRATE_D 0.005
-param set-default MC_PITCHRATE_FF 0
 param set-default MC_YAW_P 2
 param set-default MC_YAWRATE_P 0.1
-param set-default MC_YAWRATE_I 0.1
-param set-default MC_YAWRATE_D 0
-param set-default MC_YAWRATE_FF 0

 param set-default NAV_ACC_RAD 2

 param set-default PWM_AUX_RATE 50
 param set-default PWM_MAIN_DISARM 900
-param set-default PWM_MAIN_MIN 1075
-param set-default PWM_MAIN_MAX 1950
 param set-default PWM_MAIN_RATE 400

 param set-default RTL_RETURN_ALT 30
@ -50,5 +40,4 @@ param set-default RTL_DESCEND_ALT 10
 set MIXER_AUX pass

 # use PWM parameters for throttle channel
-set PWM_AUX_OUT 1234
 set PWM_OUT 34
--- a/ROMFS/px4fmu_common/init.d/airframes/16001_helicopter
+++ b/ROMFS/px4fmu_common/init.d/airframes/16001_helicopter
@ -24,8 +24,7 @@ set MAV_TYPE 4

 set MIXER blade130

-#set PWM_OUT 1234
-
+set PWM_OUT none

 param set-default ATT_BIAS_MAX 0

@ -36,7 +35,6 @@ param set-default MC_ROLLRATE_P 0
 param set-default MC_ROLLRATE_I 0
 param set-default MC_ROLLRATE_D 0
 param set-default MC_ROLLRATE_FF 0.15
-param set-default MC_PITCH_P 6.5
 param set-default MC_PITCHRATE_P 0
 param set-default MC_PITCHRATE_I 0
 param set-default MC_PITCHRATE_D 0
@ -44,7 +42,6 @@ param set-default MC_PITCHRATE_FF 0.15
 param set-default MC_YAW_P 3
 param set-default MC_YAWRATE_P 0.1
 param set-default MC_YAWRATE_I 0
-param set-default MC_YAWRATE_D 0
 param set-default MC_ROLLRATE_MAX 720
 param set-default MC_PITCHRATE_MAX 720
 param set-default MC_YAWRATE_MAX 400
--- a/ROMFS/px4fmu_common/init.d/airframes/18001_TF-B1
+++ b/ROMFS/px4fmu_common/init.d/airframes/18001_TF-B1
@ -15,7 +15,6 @@

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

-
 param set-default COM_PREARM_MODE 2  # always in prearm state
 param set-default CBRK_IO_SAFETY 22027
 param set-default SDLOG_PROFILE 17
@ -25,10 +24,8 @@ param set-default MAV_0_CONFIG 102
 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}

-
 set MIXER IO_pass
 set MIXER_AUX pass
--- a/ROMFS/px4fmu_common/init.d/airframes/2105_maja
+++ b/ROMFS/px4fmu_common/init.d/airframes/2105_maja
@ -25,10 +25,6 @@

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

-param set-default FW_AIRSPD_MIN 10
-param set-default FW_AIRSPD_TRIM 15
-param set-default FW_AIRSPD_MAX 20
-
 param set-default FW_MAN_P_MAX 55
 param set-default FW_MAN_R_MAX 55
 param set-default FW_R_LIM 55
--- a/ROMFS/px4fmu_common/init.d/airframes/2106_albatross
+++ b/ROMFS/px4fmu_common/init.d/airframes/2106_albatross
@ -25,10 +25,6 @@

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

-param set-default FW_AIRSPD_MIN 10
-param set-default FW_AIRSPD_TRIM 15
-param set-default FW_AIRSPD_MAX 20
-
 param set-default FW_MAN_P_MAX 55
 param set-default FW_MAN_R_MAX 55
 param set-default FW_R_LIM 55
--- a/ROMFS/px4fmu_common/init.d/airframes/2200_mini_talon
+++ b/ROMFS/px4fmu_common/init.d/airframes/2200_mini_talon
@ -26,10 +26,6 @@

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

-param set-default FW_AIRSPD_MIN 10
-param set-default FW_AIRSPD_TRIM 15
-param set-default FW_AIRSPD_MAX 20
-
 param set-default FW_MAN_P_MAX 55
 param set-default FW_MAN_R_MAX 55
 param set-default FW_R_LIM 55
--- a/ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox
+++ b/ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox
@ -28,7 +28,6 @@

 set VEHICLE_TYPE mc

-
 param set-default NAV_ACC_RAD 2

 param set-default PWM_AUX_RATE 400
@ -36,8 +35,6 @@ param set-default PWM_AUX_DISARM 900
 param set-default PWM_AUX_MIN 1075
 param set-default PWM_AUX_MAX 1950

-param set-default PWM_MAIN_MIN 1075
-param set-default PWM_MAIN_MAX 1950
 param set-default PWM_MAIN_RATE 400

 param set-default RTL_DESCEND_ALT 10
--- a/ROMFS/px4fmu_common/init.d/airframes/2507_cloudship
+++ b/ROMFS/px4fmu_common/init.d/airframes/2507_cloudship
@ -18,6 +18,5 @@
 param set-default COM_PREARM_MODE 2
 param set-default CBRK_IO_SAFETY 22027

-
 set MIXER cloudship
 set PWM_OUT 1234
--- a/ROMFS/px4fmu_common/init.d/airframes/3030_io_camflyer
+++ b/ROMFS/px4fmu_common/init.d/airframes/3030_io_camflyer
@ -22,7 +22,6 @@
 . ${R}etc/init.d/rc.fw_defaults

 param set-default FW_AIRSPD_MAX 15
-param set-default FW_AIRSPD_MIN 10
 param set-default FW_AIRSPD_TRIM 13
 param set-default FW_R_TC 0.3
 param set-default FW_P_TC 0.3
@ -30,15 +29,11 @@ param set-default FW_L1_DAMPING 0.74
 param set-default FW_L1_PERIOD 16
 param set-default FW_LND_ANG 15
 param set-default FW_LND_FLALT 5
-param set-default FW_LND_HHDIST 15
 param set-default FW_LND_HVIRT 13
 param set-default FW_LND_TLALT 5
 param set-default FW_THR_LND_MAX 0
 param set-default FW_PR_FF 0.35
-param set-default FW_PR_IMAX 0.4
-param set-default FW_PR_P 0.08
 param set-default FW_RR_FF 0.6
-param set-default FW_RR_IMAX 0.2
 param set-default FW_RR_P 0.04

 param set-default PWM_MAIN_DISARM 1000
--- a/ROMFS/px4fmu_common/init.d/airframes/3031_phantom
+++ b/ROMFS/px4fmu_common/init.d/airframes/3031_phantom
@ -24,20 +24,15 @@
 . ${R}etc/init.d/rc.fw_defaults

 param set-default FW_AIRSPD_MIN 13
-param set-default FW_AIRSPD_TRIM 15
 param set-default FW_AIRSPD_MAX 25
 param set-default FW_R_TC 0.3
 param set-default FW_P_TC 0.3
-param set-default FW_L1_DAMPING 0.75
 param set-default FW_L1_PERIOD 15
 param set-default FW_PR_FF 0.2
 param set-default FW_PR_IMAX 0.2
 param set-default FW_PR_P 0.03
 param set-default FW_P_LIM_MAX 50
 param set-default FW_P_LIM_MIN -50
-param set-default FW_P_ROLLFF 1
-param set-default FW_RR_FF 0.5
-param set-default FW_RR_IMAX 0.2
 param set-default FW_RR_P 0.08
 param set-default FW_R_LIM 50
 param set-default FW_R_RMAX 50
--- a/ROMFS/px4fmu_common/init.d/airframes/3032_skywalker_x5
+++ b/ROMFS/px4fmu_common/init.d/airframes/3032_skywalker_x5
@ -30,7 +30,6 @@ param set-default FW_L1_DAMPING 0.74
 param set-default FW_L1_PERIOD 16
 param set-default FW_LND_ANG 15
 param set-default FW_LND_FLALT 5
-param set-default FW_LND_HHDIST 15
 param set-default FW_LND_HVIRT 13
 param set-default FW_LND_TLALT 5
 param set-default FW_THR_LND_MAX 0
@ -38,5 +37,4 @@ param set-default FW_PR_FF 0.35
 param set-default FW_RR_FF 0.6
 param set-default FW_RR_P 0.04

-
 set MIXER fw_generic_wing
--- a/ROMFS/px4fmu_common/init.d/airframes/3033_wingwing
+++ b/ROMFS/px4fmu_common/init.d/airframes/3033_wingwing
@ -25,7 +25,6 @@

 param set-default BAT1_N_CELLS 2
 param set-default FW_AIRSPD_MAX 15
-param set-default FW_AIRSPD_MIN 10
 param set-default FW_AIRSPD_TRIM 13
 param set-default FW_R_TC 0.3
 param set-default FW_P_TC 0.3
@ -33,7 +32,6 @@ param set-default FW_L1_DAMPING 0.74
 param set-default FW_L1_PERIOD 16
 param set-default FW_LND_ANG 15
 param set-default FW_LND_FLALT 5
-param set-default FW_LND_HHDIST 15
 param set-default FW_LND_HVIRT 13
 param set-default FW_LND_TLALT 5
 param set-default FW_THR_LND_MAX 0
@ -43,7 +41,6 @@ param set-default FW_RR_P 0.04

 param set-default PWM_MAIN_DISARM 1000

-
 # Configure this as plane.
 set MAV_TYPE 1

--- a/ROMFS/px4fmu_common/init.d/airframes/3034_fx79
+++ b/ROMFS/px4fmu_common/init.d/airframes/3034_fx79
@ -23,7 +23,6 @@

 param set-default FW_AIRSPD_MAX 30
 param set-default FW_AIRSPD_MIN 13
-param set-default FW_AIRSPD_TRIM 15

 param set-default NAV_LOITER_RAD 150

--- a/ROMFS/px4fmu_common/init.d/airframes/3036_pigeon
+++ b/ROMFS/px4fmu_common/init.d/airframes/3036_pigeon
@ -27,17 +27,11 @@ param set-default FW_AIRSPD_MIN 15
 param set-default FW_AIRSPD_TRIM 20
 param set-default FW_AIRSPD_MAX 27
 param set-default FW_ATT_TC 0.3
-param set-default FW_L1_DAMPING 0.75
-param set-default FW_L1_PERIOD 20
 param set-default FW_PR_FF 0.35
 param set-default FW_PR_IMAX 0.2
 param set-default FW_PR_P 0.05
-param set-default FW_P_LIM_MAX 45
-param set-default FW_P_LIM_MIN -45
-param set-default FW_P_ROLLFF 1
 param set-default FW_P_TC 0.3
 param set-default FW_RR_FF 0.3
-param set-default FW_RR_IMAX 0.2
 param set-default FW_RR_P 0.03
 param set-default FW_R_LIM 40
 param set-default FW_R_RMAX 50
--- a/ROMFS/px4fmu_common/init.d/airframes/3037_parrot_disco_mod
+++ b/ROMFS/px4fmu_common/init.d/airframes/3037_parrot_disco_mod
@ -26,38 +26,15 @@
 ####################################
 # Airspeed
 ####################################
-param set-default FW_AIRSPD_MIN  15 # = 29 knots
-param set-default FW_AIRSPD_TRIM 20 # = 39 knots
 param set-default FW_AIRSPD_MAX  27 # = 52 knots

-####################################
-# The Main L1 Controller
-####################################
-param set-default FW_L1_PERIOD 20 #units of meters
-
-# Damping factor for L1 control (def = 0.75)
-param set-default FW_L1_DAMPING 0.75
-
 ####################################
 # Pitch
 ####################################

-# Basic limits (def = +/- 45 deg)
-param set-default FW_P_LIM_MAX  45
-param set-default FW_P_LIM_MIN -45
-
-# Time Constant (def = 0.4s)
-param set-default FW_P_TC 0.4
-
 # Pitch rate feed forward (def = 0.5 %/rad/sec)
 param set-default FW_PR_FF 0.35

-# Pitch rate integrator limit (def = 0.4)
-param set-default FW_PR_IMAX 0.4
-
-# Pitch rate proportional gain (def = 0.08 %/rad/sec)
-param set-default FW_PR_P 0.08
-
 ####################################
 # Roll
 ####################################
@ -68,21 +45,8 @@ param set-default FW_R_LIM 40
 # Roll rate upper limit (def = 70 deg/s)
 param set-default FW_R_RMAX 50

-# Roll Time Constant (def = 0.4 s)
-param set-default FW_R_TC 0.4
-
-# Roll rate feed forward (def = 0.5 %/rad/sec)
-param set-default FW_RR_FF 0.5
-
-# Roll rate proportional Gain (def = 0.05 %/rad/sec)
-param set-default FW_RR_P 0.05
-
-# Roll Integrator Anti-Windup
-param set-default FW_RR_IMAX 0.2
-
 param set-default PWM_MAIN_DISARM 1000

-
 set MIXER fw_generic_wing.main.mix

 # Provide ESC a constant 1000 us pulse
--- a/ROMFS/px4fmu_common/init.d/airframes/3100_tbs_caipirinha
+++ b/ROMFS/px4fmu_common/init.d/airframes/3100_tbs_caipirinha
@ -21,28 +21,21 @@

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

-
 param set-default FW_AIRSPD_MAX 25
 param set-default FW_AIRSPD_MIN 12.5
 param set-default FW_AIRSPD_TRIM 16.5
-param set-default FW_L1_DAMPING 0.75
 param set-default FW_L1_PERIOD 15
 param set-default FW_LND_ANG 15
 param set-default FW_LND_FLALT 8
-param set-default FW_LND_HHDIST 15
 param set-default FW_LND_HVIRT 13
 param set-default FW_LND_TLALT 10
 param set-default FW_THR_LND_MAX 0
 param set-default FW_P_LIM_MAX 20
 param set-default FW_P_LIM_MIN -30
 param set-default FW_R_LIM 45
-param set-default FW_R_TC 0.4
-param set-default FW_P_TC 0.4
 param set-default FW_PR_FF 0.45
-param set-default FW_PR_IMAX 0.4
 param set-default FW_PR_P 0.005
 param set-default FW_RR_FF 0.45
-param set-default FW_RR_IMAX 0.2
 param set-default FW_RR_P 0.013
 param set-default FW_P_RMAX_NEG 70
 param set-default FW_P_RMAX_POS 70
--- a/ROMFS/px4fmu_common/init.d/airframes/4001_quad_x
+++ b/ROMFS/px4fmu_common/init.d/airframes/4001_quad_x
@ -21,7 +21,3 @@
 #

 . ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-
-set PWM_OUT 1234
--- a/ROMFS/px4fmu_common/init.d/airframes/4003_qavr5
+++ b/ROMFS/px4fmu_common/init.d/airframes/4003_qavr5
@ -13,22 +13,12 @@

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

-set MIXER quad_x
-set PWM_OUT 1234
-
-
 param set-default MC_ROLL_P 8
 param set-default MC_ROLLRATE_P 0.08
 param set-default MC_ROLLRATE_I 0.16
-param set-default MC_ROLLRATE_D 0.003
 param set-default MC_PITCH_P 8
 param set-default MC_PITCHRATE_P 0.1
-param set-default MC_PITCHRATE_I 0.2
-param set-default MC_PITCHRATE_D 0.003
-param set-default MC_YAW_P 2.8
 param set-default MC_YAWRATE_P 0.15
-param set-default MC_YAWRATE_I 0.1
-param set-default MC_YAWRATE_D 0

 param set-default MPC_THR_MIN 0.06
 param set-default MPC_MANTHR_MIN 0.06
--- a/ROMFS/px4fmu_common/init.d/airframes/4009_qav250
+++ b/ROMFS/px4fmu_common/init.d/airframes/4009_qav250
@ -13,10 +13,6 @@

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

-set MIXER quad_x
-set PWM_OUT 1234
-
-
 param set-default ATT_BIAS_MAX 0

 param set-default CBRK_IO_SAFETY 22027
@ -33,7 +29,6 @@ param set-default MC_PITCHRATE_D 0.004
 param set-default MC_YAW_P 4
 param set-default MC_YAWRATE_P 0.3
 param set-default MC_YAWRATE_I 0.2
-param set-default MC_YAWRATE_D 0
 param set-default MPC_THR_MIN 0.06

 param set-default PWM_MAIN_MIN 1075
--- a/ROMFS/px4fmu_common/init.d/airframes/4010_dji_f330
+++ b/ROMFS/px4fmu_common/init.d/airframes/4010_dji_f330
@ -11,21 +11,11 @@

 . ${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 0.15
 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 0.15
 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
+

 # DJI ESCs do not support calibration and need a higher min
 param set-default PWM_MAIN_MIN 1230
--- a/ROMFS/px4fmu_common/init.d/airframes/4011_dji_f450
+++ b/ROMFS/px4fmu_common/init.d/airframes/4011_dji_f450
@ -10,21 +10,11 @@

 . ${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 0.15
 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 0.15
 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 0.3
-param set-default MC_YAWRATE_I 0.1
-param set-default MC_YAWRATE_D 0

 # DJI ESCs do not support calibration and need a higher min
 param set-default PWM_MAIN_MIN 1230
--- a/ROMFS/px4fmu_common/init.d/airframes/4014_s500
+++ b/ROMFS/px4fmu_common/init.d/airframes/4014_s500
@ -13,13 +13,7 @@

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

-set MIXER quad_x
-set PWM_OUT 1234
-
-
 param set-default MC_ROLLRATE_P 0.18
 param set-default MC_PITCHRATE_P 0.18
 param set-default MC_ROLLRATE_I 0.15
 param set-default MC_PITCHRATE_I 0.15
-param set-default MC_ROLLRATE_D 0.003
-param set-default MC_PITCHRATE_D 0.003
--- a/ROMFS/px4fmu_common/init.d/airframes/4015_holybro_s500
+++ b/ROMFS/px4fmu_common/init.d/airframes/4015_holybro_s500
@ -13,12 +13,7 @@

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

-set MIXER quad_x
-set PWM_OUT 1234
-
-
 param set-default IMU_GYRO_CUTOFF 30
-param set-default IMU_DGYRO_CUTOFF 30

 param set-default MC_ROLLRATE_P 0.14
 param set-default MC_PITCHRATE_P 0.14
--- a/ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision
+++ b/ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision
@ -16,10 +16,6 @@

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

-set MIXER quad_x
-set PWM_OUT 1234
-
-
 # System parameters
 # use FMU motor outputs for less delay in the rate control loop
 param set-default SYS_USE_IO 0
@ -33,7 +29,6 @@ param set-default EKF2_AID_MASK 35
 param set-default EKF2_IMU_POS_X 0.02
 param set-default EKF2_GPS_POS_X 0.055
 param set-default EKF2_GPS_POS_Z -0.15
-param set-default EKF2_HGT_MODE 0
 param set-default EKF2_MIN_RNG 0.03
 param set-default EKF2_OF_POS_X 0.055
 param set-default EKF2_OF_POS_Y 0.02
@ -41,7 +36,6 @@ param set-default EKF2_OF_POS_Z 0.065
 param set-default EKF2_REQ_HDRIFT 0.3
 param set-default EKF2_REQ_SACC 1
 param set-default EKF2_REQ_VDRIFT 0.3
-param set-default EKF2_RNG_AID 1
 param set-default EKF2_RNG_A_HMAX 8
 param set-default EKF2_RNG_A_VMAX 2
 param set-default EKF2_RNG_POS_X 0.055
@ -66,15 +60,8 @@ param set-default MC_ACRO_R_MAX 200
 param set-default MC_ACRO_SUPEXPO 0
 param set-default MC_ACRO_SUPEXPOY 0
 param set-default MC_ACRO_Y_MAX 150
-param set-default IMU_DGYRO_CUTOFF 30
 param set-default MC_PITCHRATE_D 0.0015
-param set-default MC_PITCHRATE_I 0.2
-param set-default MC_PITCHRATE_K 1
-param set-default MC_PITCHRATE_P 0.15
 param set-default MC_ROLLRATE_D 0.0015
-param set-default MC_ROLLRATE_I 0.2
-param set-default MC_ROLLRATE_K 1
-param set-default MC_ROLLRATE_P 0.15
 param set-default MC_YAWRATE_P 0.3

 # Position Control Tuning
@ -86,7 +73,6 @@ param set-default MPC_MANTHR_MIN 0
 param set-default MPC_MAN_Y_MAX 120
 param set-default MPC_TILTMAX_AIR 45
 param set-default MPC_THR_HOVER 0.3
-param set-default MPC_THR_MIN 0.12
 param set-default MPC_TKO_SPEED 1
 param set-default MPC_VEL_MANUAL 5
 param set-default MPC_XY_CRUISE 5
@ -98,27 +84,23 @@ param set-default MPC_Z_VEL_P_ACC 5
 param set-default MPC_Z_VEL_I_ACC 3
 param set-default MPC_LAND_ALT1 3
 param set-default MPC_LAND_ALT2 1
+param set-default MPC_POS_MODE 3
+param set-default CP_GO_NO_DATA 1

 # Navigator Parameters
 param set-default NAV_ACC_RAD 2

-# PWM and RC Parameters
-param set-default PWM_MAIN_MAX 1950
-param set-default PWM_MAIN_MIN 1075
-
 # use oneshot motor output protocol
 param set-default PWM_MAIN_RATE 0

 # RTL Parameters
 param set-default RTL_DESCEND_ALT 5
 param set-default RTL_RETURN_ALT 5
-param set-default RTL_CONE_ANG 45

 # Logging Parameters
 param set-default SDLOG_PROFILE 131

 # Sensors Parameters
-param set-default SENS_BOARD_ROT 0
 param set-default SENS_CM8JL65_CFG 104
 param set-default SENS_FLOW_MAXHGT 25
 param set-default SENS_FLOW_MINHGT 0.5
--- a/ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames
+++ b/ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames
@ -18,16 +18,10 @@

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

-set MIXER quad_x
-set PWM_OUT 1234
-
-param set-default IMU_GYRO_CUTOFF 40
 param set-default IMU_DGYRO_CUTOFF 20

 param set-default MC_ROLLRATE_P 0.18
 param set-default MC_ROLLRATE_I 0.15
-param set-default MC_ROLLRATE_D 0.003

 param set-default MC_PITCHRATE_P 0.18
 param set-default MC_PITCHRATE_I 0.15
-param set-default MC_PITCHRATE_D 0.003
--- a/ROMFS/px4fmu_common/init.d/airframes/4018_s500_ctrlalloc
+++ b/ROMFS/px4fmu_common/init.d/airframes/4018_s500_ctrlalloc
@ -11,8 +11,11 @@
 #

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

+set MIXER skip
+set MIXER_AUX none
+
+param set-default SYS_CTRL_ALLOC 1

 param set-default MPC_USE_HTE 0

@ -49,8 +52,7 @@ param set-default CA_MC_R3_PY 0.177
 param set-default CA_MC_R3_CT 6.5
 param set-default CA_MC_R3_KM -0.05

-set MIXER direct
-set PWM_OUT 1234
-
-set MIXER_AUX direct_aux
-set PWM_AUX_OUT 1234
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
--- a/ROMFS/px4fmu_common/init.d/airframes/4030_3dr_solo
+++ b/ROMFS/px4fmu_common/init.d/airframes/4030_3dr_solo
@ -18,7 +18,6 @@

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

-
 # tuning
 param set-default MC_PITCHRATE_P    0.11
 param set-default MC_ROLLRATE_P     0.11
@ -83,7 +82,5 @@ param set-default RC5_TRIM          1500
 param set-default MAV_0_RATE 80000
 param set-default MAV_0_MODE 2
 param set-default SER_TEL1_BAUD 921600
-set MIXER quad_x

-set PWM_OUT 1234
 set MIXER_AUX none
--- a/ROMFS/px4fmu_common/init.d/airframes/4031_3dr_quad
+++ b/ROMFS/px4fmu_common/init.d/airframes/4031_3dr_quad
@ -13,11 +13,6 @@

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

-set MIXER quad_x
-set PWM_OUT 1234
-
-
-param set-default MC_ROLL_P 6.5
 param set-default MC_ROLLRATE_P 0.14
 param set-default MC_ROLLRATE_I 0.1
 param set-default MC_ROLLRATE_D 0.004
--- a/ROMFS/px4fmu_common/init.d/airframes/4040_reaper
+++ b/ROMFS/px4fmu_common/init.d/airframes/4040_reaper
@ -20,8 +20,6 @@

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

-
-param set-default MC_ROLL_P 6.5
 param set-default MC_ROLLRATE_P 0.14
 param set-default MC_ROLLRATE_I 0.1
 param set-default MC_ROLLRATE_D 0.004
@ -44,8 +42,4 @@ param set-default RTL_DESCEND_ALT 10

 set MIXER quad_h

-set PWM_OUT 1234
-
 set MIXER_AUX pass
-
-set PWM_AUX_OUT 1234
--- a/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x
+++ b/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x
@ -23,7 +23,6 @@

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

-
 param set-default CBRK_SUPPLY_CHK 894281
 param set-default CBRK_USB_CHK 197848

@ -57,5 +56,3 @@ param set-default SYS_HAS_MAG 0
 param set-default BAT1_N_CELLS 2
 # The Whoop uses reversed props
 set MIXER quad_h
-set PWM_OUT 1234
-
--- a/Show More
+++ b/Show More