github: fix workspace path

github: fix env var context
github: fix deprecated set-env
2026-05-26 04:47:35 +08:00 · 2022-02-14 11:05:24 -08:00 · 2022-02-14 09:59:20 -08:00 · 2022-02-12 10:29:00 -08:00 · 2022-02-11 12:50:01 -08:00 · 2022-02-11 12:48:05 -08:00
1176 changed files with 40465 additions and 27115 deletions
@@ -60,14 +60,19 @@ pipeline {
                     "holybro_kakutef7_default",
                     "holybro_pix32v5_default",
                     "matek_h743-slim",
+                     "matek_gnss-m9n-f4_canbootloader",
+                     "matek_gnss-m9n-f4_default",
                     "modalai_fc-v1_default",
                     "modalai_fc-v1_rtps",
                     "modalai_fc-v2_default",
                     "mro_ctrl-zero-f7_default",
                     "mro_ctrl-zero-f7-oem_default",
                     "mro_ctrl-zero-h7_default",
+                     "mro_ctrl-zero-h7_rtps",
                     "mro_ctrl-zero-h7-oem_default",
+                     "mro_ctrl-zero-h7-oem_rtps",
                     "mro_pixracerpro_default",
+                     "mro_pixracerpro_rtps",
                     "mro_x21-777_default",
                     "mro_x21_default",
                     "nxp_fmuk66-e_default",
@@ -94,7 +99,6 @@ pipeline {
                     "px4_fmu-v5_stackcheck",
                     "px4_fmu-v5_uavcanv0periph",
                     "px4_fmu-v5_uavcanv1",
-                     "px4_fmu-v5x_base_phy_DP83848C",
                     "px4_fmu-v5x_default",
                     "px4_fmu-v6u_default",
                     "px4_fmu-v6x_default",
@@ -168,7 +172,7 @@ def createBuildNode(Boolean archive, String docker_image, String target) {
            try {
              sh('export')
              checkout(scm)
-              sh('make distclean')
+              sh('make distclean; git clean -ff -x -d .')
              sh('git fetch --tags')
              sh('ccache -s')
              sh('make ' + target)
@@ -185,7 +189,7 @@ def createBuildNode(Boolean archive, String docker_image, String target) {
              throw (exc)
            }
            finally {
-              sh('make distclean')
+              sh('make distclean; git clean -ff -x -d .')
            }
          }
        }
@@ -21,11 +21,11 @@ pipeline {
                sh 'make cubepilot_cubeorange_bootloader'
                sh 'make cubepilot_cubeorange_test'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'cubepilot_cubeorange_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*, build/cubepilot_cubeorange_test/etc/init.d/airframes/*', name: 'cubepilot_cubeorange_test'
              }
              post {
                always {
-                    sh 'make distclean'
+                  sh 'make distclean; git clean -ff -x -d .'
                }
              }
            } // stage build
@@ -42,12 +42,16 @@ pipeline {
                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_bootloader/cubepilot_cubeorange_bootloader.elf'
                    // flash board and watch bootup
                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    resetBoard()
                  }
                }
                stage("tests") {
                  steps {
                    // run tests
                    runTests()
+
+                    // load all airframes
+                    // sh("./Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` `cd build/cubepilot_cubeorange_test/etc/init.d/airframes/; find . -regex '.*/[0-9].*' -exec basename {} \\; | cut -d '_' -f 1` || true") // test loading all airframes\
                  }
                }
                stage("status") {
@@ -69,9 +73,11 @@ pipeline {
                }
              }
              post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                always {
-                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf || true'
-                    resetBoard()
+                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf || true'
                }
              }
            } // stage test
@@ -92,11 +98,11 @@ pipeline {
                sh 'make cuav_x7pro_bootloader'
                sh 'make cuav_x7pro_test'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'cuav_x7pro_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'cuav_x7pro_test'
              }
              post {
                always {
-                    sh 'make distclean'
+                  sh 'make distclean; git clean -ff -x -d .'
                }
              }
            } // stage build
@@ -113,6 +119,7 @@ pipeline {
                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_bootloader/cuav_x7pro_bootloader.elf'
                    // flash board and watch bootup
                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_test/cuav_x7pro_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    resetBoard()
                  }
                }
                stage("tests") {
@@ -138,9 +145,11 @@ pipeline {
                }
              }
              post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                always {
-                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/cuav_x7pro_test/cuav_x7pro_test.elf || true'
-                    resetBoard()
+                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cuav_x7pro_test/cuav_x7pro_test.elf || true'
                }
              }
            } // stage test
@@ -161,11 +170,11 @@ 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/*, Tools/HIL/*.py', name: 'px4_fmu-v3_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v3_test'
              }
              post {
                always {
-                    sh 'make distclean'
+                  sh 'make distclean; git clean -ff -x -d .'
                }
              }
            } // stage build
@@ -182,6 +191,7 @@ pipeline {
                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_test/px4_fmu-v3_bootloader.elf'
                    // flash board and watch bootup
                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    resetBoard()
                  }
                }
                stage("tests") {
@@ -207,9 +217,11 @@ pipeline {
                }
              }
              post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                always {
-                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf || true'
-                    resetBoard()
+                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf || true'
                }
              }
            } // stage test
@@ -230,11 +242,11 @@ 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/*, Tools/HIL/*.py', name: 'px4_fmu-v4_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v4_test'
              }
              post {
                always {
-                    sh 'make distclean'
+                  sh 'make distclean; git clean -ff -x -d .'
                }
              }
            } // stage build
@@ -251,6 +263,7 @@ pipeline {
                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_test/px4_fmu-v4_bootloader.elf'
                    // flash board and watch bootup
                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    resetBoard()
                  }
                }
                stage("tests") {
@@ -275,9 +288,11 @@ pipeline {
                }
              }
              post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                always {
-                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf || true'
-                    resetBoard()
+                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf || true'
                }
              }
            } // stage test
@@ -298,11 +313,11 @@ 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/*, Tools/HIL/*.py', name: 'px4_fmu-v4pro_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v4pro_test'
              }
              post {
                always {
-                    sh 'make distclean'
+                  sh 'make distclean; git clean -ff -x -d .'
                }
              }
            } // stage build
@@ -319,6 +334,7 @@ pipeline {
                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_bootloader.elf'
                    // flash board and watch bootup
                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    resetBoard()
                  }
                }
                stage("tests") {
@@ -344,9 +360,11 @@ pipeline {
                }
              }
              post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                always {
-                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf || true'
-                    resetBoard()
+                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf || true'
                }
              }
            } // stage test
@@ -367,11 +385,11 @@ 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/*, Tools/HIL/*.py', name: 'px4_fmu-v5_debug'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v5_debug'
              }
              post {
                always {
-                    sh 'make distclean'
+                  sh 'make distclean; git clean -ff -x -d .'
                }
              }
            } // stage build
@@ -393,13 +411,24 @@ pipeline {
                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_bootloader.elf'
                    // flash board and watch bootup
                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600 || true'
+                    resetBoard()
                  }
                }
                stage("tests") {
                  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 "uorb top -1"'
                    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 "sd_bench"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -v"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u -v" || true'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
+
+                    // test dataman
+                    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 "tests file" || true'
                    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'
                  }
@@ -412,7 +441,6 @@ pipeline {
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true'       // limit cpu usage
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true'       // limit cpu usage
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SDLOG_MODE -1" || true'        // limit cpu usage
                    checkStatus()
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
                  }
@@ -424,9 +452,11 @@ pipeline {
                }
              }
              post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                always {
-                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf || true'
-                    resetBoard()
+                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf || true'
                }
              }
            } // stage test
@@ -447,11 +477,11 @@ 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/*, Tools/HIL/*.py', name: 'px4_fmu-v5_stackcheck'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v5_stackcheck'
              }
              post {
                always {
-                    sh 'make distclean'
+                  sh 'make distclean; git clean -ff -x -d .'
                }
              }
            } // stage build
@@ -473,6 +503,7 @@ pipeline {
                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_bootloader.elf'
                    // flash board and watch bootup
                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    resetBoard()
                  }
                }
                stage("tests") {
@@ -481,6 +512,9 @@ pipeline {
                    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 "uorb_tests"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
+
+                    // test dataman
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman"'
                  }
                }
                stage("status") {
@@ -491,7 +525,6 @@ pipeline {
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true'       // limit cpu usage
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true'       // limit cpu usage
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SDLOG_MODE -1" || true'        // limit cpu usage
                    checkStatus()
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
                  }
@@ -503,9 +536,11 @@ pipeline {
                }
              }
              post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                always {
-                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf || true'
-                    resetBoard()
+                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf || true'
                }
              }
            } // stage test
@@ -526,11 +561,11 @@ 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/*, Tools/HIL/*.py', name: 'px4_fmu-v5_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v5_test'
              }
              post {
                always {
-                    sh 'make distclean'
+                  sh 'make distclean; git clean -ff -x -d .'
                }
              }
            } // stage build
@@ -547,6 +582,7 @@ pipeline {
                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_test/px4_fmu-v5_bootloader.elf'
                    // flash board and watch bootup
                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    resetBoard()
                  }
                }
                stage("tests") {
@@ -572,9 +608,11 @@ pipeline {
                }
              }
              post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                always {
-                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf || true'
-                    resetBoard()
+                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf || true'
                }
              }
            } // stage test
@@ -595,11 +633,11 @@ 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/*, Tools/HIL/*.py', name: 'nxp_fmuk66-v3_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'nxp_fmuk66-v3_test'
              }
              post {
                always {
-                    sh 'make distclean'
+                  sh 'make distclean; git clean -ff -x -d .'
                }
              }
            } // stage build
@@ -616,6 +654,7 @@ pipeline {
                    //sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_bootloader.elf'
                    // flash board and watch bootup
                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    resetBoard()
                  }
                }
                stage("tests") {
@@ -641,9 +680,11 @@ pipeline {
                }
              }
              post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                always {
-                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf || true'
-                    resetBoard()
+                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf || true'
                }
              }
            } // stage test
@@ -669,7 +710,7 @@ void checkoutSCM() {
  retry(3) {
    checkout scm
    sh 'export'
-    sh 'make distclean'
+    sh 'make distclean; git clean -ff -x -d .'
    sh 'git fetch --tags'
    sh 'ccache -z'
  }
@@ -702,34 +743,44 @@ void checkStatus() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
+  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'

  // run logger
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sleep 1"' // sleep before continuing
  // status commands
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/usage"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/meminfo"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/uptime"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander check" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dataman status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ekf2 status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "free"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gps status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload; top once; listener cpuload"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /bin"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /dev"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /etc"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /obj"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc/fs"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status streams" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf latency"'
@@ -741,12 +792,12 @@ void checkStatus() {
  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 "top once"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uavcan status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb status" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ver all"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
  // stop logger
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"'
 }

 void resetParameters() {
@@ -756,13 +807,19 @@ void resetParameters() {
 }

 void runTests() {
+
+  // test loading a range of airframes
+  sh './Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` 1000 1001 2100 3000 4001 4018 6001 8001 10016'
+
  resetParameters()

  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_CAL_EN" --value "0" || true' // disable during testing
  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_FFT_EN" --value "0" || true' // disable during testing
+  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SENS_IMU_AUTOCAL" --value "0" || true' // disable during testing
+  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SENS_MAG_AUTOCAL" --value "0" || true' // disable during testing

  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
+  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply

  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"'
@@ -774,35 +831,32 @@ void runTests() {
  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'

-  sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
-
-  //sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests file" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests file" || true'

+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd readtest"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd rwtest"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd erase"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'

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

-  //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"'

+  // tests (stop modules first)
  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 "mavlink stop-all"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "navigator stop"'
+  sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
+
  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"'

-  // test rebooting multiple times
-  resetParameters()
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
+  //sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "calib_udelay"'
 }

 void printTopics() {
@@ -909,28 +963,6 @@ void resetBoard() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true'       // limit cpu usage
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true'       // limit cpu usage
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SDLOG_MODE -1" || true'        // limit cpu usage
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
-
-  // check SD card
-  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/microsd" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc/fs" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/usage" || true'
-  // format
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dataman stop" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "umount /fs/microsd" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mkfatfs -F 32 /dev/mmcsd0" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once" || true'
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount -t vfat /dev/mmcsd0 /fs/microsd" || true'
-  // check SD card
-  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/microsd" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc/fs" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/usage" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "echo > /fs/microsd/.format" || true'
+  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
 }
@@ -0,0 +1,7 @@
+FROM gcr.io/oss-fuzz-base/base-builder:v1
+COPY . $SRC/PX4-Autopilot
+RUN apt-get install -y libjpeg8-dev zlib1g-dev
+RUN pip3 install --upgrade pip
+RUN python3 -m pip install -r $SRC/PX4-Autopilot/Tools/setup/requirements.txt
+WORKDIR $SRC/PX4-Autopilot
+COPY ./.clusterfuzzlite/build.sh $SRC/
@@ -0,0 +1,4 @@
+#!/usr/bin/env bash -eu
+
+PX4_FUZZ=1 make px4_sitl
+cp build/px4_sitl_default/bin/px4 $OUT/px4
@@ -0,0 +1 @@
+language: c++
@@ -0,0 +1,154 @@
+# build docker images on:
+# * every pull request
+# * push to master
+# * stable release published
+# * tag name is:
+#   - commit sha if pull request
+#   - 'latest' if push to master
+#   - release name if release
+
+# pushes to registry if:
+# * is not a pull request
+# * is master branch
+# * is the result of release
+
+# builds all nuttx targets and deploys metadata
+
+name: Build docker
+
+on:
+  release:
+    types: [released]
+  push:
+    branches:
+      - 'master'
+  pull_request:
+
+jobs:
+  set_docker_tag:
+    name: Set docker tag
+    runs-on: ubuntu-latest
+    env:
+      DOCKER_TAG: "px4io/px4-dev"
+    outputs:
+      docker_tag: ${{ steps.set-outputs.outputs.docker_tag }}
+
+    steps:
+      - name: Set pull request docker tag
+        if: github.event_name == 'pull_request'
+        run: echo "DOCKER_TAG=px4io/px4-dev:${{ github.sha }}" >> $GITHUB_ENV
+
+      - name: Set push docker tag
+        if: github.event_name == 'push'
+        run: echo "DOCKER_TAG=px4io/px4-dev:latest" >> $GITHUB_ENV
+
+      - name: Set release docker tag
+        if: github.event_name == 'release'
+        run: echo "DOCKER_TAG=px4io/px4-dev:${{ github.event.release.name }}" >> $GITHUB_ENV
+
+      - name: Set docker tag outputs
+        id: set-outputs
+        run: echo "::set-output name=docker_tag::$DOCKER_TAG"
+
+  build_docker:
+    name: Build Docker image
+    runs-on: ubuntu-latest
+    needs: set_docker_tag
+
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v2
+
+      - name: Login to Github Registry
+        uses: docker/login-action@v1
+        if: github.event_name == 'push'
+        with:
+          registry: ghrc.io
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Set up image builder
+        uses: docker/setup-buildx-action@v1
+
+      - name: Build image
+        uses: docker/build-push-action@v2
+        id: docker_build
+        with:
+          file: Tools/setup/Dockerfile
+          push: ${{ github.event_name != 'pull_request' }}
+          tags: ${{ needs.set_docker_tag.outputs.docker_tag }}
+          outputs: type=tar,dest=/tmp/px4_docker_image.tar
+
+      - name: Save container to artifacts
+        uses: actions/upload-artifact@v2
+        with:
+          name: px4_docker_image
+          path: /tmp/px4_docker_image.tar
+
+      - name: Push to Github Registry
+        uses: docker/build-push-action@v2
+        if: github.event_name == 'push'
+
+      - name: Image Digest
+        run: echo ${{ steps.docker_build.outputs.digest }}
+
+  list_targets:
+    name: Generate target list
+    runs-on: ubuntu-latest
+    needs: build_docker
+    outputs:
+      matrix: ${{ steps.set-matrix.outputs.matrix }}
+
+    steps:
+      - name: Checkout Code
+        uses: actions/checkout@v2
+
+      - name: Setup Python
+        uses: actions/setup-python@v2
+        with:
+          python-version: 3.9
+
+      #- name: Install Python packages
+        #run: pip install -r Tools/setup/requirements.txt
+        #run: pip install kconfiglib
+
+      - id: set-matrix
+        name: Get all nuttx targets
+        run: echo "::set-output name=matrix::$(./Tools/generate_board_targets_json.py -a)"
+
+  build_px4:
+    name: Build targets with Docker
+    runs-on: ubuntu-latest
+    needs: [list_targets, set_docker_tag]
+    #strategy:
+      #matrix: ${{ fromJson(needs.enumerate_targets.outputs.matrix) }}
+
+    steps:
+      - name: Get container from artifacts
+        uses: actions/download-artifact@v2
+        with:
+          name: px4_docker_image
+          path: /tmp
+
+      - name: Load Docker image
+        run: |
+          docker import /tmp/px4_docker_image.tar ${{ needs.set_docker_tag.outputs.docker_tag }}
+          docker image ls -a
+
+      - name: Checkout Code
+        uses: actions/checkout@v2
+
+      - name: Build targets
+        #run: |
+          #docker run --rm -w "${GITHUB_ACTION_PATH}" \
+            #--env=LOCAL_USER_ID="$(id -u)" \
+            #--volume=/tmp:/tmp:rw \
+            #--volume=${GITHUB_ACTION_PATH}:${GITHUB_ACTION_PATH}:rw \
+            #px4io/px4-dev:${{ needs.set_docker_tag.outputs.docker_tag }} /bin/bash -c "make ${{ matrix.target }}"
+
+        run: |
+          docker run --rm -w ${{ github.workspace }} \
+            --env=LOCAL_USER_ID="$(id -u)" \
+            --volume=/tmp:/tmp:rw \
+            --volume=${{ github.workspace }}:${{ github.workspace }}:rw \
+            ${{ needs.set_docker_tag.outputs.docker_tag }} /bin/bash -c "make px4_fmu-v6x"
@@ -0,0 +1,34 @@
+name: ClusterFuzzLite batch fuzzing
+on:
+  schedule:
+    - cron: '0 6 * * *'  # UTC 6am every day.
+permissions: read-all
+jobs:
+  BatchFuzzing:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        sanitizer:
+        - address
+        - undefined
+        - memory
+    steps:
+    - name: Build Fuzzers (${{ matrix.sanitizer }})
+      id: build
+      uses: google/clusterfuzzlite/actions/build_fuzzers@v1
+      with:
+        sanitizer: ${{ matrix.sanitizer }}
+    - name: Run Fuzzers (${{ matrix.sanitizer }})
+      id: run
+      uses: google/clusterfuzzlite/actions/run_fuzzers@v1
+      with:
+        github-token: ${{ secrets.GITHUB_TOKEN }}
+        fuzz-seconds: 1800 # 30 mins
+        mode: 'batch'
+        sanitizer: ${{ matrix.sanitizer }}
+        # Optional but recommended: For storing certain artifacts from fuzzing.
+        # See later section on "Git repo for storage".
+        # storage-repo: https://${{ secrets.PERSONAL_ACCESS_TOKEN }}@github.com/OWNER/STORAGE-REPO-NAME.git
+        # storage-repo-branch: main   # Optional. Defaults to "main"
+        # storage-repo-branch-coverage: gh-pages  # Optional. Defaults to "gh-pages".
@@ -1,54 +0,0 @@
-name: Linux Targets
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-armhf:2021-09-08
-    strategy:
-      matrix:
-        config: [
-          beaglebone_blue_default,
-          emlid_navio2_default,
-          px4_raspberrypi_default,
-          scumaker_pilotpi_default,
-          ]
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: ${{matrix.config}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: make ${{matrix.config}}
-      run: make ${{matrix.config}}
-    - name: ccache post-run
-      run: ccache -s
@@ -1,51 +0,0 @@
-name: Linux ARM64 Targets
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-aarch64:2021-09-08
-    strategy:
-      matrix:
-        config: [
-          scumaker_pilotpi_arm64,
-          ]
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: ${{matrix.config}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: make ${{matrix.config}}
-      run: make ${{matrix.config}}
-    - name: ccache post-run
-      run: ccache -s
@@ -1,118 +0,0 @@
-name: Nuttx Targets
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-09-08
-    strategy:
-      fail-fast: false
-      matrix:
-        config: [
-          airmind_mindpx-v2,
-          ark_can-flow,
-          ark_can-gps,
-          ark_can-rtk-gps,
-          atl_mantis-edu,
-          av_x-v1,
-          bitcraze_crazyflie,
-          bitcraze_crazyflie21,
-          cuav_can-gps-v1,
-          cuav_nora,
-          cuav_x7pro,
-          cubepilot_cubeorange,
-          cubepilot_cubeyellow,
-          freefly_can-rtk-gps,
-          holybro_can-gps-v1,
-          holybro_durandal-v1,
-          holybro_kakutef7,
-          holybro_pix32v5,
-          matek_h743-slim,
-          modalai_fc-v1,
-          modalai_fc-v2,
-          mro_ctrl-zero-f7,
-          mro_ctrl-zero-f7-oem,
-          mro_ctrl-zero-h7,
-          mro_ctrl-zero-h7-oem,
-          mro_pixracerpro,
-          mro_x21,
-          mro_x21-777,
-          nxp_fmuk66-e,
-          nxp_fmuk66-v3,
-          nxp_fmurt1062-v1,
-          nxp_ucans32k146,
-          omnibus_f4sd,
-          raspberrypi_pico,
-          px4_fmu-v2,
-          px4_fmu-v3,
-          px4_fmu-v4,
-          px4_fmu-v4pro,
-          px4_fmu-v5,
-          px4_fmu-v5x,
-          px4_fmu-v6u,
-          px4_fmu-v6x,
-          spracing_h7extreme,
-          uvify_core
-          ]
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: ${{matrix.config}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 120M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: make all_variants_${{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
-      run: make ${{matrix.config}} bloaty_inlines || true
-    - name: make ${{matrix.config}} bloaty_segments
-      run: make ${{matrix.config}} bloaty_segments || true
-    - name: make ${{matrix.config}} bloaty_symbols
-      run: make ${{matrix.config}} bloaty_symbols || true
-    - name: make ${{matrix.config}} bloaty_templates
-      run: make ${{matrix.config}} bloaty_templates || true
-    - name: make ${{matrix.config}} bloaty_ram
-      run: make ${{matrix.config}} bloaty_ram || true
-    - name: make ${{matrix.config}} bloaty_compare_master
-      run: make ${{matrix.config}} bloaty_compare_master || true
-    - name: ccache post-run
-      run: ccache -s
-
-    - name: Upload px4 package
-      uses: actions/upload-artifact@v2
-      with:
-        name: px4_package_${{matrix.config}}
-        path: |
-          build/**/*.px4
-          build/**/*.bin
@@ -1,11 +1,17 @@
-name: Deploy metadata for all targets
+name: Build and deploy all targets with metadata

 on:
+  release:
+    types: [published]
+  create:
+    tags:
+      - 'v*'
  push:
    branches:
    - 'master'
    - 'release/*'
    - 'pr-metadata-test'
+    - 'build_and_deploy_mix'

 jobs:
  enumerate_targets:
@@ -18,8 +24,8 @@ jobs:
      with:
        token: ${{secrets.ACCESS_TOKEN}}
    - id: set-matrix
-      run: echo "::set-output name=matrix::$(./Tools/generate_board_targets_json.py)"
-  build:
+      run: echo "::set-output name=matrix::$(./Tools/generate_board_targets_json.py -a)"
+  build_all:
    runs-on: ubuntu-latest
    needs: enumerate_targets
    strategy:
@@ -34,21 +40,4 @@ jobs:
      run: make ${{matrix.target}}

    - name: parameter & events metadata
-      run: |
-        make ${{matrix.target}} ver_gen events_json
-        ./src/lib/version/get_git_tag_or_branch_version.sh build/${{ matrix.target }} >> $GITHUB_ENV
-        cd build/${{ matrix.target }}
-        mkdir _metadata || true
-        cp parameters.* events/*.xz _metadata
-
-    - uses: jakejarvis/s3-sync-action@master
-      with:
-        args: --acl public-read
-      env:
-        AWS_S3_BUCKET: 'px4-travis'
-        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
-        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
-        AWS_REGION: 'us-west-1'
-        SOURCE_DIR: 'build/${{ matrix.target }}/_metadata/'
-        DEST_DIR: 'Firmware/${{ env.version }}/${{ matrix.target }}/'
-
+      run: make ${{matrix.target}} ver_gen events_json actuators_json
@@ -15,10 +15,10 @@ jobs:
      fail-fast: false
      matrix:
        config:
-          - {latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo",   model: "iris"          } # Alaska
-          - {latitude: "-38.071235", longitude:  "145.281220", altitude:  "31", build_type: "AddressSanitizer", model: "standard_vtol" } # Australia
-          - {latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo",   model: "tailsitter"    } # Florida
-          - {latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage",         model: "standard_vtol" } # Zurich
+          - {model: "iris",          latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo" } # Alaska
+          - {model: "standard_vtol", latitude: "-38.071235", longitude:  "145.281220", altitude:  "31", build_type: "AddressSanitizer" } # Australia
+          - {model: "tailsitter" ,   latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo" } # Florida
+          - {model: "standard_vtol", latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage" } # Zurich

    container:
      image: px4io/px4-dev-simulation-focal:2021-09-08
@@ -96,7 +96,7 @@ jobs:
        PX4_HOME_LON: ${{matrix.config.longitude}}
        PX4_HOME_ALT: ${{matrix.config.altitude}}
        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json
+      run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose
      timeout-minutes: 45

    - name: Look at core files
@@ -105,8 +105,4 @@ src/lib/version/build_git_version.h
 src/modules/simulator/simulator_config.h
 src/systemcmds/topic_listener/listener_generated.cpp

-# SITL
-dataman
-eeprom/
-
 !src/drivers/distance_sensor/broadcom/afbrs50/Lib/*
@@ -42,12 +42,6 @@
 [submodule "src/drivers/uavcan_v1/public_regulated_data_types"]
 	path = src/drivers/uavcan_v1/public_regulated_data_types
 	url = https://github.com/UAVCAN/public_regulated_data_types.git
-[submodule "src/drivers/uavcannode_gps_demo/public_regulated_data_types"]
-	path = src/drivers/uavcannode_gps_demo/public_regulated_data_types
-	url = https://github.com/UAVCAN/public_regulated_data_types.git
-[submodule "src/drivers/uavcannode_gps_demo/libcanard"]
-	path = src/drivers/uavcannode_gps_demo/libcanard
-	url = https://github.com/UAVCAN/libcanard.git
 [submodule "src/drivers/uavcan_v1/legacy_data_types"]
 	path = src/drivers/uavcan_v1/legacy_data_types
 	url = https://github.com/PX4/public_regulated_data_types.git
@@ -61,6 +61,11 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: px4_fmu-v5_default
+    px4_fmu-v5_debug:
+      short: px4_fmu-v5_debug
+      buildType: MinSizeRel
+      settings:
+        CONFIG: px4_fmu-v5_debug
    px4_fmu-v5x_default:
      short: px4_fmu-v5x
      buildType: MinSizeRel
@@ -191,6 +196,16 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: matek_h743-slim_default
+    matek_gnss-m9n-f4_canbootloader:
+      short: matek_gnss-m9n-f4_canbootloader
+      buildType: MiniSizeRel
+      settings:
+        CONFIG: matek_m9nf4can_canbootloader
+    matek_gnss-m9n-f4_default:
+      short: matek_gnss-m9n-f4_default
+      buildType: MiniSizeRel
+      settings:
+        CONFIG: matek_gnss-m9n-f4_default
    modalai_fc-v1_default:
      short: modalai_fc-v1
      buildType: MinSizeRel
@@ -125,6 +125,11 @@ define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES
                 FULL_DOCS "List of all PX4 module libraries"
                 )

+define_property(GLOBAL PROPERTY PX4_KERNEL_MODULE_LIBRARIES
+                 BRIEF_DOCS "PX4 kernel side module libs"
+                 FULL_DOCS "List of all PX4 kernel module libraries"
+                 )
+
 define_property(GLOBAL PROPERTY PX4_MODULE_PATHS
                 BRIEF_DOCS "PX4 module paths"
                 FULL_DOCS "List of paths to all PX4 modules"
@@ -142,6 +147,7 @@ set(CONFIG "px4_sitl_default" CACHE STRING "desired configuration")

 include(px4_add_module)
 set(config_module_list)
+set(config_kernel_list)

 # Find Python
 # If using catkin, Python 2 is found since it points
@@ -423,6 +429,8 @@ endforeach()

 # add events lib after modules and libs as it needs to know all source files (PX4_SRC_FILES)
 add_subdirectory(src/lib/events EXCLUDE_FROM_ALL)
+# metadata needs PX4_MODULE_CONFIG_FILES
+add_subdirectory(src/lib/metadata EXCLUDE_FROM_ALL)

 # must be the last module before firmware
 add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL)
@@ -88,7 +88,7 @@ pipeline {
            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
          }
          steps {
-            sh 'make distclean'
+            sh 'make distclean; git clean -ff -x -d .'
            sh 'git fetch --all --tags'
            sh 'make airframe_metadata'
            dir('build/px4_sitl_default/docs') {
@@ -98,7 +98,7 @@ pipeline {
          }
          post {
            always {
-              sh 'make distclean'
+              sh 'make distclean; git clean -ff -x -d .'
            }
          }
        }
@@ -108,7 +108,7 @@ pipeline {
            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
          }
          steps {
-            sh 'make distclean'
+            sh 'make distclean; git clean -ff -x -d .'
            sh 'git fetch --all --tags'
            sh 'make parameters_metadata'
            dir('build/px4_sitl_default/docs') {
@@ -118,7 +118,7 @@ pipeline {
          }
          post {
            always {
-              sh 'make distclean'
+              sh 'make distclean; git clean -ff -x -d .'
            }
          }
        }
@@ -128,7 +128,7 @@ pipeline {
            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
          }
          steps {
-            sh 'make distclean'
+            sh 'make distclean; git clean -ff -x -d .'
            sh 'git fetch --all --tags'
            sh 'make module_documentation'
            dir('build/px4_sitl_default/docs') {
@@ -138,7 +138,7 @@ pipeline {
          }
          post {
            always {
-              sh 'make distclean'
+              sh 'make distclean; git clean -ff -x -d .'
            }
          }
        }
@@ -156,7 +156,7 @@ pipeline {
          }
          post {
            always {
-              sh 'make distclean'
+              sh 'make distclean; git clean -ff -x -d .'
            }
          }
        }
@@ -170,7 +170,7 @@ pipeline {
          }
          steps {
            sh 'export'
-            sh 'make distclean'
+            sh 'make distclean; git clean -ff -x -d .'
            sh 'git fetch --all --tags'
            sh 'make uorb_graphs'
            dir('Tools/uorb_graph') {
@@ -180,7 +180,7 @@ pipeline {
          }
          post {
            always {
-              sh 'make distclean'
+              sh 'make distclean; git clean -ff -x -d .'
            }
          }
        }
@@ -261,7 +261,7 @@ pipeline {
          steps {
            sh('export')
            sh('git fetch --all --tags')
-            sh('make distclean')
+            sh('make distclean; git clean -ff -x -d .')
            sh('make px4_sitl_rtps')
            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/micrortps_agent.git -b ${BRANCH_NAME}")
@@ -290,7 +290,7 @@ pipeline {
          }
          steps {
            sh('export')
-            sh('make distclean')
+            sh('make distclean; git clean -ff -x -d .')
            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
              // 'master' branch
@@ -319,7 +319,7 @@ pipeline {
          }
          steps {
            sh('export')
-            sh('make distclean')
+            sh('make distclean; git clean -ff -x -d .')
            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_ros_com.git -b ${BRANCH_NAME}")
              // deploy uORB RTPS ID map
@@ -114,14 +114,14 @@ config BOARD_ETHERNET
        flag to indicate that ethernet is enabled

 config BOARD_CRYPTO
-    string "Crypto"
+    bool "Crypto support"
    help
-        Crypto implementation selection
+        Enable PX4 Crypto Support. Select the implementation under drivers

-config BOARD_KEYSTORE
-    string "Keystore"
+config BOARD_PROTECTED
+    bool "Memory protection"
    help
-        Keystore implememntation selection
+        Enable memory protection via MPU/MMU

 menu "Serial ports"

@@ -1,6 +1,6 @@
 BSD 3-Clause License

-Copyright (c) 2012 - 2021, PX4 Development Team
+Copyright (c) 2012 - 2022, PX4 Development Team
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
@@ -158,6 +158,11 @@ else
 		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=UndefinedBehaviorSanitizer
 	endif

+	# Fuzz Testing
+	ifdef PX4_FUZZ
+		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=FuzzTesting
+	endif
+
 endif

 # Pick up specific Python path if set
@@ -482,7 +487,9 @@ shellcheck_all:
 	@make px4_fmu-v5_default shellcheck

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

 # Cleanup
 # --------------------------------------------------------------------
@@ -11,40 +11,22 @@

 param set-default SYS_CTRL_ALLOC 1

-param set-default MPC_USE_HTE 0
-
-param set-default VM_MASS 1.5
-param set-default VM_INERTIA_XX 0.03
-param set-default VM_INERTIA_YY 0.03
-param set-default VM_INERTIA_ZZ 0.05

 param set-default CA_AIRFRAME 0
-param set-default CA_METHOD 1
-param set-default CA_ACT0_MIN 0.0
-param set-default CA_ACT1_MIN 0.0
-param set-default CA_ACT2_MIN 0.0
-param set-default CA_ACT3_MIN 0.0
-param set-default CA_ACT0_MAX 1.0
-param set-default CA_ACT1_MAX 1.0
-param set-default CA_ACT2_MAX 1.0
-param set-default CA_ACT3_MAX 1.0

-param set-default CA_MC_R0_PX 0.1515
-param set-default CA_MC_R0_PY 0.245
-param set-default CA_MC_R0_CT 6.5
-param set-default CA_MC_R0_KM 0.05
-param set-default CA_MC_R1_PX -0.1515
-param set-default CA_MC_R1_PY -0.1875
-param set-default CA_MC_R1_CT 6.5
-param set-default CA_MC_R1_KM 0.05
-param set-default CA_MC_R2_PX 0.1515
-param set-default CA_MC_R2_PY -0.245
-param set-default CA_MC_R2_CT 6.5
-param set-default CA_MC_R2_KM -0.05
-param set-default CA_MC_R3_PX -0.1515
-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
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.1515
+param set-default CA_ROTOR0_PY 0.245
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.1515
+param set-default CA_ROTOR1_PY -0.1875
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.1515
+param set-default CA_ROTOR2_PY -0.245
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.1515
+param set-default CA_ROTOR3_PY 0.1875
+param set-default CA_ROTOR3_KM -0.05

 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
@@ -5,8 +5,6 @@

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

-#Set data link loss failsafe mode (0: disabled)
-
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

@@ -5,8 +5,6 @@

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

-#Set data link loss failsafe mode (0: disabled)
-
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

@@ -5,11 +5,66 @@

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

-#Set data link loss failsafe mode (0: disabled)
-
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

-set PWM_OUT 12345678
-set MIXER_FILE etc/mixers-sitl/vectored6dof_sitl.main.mix
-set MIXER custom
+param set-default SYS_CTRL_ALLOC 1
+param set-default CA_AIRFRAME 7
+
+param set-default CA_ROTOR_COUNT 8
+param set-default CA_R_REV 255
+param set-default CA_ROTOR0_AX 1.0000
+param set-default CA_ROTOR0_AY -1.0000
+param set-default CA_ROTOR0_AZ 0.0000
+param set-default CA_ROTOR0_KM 0.0000
+param set-default CA_ROTOR0_PX 0.5000
+param set-default CA_ROTOR0_PY 0.3000
+param set-default CA_ROTOR0_PZ 0.2000
+param set-default CA_ROTOR1_AX 1.0000
+param set-default CA_ROTOR1_AY 1.0000
+param set-default CA_ROTOR1_AZ 0.0000
+param set-default CA_ROTOR1_KM 0.0000
+param set-default CA_ROTOR1_PX 0.5000
+param set-default CA_ROTOR1_PY -0.3000
+param set-default CA_ROTOR1_PZ 0.2000
+param set-default CA_ROTOR2_AX 1.0000
+param set-default CA_ROTOR2_AY 1.0000
+param set-default CA_ROTOR2_AZ 0.0000
+param set-default CA_ROTOR2_KM 0.0000
+param set-default CA_ROTOR2_PX -0.5000
+param set-default CA_ROTOR2_PY 0.3000
+param set-default CA_ROTOR2_PZ 0.2000
+param set-default CA_ROTOR3_AX 1.0000
+param set-default CA_ROTOR3_AY -1.0000
+param set-default CA_ROTOR3_AZ 0.0000
+param set-default CA_ROTOR3_KM 0.0000
+param set-default CA_ROTOR3_PX -0.5000
+param set-default CA_ROTOR3_PY -0.3000
+param set-default CA_ROTOR3_PZ 0.2000
+param set-default CA_ROTOR4_AZ -1.0000
+param set-default CA_ROTOR4_KM 0.0000
+param set-default CA_ROTOR4_PX 0.5000
+param set-default CA_ROTOR4_PY 0.5000
+param set-default CA_ROTOR5_AZ 1.0000
+param set-default CA_ROTOR5_KM 0.0000
+param set-default CA_ROTOR5_PX 0.5000
+param set-default CA_ROTOR5_PY -0.5000
+param set-default CA_ROTOR6_AZ 1.0000
+param set-default CA_ROTOR6_KM 0.0000
+param set-default CA_ROTOR6_PX -0.5000
+param set-default CA_ROTOR6_PY 0.5000
+param set-default CA_ROTOR7_KM 0.0000
+param set-default CA_ROTOR7_PX -0.5000
+param set-default CA_ROTOR7_PY -0.5000
+
+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
+param set-default PWM_MAIN_FUNC7 107
+param set-default PWM_MAIN_FUNC8 108
+
+set MIXER skip
+
@@ -29,12 +29,9 @@ param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
 param set-default FW_THR_CRUISE 0.25

-param set-default FW_T_ALT_TC 2
 param set-default FW_T_CLMB_MAX 8
-param set-default FW_T_HRATE_FF 0.5
 param set-default FW_T_SINK_MAX 2.7
 param set-default FW_T_SINK_MIN 2.2
-param set-default FW_T_TAS_TC 2

 param set-default FW_W_EN 1

@@ -46,5 +43,32 @@ param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1

+#param set-default SYS_CTRL_ALLOC 1
+param set-default CA_AIRFRAME 1
+
+param set-default CA_ROTOR_COUNT 1
+param set-default CA_ROTOR0_PX 0.3
+
+param set-default CA_SV_CS_COUNT 6
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TYPE 4
+param set-default CA_SV_CS4_TYPE 9
+param set-default CA_SV_CS5_TYPE 10
+param set-default PWM_MAIN_FUNC3 204
+param set-default PWM_MAIN_FUNC4 205
+param set-default PWM_MAIN_FUNC5 101
+param set-default PWM_MAIN_FUNC6 201
+param set-default PWM_MAIN_FUNC7 202
+param set-default PWM_MAIN_FUNC8 203
+param set-default PWM_MAIN_FUNC9 206
+param set-default PWM_MAIN_REV 256
+
+
 set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
 set MIXER custom
@@ -7,6 +7,39 @@

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

+# param set-default SYS_CTRL_ALLOC 1
+param set-default CA_AIRFRAME 2
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.1515
+param set-default CA_ROTOR0_PY 0.245
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.1515
+param set-default CA_ROTOR1_PY -0.1875
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.1515
+param set-default CA_ROTOR2_PY -0.245
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.1515
+param set-default CA_ROTOR3_PY 0.1875
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default CA_SV_CS_COUNT 3
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS2_TRQ_P 1.0
+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 201
+param set-default PWM_MAIN_FUNC7 202
+param set-default PWM_MAIN_FUNC8 203
+
 param set-default FW_L1_PERIOD 12
 param set-default FW_MAN_P_MAX 30
 param set-default FW_PR_FF 0.2
@@ -19,12 +52,9 @@ param set-default FW_RR_P 0.3
 param set-default FW_THR_CRUISE 0.25
 param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
-param set-default FW_T_ALT_TC 2
 param set-default FW_T_CLMB_MAX 8
-param set-default FW_T_HRATE_FF 0.5
 param set-default FW_T_SINK_MAX 2.7
 param set-default FW_T_SINK_MIN 2.2
-param set-default FW_T_TAS_TC 2

 param set-default MC_ROLLRATE_P 0.3
 param set-default MC_YAW_P 1.6
@@ -7,14 +7,48 @@

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

+# param set-default SYS_CTRL_ALLOC 1
+param set-default CA_AIRFRAME 4
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 2
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default CA_SV_CS_COUNT 2
+param set-default CA_SV_CS0_TYPE 5
+param set-default CA_SV_CS0_TRQ_P 0.5
+param set-default CA_SV_CS0_TRQ_Y -0.5
+param set-default CA_SV_CS1_TYPE 6
+param set-default CA_SV_CS1_TRQ_P 0.5
+param set-default CA_SV_CS1_TRQ_Y 0.5
+
+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 0
+param set-default PWM_MAIN_FUNC6 201
+param set-default PWM_MAIN_FUNC7 202
+param set-default PWM_MAIN_REV 96 # invert both elevons
+
 param set-default FW_L1_PERIOD 12
 param set-default FW_MAN_P_MAX 30
 param set-default FW_PR_I 0.2
-param set-default FW_PR_P 0.3
+param set-default FW_PR_P 0.2
 param set-default FW_PSP_OFF 2
 param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15
-param set-default FW_RR_P 0.3
+param set-default FW_RR_P 0.2
 param set-default FW_THR_CRUISE 0.33
 param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
@@ -36,6 +70,8 @@ param set-default MPC_XY_VEL_D_ACC 0.1
 param set-default NAV_ACC_RAD 5
 param set-default NAV_LOITER_RAD 80

+param set-default VT_FW_DIFTHR_EN 1
+param set-default VT_FW_DIFTHR_SC 0.5
 param set-default VT_F_TRANS_DUR 1.5
 param set-default VT_F_TRANS_THR 0.7
 param set-default VT_TYPE 0
@@ -7,6 +7,52 @@

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

+# param set-default SYS_CTRL_ALLOC 1
+param set-default CA_AIRFRAME 3
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.1515
+param set-default CA_ROTOR0_PY 0.245
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.1515
+param set-default CA_ROTOR1_PY -0.1875
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.1515
+param set-default CA_ROTOR2_PY -0.245
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.1515
+param set-default CA_ROTOR3_PY 0.1875
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default CA_ROTOR0_TILT 1
+param set-default CA_ROTOR1_TILT 2
+param set-default CA_ROTOR2_TILT 3
+param set-default CA_ROTOR3_TILT 4
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS_COUNT 3
+param set-default CA_SV_TL0_CT 0
+param set-default CA_SV_TL1_CT 0
+param set-default CA_SV_TL2_CT 0
+param set-default CA_SV_TL3_CT 0
+param set-default CA_SV_TL_COUNT 4
+
+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 204
+param set-default PWM_MAIN_FUNC6 205
+param set-default PWM_MAIN_FUNC7 206
+param set-default PWM_MAIN_FUNC8 207
+param set-default PWM_MAIN_FUNC9 201
+param set-default PWM_MAIN_FUNC10 202
+param set-default PWM_MAIN_FUNC11 203
+
 param set-default FW_L1_PERIOD 12
 param set-default FW_MAN_P_MAX 30
 param set-default FW_PR_FF 0.2
@@ -19,12 +65,9 @@ param set-default FW_RR_P 0.3
 param set-default FW_THR_CRUISE 0.38
 param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
-param set-default FW_T_ALT_TC 2
 param set-default FW_T_CLMB_MAX 8
-param set-default FW_T_HRATE_FF 0.5
 param set-default FW_T_SINK_MAX 2.7
 param set-default FW_T_SINK_MIN 2.2
-param set-default FW_T_TAS_TC 2

 param set-default MC_YAW_P 1.6

@@ -28,6 +28,15 @@ param set-default CBRK_AIRSPD_CHK 162128
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 2.0

+param set-default SYS_CTRL_ALLOC 1
+param set-default CA_AIRFRAME 5
+
+param set-default CA_R_REV 1
+param set-default PWM_MAIN_FUNC1 201
+param set-default PWM_MAIN_FUNC2 201
+param set-default PWM_MAIN_FUNC6 101
+param set-default PWM_MAIN_FUNC7 101
+
 set MAV_TYPE 10

-set MIXER_FILE etc/mixers-sitl/rover_ackermann_sitl.main.mix
+set MIXER_FILE skip
@@ -28,6 +28,15 @@ param set-default CBRK_AIRSPD_CHK 162128
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 2.0

+param set-default SYS_CTRL_ALLOC 1
+param set-default CA_AIRFRAME 6
+
+param set-default CA_R_REV 3
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 101
+param set-default PWM_MAIN_FUNC6 102
+param set-default PWM_MAIN_FUNC7 102
+
 set MAV_TYPE 10

-set MIXER_FILE etc/mixers-sitl/rover_diff_sitl.main.mix
+set MIXER_FILE skip
@@ -28,6 +28,25 @@ param set-default CBRK_AIRSPD_CHK 162128
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 2.0

+param set-default SYS_CTRL_ALLOC 1
+param set-default CA_AIRFRAME 9
+
+param set-default CA_ROTOR_COUNT 2
+param set-default CA_ROTOR0_AX 1
+param set-default CA_ROTOR0_AZ 0
+param set-default CA_ROTOR0_KM 0
+param set-default CA_ROTOR0_PX -2
+param set-default CA_ROTOR0_PY -1
+param set-default CA_ROTOR1_AX 1
+param set-default CA_ROTOR1_AZ 0
+param set-default CA_ROTOR1_KM 0
+param set-default CA_ROTOR1_PX -2
+param set-default CA_ROTOR1_PY 1
+param set-default CA_R_REV 3
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+
 set MAV_TYPE 11

-set MIXER_FILE etc/mixers-sitl/boat_sitl.main.mix
+set MIXER skip
@@ -11,5 +11,31 @@

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

-set MIXER cloudship
-set PWM_OUT 1234
+param set-default SYS_CTRL_ALLOC 1
+param set-default CA_AIRFRAME 9
+
+param set-default CA_ROTOR_COUNT 3
+param set-default CA_ROTOR0_AX 1.0000
+param set-default CA_ROTOR0_AZ 0.0000
+param set-default CA_ROTOR0_KM 0.0000
+param set-default CA_ROTOR0_PY 2.0000
+param set-default CA_ROTOR1_AX 1.0000
+param set-default CA_ROTOR1_AZ 0.0000
+param set-default CA_ROTOR1_KM 0.0000
+param set-default CA_ROTOR1_PY -2.0000
+param set-default CA_ROTOR2_AY -1.0000
+param set-default CA_ROTOR2_AZ 0.0000
+param set-default CA_ROTOR2_KM 0.0000
+param set-default CA_ROTOR2_PX -10.0000
+
+param set-default CA_SV_CS_COUNT 1
+param set-default CA_SV_CS0_TRQ_P 1.0000
+
+param set-default CA_R_REV 7
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 201
+param set-default PWM_MAIN_FUNC4 103
+
+set MIXER skip
@@ -29,52 +29,27 @@ param set-default TRIG_MODE 4
 param set-default MNT_MODE_IN 0
 param set-default MAV_PROTO_VER 2

-param set-default MPC_USE_HTE 0
-
-param set-default VM_MASS 2.66
-param set-default VM_INERTIA_XX 0.06
-param set-default VM_INERTIA_YY 0.06
-param set-default VM_INERTIA_ZZ 0.10
-
 param set-default CA_AIRFRAME 0
-param set-default CA_METHOD 1
-param set-default CA_ACT0_MIN 0.0
-param set-default CA_ACT1_MIN 0.0
-param set-default CA_ACT2_MIN 0.0
-param set-default CA_ACT3_MIN 0.0
-param set-default CA_ACT4_MIN 0.0
-param set-default CA_ACT5_MIN 0.0
-param set-default CA_ACT0_MAX 1.0
-param set-default CA_ACT1_MAX 1.0
-param set-default CA_ACT2_MAX 1.0
-param set-default CA_ACT3_MAX 1.0
-param set-default CA_ACT4_MAX 1.0
-param set-default CA_ACT5_MAX 1.0
+param set-default CA_ROTOR_COUNT 6

-param set-default CA_MC_R0_PX 0.0
-param set-default CA_MC_R0_PY 1.0
-param set-default CA_MC_R0_CT 9.5
-param set-default CA_MC_R0_KM -0.05
-param set-default CA_MC_R1_PX 0.0
-param set-default CA_MC_R1_PY -1.0
-param set-default CA_MC_R1_CT 9.5
-param set-default CA_MC_R1_KM 0.05
-param set-default CA_MC_R2_PX 0.866025
-param set-default CA_MC_R2_PY -0.5
-param set-default CA_MC_R2_CT 9.5
-param set-default CA_MC_R2_KM -0.05
-param set-default CA_MC_R3_PX -0.866025
-param set-default CA_MC_R3_PY 0.5
-param set-default CA_MC_R3_CT 9.5
-param set-default CA_MC_R3_KM 0.05
-param set-default CA_MC_R4_PX 0.866025
-param set-default CA_MC_R4_PY 0.5
-param set-default CA_MC_R4_CT 9.5
-param set-default CA_MC_R4_KM 0.05
-param set-default CA_MC_R5_PX -0.866025
-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 CA_ROTOR0_PX 0.0
+param set-default CA_ROTOR0_PY 1.0
+param set-default CA_ROTOR0_KM -0.05
+param set-default CA_ROTOR1_PX 0.0
+param set-default CA_ROTOR1_PY -1.0
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.866025
+param set-default CA_ROTOR2_PY -0.5
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.866025
+param set-default CA_ROTOR3_PY 0.5
+param set-default CA_ROTOR3_KM 0.05
+param set-default CA_ROTOR4_PX 0.866025
+param set-default CA_ROTOR4_PY 0.5
+param set-default CA_ROTOR4_KM 0.05
+param set-default CA_ROTOR5_PX -0.866025
+param set-default CA_ROTOR5_PY -0.5
+param set-default CA_ROTOR5_KM -0.05

 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
@@ -10,7 +10,7 @@ fi

 if [ ! -f replay_params.txt ]; then
 	echo "Creating $(pwd)/replay_params.txt"
-	ulog_params -i "${replay}" -d ' ' | grep -e '^EKF2' > replay_params.txt
+	ulog_params -i "${replay}" -l ' ' | grep -e '^EKF2' > replay_params.txt
 fi

 publisher_rules_file="orb_publisher.rules"
@@ -21,6 +21,7 @@ ignore_others: false
 EOF

 param set SDLOG_DIRS_MAX 7
+param set SDLOG_PROFILE 3

 # apply all params before ekf starts, as some params cannot be changed after startup
 replay tryapplyparams
@@ -1,5 +1,7 @@
 #!/bin/sh

+set -e
+
 # PX4 commands need the 'px4-' prefix in bash.
 # (px4-alias.sh is expected to be in the PATH)
 # shellcheck disable=SC1091
@@ -35,6 +35,6 @@ param set-default MC_YAWRATE_P 0.25
 param set-default MC_YAWRATE_I 0.25

 param set-default BAT1_V_DIV 12.27559
-param set-default BAT1_A_PER_V 15.39103
+param set-default BAT1_A_PER_V 15.391030303103

 set MIXER quad_w
@@ -15,6 +15,8 @@
 set MIXER quad_x
 set PWM_OUT 1234

+param set UAVCAN_ENABLE 0
+
 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
 param set SYS_HITL 2

@@ -15,6 +15,8 @@
 set MIXER AERT
 set PWM_OUT 1234

+param set UAVCAN_ENABLE 0
+
 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
 param set-default SYS_HITL 2

@@ -38,3 +40,4 @@ param set SIH_IXZ 0.00046
 param set SIH_KDV 0.2

 param set SIH_VEHICLE_TYPE 1 	# sih as fixed wing
+param set RWTO_TKOFF 1  # enable takeoff from runway (as opposed to launched)
@@ -0,0 +1,61 @@
+#!/bin/sh
+#
+# @name SIH Tailsitter Duo
+#
+# @type Simulation
+# @class VTOL
+#
+# @output MAIN1 motor right
+# @output MAIN2 motor left
+# @output MAIN5 elevon right
+# @output MAIN6 elevon left
+#
+# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
+#
+# @board px4_fmu-v2 exclude
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+param set UAVCAN_ENABLE 0
+param set-default VT_ELEV_MC_LOCK 0
+param set-default VT_MOT_COUNT 2
+param set-default VT_TYPE 0
+param set-default VT_FW_DIFTHR_EN 1
+param set-default VT_FW_DIFTHR_SC 0.3
+param set-default MPC_MAN_Y_MAX 60
+param set-default MC_PITCH_P 5
+
+param set-default MAV_TYPE 19
+set MAV_TYPE 19
+set MIXER vtol_tailsitter_duo_sat
+
+set PWM_OUT 1234
+
+# set SYS_HITL to 2 to start the SIH and avoid sensors startup
+param set-default SYS_HITL 2
+
+# disable some checks to allow to fly:
+# - with usb
+param set-default CBRK_USB_CHK 197848
+# - without real battery
+param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default COM_PREARM_MODE 0
+param set-default CBRK_IO_SAFETY 22027
+
+param set-default BAT_N_CELLS 3
+
+param set SIH_T_MAX 2.0
+param set SIH_Q_MAX 0.0165
+param set SIH_MASS 0.2
+# IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
+param set SIH_IXX 0.00354
+param set SIH_IYY 0.000625
+param set SIH_IZZ 0.00300
+param set SIH_IXZ 0.0
+param set SIH_KDV 0.2
+param set SIH_L_ROLL 0.145
+
+# sih as tailsitter
+param set SIH_VEHICLE_TYPE 2
@@ -64,7 +64,6 @@ param set-default FW_BAT_SCALE_EN 1
 param set-default FW_THR_ALT_SCL 2.7
 param set-default FW_T_RLL2THR 20

-param set-default LNDMC_ALT_MAX 9999
 param set-default LNDMC_XY_VEL_MAX 1
 param set-default LNDMC_Z_VEL_MAX 0.7

@@ -17,40 +17,21 @@ set MIXER_AUX none

 param set-default SYS_CTRL_ALLOC 1

-param set-default MPC_USE_HTE 0
-
-param set-default VM_MASS 1.5
-param set-default VM_INERTIA_XX 0.03
-param set-default VM_INERTIA_YY 0.03
-param set-default VM_INERTIA_ZZ 0.05
-
 param set-default CA_AIRFRAME 0
-param set-default CA_METHOD 1
-param set-default CA_ACT0_MIN 0.0
-param set-default CA_ACT1_MIN 0.0
-param set-default CA_ACT2_MIN 0.0
-param set-default CA_ACT3_MIN 0.0
-param set-default CA_ACT0_MAX 1.0
-param set-default CA_ACT1_MAX 1.0
-param set-default CA_ACT2_MAX 1.0
-param set-default CA_ACT3_MAX 1.0

-param set-default CA_MC_R0_PX 0.177
-param set-default CA_MC_R0_PY 0.177
-param set-default CA_MC_R0_CT 6.5
-param set-default CA_MC_R0_KM 0.05
-param set-default CA_MC_R1_PX -0.177
-param set-default CA_MC_R1_PY -0.177
-param set-default CA_MC_R1_CT 6.5
-param set-default CA_MC_R1_KM 0.05
-param set-default CA_MC_R2_PX 0.177
-param set-default CA_MC_R2_PY -0.177
-param set-default CA_MC_R2_CT 6.5
-param set-default CA_MC_R2_KM -0.05
-param set-default CA_MC_R3_PX -0.177
-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
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.177
+param set-default CA_ROTOR0_PY 0.177
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.177
+param set-default CA_ROTOR1_PY -0.177
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.177
+param set-default CA_ROTOR2_PY -0.177
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.177
+param set-default CA_ROTOR3_PY 0.177
+param set-default CA_ROTOR3_KM -0.05

 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
@@ -0,0 +1,23 @@
+#!/bin/sh
+#
+# @name Holybro X500 V2
+#
+# @type Quadrotor x
+# @class Copter
+#
+# @maintainer Farhang Naderi <farhang.nba@gmail.com>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+param set-default IMU_GYRO_CUTOFF 30
+
+param set-default MC_ROLLRATE_P 0.14
+param set-default MC_PITCHRATE_P 0.14
+param set-default MC_ROLLRATE_I 0.3
+param set-default MC_PITCHRATE_I 0.3
+param set-default MC_ROLLRATE_D 0.004
+param set-default MC_PITCHRATE_D 0.004
@@ -16,8 +16,10 @@

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

-set MIXER none
-set MIXER_AUX none
+# We set the mixer and ESC manually.
+set MIXER skip
+set MIXER_AUX skip
+set MIXER_FILE ""

 # Battery settings
 param set-default BAT_CRIT_THR 0.20
@@ -33,12 +35,13 @@ param set-default CBRK_SUPPLY_CHK 894281

 param set-default COM_DISARM_LAND 0.1
 param set-default COM_DISARM_PRFLT 3
-param set-default COM_FLTMODE1 -1
+param set-default COM_DL_LOSS_T 10
+param set-default COM_FLTMODE1  2
 param set-default COM_FLTMODE2 -1
 param set-default COM_FLTMODE3 -1
-param set-default COM_FLTMODE4  2
+param set-default COM_FLTMODE4 -1
 param set-default COM_FLTMODE5 -1
-param set-default COM_FLTMODE6  6
+param set-default COM_FLTMODE6  1
 param set-default COM_RC_LOSS_T 3


@@ -68,6 +71,9 @@ param set-default EKF2_OF_GATE 2.0
 param set-default EKF2_OF_POS_X -0.035
 param set-default EKF2_OF_POS_Y 0.0
 param set-default EKF2_OF_POS_Z 0.033
+param set-default EKF2_OF_MIN_RNG 0.01
+param set-default EKF2_OF_A_HMAX 7.0
+param set-default EKF2_OF_QMIN 30

 param set-default EKF2_PCOEF_XN -0.3
 param set-default EKF2_PCOEF_XP -0.4
@@ -142,57 +148,30 @@ param set-default MPC_Z_VEL_P 0.27

 # gimbal configuration
 param set-default MNT_MODE_IN 1
-param set-default MNT_MODE_OUT 2
-param set-default MNT_MAN_PITCH 1
-
+param set-default MNT_MODE_OUT 1
+param set-default MNT_MAN_PITCH 2
+param set-default MNT_RC_IN_MODE 1
+param set-default MNT_RATE_PITCH 30

 # RC
 param set-default RC_CHAN_CNT       12

 param set-default RC_MAP_THROTTLE   1
-param set-default RC_MAP_ROLL       2
+param set-default RC_MAP_YAW        2
 param set-default RC_MAP_PITCH      3
-param set-default RC_MAP_YAW        4
-param set-default RC_MAP_FLTMODE    5
-param set-default RC_MAP_AUX1       7
-
-param set-default RC1_DZ            10
-param set-default RC1_MAX           3413
-param set-default RC1_MIN           683
-param set-default RC1_REV           1
-param set-default RC1_TRIM          683
-param set-default RC2_DZ            10
-param set-default RC2_MAX           3413
-param set-default RC2_MIN           683
-param set-default RC2_REV           -1
-param set-default RC2_TRIM          2048
-param set-default RC3_DZ            10
-param set-default RC3_MAX           3413
-param set-default RC3_MIN           683
-param set-default RC3_REV           1
-param set-default RC3_TRIM          2048
-param set-default RC4_DZ            10
-param set-default RC4_MAX           3413
-param set-default RC4_MIN           683
-param set-default RC4_REV           -1
-param set-default RC4_TRIM          2048
-param set-default RC5_DZ            10
-param set-default RC5_MAX           3414
-param set-default RC5_MIN           2048
-param set-default RC5_REV           1
-param set-default RC5_TRIM          2048
-param set-default RC7_DZ            10
-param set-default RC7_MAX           3413
-param set-default RC7_MIN           683
-param set-default RC7_REV           1
-param set-default RC7_TRIM          2048
+param set-default RC_MAP_ROLL       4
+param set-default RC_MAP_AUX2       5
+param set-default RC_MAP_AUX3       10
+param set-default RC_MAP_AUX4       8
+param set-default RC_MAP_FLTMODE    6
+param set-default RC1_TRIM          1000


 # optical flow
 param set-default SENS_FLOW_MAXR   7.4
 param set-default SENS_FLOW_MINHGT 0.15
 param set-default SENS_FLOW_MAXHGT 5.0
-param set-default SENS_FLOW_ROT    4
+param set-default SENS_FLOW_ROT    0

-
-mixer load /dev/tap_esc /etc/mixers/quad_x.main.mix
+# ignore the SD card errors and use normal startup sound
+set STARTUP_TUNE "1"
@@ -13,9 +13,6 @@

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

-
-#Set data link loss failsafe mode (0: disabled)
-
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

@@ -13,9 +13,6 @@

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

-
-#Set data link loss failsafe mode (0: disabled)
-
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

@@ -22,7 +22,6 @@

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

-#Set data link loss failsafe mode (0: disabled)

 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128
@@ -13,58 +13,33 @@
 . ${R}etc/init.d/rc.mc_defaults

 param set-default SYS_CTRL_ALLOC 1
-param set-default MPC_USE_HTE 0
-
-param set-default VM_MASS 1.5
-param set-default VM_INERTIA_XX 0.03
-param set-default VM_INERTIA_YY 0.03
-param set-default VM_INERTIA_ZZ 0.05

 param set-default CA_AIRFRAME 0
-param set-default CA_METHOD 1
-param set-default CA_ACT0_MIN 0.0
-param set-default CA_ACT1_MIN 0.0
-param set-default CA_ACT2_MIN 0.0
-param set-default CA_ACT3_MIN 0.0
-param set-default CA_ACT4_MIN 0.0
-param set-default CA_ACT5_MIN 0.0
+param set-default CA_ROTOR_COUNT 6

-param set-default CA_ACT0_MAX 1.0
-param set-default CA_ACT1_MAX 1.0
-param set-default CA_ACT2_MAX 1.0
-param set-default CA_ACT3_MAX 1.0
-param set-default CA_ACT4_MAX 1.0
-param set-default CA_ACT5_MAX 1.0
+param set-default CA_ROTOR0_PX 0.0
+param set-default CA_ROTOR0_PY 0.275
+param set-default CA_ROTOR0_KM -0.05

-param set-default CA_MC_R0_PX 0.0
-param set-default CA_MC_R0_PY 0.275
-param set-default CA_MC_R0_CT 6.5
-param set-default CA_MC_R0_KM -0.05
+param set-default CA_ROTOR1_PX 0.0
+param set-default CA_ROTOR1_PY -0.275
+param set-default CA_ROTOR1_KM 0.05

-param set-default CA_MC_R1_PX 0.0
-param set-default CA_MC_R1_PY -0.275
-param set-default CA_MC_R1_CT 6.5
-param set-default CA_MC_R1_KM 0.05
+param set-default CA_ROTOR2_PX 0.238
+param set-default CA_ROTOR2_PY -0.1375
+param set-default CA_ROTOR2_KM -0.05

-param set-default CA_MC_R2_PX 0.238
-param set-default CA_MC_R2_PY -0.1375
-param set-default CA_MC_R2_CT 6.5
-param set-default CA_MC_R2_KM -0.05
+param set-default CA_ROTOR3_PX -0.238
+param set-default CA_ROTOR3_PY 0.1375
+param set-default CA_ROTOR3_KM 0.05

-param set-default CA_MC_R3_PX -0.238
-param set-default CA_MC_R3_PY 0.1375
-param set-default CA_MC_R3_CT 6.5
-param set-default CA_MC_R3_KM 0.05
+param set-default CA_ROTOR4_PX 0.238
+param set-default CA_ROTOR4_PY 0.1375
+param set-default CA_ROTOR4_KM 0.05

-param set-default CA_MC_R4_PX 0.238
-param set-default CA_MC_R4_PY 0.1375
-param set-default CA_MC_R4_CT 6.5
-param set-default CA_MC_R4_KM 0.05
-
-param set-default CA_MC_R5_PX -0.238
-param set-default CA_MC_R5_PY -0.1375
-param set-default CA_MC_R5_CT 6.5
-param set-default CA_MC_R5_KM -0.05
+param set-default CA_ROTOR5_PX -0.238
+param set-default CA_ROTOR5_PY -0.1375
+param set-default CA_ROTOR5_KM -0.05

 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
@@ -40,6 +40,7 @@ px4_add_romfs_files(
 	1002_standard_vtol.hil
 	1100_rc_quad_x_sih.hil
 	1101_rc_plane_sih.hil
+	1102_tailsitter_duo_sih.hil

 	# [2000, 2999] Standard planes"
 	2100_standard_plane
@@ -72,6 +73,7 @@ px4_add_romfs_files(
 	4016_holybro_px4vision
 	4017_nxp_hovergames
 	4018_s500_ctrlalloc
+	4019_x500_v2
 	4030_3dr_solo
 	4031_3dr_quad
 	4040_reaper
@@ -48,6 +48,14 @@ fi
 #                        End Estimator Group Selection                        #
 ###############################################################################

+if param compare SYS_CTRL_ALLOC 1
+then
+	#
+	# Start Control Allocator
+	#
+	control_allocator start
+fi
+
 #
 # Start Airship Attitude Controller.
 #
@@ -10,6 +10,14 @@
 #
 ekf2 start &

+if param compare SYS_CTRL_ALLOC 1
+then
+	#
+	# Start Control Allocator
+	#
+	control_allocator start
+fi
+
 #
 # Start attitude controller.
 #
@@ -18,8 +18,17 @@ set OUTPUT_AUX_DEV /dev/pwm_output1
 set OUTPUT_EXTRA_DEV /dev/pwm_output0

 # set these before starting the modules
-param set PWM_AUX_OUT ${PWM_AUX_OUT}
-param set PWM_MAIN_OUT ${PWM_OUT}
+if [ $PWM_AUX_OUT != none ]
+then
+
+	param set PWM_AUX_OUT ${PWM_AUX_OUT}
+fi
+
+
+if [ $PWM_OUT != none ]
+then
+	param set PWM_MAIN_OUT ${PWM_OUT}
+fi

 #
 # If mount (gimbal) control is enabled and output mode is AUX, set the aux
@@ -36,7 +45,7 @@ fi
 #
 # Set the default output mode if none was set.
 #
-if [ $OUTPUT_MODE = none ]
+if [ $OUTPUT_MODE = none -a $OUTPUT_MODE != skip ]
 then
 	if [ $USE_IO = yes ]
 	then
@@ -63,7 +72,7 @@ fi
 #
 # If OUTPUT_MODE = none then something is wrong with setup and we shouldn't try to enable output.
 #
-if [ $OUTPUT_MODE != none ]
+if [ $OUTPUT_MODE != none -a $OUTPUT_MODE != skip ]
 then

 	if [ $OUTPUT_MODE = hil -o $OUTPUT_MODE = sim ]
@@ -54,14 +54,6 @@ then
 	# Start Control Allocator
 	#
 	control_allocator start
-
-	#
-	# Disable hover thrust estimator and prearming
-	# These features are currently incompatible with control allocation
-	#
-	# TODO: fix
-	#
-	param set MPC_USE_HTE 0
 fi

 #
@@ -7,7 +7,10 @@

 set VEHICLE_TYPE mc

-param set-default IMU_GYRO_RATEMAX 800
+if param compare IMU_GYRO_RATEMAX 400
+then
+	param set-default IMU_GYRO_RATEMAX 800
+fi

 param set-default NAV_ACC_RAD 2

@@ -12,6 +12,13 @@ ekf2 start &
 #attitude_estimator_q start
 #local_position_estimator start

+if param compare SYS_CTRL_ALLOC 1
+then
+	#
+	# Start Control Allocator
+	#
+	control_allocator start
+fi

 #
 # Start attitude controllers.
@@ -4,19 +4,6 @@
 #
 # NOTE: Script variables are declared/initialized/unset in the rcS script.
 #
-
-if ! ver hwcmp OMNIBUS_F4SD
-then
-	if ! ver hwcmp BITCRAZE_CRAZYFLIE
-	then
-		# Configure all I2C buses to 100 KHz as they
-		# are all external or slow
-		# TODO: move this
-		pwm_out i2c 1 100000
-		pwm_out i2c 2 100000
-	fi
-fi
-
 ###############################################################################
 #                           Begin Optional drivers                            #
 ###############################################################################
@@ -143,6 +130,13 @@ then
 	fi
 fi

+# SHT3x temperature and hygrometer sensor, external I2C
+if param compare -s SENS_EN_SHT3X 1
+then
+	sht3x start -X
+	sht3x start -X -a 0x45
+fi
+
 # TE MS4525 differential pressure sensor external I2C
 if param compare -s SENS_EN_MS4525 1
 then
@@ -15,6 +15,14 @@ ekf2 start &
 #                        End Estimator Group Selection                        #
 ###############################################################################

+if param compare SYS_CTRL_ALLOC 1
+then
+	#
+	# Start Control Allocator
+	#
+	control_allocator start
+fi
+
 #
 # Start UUV Attitude Controller.
 #
@@ -15,6 +15,14 @@ ekf2 start &
 #                        End Estimator group selection                        #
 ###############################################################################

+if param compare SYS_CTRL_ALLOC 1
+then
+	#
+	# Start Control Allocator
+	#
+	control_allocator start
+fi
+
 airspeed_selector start

 vtol_att_control start
@@ -35,7 +35,7 @@ set MIXER_AUX none
 set MIXER_FILE none
 set MIXER_EXTRA none
 set OUTPUT_MODE none
-set PARAM_FILE /fs/microsd/params
+set PARAM_FILE ""
 set PWM_OUT none
 set PWM_MAIN_RATE p:PWM_MAIN_RATE
 set PWM_AUX_OUT none
@@ -46,6 +46,7 @@ set EXTRA_MIXER_MODE none
 set RC_INPUT_ARGS ""
 set SDCARD_AVAILABLE no
 set SDCARD_EXT_PATH /fs/microsd/ext_autostart
+set SDCARD_FORMAT no
 set SDCARD_MIXERS_PATH /fs/microsd/etc/mixers
 set STARTUP_TUNE 1
 set USE_IO no
@@ -59,51 +60,56 @@ ver all
 #
 # Try to mount the microSD card.
 #
-# REBOOTWORK this needs to start after the flight control loop.
-if mount -t vfat /dev/mmcsd0 /fs/microsd
+if [ -b "/dev/mmcsd0" ]
 then
-	set PX4_INIT_TEST_FILE "/fs/microsd/.px4_init_test_file"
-	date >> $PX4_INIT_TEST_FILE
-
-	if [ -f $PX4_INIT_TEST_FILE ]
+	if mount -t vfat /dev/mmcsd0 /fs/microsd
 	then
-		cat $PX4_INIT_TEST_FILE
-		rm $PX4_INIT_TEST_FILE
-
-		if [ ! -f $PX4_INIT_TEST_FILE ]
+		if [ -f "/fs/microsd/.format" ]
 		then
+			echo "INFO [init] format /dev/mmcsd0 requested (/fs/microsd/.format)"
+			set SDCARD_FORMAT yes
+			rm /fs/microsd/.format
+			umount /fs/microsd
+
+		else
 			set SDCARD_AVAILABLE yes
 		fi
 	fi
-fi

-if [ $SDCARD_AVAILABLE = no ]
-then
-	set STARTUP_TUNE 14 # tune 14 = SD_INIT
-	if mkfatfs -F 32 /dev/mmcsd0
+	if [ $SDCARD_AVAILABLE = no -o $SDCARD_FORMAT = yes ]
 	then
-		if mount -t vfat /dev/mmcsd0 /fs/microsd
+		echo "INFO [init] formatting /dev/mmcsd0"
+		set STARTUP_TUNE 15 # tune 15 = SD_ERROR (overridden to SD_INIT if format + mount succeeds)
+
+		if mkfatfs -F 32 /dev/mmcsd0
 		then
-			set SDCARD_AVAILABLE yes
 			echo "INFO [init] card formatted"

+			if mount -t vfat /dev/mmcsd0 /fs/microsd
+			then
+				set SDCARD_AVAILABLE yes
+				set STARTUP_TUNE 14 # tune 14 = SD_INIT
+			else
+				echo "ERROR [init] card mount failed"
+			fi
 		else
-			set STARTUP_TUNE 15 # tune 15 = SD_ERROR
 			echo "ERROR [init] format failed"
 		fi
 	fi
-fi

-if [ $SDCARD_AVAILABLE = yes ]
-then
-	if hardfault_log check
+	if [ $SDCARD_AVAILABLE = yes ]
 	then
-		set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
-		if hardfault_log commit
+		if hardfault_log check
 		then
-			hardfault_log reset
+			set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
+			if hardfault_log commit
+			then
+				hardfault_log reset
+			fi
 		fi
 	fi
+
+	set PARAM_FILE /fs/microsd/params
 fi

 #
@@ -136,8 +142,36 @@ else
 	param select $PARAM_FILE
 	if ! param import
 	then
-		param reset_all
+		echo "ERROR [init] param import failed"
+		set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
+
+		param dump $PARAM_FILE
+
+		if [ -d "/fs/microsd" ]
+		then
+			dmesg >> /fs/microsd/param_import_fail.txt &
+
+			# try to make a backup copy
+			cp $PARAM_FILE /fs/microsd/param_import_fail.bson &
+		fi
+
+		# try importing from backup file
+		if [ -f "/fs/microsd/parameters_backup.bson" ]
+		then
+			echo "[init] importing from parameter backup"
+
+			# dump current backup file contents for comparison
+			param dump /fs/microsd/parameters_backup.bson
+
+			param import /fs/microsd/parameters_backup.bson
+		fi
 	fi
+
+	if [ $SDCARD_AVAILABLE = yes ]
+	then
+		param select-backup /fs/microsd/parameters_backup.bson
+	fi
+
 	if ver hwcmp PX4_FMU_V5X PX4_FMU_V6X
 	then
 		netman update -i eth0
@@ -185,7 +219,16 @@ else
 	# Waypoint storage.
 	# REBOOTWORK this needs to start in parallel.
 	#
-	dataman start
+	if param compare SYS_DM_BACKEND 1
+	then
+		dataman start -r
+	else
+		if param compare SYS_DM_BACKEND 0
+		then
+			# dataman start default
+			dataman start
+		fi
+	fi

 	#
 	# Start the socket communication send_event handler.
@@ -248,15 +291,9 @@ else
 		# Start core UAVCAN module.
 		if uavcan start
 		then
-			if param greater UAVCAN_ENABLE 1
+			if param greater UAVCAN_ENABLE 2
 			then
-				# Start UAVCAN firmware update server and dynamic node ID allocation server.
-				uavcan start fw
-
-				if param greater UAVCAN_ENABLE 2
-				then
-					set OUTPUT_MODE uavcan_esc
-				fi
+				set OUTPUT_MODE uavcan_esc
 			fi
 		else
 			tune_control play error
@@ -372,17 +409,6 @@ else
 		commander start
 	fi

-
-	#
-	# Play the startup tune (if not disabled or there is an error)
-	#
-	param compare CBRK_BUZZER 782090
-	if [ $? != 0 -o $STARTUP_TUNE != 1 ]
-	then
-		tune_control play -t $STARTUP_TUNE
-	fi
-
-
 	# Pre-takeoff continuous magnetometer calibration
 	if param compare -s MBE_ENABLE 1
 	then
@@ -401,7 +427,7 @@ else
 	set BOARD_RC_MAVLINK ${R}etc/init.d/rc.board_mavlink
 	if [ -f $BOARD_RC_MAVLINK ]
 	then
-		echo "Board extras: ${BOARD_RC_MAVLINK}"
+		echo "Board mavlink: ${BOARD_RC_MAVLINK}"
 		. $BOARD_RC_MAVLINK
 	fi
 	unset BOARD_RC_MAVLINK
@@ -418,6 +444,12 @@ else
 		rc_input start $RC_INPUT_ARGS
 	fi

+	# PPS capture driver (before pwm_out)
+	if param greater -s PPS_CAP_ENABLE 0
+	then
+		pps_capture start
+	fi
+
 	# Camera capture driver (before pwm_out)
 	if param greater -s CAM_CAP_FBACK 0
 	then
@@ -434,6 +466,15 @@ else
 	#
 	. ${R}etc/init.d/rc.vehicle_setup

+	#
+	# Play the startup tune (if not disabled or there is an error)
+	#
+	param compare CBRK_BUZZER 782090
+	if [ "$?" != "0" -o "$STARTUP_TUNE" != "1" ]
+	then
+		tune_control play -t $STARTUP_TUNE
+	fi
+
 	#
 	# Start the navigator.
 	#
@@ -547,6 +588,7 @@ unset PWM_EXTRA_RATE
 unset RC_INPUT_ARGS
 unset SDCARD_AVAILABLE
 unset SDCARD_EXT_PATH
+unset SDCARD_FORMAT
 unset SDCARD_MIXERS_PATH
 unset STARTUP_TUNE
 unset USE_IO
@@ -33,15 +33,11 @@

 px4_add_romfs_files(
 	autogyro_sitl.main.mix
-	boat_sitl.main.mix
 	delta_wing_sitl.main.mix
 	package_drop.aux.mix
 	plane_sitl.main.mix
 	quad_x_vtol.main.mix
-	rover_ackermann_sitl.main.mix
-	rover_diff_sitl.main.mix
 	standard_vtol_sitl.main.mix
 	tiltrotor_sitl.main.mix
 	uuv_x_sitl.main.mix
-	vectored6dof_sitl.main.mix
 )
@@ -1,15 +0,0 @@
-Mixer for SITL boat
-=========================================================
-
-Throttle of left propeller of boat on Output 0
---------------------------------------
-M: 2
-S: 0 2    10000   10000      0  -10000  10000
-S: 0 3    10000   10000      0  -10000  10000
-
-
-Throttle of right propeller of boat on Output 1
---------------------------------------
-M: 2
-S: 0 2   -10000  -10000      0  -10000  10000
-S: 0 3    10000   10000      0  -10000  10000
@@ -1,46 +0,0 @@
-Mixer for SITL rover
-=========================================================
-
-Output 0
---------------------------------------
-M: 1
-O:       10000   10000      0 -10000  10000
-S: 0 2   10000   10000      0 -10000  10000
-
-Output 1
---------------------------------------
-M: 1
-O:       10000   10000      0 -10000  10000
-S: 0 2   10000   10000      0 -10000  10000
-
-Output 2
---------------------------------------
-Z:
-
-Output 3
---------------------------------------
-Z:
-
-Output 4
---------------------------------------
-Z:
-
-Output 5
---------------------------------------
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 3  10000  10000      0 -10000  10000
-
-Output 6
---------------------------------------
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 3  10000  10000      0 -10000  10000
-
-Output 7
---------------------------------------
-Z:
-
-Output 8
---------------------------------------
-Z:
@@ -1,46 +0,0 @@
-Mixer for SITL rover
-=========================================================
-
-Output 0
---------------------------------------
-M: 2
-S: 0 2  10000   10000      0 -10000  10000
-S: 0 3  10000   10000      0 -10000  10000
-
-Output 1
---------------------------------------
-M: 2
-S: 0 2  10000   10000      0 -10000  10000
-S: 0 3  10000   10000      0 -10000  10000
-
-Output 2
---------------------------------------
-Z:
-
-Output 3
---------------------------------------
-Z:
-
-Output 4
---------------------------------------
-Z:
-
-Output 5
---------------------------------------
-M: 2
-S: 0 2  -10000  -10000      0 -10000  10000
-S: 0 3   10000   10000      0 -10000  10000
-
-Output 6
---------------------------------------
-M: 2
-S: 0 2  -10000  -10000      0 -10000  10000
-S: 0 3   10000   10000      0 -10000  10000
-
-Output 7
---------------------------------------
-Z:
-
-Output 8
---------------------------------------
-Z:
@@ -1,40 +0,0 @@
-# Motor 1
-M: 3
-S: 0 2  -4000  -4000  0   -4000  +4000
-S: 0 3  +4000  +4000  0   -4000  +4000
-S: 0 4  -4000  -4000  0   -4000  +4000
-# Motor 2
-M: 3
-S: 0 2  +4000  +4000  0   -4000  +4000
-S: 0 3  +4000  +4000  0   -4000  +4000
-S: 0 4  +4000  +4000  0   -4000  +4000
-# Motor 3
-M: 3
-S: 0 2  -4000  -4000  0   -4000  +4000
-S: 0 3  +4000  +4000  0   -4000  +4000
-S: 0 4  +4000  +4000  0   -4000  +4000
-# Motor 4
-M: 3
-S: 0 2  +4000  +4000  0   -4000  +4000
-S: 0 3  +4000  +4000  0   -4000  +4000
-S: 0 4  -4000  -4000  0   -4000  +4000
-# Motor 5
-M: 3
-S: 0 0  -4000  -4000  0   -4000  +4000
-S: 0 1  +4000  +4000  0   -4000  +4000
-S: 0 5  -4000  -4000  0   -4000  +4000
-# Motor 6
-M: 3
-S: 0 0  -4000  -4000  0   -4000  +4000
-S: 0 1  -4000  -4000  0   -4000  +4000
-S: 0 5  +4000  +4000  0   -4000  +4000
-# Motor 7
-M: 3
-S: 0 0  +4000  +4000  0   -4000  +4000
-S: 0 1  +4000  +4000  0   -4000  +4000
-S: 0 5  +4000  +4000  0   -4000  +4000
-# Motor 8
-M: 3
-S: 0 0  +4000  +4000  0   -4000  +4000
-S: 0 1  -4000  -4000  0   -4000  +4000
-S: 0 5  -4000  -4000  0   -4000  +4000
@@ -90,4 +90,5 @@ px4_add_romfs_files(
 	vtol_convergence.main.mix
 	vtol_delta.aux.mix
 	vtol_tailsitter_duo.main.mix
+	vtol_tailsitter_duo_sat.main.mix
 )
@@ -0,0 +1,39 @@
+Tailsitter duo mixer
+============================
+
+This file defines a mixer for a generic duo tailsitter VTOL (eg TBS Caipirinha tailsitter edition). This vehicle
+has two motors in total, one attached to each wing. It also has two elevons which
+are located in the slipstream of the propellers. This mixer generates 4 PWM outputs
+on the main PWM ouput port, two at 400Hz for the motors, and two at 50Hz for the
+elevon servos. Channels 1-4 are configured to run at 400Hz, while channels 5-8 run
+at the default rate of 50Hz. Note that channels 3 and 4 are assigned but not used.
+
+Motor mixer
+------------
+Channel 1 connects to the right (starboard) motor.
+Channel 2 connects to the left (port) motor.
+
+R: 2-
+
+Zero mixer (2x)
+---------------
+Channels 3,4 are unused.
+
+Z:
+
+Z:
+
+Elevons mixer
+--------------
+Channel 5 connects to the right (starboard) elevon.
+Channel 6 connects to the left (port) elevon.
+Here we saturate the elevons before their full range
+to avoid roll-pitch-yaw coupling during faster maneuvers
+
+M: 2
+S: 1 0   10000   10000    0 -6000  6000
+S: 1 1   10000   10000    0 -6000  6000
+
+M: 2
+S: 1 0   10000   10000    0 -6000  6000
+S: 1 1  -10000  -10000    0 -6000  6000
@@ -7,6 +7,8 @@ from argparse import ArgumentParser
 import re
 import sys
 import datetime
+import serial.tools.list_ports as list_ports
+import tempfile

 COLOR_RED    = "\x1b[31m"
 COLOR_GREEN  = "\x1b[32m"
@@ -36,12 +38,13 @@ def print_line(line):
    else:
        print('{0}'.format(line), end='')

-def monitor_firmware_upload(port, baudrate):
-    ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=1, xonxoff=True, rtscts=False, dsrdtr=False)
+
+def monitor_firmware_upload(port_url, baudrate):
+    ser = serial.serial_for_url(url=port_url, baudrate=baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=3, xonxoff=False, rtscts=False, dsrdtr=False, inter_byte_timeout=1)

    timeout = 180  # 3 minutes
-    timeout_start = time.time()
-    timeout_newline = time.time()
+    timeout_start = time.monotonic()
+    timeout_newline = time.monotonic()

    return_code = 0

@@ -49,33 +52,59 @@ def monitor_firmware_upload(port, baudrate):
        serial_line = ser.readline().decode("ascii", errors='ignore')

        if len(serial_line) > 0:
-            if "ERROR" in serial_line:
-                return_code = -1

            print_line(serial_line)

-        if "NuttShell (NSH)" in serial_line:
-            sys.exit(return_code)
-        elif "nsh>" in serial_line:
-            sys.exit(return_code)
+            if "NuttShell (NSH)" in serial_line:
+                sys.exit(return_code)
+            elif "nsh>" in serial_line:
+                sys.exit(return_code)

-        if time.time() > timeout_start + timeout:
-            print("Error, timeout")
-            sys.exit(-1)
+        else:
+            if time.monotonic() > timeout_start + timeout:
+                print("Error, timeout")
+                sys.exit(-1)
+
+            # newline every 10 seconds if still running
+            if (len(serial_line) <= 0) and (time.monotonic() - timeout_newline > 10):
+                timeout_newline = time.monotonic()
+                ser.write("\n".encode("ascii"))

-        # newline every 10 seconds if still running
-        if time.time() - timeout_newline > 10:
-            timeout_newline = time.time()
-            ser.write("\n".encode("ascii"))
-            ser.flush()

 def main():
+
+    default_device = None
+    device_required = True
+
+    # select USB UART as default if there's only 1
+    ports = list(serial.tools.list_ports.grep('USB UART'))
+
+    if (len(ports) == 1):
+        default_device = ports[0].device
+        device_required = False
+
+        print("Default USB UART port: {0}".format(ports[0].name))
+        print(" device: {0}".format(ports[0].device))
+        print(" description: \"{0}\" ".format(ports[0].description))
+        print(" hwid: {0}".format(ports[0].hwid))
+        #print(" vid: {0}, pid: {1}".format(ports[0].vid, ports[0].pid))
+        #print(" serial_number: {0}".format(ports[0].serial_number))
+        #print(" location: {0}".format(ports[0].location))
+        print(" manufacturer: {0}".format(ports[0].manufacturer))
+        #print(" product: {0}".format(ports[0].product))
+        #print(" interface: {0}".format(ports[0].interface))
+
    parser = ArgumentParser(description=__doc__)
-    parser.add_argument('--device', "-d", nargs='?', default=None, help='', required=True)
-    parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
+    parser.add_argument('--device', "-d", nargs='?', default=default_device, help='', required=device_required)
+    parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="serial port baud rate (default=57600)", default=57600)
    args = parser.parse_args()

-    monitor_firmware_upload(args.device, args.baudrate)
+    tmp_file = "{0}/pyserial_spy_file.txt".format(tempfile.gettempdir())
+    port_url = "spy://{0}?file={1}".format(args.device, tmp_file)
+
+    print("pyserial url: {0}".format(port_url))
+
+    monitor_firmware_upload(port_url, args.baudrate)

 if __name__ == "__main__":
   main()
@@ -6,6 +6,9 @@ from subprocess import call, Popen
 from argparse import ArgumentParser
 import re
 import sys
+import datetime
+import serial.tools.list_ports as list_ports
+import tempfile

 COLOR_RED    = "\x1b[31m"
 COLOR_GREEN  = "\x1b[32m"
@@ -29,109 +32,140 @@ def print_line(line):
    if "FAILED" in line:
        line = line.replace("FAILED", f"{COLOR_RED}FAILED{COLOR_RESET}", 1)

-    print(line, end='')
+    if "\n" in line:
+        current_time = datetime.datetime.now()
+        print('[{0}] {1}'.format(current_time.isoformat(timespec='milliseconds'), line), end='')
+    else:
+        print('{0}'.format(line), end='')

-def do_param_set_cmd(port, baudrate, param_name, param_value):
-    ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.1, xonxoff=True, rtscts=False, dsrdtr=False)

-    timeout_start = time.time()
+def do_param_set_cmd(port_url, baudrate, param_name, param_value):
+    ser = serial.serial_for_url(url=port_url, baudrate=baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=3, xonxoff=False, rtscts=False, dsrdtr=False, inter_byte_timeout=1)
+
+    timeout_start = time.monotonic()
    timeout = 30  # 30 seconds

+    ser.write("\n\n\n".encode("ascii"))
+
    # wait for nsh prompt
    while True:
-        ser.write("\n".encode("ascii"))
-        ser.flush()
-
        serial_line = ser.readline().decode("ascii", errors='ignore')

-        if "nsh>" in serial_line:
-            break
+        if len(serial_line) > 0:
+            if "nsh>" in serial_line:
+                break
        else:
-            if len(serial_line) > 0:
-                print_line(serial_line)
+            if time.monotonic() > timeout_start + timeout:
+                print("Error, timeout waiting for prompt")
+                sys.exit(1)
+
+            ser.write("\n".encode("ascii"))

-        if time.time() > timeout_start + timeout:
-            print("Error, timeout waiting for prompt")
-            sys.exit(1)

    # clear
-    ser.readlines()
+    ser.reset_input_buffer()

    # run command
-    timeout_start = time.time()
+    timeout_start = time.monotonic()
    timeout = 10  # 10 seconds

    cmd = "param set " + param_name + " " + param_value

    # write command (param set) and wait for command echo
-    serial_cmd = '{0}\r\n'.format(cmd)
+    print("Running command: \'{0}\'".format(cmd))
+    serial_cmd = '{0}\n'.format(cmd)
+
    ser.write(serial_cmd.encode("ascii"))
-    ser.flush()
+
    while True:
        serial_line = ser.readline().decode("ascii", errors='ignore')

-        if cmd in serial_line:
-            print_line(serial_line)
-            break
-        else:
-            if len(serial_line) > 0:
-                print_line(serial_line)
+        if len(serial_line) > 0:
+            if cmd in serial_line:
+                break

-        if time.time() > timeout_start + timeout:
-            print("Error, timeout waiting for command echo")
-            break
+            print_line(serial_line)
+
+        else:
+            if time.monotonic() > timeout_start + timeout:
+                print("Error, timeout waiting for command echo")
+                break
+
+    # clear
+    ser.reset_input_buffer()

    # verify param value
    cmd = "param show " + param_name
-    serial_cmd = '{0}\r\n'.format(cmd)
+    print("Running command: \'{0}\'".format(cmd))
+    serial_cmd = '{0}\n'.format(cmd)
    ser.write(serial_cmd.encode("ascii"))
-    ser.flush()

    param_show_response = param_name + " ["

-    timeout_start = time.time()
-    timeout = 2  # 2 seconds
+    timeout_start = time.monotonic()
+    timeout = 3  # 3 seconds

    while True:
        serial_line = ser.readline().decode("ascii", errors='ignore')

-        if param_show_response in serial_line:
+        if len(serial_line) > 0:
            print_line(serial_line)
-            current_param_value = serial_line.split(":")[-1].strip()

-            if (current_param_value == param_value):
-                sys.exit(0)
+            if param_show_response in serial_line:
+                current_param_value = serial_line.split(":")[-1].strip()
+
+                if (current_param_value == param_value):
+                    sys.exit(0)
+                else:
+                    sys.exit(1)
            else:
-                sys.exit(1)
+                if time.monotonic() > timeout_start + timeout:
+                    if "nsh>" in serial_line:
+                        sys.exit(1) # error, command didn't complete successfully
+                    elif "NuttShell (NSH)" in serial_line:
+                        sys.exit(1) # error, command didn't complete successfully
        else:
-            if len(serial_line) > 0:
-                print_line(serial_line)
+            if time.monotonic() > timeout_start + timeout:
+                print("Error, timeout")
+                sys.exit(-1)

-            if time.time() > timeout_start + timeout:
-                if "nsh>" in serial_line:
-                    sys.exit(1) # error, command didn't complete successfully
-                elif "NuttShell (NSH)" in serial_line:
-                    sys.exit(1) # error, command didn't complete successfully
-
-        if len(serial_line) <= 0:
-            ser.write("\r\n".encode("ascii"))
-            ser.flush()
-
-        if time.time() > timeout_start + timeout:
-            print("Error, timeout")
-            sys.exit(-1)
-
-    ser.close()

 def main():
+
+    default_device = None
+    device_required = True
+
+    # select USB UART as default if there's only 1
+    ports = list(serial.tools.list_ports.grep('USB UART'))
+
+    if (len(ports) == 1):
+        default_device = ports[0].device
+        device_required = False
+
+        print("Default USB UART port: {0}".format(ports[0].name))
+        print(" device: {0}".format(ports[0].device))
+        print(" description: \"{0}\" ".format(ports[0].description))
+        print(" hwid: {0}".format(ports[0].hwid))
+        #print(" vid: {0}, pid: {1}".format(ports[0].vid, ports[0].pid))
+        #print(" serial_number: {0}".format(ports[0].serial_number))
+        #print(" location: {0}".format(ports[0].location))
+        print(" manufacturer: {0}".format(ports[0].manufacturer))
+        #print(" product: {0}".format(ports[0].product))
+        #print(" interface: {0}".format(ports[0].interface))
+
    parser = ArgumentParser(description=__doc__)
-    parser.add_argument('--device', "-d", nargs='?', default=None, help='', required=True)
-    parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
+    parser.add_argument('--device', "-d", nargs='?', default=default_device, help='', required=device_required)
+    parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="serial port baud rate (default=57600)", default=57600)
    parser.add_argument("--name", "-p", dest="param_name", help="Parameter name")
    parser.add_argument("--value", "-v", dest="param_value", help="Parameter value")
    args = parser.parse_args()

-    do_param_set_cmd(args.device, args.baudrate, args.param_name, args.param_value)
+    tmp_file = "{0}/pyserial_spy_file.txt".format(tempfile.gettempdir())
+    port_url = "spy://{0}?file={1}".format(args.device, tmp_file)
+
+    print("pyserial url: {0}".format(port_url))
+
+    do_param_set_cmd(port_url, args.baudrate, args.param_name, args.param_value)

 if __name__ == "__main__":
   main()
@@ -0,0 +1,111 @@
+#! /usr/bin/env python3
+
+import serial, time
+import subprocess
+from subprocess import call, Popen
+from argparse import ArgumentParser
+import re
+import sys
+import datetime
+import serial.tools.list_ports as list_ports
+import tempfile
+
+COLOR_RED    = "\x1b[31m"
+COLOR_GREEN  = "\x1b[32m"
+COLOR_YELLOW = "\x1b[33m"
+COLOR_WHITE  = "\x1b[37m"
+COLOR_RESET  = "\x1b[0m"
+
+def print_line(line):
+    if "WARNING" in line:
+        line = line.replace("WARNING", f"{COLOR_YELLOW}WARNING{COLOR_RESET}", 1)
+    elif "WARN" in line:
+        line = line.replace("WARN", f"{COLOR_YELLOW}WARN{COLOR_RESET}", 1)
+    elif "ERROR" in line:
+        line = line.replace("ERROR", f"{COLOR_RED}ERROR{COLOR_RESET}", 1)
+    elif "INFO" in line:
+        line = line.replace("INFO", f"{COLOR_WHITE}INFO{COLOR_RESET}", 1)
+
+    if "PASSED" in line:
+        line = line.replace("PASSED", f"{COLOR_GREEN}PASSED{COLOR_RESET}", 1)
+
+    if "FAILED" in line:
+        line = line.replace("FAILED", f"{COLOR_RED}FAILED{COLOR_RESET}", 1)
+
+    if "\n" in line:
+        current_time = datetime.datetime.now()
+        print('[{0}] {1}'.format(current_time.isoformat(timespec='milliseconds'), line), end='')
+    else:
+        print('{0}'.format(line), end='')
+
+
+def reboot(port_url, baudrate):
+    ser = serial.serial_for_url(url=port_url, baudrate=baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=3, xonxoff=False, rtscts=False, dsrdtr=False, inter_byte_timeout=1)
+
+    time_start = time.monotonic()
+
+    ser.write("\n\n\n".encode("ascii"))
+
+    ser.write("reboot\n".encode("ascii"))
+    time_reboot_cmd = time_start
+
+    timeout_reboot_cmd = 90
+    timeout = 300  # 5 minutes
+
+    return_code = 0
+
+    while True:
+        serial_line = ser.readline().decode("ascii", errors='ignore')
+
+        if len(serial_line) > 0:
+            print_line(serial_line)
+
+            if "ERROR" in serial_line:
+                return_code = -1
+
+            if "NuttShell (NSH)" in serial_line:
+                sys.exit(return_code)
+
+        else:
+            if time.monotonic() > time_start + timeout:
+                print("Error, timeout")
+                sys.exit(-1)
+
+            if time.monotonic() > time_reboot_cmd + timeout_reboot_cmd:
+                time_reboot_cmd = time.monotonic()
+                print("sending reboot cmd again")
+                ser.write("reboot\n".encode("ascii"))
+
+
+def main():
+
+    default_device = None
+    device_required = True
+
+    # select USB UART as default if there's only 1
+    ports = list(serial.tools.list_ports.grep('USB UART'))
+
+    if (len(ports) == 1):
+        default_device = ports[0].device
+        device_required = False
+
+        print("Default USB UART port: {0}".format(ports[0].name))
+        print(" device: {0}".format(ports[0].device))
+        print(" description: \"{0}\" ".format(ports[0].description))
+        print(" hwid: {0}".format(ports[0].hwid))
+        #print(" vid: {0}, pid: {1}".format(ports[0].vid, ports[0].pid))
+        #print(" serial_number: {0}".format(ports[0].serial_number))
+        #print(" location: {0}".format(ports[0].location))
+        print(" manufacturer: {0}".format(ports[0].manufacturer))
+        #print(" product: {0}".format(ports[0].product))
+        #print(" interface: {0}".format(ports[0].interface))
+
+    parser = ArgumentParser(description=__doc__)
+    parser.add_argument('--device', "-d", nargs='?', default=default_device, help='', required=device_required)
+    parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
+    args = parser.parse_args()
+
+    reboot(args.device, args.baudrate)
+
+if __name__ == "__main__":
+   main()
@@ -7,6 +7,8 @@ from argparse import ArgumentParser
 import re
 import sys
 import datetime
+import serial.tools.list_ports as list_ports
+import tempfile

 COLOR_RED    = "\x1b[31m"
 COLOR_GREEN  = "\x1b[32m"
@@ -37,101 +39,123 @@ def print_line(line):
        print('{0}'.format(line), end='')


-def do_nsh_cmd(port, baudrate, cmd):
-    ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.2, xonxoff=True, rtscts=False, dsrdtr=False)
+def do_nsh_cmd(port_url, baudrate, cmd):
+    ser = serial.serial_for_url(url=port_url, baudrate=baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=1, xonxoff=False, rtscts=False, dsrdtr=False, inter_byte_timeout=1)

-    timeout_start = time.time()
+    timeout_start = time.monotonic()
    timeout = 30  # 30 seconds

+    ser.write("\n\n\n".encode("ascii"))
+
    # wait for nsh prompt
    while True:
-        ser.write("\n".encode("ascii"))
-        ser.flush()
-
        serial_line = ser.readline().decode("ascii", errors='ignore')

-        if "nsh>" in serial_line:
-            break
+        if len(serial_line) > 0:
+            if "nsh>" in serial_line:
+                break
        else:
-            if len(serial_line) > 0:
-                print_line(serial_line)
+            if time.monotonic() > timeout_start + timeout:
+                print("Error, timeout waiting for prompt")
+                sys.exit(1)
+
+            ser.write("\n".encode("ascii"))

-        if time.time() > timeout_start + timeout:
-            print("Error, timeout waiting for prompt")
-            sys.exit(1)

    # clear
-    ser.readlines()
+    ser.reset_input_buffer()

    # run command
-    timeout_start = time.time()
-    timeout = 1  # 1 second
+    timeout_start = time.monotonic()
+    timeout = 5  # 5 seconds

    success_cmd = "cmd succeeded!"

    # wait for command echo
-    serial_cmd = '{0}; echo "{1}"; echo "{2}";\r\n'.format(cmd, success_cmd, success_cmd)
+    print("Running command: \'{0}\'".format(cmd))
+    serial_cmd = '{0}; echo "{1}"; echo "{2}";\n'.format(cmd, success_cmd, success_cmd)
    ser.write(serial_cmd.encode("ascii"))
-    ser.flush()
+
    while True:
        serial_line = ser.readline().decode("ascii", errors='ignore')

-        if cmd in serial_line:
-            break
-        elif serial_line.startswith(success_cmd) and len(serial_line) <= len(success_cmd) + 2:
-            print_line(serial_line)
-            # we missed the echo, but command ran and succeeded
-            sys.exit(0)
-        else:
-            if len(serial_line) > 0:
+        if len(serial_line) > 0:
+            if cmd in serial_line:
+                break
+            elif serial_line.startswith(success_cmd) and len(serial_line) <= len(success_cmd) + 2:
                print_line(serial_line)
-
-        if time.time() > timeout_start + timeout:
-            print("Error, timeout waiting for command echo")
-            break
+                # we missed the echo, but command ran and succeeded
+                sys.exit(0)
+            else:
+                print_line(serial_line)
+        else:
+            if time.monotonic() > timeout_start + timeout:
+                print("Error, timeout waiting for command echo")
+                break


-    timeout_start = time.time()
-    timeout = 180 # 3 minutes
+    timeout_start = time.monotonic()
+    timeout = 240 # 4 minutes

    return_code = 0

    while True:
        serial_line = ser.readline().decode("ascii", errors='ignore')

-        if success_cmd in serial_line:
-            sys.exit(return_code)
-            break
-        else:
-            if len(serial_line) > 0:
+        if len(serial_line) > 0:
+            if success_cmd in serial_line:
+                sys.exit(return_code)
+            else:
                if "ERROR " in serial_line:
                    return_code = -1

                print_line(serial_line)

-            if "nsh>" in serial_line:
-                sys.exit(1) # error, command didn't complete successfully
-            elif "NuttShell (NSH)" in serial_line:
-                sys.exit(1) # error, command didn't complete successfully
+                if "nsh>" in serial_line:
+                    sys.exit(1) # error, command didn't complete successfully
+                elif "NuttShell (NSH)" in serial_line:
+                    sys.exit(1) # error, command didn't complete successfully
+        else:
+            if time.monotonic() > timeout_start + timeout:
+                print("Error, timeout")
+                sys.exit(-1)

-        if len(serial_line) <= 0:
-            ser.write("\r\n".encode("ascii"))
-            ser.flush()
-
-        if time.time() > timeout_start + timeout:
-            print("Error, timeout")
-            sys.exit(-1)
-
-    ser.close()

 def main():
+
+    default_device = None
+    device_required = True
+
+    # select USB UART as default if there's only 1
+    ports = list(serial.tools.list_ports.grep('USB UART'))
+
+    if (len(ports) == 1):
+        default_device = ports[0].device
+        device_required = False
+
+        print("Default USB UART port: {0}".format(ports[0].name))
+        print(" device: {0}".format(ports[0].device))
+        print(" description: \"{0}\" ".format(ports[0].description))
+        print(" hwid: {0}".format(ports[0].hwid))
+        #print(" vid: {0}, pid: {1}".format(ports[0].vid, ports[0].pid))
+        #print(" serial_number: {0}".format(ports[0].serial_number))
+        #print(" location: {0}".format(ports[0].location))
+        print(" manufacturer: {0}".format(ports[0].manufacturer))
+        #print(" product: {0}".format(ports[0].product))
+        #print(" interface: {0}".format(ports[0].interface))
+
    parser = ArgumentParser(description=__doc__)
-    parser.add_argument('--device', "-d", nargs='?', default=None, help='', required=True)
-    parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
+    parser.add_argument('--device', "-d", nargs='?', default=default_device, help='', required=device_required)
+    parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="serial port baud rate (default=57600)", default=57600)
    parser.add_argument("--cmd", "-c", dest="cmd", help="Command to run")
    args = parser.parse_args()

-    do_nsh_cmd(args.device, args.baudrate, args.cmd)
+    tmp_file = "{0}/pyserial_spy_file.txt".format(tempfile.gettempdir())
+    port_url = "spy://{0}?file={1}".format(args.device, tmp_file)
+
+    print("pyserial url: {0}".format(port_url))
+
+    do_nsh_cmd(port_url, args.baudrate, args.cmd)

 if __name__ == "__main__":
   main()
@@ -9,6 +9,9 @@ import unittest
 import os
 import sys
 import datetime
+import serial.tools.list_ports as list_ports
+import tempfile
+import warnings

 COLOR_RED    = "\x1b[31m"
 COLOR_GREEN  = "\x1b[32m"
@@ -38,33 +41,36 @@ def print_line(line):
    else:
        print('{0}'.format(line), end='')

-def do_test(port, baudrate, test_name):
-    ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.2, xonxoff=True, rtscts=False, dsrdtr=False)

-    timeout_start = time.time()
+def do_test(port_url, baudrate, test_name):
+
+    # ignore pyserial spy:// resource warnings
+    warnings.filterwarnings(action="ignore", message="unclosed", category=ResourceWarning)
+
+    ser = serial.serial_for_url(url=port_url, baudrate=baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=3, xonxoff=False, rtscts=False, dsrdtr=False, inter_byte_timeout=1)
+
+    timeout_start = time.monotonic()
    timeout = 30  # 30 seconds

+    ser.write("\n\n\n".encode("ascii"))
+
    # wait for nsh prompt
    while True:
-        ser.write("\n".encode("ascii"))
-        ser.flush()
-
        serial_line = ser.readline().decode("ascii", errors='ignore')

-        if "nsh>" in serial_line:
-            break
+        if len(serial_line) > 0:
+            if "nsh>" in serial_line:
+                break
        else:
-            if len(serial_line) > 0:
-                print(serial_line, end='')
+            if time.monotonic() > timeout_start + timeout:
+                print("Error, timeout waiting for prompt")
+                return False
+
+            ser.write("\n".encode("ascii"))

-        if time.time() > timeout_start + timeout:
-            print("Error, timeout waiting for prompt")
-            return False

    # clear
-    ser.readlines()
-
-    success = False
+    ser.reset_input_buffer()

    # run test cmd
    print('\n|======================================================================')
@@ -72,30 +78,28 @@ def do_test(port, baudrate, test_name):
    print("| Running:", cmd)
    print('|======================================================================')

-    timeout_start = time.time()
+    timeout_start = time.monotonic()
    timeout = 2  # 2 seconds

    # wait for command echo
+    print("Running command: \'{0}\'".format(cmd))
    serial_cmd = '{0}\n'.format(cmd)
    ser.write(serial_cmd.encode("ascii"))
-    ser.flush()
+
    while True:
        serial_line = ser.readline().decode("ascii", errors='ignore')

-        if cmd in serial_line:
-            break
+        if len(serial_line) > 0:
+            if cmd in serial_line:
+                break
        else:
-            if len(serial_line) > 0:
-                print_line(serial_line)
-
-        if time.time() > timeout_start + timeout:
-            print("Error, timeout waiting for command echo")
-            break
-
+            if time.monotonic() > timeout_start + timeout:
+                print("Error, timeout waiting for command echo")
+                break

    # print results, wait for final result (PASSED or FAILED)
    timeout = 300  # 5 minutes
-    timeout_start = time.time()
+    timeout_start = time.monotonic()
    timeout_newline = timeout_start

    while True:
@@ -104,27 +108,26 @@ def do_test(port, baudrate, test_name):
        if len(serial_line) > 0:
            print_line(serial_line)

-        if test_name + " PASSED" in serial_line:
-            success = True
-            break
-        elif test_name + " FAILED" in serial_line:
-            success = False
-            break
+            if test_name + " PASSED" in serial_line:
+                ser.close()
+                return True
+            elif test_name + " FAILED" in serial_line:
+                ser.close()
+                return False
+        else:
+            if time.monotonic() > timeout_start + timeout:
+                print("Error, timeout")
+                print(test_name + f" {COLOR_RED}FAILED{COLOR_RESET}")
+                ser.close()
+                return False

-        if time.time() > timeout_start + timeout:
-            print("Error, timeout")
-            print(test_name + f" {COLOR_RED}FAILED{COLOR_RESET}")
-            success = False
-            break
-
-        # newline every 10 seconds if still running
-        if time.time() - timeout_newline > 10:
-            ser.write("\n".encode("ascii"))
-            timeout_newline = time.time()
+            # newline every 30 seconds if still running
+            if time.monotonic() - timeout_newline > 30:
+                ser.write("\n".encode("ascii"))
+                timeout_newline = time.monotonic()

    ser.close()
-
-    return success
+    return False

 class TestHardwareMethods(unittest.TestCase):
    TEST_DEVICE = 0
@@ -142,9 +145,8 @@ class TestHardwareMethods(unittest.TestCase):
    def test_bson(self):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bson"))

-    # TODO: review
-    # def test_dataman(self):
-    #     self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "dataman"))
+    def test_dataman(self):
+        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "dataman"))

    # def test_file(self):
    #     self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "file"))
@@ -207,12 +209,39 @@ class TestHardwareMethods(unittest.TestCase):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "versioning"))

 def main():
+
+    default_device = None
+    device_required = True
+
+    # select USB UART as default if there's only 1
+    ports = list(serial.tools.list_ports.grep('USB UART'))
+
+    if (len(ports) == 1):
+        default_device = ports[0].device
+        device_required = False
+
+        print("Default USB UART port: {0}".format(ports[0].name))
+        print(" device: {0}".format(ports[0].device))
+        print(" description: \"{0}\" ".format(ports[0].description))
+        print(" hwid: {0}".format(ports[0].hwid))
+        #print(" vid: {0}, pid: {1}".format(ports[0].vid, ports[0].pid))
+        #print(" serial_number: {0}".format(ports[0].serial_number))
+        #print(" location: {0}".format(ports[0].location))
+        print(" manufacturer: {0}".format(ports[0].manufacturer))
+        #print(" product: {0}".format(ports[0].product))
+        #print(" interface: {0}".format(ports[0].interface))
+
    parser = ArgumentParser(description=__doc__)
-    parser.add_argument('--device', "-d", nargs='?', default=None, help='', required=True)
-    parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
+    parser.add_argument('--device', "-d", nargs='?', default=default_device, help='', required=device_required)
+    parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="serial port baud rate (default=57600)", default=57600)
    args = parser.parse_args()

-    TestHardwareMethods.TEST_DEVICE = args.device
+    tmp_file = "{0}/pyserial_spy_file.txt".format(tempfile.gettempdir())
+    port_url = "spy://{0}?file={1}".format(args.device, tmp_file)
+
+    print("pyserial url: {0}".format(port_url))
+
+    TestHardwareMethods.TEST_DEVICE = port_url
    TestHardwareMethods.TEST_BAUDRATE = args.baudrate

    unittest.main(__name__, failfast=True, verbosity=0, argv=['main'])
@@ -0,0 +1,63 @@
+#! /bin/bash
+
+# exit when any command fails
+set -e
+
+DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
+
+SERIAL_DEVICE=$1
+
+if [ ! -e "${SERIAL_DEVICE}" ]
+then
+	echo "Invalid serial device ${SERIAL_DEVICE}"
+	exit -1
+fi
+
+# all airframes (from ROMFS/px4fmu_common/init.d/airframes/)
+# $(find . -regex '.*/[0-9].*' -exec basename {} \; | cut -d "_" -f 1)
+ALL_AIRFRAMES=${@:2}
+echo "airframes: ${ALL_AIRFRAMES}"
+
+for airframe in $ALL_AIRFRAMES
+do
+	echo
+	echo
+	echo
+	echo "########################################################################################################################"
+	echo " Airframe: $airframe"
+	echo "########################################################################################################################"
+	echo
+
+	${DIR}/nsh_param_set.py --device ${SERIAL_DEVICE} --name SYS_AUTOSTART  --value $airframe
+	${DIR}/nsh_param_set.py --device ${SERIAL_DEVICE} --name CBRK_BUZZER    --value 782097
+
+	# enable all mavlink instances
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param set MAV_0_CONFIG 101' || true
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param set MAV_1_CONFIG 102' || true
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param set MAV_2_CONFIG 103' || true
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param set MAV_3_CONFIG 104' || true
+
+	# enable all GPS
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param set GPS_1_CONFIG 201' || true
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param set GPS_1_CONFIG 202' || true
+
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param reset SYS_HITL'
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param status'
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param save'
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump'
+
+	${DIR}/reboot.py --device ${SERIAL_DEVICE}
+
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param status'
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump /fs/mtd_params' || true
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump /fs/microsd/parameters_backup.bson' || true
+
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'ps'
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'work_queue status'
+
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'pwm info'
+
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'mavlink stop-all'
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'gps stop'
+
+done
@@ -1,35 +1,5 @@
 #! /bin/bash

-if [ -z ${PX4_DOCKER_REPO+x} ]; then
-	echo "guessing PX4_DOCKER_REPO based on input";
-	if [[ $@ =~ .*px4_fmu.* ]]; then
-		# nuttx-px4fmu-v{1,2,3,4,5}
-		PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-09-08"
-	elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]]; then
-		# beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_pilotpi_default
-		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-08-18"
-	elif [[ $@ =~ .*pilotpi.arm64 ]]; then
-		# scumaker_pilotpi_arm64
-		PX4_DOCKER_REPO="px4io/px4-dev-aarch64:latest"
-	elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*bebop.* ]]; then
-		# posix_rpi_cross, posix_bebop_default
-		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-08-18"
-	elif [[ $@ =~ .*clang.* ]] || [[ $@ =~ .*scan-build.* ]]; then
-		# clang tools
-		PX4_DOCKER_REPO="px4io/px4-dev-clang:2021-02-04"
-	elif [[ $@ =~ .*tests* ]]; then
-		# run all tests with simulation
-		PX4_DOCKER_REPO="px4io/px4-dev-simulation-bionic:2021-02-04"
-	fi
-else
-	echo "PX4_DOCKER_REPO is set to '$PX4_DOCKER_REPO'";
-fi
-
-# otherwise default to nuttx
-if [ -z ${PX4_DOCKER_REPO+x} ]; then
-	PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-09-08"
-fi
-
 # docker hygiene

 #Delete all stopped containers (including data-only containers)
@@ -38,30 +8,23 @@ fi
 #Delete all 'untagged/dangling' (<none>) images
 #docker rmi $(docker images -q -f dangling=true)

-echo "PX4_DOCKER_REPO: $PX4_DOCKER_REPO";
+if [[ -z "${DOCKER_TAG}" ]]; then
+  TAG_NAME=""
+else
+  TAG_NAME=":${DOCKER_TAG}"
+fi
+
+PX4_DOCKER_REPO="px4io/px4-dev$TAG_NAME"
+
+echo $PX4_DOCKER_REPO

 PWD=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
 SRC_DIR=$PWD/../

-CCACHE_DIR=${HOME}/.ccache
-mkdir -p "${CCACHE_DIR}"
-
 docker run -it --rm -w "${SRC_DIR}" \
-	--env=AWS_ACCESS_KEY_ID \
-	--env=AWS_SECRET_ACCESS_KEY \
-	--env=BRANCH_NAME \
-	--env=CCACHE_DIR="${CCACHE_DIR}" \
-	--env=CI \
-	--env=CODECOV_TOKEN \
-	--env=COVERALLS_REPO_TOKEN \
-	--env=LOCAL_USER_ID="$(id -u)" \
-	--env=PX4_ASAN \
-	--env=PX4_MSAN \
-	--env=PX4_TSAN \
-	--env=PX4_UBSAN \
-	--env=TRAVIS_BRANCH \
-	--env=TRAVIS_BUILD_ID \
-	--publish 14556:14556/udp \
-	--volume=${CCACHE_DIR}:${CCACHE_DIR}:rw \
-	--volume=${SRC_DIR}:${SRC_DIR}:rw \
-	${PX4_DOCKER_REPO} /bin/bash -c "$1 $2 $3"
+  --env=LOCAL_USER_ID="$(id -u)" \
+  --publish 14556:14556/udp \
+  --volume=/tmp/.X11-unix:/tmp/.X11-unix \
+  --volume=/tmp:/tmp:rw \
+  --volume=${SRC_DIR}:${SRC_DIR}:rw \
+  ${PX4_DOCKER_REPO} /bin/bash -c "$1 $2 $3"
@@ -39,7 +39,7 @@ function spawn_model() {

 	echo "Spawning ${MODEL}_${N} at ${X} ${Y}"

-	gz model --spawn-file=/tmp/${MODEL}_${N}.sdf --model-name=${MODEL}_${N} -x ${X} -y ${Y} -z 0.0
+	gz model --spawn-file=/tmp/${MODEL}_${N}.sdf --model-name=${MODEL}_${N} -x ${X} -y ${Y} -z 0.83

 	popd &>/dev/null

@@ -6,14 +6,14 @@ import os
 import sys
 import json
 import re
-from kconfiglib import Kconfig
+# from kconfiglib import Kconfig

-kconf = Kconfig()
+# kconf = Kconfig()

 # Supress warning output
-kconf.warn_assign_undef = False
-kconf.warn_assign_override = False
-kconf.warn_assign_redun = False
+# kconf.warn_assign_undef = False
+# kconf.warn_assign_override = False
+# kconf.warn_assign_redun = False

 source_dir = os.path.join(os.path.dirname(os.path.abspath(__file__)), '..')

@@ -23,6 +23,10 @@ parser.add_argument('-v', '--verbose', dest='verbose', action='store_true',
                    help='Verbose Output')
 parser.add_argument('-p', '--pretty', dest='pretty', action='store_true',
                    help='Pretty output instead of a single line')
+parser.add_argument('-a', '--all_variants', dest='all_variants', action='store_true',
+                    help='Prints targets into a single all_variants_* target')
+parser.add_argument('-b', '--bloaty', dest='bloaty', action='store_true',
+                    help='Includes all bloaty targets')

 args = parser.parse_args()
 verbose = args.verbose
@@ -35,46 +39,66 @@ excluded_labels = [
    'nolockstep', 'replay', 'test',
    'uavcanv1' # TODO: fix and enable
    ]
+bloaty_helpers = [
+    'bloaty_compileunits',
+    'bloaty_inlines',
+    'bloaty_segments',
+    'bloaty_symbols',
+    'bloaty_templates',
+    'bloaty_ram',
+    'bloaty_compare_master',
+    ]

-def process_target(px4board_file, target_name):
-    ret = None
-    platform = None
-    toolchain = None
+# def process_target(px4board_file, target_name):
+    # ret = None
+    # platform = None
+    # toolchain = None

-    if px4board_file.endswith("default.px4board"):
-        kconf.load_config(px4board_file, replace=True)
-    else: # Merge config with default.px4board
-        default_kconfig = re.sub(r'[a-zA-Z\d_]+\.px4board', 'default.px4board', px4board_file)
-        kconf.load_config(default_kconfig, replace=True)
-        kconf.load_config(px4board_file, replace=False)
+    # if px4board_file.endswith("default.px4board") or \
+        # px4board_file.endswith("recovery.px4board") or \
+        # px4board_file.endswith("bootloader.px4board"):
+        # kconf.load_config(px4board_file, replace=True)
+    # else: # Merge config with default.px4board
+        # default_kconfig = re.sub(r'[a-zA-Z\d_]+\.px4board', 'default.px4board', px4board_file)
+        # kconf.load_config(default_kconfig, replace=True)
+        # kconf.load_config(px4board_file, replace=False)

-    if "BOARD_TOOLCHAIN" in kconf.syms:
-        toolchain = kconf.syms["BOARD_TOOLCHAIN"].str_value
+    # if "BOARD_TOOLCHAIN" in kconf.syms:
+        # toolchain = kconf.syms["BOARD_TOOLCHAIN"].str_value

-    if "BOARD_PLATFORM" in kconf.syms:
-        platform = kconf.syms["BOARD_PLATFORM"].str_value
+    # if "BOARD_PLATFORM" in kconf.syms:
+        # platform = kconf.syms["BOARD_PLATFORM"].str_value

-    assert platform, f"PLATFORM not found in {px4board_file}"
+    # assert platform, f"PLATFORM not found in {px4board_file}"

-    if platform not in excluded_platforms:
-        # get the container based on the platform and toolchain
-        container = platform
-        if platform == 'posix':
-            container = 'base-focal'
-            if toolchain:
-                if toolchain.startswith('aarch64'):
-                    container = 'aarch64'
-                elif toolchain == 'arm-linux-gnueabihf':
-                    container = 'armhf'
-                else:
-                    if verbose: print(f'possibly unmatched toolchain: {toolchain}')
-        elif platform == 'nuttx':
-            container = 'nuttx-focal'
+    # if platform not in excluded_platforms:
+        # # get the container based on the platform and toolchain
+        # container = platform
+        # if platform == 'posix':
+            # container = 'base-focal'
+            # if toolchain:
+                # if toolchain.startswith('aarch64'):
+                    # container = 'aarch64'
+                # elif toolchain == 'arm-linux-gnueabihf':
+                    # container = 'armhf'
+                # else:
+                    # if verbose: print(f'possibly unmatched toolchain: {toolchain}')
+        # elif platform == 'nuttx':
+            # container = 'nuttx-focal'

-        ret = {'target': target_name, 'container': container}
+        # ret = {'target': target_name, 'container': container}

-    return ret
+    # return ret

+def process_bloaty(target_path, target_name):
+    response = []
+    for bloat in bloaty_helpers:
+        bloaty_name = target_name + ' ' + bloat + ' || true'
+        processed_target = process_target(target_path, bloaty_name)
+        response.append(processed_target)
+    return response
+
+# Look up boards from each manufacturer
 for manufacturer in os.scandir(os.path.join(source_dir, 'boards')):
    if not manufacturer.is_dir():
        continue
@@ -83,18 +107,37 @@ for manufacturer in os.scandir(os.path.join(source_dir, 'boards')):
        continue

    for board in os.scandir(manufacturer.path):
+        # Only boards are directories don't proceed if otherwise
        if not board.is_dir():
            continue
-        for files in os.scandir(board.path):
-            if files.is_file() and files.name.endswith('.px4board'):
-                label = files.name[:-9]
-                target_name = manufacturer.name + '_' + board.name + '_' + label
-                if label in excluded_labels:
-                    if verbose: print(f'excluding label {label} ({target_name})')
-                    continue
-                target = process_target(files.path, target_name)
-                if target is not None:
-                    build_configs.append(target)
+
+        if args.all_variants:
+            # The all_variants target makes all targets for a board
+            target_name = 'all_variants_' + manufacturer.name + '_' + board.name
+            default_target_path = f'{board.path}/default.px4board'
+            # target = process_target(default_target_path, target_name)
+            target = {'target': target_name}
+            if target is not None:
+                build_configs.append(target)
+            if args.bloaty and target is not None:
+                # bloaty targets
+                bloat_target_name = manufacturer.name + '_' + board.name
+                # bloaty_targets = process_bloaty(default_target_path, bloat_target_name)
+                bloaty_targets = {'target': bloat_target_name}
+                build_configs += bloaty_targets
+        else:
+            # Each board can have multiple variant targets
+            for files in os.scandir(board.path):
+                if files.is_file() and files.name.endswith('.px4board'):
+                    label = files.name[:-9]
+                    target_name = manufacturer.name + '_' + board.name + '_' + label
+                    if label in excluded_labels:
+                        if verbose: print(f'excluding label {label} ({target_name})')
+                        continue
+                    # target = process_target(files.path, target_name)
+                    target = {'target': target_name}
+                    if target is not None:
+                        build_configs.append(target)


 github_action_config = { 'include': build_configs }
@@ -10,7 +10,7 @@ extra_args=
 baudrate=921600
 device=
 ip="127.0.0.1"
-while getopts ":b:d:p:qsr:f:i:loa" opt; do
+while getopts ":b:d:p:qsr:f:i:loat" opt; do
 	case $opt in
 		b)
 			baudrate=$OPTARG
@@ -40,7 +40,10 @@ while getopts ":b:d:p:qsr:f:i:loa" opt; do
 			extra_args="$extra_args -disponly"
 			;;
 		a)
-			extra_args="$extra_args -fw" # aircraft
+			extra_args="$extra_args -fw" # aircraft model
+			;;
+		t)
+			extra_args="$extra_args -ts" # tailsitter model
 			;;
 		\?)
 			echo "Invalid option: -$OPTARG" >&2
@@ -92,6 +92,7 @@ pca9685,CONFIG_DRIVERS_PCA9685=y
 pca9685_pwm_out,CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 power_monitor/ina226,CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 power_monitor/voxlpm,CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
+pps_capture,CONFIG_DRIVERS_PPS_CAPTURE=y
 protocol_splitter,CONFIG_DRIVERS_PROTOCOL_SPLITTER=y
 pwm_input,CONFIG_DRIVERS_PWM_INPUT=y
 pwm_out_sim,CONFIG_DRIVERS_PWM_OUT_SIM=y
@@ -155,7 +156,6 @@ bl_update,CONFIG_SYSTEMCMDS_BL_UPDATE=y
 dmesg,CONFIG_SYSTEMCMDS_DMESG=y
 dumpfile,CONFIG_SYSTEMCMDS_DUMPFILE=y
 dyn,CONFIG_SYSTEMCMDS_DYN=y
-esc_calib,CONFIG_SYSTEMCMDS_ESC_CALIB=y
 failure,CONFIG_SYSTEMCMDS_FAILURE=y
 gpio,CONFIG_SYSTEMCMDS_GPIO=y
 hardfault_log,CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
@@ -164,7 +164,6 @@ led_control,CONFIG_SYSTEMCMDS_LED_CONTROL=y
 mft,CONFIG_SYSTEMCMDS_MFT=y
 microbench,CONFIG_SYSTEMCMDS_MICROBENCH=y
 mixer,CONFIG_SYSTEMCMDS_MIXER=y
-motor_ramp,CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 motor_test,CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 mtd,CONFIG_SYSTEMCMDS_MTD=y
 netman,CONFIG_SYSTEMCMDS_NETMAN=y
@@ -0,0 +1,494 @@
+#!/usr/bin/env python3
+""" Script to generate actuators.json metadata from module.yaml config file(s)
+"""
+
+import argparse
+import lzma #to create .xz file
+import json
+import os
+import sys
+
+from output_groups_from_timer_config import get_timer_groups, get_output_groups
+
+try:
+    import yaml
+except ImportError as e:
+    print("Failed to import yaml: " + str(e))
+    print("")
+    print("You may need to install it using:")
+    print("    pip3 install --user pyyaml")
+    print("")
+    sys.exit(1)
+
+parser = argparse.ArgumentParser(description='Generate actuators.json from module.yaml file(s)')
+
+parser.add_argument('--config-files', type=str, nargs='*', default=[],
+                    help='YAML module config file(s)')
+parser.add_argument('--output-file', type=str, action='store',
+                    help='JSON output file', required=True)
+parser.add_argument('--compress', action='store_true', help='Add a compressed output file')
+parser.add_argument('-v', '--verbose', dest='verbose', action='store_true',
+                    help='Verbose Output')
+parser.add_argument('--timer-config', type=str, action='store',
+                    help='board-specific timer_config.cpp file')
+parser.add_argument('--board', type=str, action='store',
+                    help='board name, e.g. ')
+parser.add_argument('--board-with-io', dest='board_with_io', action='store_true',
+                    help='Indicate that the board as an IO for extra PWM',
+                    default=False)
+
+args = parser.parse_args()
+
+compress = args.compress
+verbose = args.verbose
+output_file = args.output_file
+timer_config_file = args.timer_config
+board_with_io = args.board_with_io
+board = args.board
+
+root_dir = os.path.join(os.path.dirname(os.path.realpath(__file__)),"../..")
+output_functions_file = os.path.join(root_dir,"src/lib/mixer_module/output_functions.yaml")
+
+def save_compressed(filename):
+    #create lzma compressed version
+    xz_filename=filename+'.xz'
+    with lzma.open(xz_filename, 'wt', preset=9) as f:
+        with open(filename, 'r') as content_file:
+            f.write(content_file.read())
+
+def load_yaml_file(file_name):
+    with open(file_name, 'r') as stream:
+        try:
+            return yaml.safe_load(stream)
+        except yaml.YAMLError as exc:
+            print(exc)
+            raise
+
+# functions
+output_functions_yaml = load_yaml_file(output_functions_file)
+output_functions = output_functions_yaml['functions']
+functions = {}
+
+def add_function(functions, index, name, function_obj=None):
+    functions[index] = {
+        "label": name
+    }
+    if function_obj is not None:
+        if function_obj.get('exclude_from_actuator_testing', False):
+            functions[index]['exclude-from-actuator-testing'] = True
+        if 'note' in function_obj:
+            functions[index]['note'] = function_obj['note']
+
+for group_key in output_functions:
+    group = output_functions[group_key]
+    for function_name in group:
+        function_name_label = function_name.replace('_', ' ')
+        if isinstance(group[function_name], int):
+            add_function(functions, group[function_name], function_name_label)
+        elif not 'count' in group[function_name]:
+            add_function(functions, group[function_name]['start'], function_name_label, group[function_name])
+        else:
+            start = group[function_name]['start']
+            count = group[function_name]['count']
+            for i in range(count):
+                add_function(functions, start+i, function_name_label+' '+str(i+1), group[function_name])
+
+# outputs
+outputs = []
+
+def process_module_name(module_name):
+    if module_name == '${PWM_MAIN_OR_AUX}':
+        if board_with_io: return 'PWM AUX'
+        return 'PWM MAIN'
+    if '${' in module_name:
+        raise Exception('unhandled variable in {:}'.format(module_name))
+    return module_name
+
+def process_param_prefix(param_prefix):
+    if param_prefix == '${PWM_MAIN_OR_AUX}':
+        if board_with_io: return 'PWM_AUX'
+        return 'PWM_MAIN'
+    if '${' in param_prefix:
+        raise Exception('unhandled variable in {:}'.format(param_prefix))
+    return param_prefix
+
+def process_channel_label(module_name, channel_label, no_prefix):
+    if channel_label == '${PWM_MAIN_OR_AUX_CAP}':
+        return 'CAP'
+    if channel_label == '${PWM_MAIN_OR_AUX}':
+        if board_with_io: return 'AUX'
+        return 'MAIN'
+    if '${' in channel_label:
+        raise Exception('unhandled variable in {:}'.format(channel_label))
+    if no_prefix: return channel_label
+    return channel_label
+
+def get_actuator_output(yaml_config, output_functions, timer_config_file, verbose):
+    """ parse the actuator_output section from the yaml config file
+    """
+    if not 'actuator_output' in yaml_config:
+        return None
+
+
+    actuator_output_yaml = yaml_config['actuator_output']
+    output_groups = actuator_output_yaml['output_groups']
+    module_name = process_module_name(yaml_config['module_name'])
+    group_idx = 0
+
+    if verbose: print('processing module: {}'.format(module_name))
+
+    actuator_output = {
+            'label': module_name
+        }
+    if 'show_subgroups_if' in actuator_output_yaml:
+        actuator_output['show-subgroups-if'] = actuator_output_yaml['show_subgroups_if']
+
+    # config parameters
+    def get_config_params(param_list):
+        """ convert config parameter list (per group or per subgroup) """
+        parameters = []
+        for config_param in param_list:
+            if verbose:
+                print('config param: {}'.format(config_param))
+            param = {
+                    'name': config_param['param'],
+                }
+            if 'label' in config_param:
+                param['label'] = config_param['label']
+            if 'function' in config_param:
+                param['function'] = config_param['function']
+            parameters.append(param)
+        return parameters
+
+    parameters = get_config_params(actuator_output_yaml.get('config_parameters', []))
+    if len(parameters) > 0:
+        actuator_output['parameters'] = parameters
+
+    subgroups = []
+
+    while group_idx < len(output_groups):
+        group = output_groups[group_idx]
+        group_idx += 1
+
+        if verbose: print("processing group: {:}".format(group))
+
+        # Check for generator and generate additional data.
+        if 'generator' in group:
+            if group['generator'] == 'pwm':
+                param_prefix = process_param_prefix(group['param_prefix'])
+                no_prefix = not group.get('channel_label_module_name_prefix', True)
+                channel_labels = [process_channel_label(module_name, label, no_prefix)
+                    for label in group['channel_labels']]
+                standard_params = group.get('standard_params', [])
+                extra_function_groups = group.get('extra_function_groups', [])
+                pwm_timer_param = group.get('pwm_timer_param', None)
+                if 'timer_config_file' in group:
+                    timer_config_file = os.path.join(root_dir, group['timer_config_file'])
+                if timer_config_file is None:
+                    raise Exception('trying to generate pwm outputs, but --timer-config not set')
+                timer_groups = get_timer_groups(timer_config_file, verbose)
+                timer_output_groups, timer_params = get_output_groups(timer_groups,
+                    param_prefix, channel_labels,
+                    standard_params, extra_function_groups, pwm_timer_param,
+                    verbose=verbose)
+                output_groups.extend(timer_output_groups)
+            else:
+                raise Exception('unknown generator {:}'.format(group['generator']))
+            continue
+        
+        subgroup = {}
+
+        # supported actions
+        if 'supported_actions' in group:
+            actions = {}
+            for action_name in group['supported_actions']:
+                action = group['supported_actions'][action_name]
+                action_name = action_name.replace('_', '-')
+                actions[action_name] = {}
+                if 'supported_if' in action:
+                    actions[action_name]['supported-if'] = action['supported_if']
+                if 'actuator_types' in action:
+                    actions[action_name]['actuator-types'] = action['actuator_types']
+            subgroup['supported-actions'] = actions
+
+        # channels
+        num_channels = group['num_channels']
+        no_prefix = not group.get('channel_label_module_name_prefix', True)
+        channel_label = process_channel_label(module_name, group['channel_label'], no_prefix)
+        instance_start = group.get('instance_start', 1)
+        instance_start_label = group.get('instance_start_label', instance_start)
+        channels = []
+        for channel in range(num_channels):
+            channels.append({
+                'label': channel_label + ' ' +str(channel+instance_start_label),
+                'param-index': channel+instance_start
+                })
+        subgroup['channels'] = channels
+
+        if 'group_label' in group:
+            subgroup['label'] = group['group_label']
+
+
+        # per-channel-params
+        per_channel_params = []
+        param_prefix = process_param_prefix(group['param_prefix'])
+        standard_params = group.get('standard_params', {})
+        standard_params_array = [
+            ( 'function', 'Function', 'FUNC', False ),
+            ( 'disarmed', 'Disarmed', 'DIS', False ),
+            ( 'min', 'Minimum', 'MIN', False ),
+            ( 'max', 'Maximum', 'MAX', False ),
+            ( 'failsafe', 'Failsafe', 'FAIL', True ),
+            ]
+        for key, label, param_suffix, advanced in standard_params_array:
+            show_if = None
+            if key in standard_params and 'show_if' in standard_params[key]:
+                show_if = standard_params[key]['show_if']
+
+            if key in standard_params or key == 'function':
+                param = {
+                        'label': label,
+                        'name': param_prefix+'_'+param_suffix+'${i}',
+                        'function': key,
+                    }
+                if advanced: param['advanced'] = True
+                if show_if: param['show-if'] = show_if
+                per_channel_params.append(param)
+
+
+        param = {
+                'label': 'Rev Range\n(for Servos)',
+                'name': param_prefix+'_REV',
+                'index-offset': -1,
+                'show-as': 'bitset',
+            }
+        per_channel_params.append(param)
+
+        # TODO: support non-standard per-channel parameters
+
+        subgroup['per-channel-parameters'] = per_channel_params
+
+        # group config params
+        parameters = get_config_params(group.get('config_parameters', []))
+        if len(parameters) > 0:
+            subgroup['parameters'] = parameters
+
+        subgroups.append(subgroup)
+
+    actuator_output['subgroups'] = subgroups
+    return actuator_output
+
+# Mixers
+mixers = None
+def get_mixers(yaml_config, output_functions, verbose):
+    if not 'mixer' in yaml_config:
+        return None
+
+    actuator_types = {}
+    for actuator_type_key in yaml_config['mixer']['actuator_types']:
+        actuator_type_conf = yaml_config['mixer']['actuator_types'][actuator_type_key]
+        actuator_type = { }
+        if actuator_type_key != 'DEFAULT':
+            actuator_type['label-index-offset'] = 1 # always 1
+        if 'functions' in actuator_type_conf:
+            function_name = actuator_type_conf['functions']
+            # we expect the function to be in 'common' (this is not a requirement, just simplicity)
+            output_function = output_functions['common'][function_name]
+            actuator_type['function-min'] = output_function['start']
+            actuator_type['function-max'] = output_function['start'] + output_function['count'] - 1
+
+        values = actuator_type_conf['actuator_testing_values']
+        actuator_type['values'] = {
+                'min': values['min'],
+                'max': values['max'],
+            }
+        if values.get('default_is_nan', False):
+            actuator_type['values']['default-is-nan'] = True
+        else:
+            actuator_type['values']['default'] = values['default']
+        if values.get('reversible', False):
+            actuator_type['values']['reversible'] = True
+
+        # per item params
+        per_item_params = []
+        for per_item_param in actuator_type_conf.get('per_item_parameters', []):
+            per_item_params.append({k.replace('_','-'): v for k, v in per_item_param.items()})
+        if len(per_item_params) > 0:
+            actuator_type['per-item-parameters'] = per_item_params
+
+        actuator_types[actuator_type_key] = actuator_type
+
+    if verbose:
+        print('Actuator types: {}'.format(actuator_types))
+
+    config = []
+    yaml_mixer_config = yaml_config['mixer']['config']
+    select_param = yaml_mixer_config['param']
+    types = yaml_mixer_config['types']
+    for type_index in types:
+        current_type = types[type_index]
+        option = select_param + '==' + str(type_index)
+        mixer_config = {
+                'option': option,
+            }
+        if 'type' in current_type:
+            mixer_config['type'] = current_type['type']
+        actuators = []
+        for actuator_conf in current_type['actuators']:
+            actuator = {
+                    'actuator-type': actuator_conf['actuator_type'],
+                    'required': True, # for now always set as required
+                }
+            # sanity check that actuator type exists
+            if actuator_conf['actuator_type'] not in actuator_types:
+                raise Exception('actuator type "{}" does not exist (valid: {})'.format(actuator_conf['actuator_type'], actuator_types.keys()))
+
+            if 'group_label' in actuator_conf:
+                actuator['group-label'] = actuator_conf['group_label']
+            else:
+                # infer from actuator type
+                if actuator_conf['actuator_type'] == 'motor':
+                    actuator['group-label'] = 'Motors'
+                elif actuator_conf['actuator_type'] == 'servo':
+                    actuator['group-label'] = 'Servos'
+                else:
+                    raise Exception('Missing group label for actuator type "{}"'.format(actuator_conf['actuator_type']))
+
+            if 'count' in actuator_conf: # possibly dynamic size
+                actuator['count'] = actuator_conf['count']
+                per_item_params = actuator_conf.get('per_item_parameters', {})
+                params = []
+                if 'standard' in per_item_params:
+                    standard_params = per_item_params['standard']
+                    index_offset = standard_params.get('index_offset', 0)
+                    if 'position' in standard_params:
+                        params.extend([
+                        {
+                            'label': 'Position X',
+                            'function': 'posx',
+                            'name': standard_params['position'][0],
+                            'index-offset': index_offset,
+                        },
+                        {
+                            'label': 'Position Y',
+                            'function': 'posy',
+                            'name': standard_params['position'][1],
+                            'index-offset': index_offset,
+                        },
+                        {
+                            'label': 'Position Z',
+                            'function': 'posz',
+                            'name': standard_params['position'][2],
+                            'advanced': True,
+                            'index-offset': index_offset,
+                        },
+                        ])
+                if 'extra' in per_item_params:
+                    for extra_param in per_item_params['extra']:
+                        params.append({k.replace('_','-'): v for k, v in extra_param.items()})
+                actuator['per-item-parameters'] = params
+                if 'item_label_prefix' in actuator_conf:
+                    actuator['item-label-prefix'] = actuator_conf['item_label_prefix']
+            else: # fixed size
+                labels = []
+                pos_x = []
+                pos_y = []
+                pos_z = []
+                for instance in actuator_conf['instances']:
+                    labels.append(instance['name'])
+                    pos_x.append(instance['position'][0])
+                    pos_y.append(instance['position'][1])
+                    pos_z.append(instance['position'][2])
+                actuator['count'] = len(labels)
+                actuator['item-label-prefix'] = labels
+                actuator['per-item-parameters'] = [
+                        {
+                            'label': 'Position X',
+                            'function': 'posx',
+                            'value': pos_x,
+                        },
+                        {
+                            'label': 'Position Y',
+                            'function': 'posy',
+                            'value': pos_y,
+                        },
+                        {
+                            'label': 'Position Z',
+                            'function': 'posz',
+                            'value': pos_z,
+                            'advanced': True,
+                        },
+                    ]
+
+            # actuator parameters
+            parameters = []
+            for param in actuator_conf.get('parameters', []):
+                parameters.append({k.replace('_','-'): v for k, v in param.items()})
+            actuator['parameters'] = parameters
+
+            actuators.append(actuator)
+
+        mixer_config['actuators'] = actuators
+        config.append(mixer_config)
+
+    if verbose:
+        print('Mixer configs: {}'.format(config))
+
+    rules = []
+    for rule in yaml_config['mixer'].get('rules', []):
+        rules.append({k.replace('_','-'): v for k, v in rule.items()})
+
+    if verbose:
+        print('Mixer rules: {}'.format(rules))
+    
+    mixers = {
+            'actuator-types': actuator_types,
+            'config': config,
+            'rules': rules,
+        }
+    return mixers
+
+
+for yaml_file in args.config_files:
+    yaml_config = load_yaml_file(yaml_file)
+
+    try:
+        actuator_output = get_actuator_output(yaml_config,
+                output_functions, timer_config_file, verbose)
+        if actuator_output:
+            outputs.append(actuator_output)
+
+        parsed_mixers = get_mixers(yaml_config, output_functions, verbose)
+        if parsed_mixers is not None:
+            if mixers is not None:
+                # only expected to be configured in one module
+                raise Exception('multiple "mixer" sections in module config files')
+            mixers = parsed_mixers
+    except Exception as e:
+        print('Exception while parsing {:}:'.format(yaml_file))
+        raise e
+
+if mixers is None:
+    if len(outputs) > 0:
+        raise Exception('Missing "mixer" section in yaml configs (CONFIG_MODULES_CONTROL_ALLOCATOR not added to the build?)')
+    else:
+        # set a minimal default
+        mixers = {
+                'actuator-types': { 'DEFAULT': { 'values': { 'min': 0, 'max': 1 } } },
+            'config': [],
+            }
+
+actuators = {
+    'version': 1,
+    'show-ui-if': 'SYS_CTRL_ALLOC==1',
+    'outputs_v1': outputs,
+    'functions_v1': functions,
+    'mixer_v1': mixers,
+    }
+
+with open(output_file, 'w') as outfile:
+    indent = 2 if verbose else None
+    json.dump(actuators, outfile, indent=indent)
+
+if compress:
+    save_compressed(output_file)
@@ -1,11 +1,12 @@
 #!/usr/bin/env python3
-""" Script to params from module.yaml config file(s)
+""" Script to generate params from module.yaml config file(s)
    Note: serial params are handled in Tools/serial/generate_config.py
 """

 import argparse
 import os
 import sys
+from copy import deepcopy

 from output_groups_from_timer_config import get_timer_groups, get_output_groups

@@ -49,10 +50,15 @@ board = args.board
 root_dir = os.path.join(os.path.dirname(os.path.realpath(__file__)),"../..")
 output_functions_file = os.path.join(root_dir,"src/lib/mixer_module/output_functions.yaml")

+def process_module_name(module_name):
+    if module_name == '${PWM_MAIN_OR_AUX}':
+        if board_with_io: return 'PWM AUX'
+        return 'PWM MAIN'
+    if '${' in module_name:
+        raise Exception('unhandled variable in {:}'.format(module_name))
+    return module_name
+
 def process_param_prefix(param_prefix):
-    if param_prefix == '${PWM_MAIN_OR_HIL}':
-        if board == 'px4_sitl': return 'PWM_MAIN'
-        return 'HIL_ACT'
    if param_prefix == '${PWM_MAIN_OR_AUX}':
        if board_with_io: return 'PWM_AUX'
        return 'PWM_MAIN'
@@ -60,16 +66,16 @@ def process_param_prefix(param_prefix):
        raise Exception('unhandled variable in {:}'.format(param_prefix))
    return param_prefix

-def process_channel_label(channel_label):
-    if channel_label == '${PWM_MAIN_OR_HIL}':
-        if board == 'px4_sitl': return 'PWM Sim'
-        return 'HIL actuator'
+def process_channel_label(module_name, channel_label, no_prefix):
+    if channel_label == '${PWM_MAIN_OR_AUX_CAP}':
+        return 'PWM Capture'
    if channel_label == '${PWM_MAIN_OR_AUX}':
        if board_with_io: return 'PWM Aux'
        return 'PWM Main'
    if '${' in channel_label:
        raise Exception('unhandled variable in {:}'.format(channel_label))
-    return channel_label
+    if no_prefix: return channel_label
+    return module_name + ' ' + channel_label


 def parse_yaml_parameters_config(yaml_config, ethernet_supported):
@@ -104,6 +110,13 @@ def parse_yaml_parameters_config(yaml_config, ethernet_supported):
                    param_type = 'INT32'
                    for key in param['values']:
                        tags += '\n * @value {:} {:}'.format(key, param['values'][key])
+                elif param['type'] == 'bitmask':
+                    param_type = 'INT32'
+                    for key in param['bit']:
+                        tags += '\n * @bit {:} {:}'.format(key, param['bit'][key])
+                    max_val = max(key for key in param['bit'])
+                    tags += '\n * @min 0'
+                    tags += '\n * @max {:}'.format((1<<(max_val+1)) - 1)
                elif param['type'] == 'boolean':
                    param_type = 'INT32'
                    tags += '\n * @boolean'
@@ -114,7 +127,7 @@ def parse_yaml_parameters_config(yaml_config, ethernet_supported):
                else:
                    raise Exception("unknown param type {:}".format(param['type']))

-                for tag in ['decimal', 'increment', 'category', 'volatile', 'bit',
+                for tag in ['decimal', 'increment', 'category', 'volatile',
                            'min', 'max', 'unit', 'reboot_required']:
                    if tag in param:
                        tags += '\n * @{:} {:}'.format(tag, param[tag])
@@ -144,7 +157,7 @@ def parse_yaml_parameters_config(yaml_config, ethernet_supported):
 */
 PARAM_DEFINE_{param_type}({name}, {default_value});
 '''.format(short_descr=param['description']['short'].replace("\n", "\n * "),
-           long_descr=param['description']['long'].replace("\n", "\n * "),
+           long_descr=param['description'].get('long', "").replace("\n", "\n * "),
           tags=tags,
           param_type=param_type,
           name=param_name.replace('${i}', str(i+instance_start)),
@@ -161,9 +174,12 @@ def get_actuator_output_params(yaml_config, output_functions,
    if not 'actuator_output' in yaml_config:
        return {}
    output_groups = yaml_config['actuator_output']['output_groups']
+    module_name = process_module_name(yaml_config['module_name'])
    all_params = {}
    group_idx = 0

+    all_param_prefixes = {}
+
    def add_local_param(param_name, param_def):
        nonlocal all_params
        # add as a list, as there can be multiple entries with the same param_name
@@ -182,7 +198,9 @@ def get_actuator_output_params(yaml_config, output_functions,
        if 'generator' in group:
            if group['generator'] == 'pwm':
                param_prefix = process_param_prefix(group['param_prefix'])
-                channel_labels = [process_channel_label(label) for label in group['channel_labels']]
+                no_prefix = not group.get('channel_label_module_name_prefix', True)
+                channel_labels = [process_channel_label(module_name, label, no_prefix)
+                    for label in group['channel_labels']]
                standard_params = group.get('standard_params', [])
                extra_function_groups = group.get('extra_function_groups', [])
                pwm_timer_param = group.get('pwm_timer_param', None)
@@ -197,13 +215,29 @@ def get_actuator_output_params(yaml_config, output_functions,
                    verbose=verbose)
                all_params.update(timer_params)
                output_groups.extend(timer_output_groups)
+
+                # In case of a board w/o IO and >8 PWM channels, pwm_out splits
+                # into 2 instances (if SYS_CTRL_ALLOC==0) and we need to add the
+                # PWM_AUX min/max/disarmed params as well.
+                num_channels = len(timer_groups['types'])
+                if not board_with_io and num_channels > 8:
+                    output_groups.append(
+                        {
+                            'param_prefix': 'PWM_AUX',
+                            'channel_label': 'PWM AUX',
+                            'instance_start': 1,
+                            'num_channels': num_channels - 8,
+                            'standard_params': deepcopy(timer_output_groups[0]['standard_params'])
+                        })
+
            else:
                raise Exception('unknown generator {:}'.format(group['generator']))
            continue

        num_channels = group['num_channels']
        param_prefix = process_param_prefix(group['param_prefix'])
-        channel_label = process_channel_label(group['channel_label'])
+        no_prefix = not group.get('channel_label_module_name_prefix', True)
+        channel_label = process_channel_label(module_name, group['channel_label'], no_prefix)
        standard_params = group.get('standard_params', {})
        instance_start = group.get('instance_start', 1)
        instance_start_label = group.get('instance_start_label', instance_start)
@@ -219,12 +253,19 @@ def get_actuator_output_params(yaml_config, output_functions,
                function_name_label = function_name.replace('_', ' ')
                if isinstance(group[function_name], int):
                    output_function_values[group[function_name]] = function_name_label
+                elif not 'count' in group[function_name]:
+                    output_function_values[group[function_name]['start']] = function_name_label
                else:
                    start = group[function_name]['start']
                    count = group[function_name]['count']
                    for i in range(count):
                        output_function_values[start+i] = function_name_label+' '+str(i+1)

+        if param_prefix not in all_param_prefixes:
+            all_param_prefixes[param_prefix] = []
+        all_param_prefixes[param_prefix].append((instance_start,
+            instance_start_label, num_channels, channel_label))
+
        # function param
        param = {
            'description': {
@@ -257,13 +298,9 @@ Note that non-motor outputs might already be active in prearm state if COM_PREAR
 '''
        minimum_description = \
 '''Minimum output value (when not disarmed).
-
-The output range can be reversed by setting Min > Max.
 '''
        maximum_description = \
 '''Maxmimum output value (when not disarmed).
-
-The output range can be reversed by setting Min > Max.
 '''
        failsafe_description = \
 '''This is the output value that is set when in failsafe mode.
@@ -304,6 +341,30 @@ When set to -1 (default), the value depends on the function (see {:}).
                    }
                add_local_param(param_prefix+'_'+param_suffix+'${i}', param)

+    # add reverse range param
+    for param_prefix in all_param_prefixes:
+        groups = all_param_prefixes[param_prefix]
+        # collect the bits
+        channel_bits = {}
+        for instance_start, instance_start_label, num_instances, label in groups:
+            for instance in range(instance_start, instance_start+num_instances):
+                instance_label = instance - instance_start + instance_start_label
+                channel_bits[instance-1] = label + ' ' + str(instance_label)
+
+        param = {
+            'description': {
+                'short': 'Reverse Output Range for '+module_name,
+                'long':
+'''Allows to reverse the output range for each channel.
+Note: this is only useful for servos.
+'''.format(channel_label),
+                },
+            'type': 'bitmask',
+            'default': 0,
+            'bit': channel_bits
+            }
+        add_local_param(param_prefix+'_REV', param)
+
    if verbose: print('adding actuator params: {:}'.format(all_params))
    return all_params

@@ -151,6 +151,9 @@ def get_output_groups(timer_groups, param_prefix="PWM_MAIN",

        channel_label = channel_labels[channel_type_idx]
        channel_type_instance = instance_start_label[channel_type_idx]
+        group_label = channel_label + ' ' + str(channel_type_instance)
+        if group_count > 1:
+            group_label += '-' + str(channel_type_instance+group_count-1)
        group = {
            'param_prefix': param_prefix,
            'channel_label': channel_label,
@@ -159,16 +162,39 @@ def get_output_groups(timer_groups, param_prefix="PWM_MAIN",
            'extra_function_groups': deepcopy(extra_function_groups),
            'num_channels': group_count,
            'standard_params': deepcopy(standard_params),
+            'group_label': group_label,
+            'channel_label_module_name_prefix': False,
        }
-        output_groups.append(group)

        if pwm_timer_param is not None:
-            timer_channels_label = channel_label + ' ' + str(channel_type_instance)
-            if group_count > 1:
-                timer_channels_label += '-' + str(channel_type_instance+group_count-1)
            pwm_timer_param_cp = deepcopy(pwm_timer_param)
+            timer_param_name = param_prefix+'_TIM'+str(timer_index)

-            if not dshot_support:
+            group['config_parameters'] = [
+                    {
+                        'param': timer_param_name,
+                        'function': 'primary',
+                    }
+                ]
+
+            if dshot_support:
+                # don't show pwm limit params when dshot enabled
+
+                for standard_param in group['standard_params']:
+                    group['standard_params'][standard_param]['show_if'] = timer_param_name + '>=-1'
+
+                # indicate support for changing motor spin direction
+                group['supported_actions'] = {
+                        'set_spin_direction1': {
+                            'supported_if': timer_param_name + '<-1',
+                            'actuator_types': ['motor']
+                        },
+                        'set_spin_direction2': {
+                            'supported_if': timer_param_name + '<-1',
+                            'actuator_types': ['motor']
+                        },
+                    }
+            else:
                # remove dshot entries if no dshot support
                values = pwm_timer_param_cp['values']
                for key in list(values.keys()):
@@ -178,8 +204,9 @@ def get_output_groups(timer_groups, param_prefix="PWM_MAIN",
            for descr_type in ['short', 'long']:
                descr = pwm_timer_param_cp['description'][descr_type]
                pwm_timer_param_cp['description'][descr_type] = \
-                    descr.replace('${label}', timer_channels_label)
-            timer_params[param_prefix+'_TIM'+str(timer_index)] = pwm_timer_param_cp
+                    descr.replace('${label}', group_label)
+            timer_params[timer_param_name] = pwm_timer_param_cp
+        output_groups.append(group)
        instance_start += group_count
        instance_start_label[channel_type_idx] += group_count
    return (output_groups, timer_params)
@@ -72,38 +72,27 @@ div.frame_variant td, div.frame_variant th {

            # check if all outputs are equal for the group: if so, show them
            # only once
-            outputs_prev = ['', ''] # split into MAINx and others (AUXx)
-            outputs_match = [True, True]
+            all_outputs = {}
+            num_configs = len(group.GetParams())
            for param in group.GetParams():
                if not self.IsExcluded(param, board):
-                    outputs_current = ['', '']
                    for output_name in param.GetOutputCodes():
                        value = param.GetOutputValue(output_name)
-                        if output_name.lower().startswith('main'):
-                            idx = 0
-                        else:
-                            idx = 1
-                        outputs_current[idx] += '<li><b>%s</b>: %s</li>' % (output_name, value)
-                    for i in range(2):
-                        if len(outputs_current[i]) != 0:
-                            if outputs_prev[i] == '':
-                                outputs_prev[i] = outputs_current[i]
-                            elif outputs_current[i] != outputs_prev[i]:
-                                outputs_match[i] = False
+                        key_value_pair = (output_name, value)
+                        if key_value_pair not in all_outputs:
+                            all_outputs[key_value_pair] = 0
+                        all_outputs[key_value_pair] += 1
+            has_common_outputs = any(all_outputs[k] == num_configs for k in all_outputs)

-            for i in range(2):
-                if len(outputs_prev[i]) == 0:
-                    outputs_match[i] = False
-                if not outputs_match[i]:
-                    outputs_prev[i] = ''
-
-            if outputs_match[0] or outputs_match[1]:
+            if has_common_outputs:
+                outputs_common = ''.join(['<li><b>{:}</b>: {:}</li>'.format(k[0], k[1]) \
+                    for k in all_outputs if all_outputs[k] == num_configs])
                result += '<table>\n'
                result += ' <thead>\n'
                result += '   <tr><th>Common Outputs</th></tr>\n'
                result += ' </thead>\n'
                result += ' <tbody>\n'
-                result += '<tr>\n <td><ul>%s%s</ul></td>\n</tr>\n' % (outputs_prev[0], outputs_prev[1])
+                result += '<tr>\n <td><ul>%s</ul></td>\n</tr>\n' % (outputs_common)
                result += '</tbody></table>\n'

            result += '</div>\n\n'
@@ -138,11 +127,8 @@ div.frame_variant td, div.frame_variant th {
                    for output_name in param.GetOutputCodes():
                        value = param.GetOutputValue(output_name)
                        valstrs = value.split(";")
-                        if output_name.lower().startswith('main'):
-                            idx = 0
-                        else:
-                            idx = 1
-                        if not outputs_match[idx]:
+                        key_value_pair = (output_name, value)
+                        if all_outputs[key_value_pair] < num_configs:
                            outputs += '<li><b>%s</b>: %s</li>' % (output_name, value)
                            has_outputs = True

@@ -74,6 +74,7 @@ class RCOutput():
        result += "\n"
        result += "if [ ${AIRFRAME} != none ]\n"
        result += "then\n"
+        result += "\techo \"Loading airframe: /etc/init.d/airframes/${AIRFRAME}\"\n"
        result += "\t. /etc/init.d/airframes/${AIRFRAME}\n"
        if not post_start:
            result += "else\n"
@@ -0,0 +1,55 @@
+#
+# PX4 base development environment
+#
+
+FROM ubuntu:20.04
+LABEL maintainer="Daniel Agar <daniel@agar.ca>, Ramon Roche <mrpollo@gmail.com>"
+
+ENV DEBIAN_FRONTEND noninteractive
+ENV LANG C.UTF-8
+ENV LC_ALL C.UTF-8
+
+# Installing required utilities
+RUN apt-get update && apt-get -y --quiet --no-install-recommends install \
+  ca-certificates \
+  gnupg \
+  lsb-core \
+  lsb-release \
+  sudo \
+  software-properties-common \
+  wget \
+  gosu \
+  ;
+
+# Install PX4 Requirements
+COPY Tools/setup/requirements.txt /tmp/requirements.txt
+COPY Tools/setup/ubuntu.sh /tmp/ubuntu.sh
+# We support pre-downloading the gcc arm none eabi compiler
+# to speed up build times, if the file is not present when
+# building, the ubuntu.sh script will download it from source
+COPY *gcc-arm-none-eabi-9-2020-q2-update-linux.tar.bz2 /tmp/gcc-arm-none-eabi-9-2020-q2-update-linux.tar.bz2
+# The PATH env is set within ubuntu.sh, but given how we
+# are running the image using `gosu` to avoid read-only problems
+# with the filesystem the env variable does not persist
+ENV PATH="/opt/gcc-arm-none-eabi-9-2020-q2-update/bin:$PATH"
+ENV PATH="/opt/jdk-14.0.2+12/bin:$PATH"
+RUN bash /tmp/ubuntu.sh --from-docker --with-java --with-rtps --no-sim-tools
+
+ENV DISPLAY :99
+
+ENV FASTRTPSGEN_DIR="/usr/local/bin/"
+ENV TERM=xterm
+ENV TZ=UTC
+
+# SITL UDP PORTS
+EXPOSE 14556/udp
+EXPOSE 14557/udp
+
+# create user with id 1001 (jenkins docker workflow default)
+RUN useradd --shell /bin/bash -u 1001 -c "" -m user && usermod -a -G dialout user
+
+# create and start as LOCAL_USER_ID
+COPY Tools/setup/docker-entrypoint.sh /usr/local/bin/entrypoint.sh
+ENTRYPOINT ["/usr/local/bin/entrypoint.sh"]
+
+CMD ["/bin/bash"]
@@ -48,7 +48,6 @@ echo "Installing PX4 general dependencies"
 sudo pacman -Sy --noconfirm --needed \
 	astyle \
 	base-devel \
-	ccache \
 	clang \
 	cmake \
 	cppcheck \
@@ -0,0 +1,28 @@
+#!/bin/bash
+
+# Start virtual X server in the background
+# - DISPLAY default is :99, set in dockerfile
+# - Users can override with `-e DISPLAY=` in `docker run` command to avoid
+#   running Xvfb and attach their screen
+if [[ -x "$(command -v Xvfb)" && "$DISPLAY" == ":99" ]]; then
+	echo "Starting Xvfb"
+	Xvfb :99 -screen 0 1600x1200x24+32 &
+fi
+
+# Check if the ROS_DISTRO is passed and use it
+# to source the ROS environment
+if [ -n "${ROS_DISTRO}" ]; then
+	source "/opt/ros/$ROS_DISTRO/setup.bash"
+fi
+
+# Use the LOCAL_USER_ID if passed in at runtime
+if [ -n "${LOCAL_USER_ID}" ]; then
+	echo "Starting with UID : $LOCAL_USER_ID"
+	# modify existing user's id
+	usermod -u $LOCAL_USER_ID user
+
+	# run as user
+  exec gosu user "$@"
+else
+	exec "$@"
+fi
@@ -2,20 +2,22 @@

 set -e

-## Bash script to setup PX4 development environment on Ubuntu LTS (20.04, 18.04, 16.04).
+## Bash script to setup PX4 development environment on Ubuntu LTS (20.04, 18.04).
 ## Can also be used in docker.
 ##
 ## Installs:
-## - Common dependencies and tools for nuttx, jMAVSim, Gazebo
+## - Common dependencies and tools for NuttX, jMAVSim, Gazebo
 ## - NuttX toolchain (omit with arg: --no-nuttx)
-## - jMAVSim and Gazebo9 simulator (omit with arg: --no-sim-tools)
-##
-## Not Installs:
-## - FastRTPS and FastCDR
+## - jMAVSim and Gazebo simulator (omit with arg: --no-sim-tools)
+## Optional:
+## - FastRTPS and FastCDR (with args: --with-rtps)

 INSTALL_NUTTX="true"
 INSTALL_SIM="true"
 INSTALL_ARCH=`uname -m`
+INSTALL_RTPS="false"
+INSTALL_JAVA="false"
+INSIDE_DOCKER="false"

 # Parse arguments
 for arg in "$@"
@@ -28,19 +30,19 @@ do
 		INSTALL_SIM="false"
 	fi

-done
+	if [[ $arg == "--with-rtps" ]]; then
+		INSTALL_RTPS="true"
+	fi

-# detect if running in docker
-if [ -f /.dockerenv ]; then
-	echo "Running within docker, installing initial dependencies";
-	apt-get --quiet -y update && DEBIAN_FRONTEND=noninteractive apt-get --quiet -y install \
-		ca-certificates \
-		gnupg \
-		lsb-core \
-		sudo \
-		wget \
-		;
-fi
+	if [[ $arg == "--with-java" ]]; then
+		INSTALL_JAVA="true"
+	fi
+
+	if [[ $arg == "--from-docker" ]]; then
+		INSIDE_DOCKER="true"
+	fi
+
+done

 # script directory
 DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
@@ -69,188 +71,306 @@ elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
 	echo "Ubuntu 20.04"
 fi

+VERBOSE_BAR="####################"
+echo
+echo $VERBOSE_BAR
+echo "#⚡️ Starting PX4 Dependency Installer for Ubuntu ${UBUNTU_RELEASE} (${INSTALL_ARCH})"
+echo "# Options:
+#
+#  - Install NuttX = ${INSTALL_NUTTX}
+#  - Install Java = ${INSTALL_JAVA}
+#  - Install Simulation = ${INSTALL_SIM}
+#  - Install RTPS = ${INSTALL_RTPS}"
+echo $VERBOSE_BAR
+echo

 echo
-echo "Installing PX4 general dependencies"
+echo $VERBOSE_BAR
+echo "🍻 Installing System Dependencies"
+echo $VERBOSE_BAR
+echo

 sudo apt-get update -y --quiet
 sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
-	astyle \
 	build-essential \
-	ccache \
-	cmake \
-	cppcheck \
-	file \
-	g++ \
-	gcc \
-	gdb \
-	git \
-	lcov \
-	libxml2-dev \
-	libxml2-utils \
-	make \
-	ninja-build \
-	python3 \
-	python3-dev \
-	python3-pip \
-	python3-setuptools \
-	python3-wheel \
-	rsync \
-	shellcheck \
-	unzip \
-	zip \
-	;
+  g++ \
+  gcc \
+  gdb \
+  astyle \
+  cmake \
+  cppcheck \
+  file \
+  git \
+  lcov \
+  libxml2-dev \
+  libxml2-utils \
+  make \
+  ninja-build \
+  python3 \
+  python3-dev \
+  python3-pip \
+  python3-setuptools \
+  python3-wheel \
+  rsync \
+  shellcheck \
+  unzip \
+  zip \
+  libssl-dev \
+  ;

-if [[ "${UBUNTU_RELEASE}" == "16.04" ]]; then
-	echo "Installing Ubuntu 16.04 PX4-compatible ccache version"
-	wget -O /tmp/ccache_3.4.1-1_amd64.deb http://launchpadlibrarian.net/356662933/ccache_3.4.1-1_amd64.deb
-	sudo dpkg -i /tmp/ccache_3.4.1-1_amd64.deb
-fi
-
-# Python3 dependencies
+# Python 3 dependencies
 echo
-echo "Installing PX4 Python3 dependencies"
+echo $VERBOSE_BAR
+echo "🍻 Installing Python dependencies"
+echo $VERBOSE_BAR
+echo
+
 if [ -n "$VIRTUAL_ENV" ]; then
 	# virtual envrionments don't allow --user option
-	python -m pip install -r ${DIR}/requirements.txt
+  python -m pip install -r ${DIR}/requirements.txt
 else
 	# older versions of Ubuntu require --user option
-	python3 -m pip install --user -r ${DIR}/requirements.txt
+  if [[ $INSIDE_DOCKER == "true" ]]; then
+    # when running inside a docker container we don't need to install
+    # under --user since the installer user is root
+    # its best to install packages globaly for any user to find
+    python3 -m pip install -r /tmp/requirements.txt
+  else
+    python3 -m pip install --user -r ${DIR}/requirements.txt
+  fi
 fi

 # NuttX toolchain (arm-none-eabi-gcc)
 if [[ $INSTALL_NUTTX == "true" ]]; then

 	echo
-	echo "Installing NuttX dependencies"
+  echo $VERBOSE_BAR
+	echo "🍻 Installing NuttX dependencies"
+  echo $VERBOSE_BAR
+	echo

 	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
-		automake \
-		binutils-dev \
-		bison \
-		build-essential \
-		flex \
-		g++-multilib \
-		gcc-multilib \
-		gdb-multiarch \
-		genromfs \
-		gettext \
-		gperf \
-		kconfig-frontends \
-		libelf-dev \
-		libexpat-dev \
-		libgmp-dev \
-		libisl-dev \
-		libmpc-dev \
-		libmpfr-dev \
-		libncurses5 \
-		libncurses5-dev \
-		libncursesw5-dev \
-		libtool \
-		pkg-config \
-		screen \
-		texinfo \
-		u-boot-tools \
-		util-linux \
-		vim-common \
-		;
+    automake \
+    binutils-dev \
+    bison \
+    flex \
+    genromfs \
+    gettext \
+    gperf \
+    libelf-dev \
+    libexpat-dev \
+    libgmp-dev \
+    libisl-dev \
+    libmpc-dev \
+    libmpfr-dev \
+    libncurses5 \
+    libncurses5-dev \
+    libncursesw5-dev \
+    libtool \
+    pkg-config \
+    screen \
+    texinfo \
+    u-boot-tools \
+    util-linux \
+    vim-common \
+    g++-arm-linux-gnueabihf \
+    gcc-arm-linux-gnueabihf \
+    g++-aarch64-linux-gnu \
+    gcc-aarch64-linux-gnu \
+    ;
+
+  if [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
+    sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
+    kconfig-frontends \
+    ;
+  fi
+

 	if [ -n "$USER" ]; then
 		# add user to dialout group (serial port access)
 		sudo usermod -a -G dialout $USER
 	fi

-	# arm-none-eabi-gcc
-	NUTTX_GCC_VERSION="9-2020-q2-update"
-	NUTTX_GCC_VERSION_SHORT="9-2020q2"
+  NUTTX_GCC_VERSION="9-2020-q2-update"
+  NUTTX_GCC_VERSION_SHORT="9-2020q2"
+  echo
+  echo $VERBOSE_BAR
+  echo "🍻 Verifying proper gcc version (${NUTTX_GCC_VERSION}), and installing if not found"
+  echo

-	source $HOME/.profile # load changed path for the case the script is reran before relogin
+  source $HOME/.profile # load changed path for the case the script is reran before relogin
 	if [ $(which arm-none-eabi-gcc) ]; then
-		GCC_VER_STR=$(arm-none-eabi-gcc --version)
-		GCC_FOUND_VER=$(echo $GCC_VER_STR | grep -c "${NUTTX_GCC_VERSION}")
-	fi
+    GCC_VER_STR=$(arm-none-eabi-gcc --version)
+    GCC_VER_FOUND=$(echo $GCC_VER_STR | grep -c "${NUTTX_GCC_VERSION}")
+  fi

-	if [[ "$GCC_FOUND_VER" == "1" ]]; then
-		echo "arm-none-eabi-gcc-${NUTTX_GCC_VERSION} found, skipping installation"
+  if [[ $(echo $GCC_VER_STR | grep -c "${NUTTX_GCC_VERSION}") == "1" ]]; then
+    echo "📌 Skipping installation, the arm cross compiler was found"
+    echo $VERBOSE_BAR
+	  echo

-	else
-		echo "Installing arm-none-eabi-gcc-${NUTTX_GCC_VERSION}";
-		wget -O /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 https://armkeil.blob.core.windows.net/developer/Files/downloads/gnu-rm/${NUTTX_GCC_VERSION_SHORT}/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-${INSTALL_ARCH}-linux.tar.bz2 && \
-			sudo tar -jxf /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 -C /opt/;
+  else
+    echo "📌 The arm cross compiler was not found";
+    echo " * Installing arm-none-eabi-gcc-${NUTTX_GCC_VERSION}";
+    # The arm cross compiler hosting provider is known to throttle download speeds
+    # for users who reach a certain limit of downloads in a given time frame
+    # for this reason we allow for using a previously downloaded file
+    # this is specially helpful when debugging this installer script
+    # from within a container COMPILER_PATH="/tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2"
+    COMPILER_NAME="gcc-arm-none-eabi-${NUTTX_GCC_VERSION}"
+    COMPILER_PATH="/tmp/$COMPILER_NAME-linux.tar.bz2"
+    if [ ! -f "$COMPILER_PATH" ]; then
+      wget -O $COMPILER_PATH https://armkeil.blob.core.windows.net/developer/Files/downloads/gnu-rm/${NUTTX_GCC_VERSION_SHORT}/${COMPILER_NAME}-${INSTALL_ARCH}-linux.tar.bz2
+    fi
+    sudo tar -jxf $COMPILER_PATH -C /opt/;

-		# add arm-none-eabi-gcc to user's PATH
-		exportline="export PATH=/opt/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}/bin:\$PATH"
+    # add arm-none-eabi-gcc to user's PATH
+    exportline="export PATH=\"/opt/${COMPILER_NAME}/bin:\$PATH\""
+    if [[ $INSIDE_DOCKER == "true" ]]; then
+      # when running on a docker container its best to set the environment globally
+      # since we don't know which user is going to be running commands on the container
+      touch /etc/profile.d/px4env.sh
+      echo $exportline >> /etc/profile.d/px4env.sh
+    else
+      if grep -Fxq "$exportline" $HOME/.profile; then
+        echo "${NUTTX_GCC_VERSION} path already set.";
+      else
+        echo $exportline >> $HOME/.profile;
+      fi
+    fi
+    echo " * arm-none-eabi-gcc (${NUTTX_GCC_VERSION}) Installed Succesful to /opt/${COMPILER_NAME}/bin"
+    echo $VERBOSE_BAR
+	  echo
+  fi
+fi
+
+# Install JAVA
+if [[ $INSTALL_JAVA == "true" ]]; then
+  JDK_VERSION="14.0.2_12"
+  echo
+  echo $VERBOSE_BAR
+  echo "🍻 Installing Java JDK
+
+  * Version: $JDK_VERSION
+  * Path: /opt/jdk-14.0.2+12"
+  echo $VERBOSE_BAR
+  echo
+
+  JDK_DOWNLOAD="/tmp/OpenJDK14U-jdk_x64_linux_hotspot_$JDK_VERSION.tar.gz"
+  wget -O $JDK_DOWNLOAD https://github.com/AdoptOpenJDK/openjdk14-binaries/releases/download/jdk-14.0.2%2B12/OpenJDK14U-jdk_x64_linux_hotspot_14.0.2_12.tar.gz
+  sudo tar -xzf $JDK_DOWNLOAD -C /opt/
+  export PATH="/opt/jdk-14.0.2+12/bin:$PATH"
+fi
+
+# Fast-RTPS
+if [[ $INSTALL_RTPS == "true" ]]; then
+  echo
+  echo $VERBOSE_BAR
+  echo "🍻 Installing Fast-RTPS"
+  echo $VERBOSE_BAR
+  echo
+
+  GRADLE_VERSION="6.4.1"
+  wget -O "/tmp/gradle-$GRADLE_VERSION-bin.zip" "https://services.gradle.org/distributions/gradle-$GRADLE_VERSION-bin.zip" \
+    && unzip -d /opt/gradle "/tmp/gradle-$GRADLE_VERSION-bin.zip"
+  export PATH="$PATH:/opt/gradle/gradle-$GRADLE_VERSION/bin"
+
+  # Intall foonathan_memory from source as it is required to Fast-RTPS >= 1.9
+  git clone https://github.com/eProsima/foonathan_memory_vendor.git /tmp/foonathan_memory \
+    && cd /tmp/foonathan_memory \
+    && mkdir build && cd build \
+    && cmake .. \
+    && cmake --build . --target install -- -j $(nproc)
+
+  # Fast-DDS (Fast-RTPS 2.1.1)
+  git clone --recursive https://github.com/eProsima/Fast-DDS.git -b v2.1.1 /tmp/FastRTPS-2.1.1 \
+    && cd /tmp/FastRTPS-2.1.1 \
+    && mkdir build && cd build \
+    && cmake -DTHIRDPARTY=ON -DSECURITY=ON .. \
+    && cmake --build . --target install -- -j $(nproc)
+
+  # Fast-RTPS-Gen 1.0.4
+  git clone --recursive https://github.com/eProsima/Fast-DDS-Gen.git -b v1.0.4 /tmp/Fast-RTPS-Gen-1.0.4 \
+    && cd /tmp/Fast-RTPS-Gen-1.0.4 \
+    && gradle assemble \
+    && gradle install

-		if grep -Fxq "$exportline" $HOME/.profile; then
-			echo "${NUTTX_GCC_VERSION} path already set.";
-		else
-			echo $exportline >> $HOME/.profile;
-		fi
-	fi
 fi

 # Simulation tools
 if [[ $INSTALL_SIM == "true" ]]; then

-	echo
-	echo "Installing PX4 simulation dependencies"
+  echo
+  echo $VERBOSE_BAR
+  echo "🍻 Installing PX4 Simulation Tools"
+  echo

-	# General simulation dependencies
-	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
-		bc \
-		;
+  if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
+    gazebo_version=9
+  elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
+    gazebo_version=11
+  fi

-	if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
-		java_version=11
-		gazebo_version=9
-	elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
-		java_version=13
-		gazebo_version=11
-	else
-		java_version=14
-		gazebo_version=11
-	fi
-	# Java (jmavsim or fastrtps)
-	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
-		ant \
-		openjdk-$java_version-jre \
-		openjdk-$java_version-jdk \
-		libvecmath-java \
-		;
+  echo "  * Gazebo Version $gazebo_version"
+  echo $VERBOSE_BAR

-	# Set Java 11 as default
-	sudo update-alternatives --set java $(update-alternatives --list java | grep "java-$java_version")
+  # General simulation dependencies
+  sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
+    bc \
+    ant \
+    libvecmath-java \
+    ;

-	# Gazebo
-	sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
-	wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
-	# Update list, since new gazebo-stable.list has been added
-	sudo apt-get update -y --quiet
-	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
-		dmidecode \
-		gazebo$gazebo_version \
-		gstreamer1.0-plugins-bad \
-		gstreamer1.0-plugins-base \
-		gstreamer1.0-plugins-good \
-		gstreamer1.0-plugins-ugly \
-		gstreamer1.0-libav \
-		libeigen3-dev \
-		libgazebo$gazebo_version-dev \
-		libgstreamer-plugins-base1.0-dev \
-		libimage-exiftool-perl \
-		libopencv-dev \
-		libxml2-utils \
-		pkg-config \
-		protobuf-compiler \
-		;
+  # Installing Gazebo and dependencies
+  # Setup OSRF Gazebo repository
+  sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
+  wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
+  # Update list, since new gazebo-stable.list has been added
+  sudo apt-get update -y --quiet
+  sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
+    dmidecode \
+    gazebo$gazebo_version \
+    gstreamer1.0-plugins-bad \
+    gstreamer1.0-plugins-base \
+    gstreamer1.0-plugins-good \
+    gstreamer1.0-plugins-ugly \
+    gstreamer1.0-libav \
+    libeigen3-dev \
+    libgazebo$gazebo_version-dev \
+    libgstreamer-plugins-base1.0-dev \
+    libimage-exiftool-perl \
+    libopencv-dev \
+    libxml2-utils \
+    pkg-config \
+    protobuf-compiler \
+    ;

-	if sudo dmidecode -t system | grep -q "Manufacturer: VMware, Inc." ; then
-		# fix VMWare 3D graphics acceleration for gazebo
-		echo "export SVGA_VGPU10=0" >> ~/.profile
-	fi
+  if sudo dmidecode -t system | grep -q "Manufacturer: VMware, Inc." ; then
+    # fix VMWare 3D graphics acceleration for gazebo
+    echo "export SVGA_VGPU10=0" >> ~/.profile
+  fi
 fi

-if [[ $INSTALL_NUTTX == "true" ]]; then
-	echo
-	echo "Relogin or reboot computer before attempting to build NuttX targets"
+if [[ $INSIDE_DOCKER == "true" ]]; then
+  # cleanup installation
+  rm -rf /tmp/
 fi
+
+if [[ $INSIDE_DOCKER == "false" ]] && [[ $INSTALL_NUTTX == "true" ]]; then
+  echo
+  echo $VERBOSE_BAR
+  echo "💡 We recommend you relogin/reboot before attempting to build NuttX targets"
+  echo $VERBOSE_BAR
+  echo
+fi
+
+echo
+echo
+echo $VERBOSE_BAR
+echo "#⚡️ PX4 Dependency Installer Ended Succesfully
+#
+#  For more information on PX4 Autopilot check out our docs
+#  at docs.px4.io, if you find a bug please file an issue
+#  on GitHub https://github.com/px4/px4-autopilot"
+echo $VERBOSE_BAR
+echo
@@ -56,6 +56,21 @@ def get_N_colors(N, s=0.8, v=0.9):
        hex_out.append("#"+"".join(map(lambda x: format(x, '02x'), rgb)))
    return hex_out

+def topic_filename(topic):
+    MSG_PATH = 'msg/'
+
+    file_list = os.listdir(MSG_PATH)
+    msg_files = [file.replace('.msg', '') for file in file_list if file.endswith(".msg")]
+
+    if topic in msg_files:
+        return topic
+    else:
+        for msg_file in msg_files:
+            with open(f'{MSG_PATH}/{msg_file}.msg') as f:
+                ret = re.findall(f'^# TOPICS.*{topic}.*',f.read(),re.MULTILINE)
+                if len(ret) > 0:
+                    return msg_file
+    return "no_file"

 class PubSub(object):
    """ Collects either publication or subscription information for nodes
@@ -679,8 +694,7 @@ class OutputJSON(object):
            node['type'] = 'topic'
            node['color'] = topic_colors[topic]
            # url is opened when double-clicking on the node
-            # TODO: does not work for multi-topics
-            node['url'] = 'https://github.com/PX4/PX4-Autopilot/blob/master/msg/'+topic+'.msg'
+            node['url'] = 'https://github.com/PX4/PX4-Autopilot/blob/master/msg/'+topic_filename(topic)+'.msg'
            nodes.append(node)

        data['nodes'] = nodes
@@ -5,6 +5,7 @@ https://json-schema.org/"""
 import argparse
 import sys
 import json
+import os

 try:
    from jsonschema import validate
@@ -21,6 +22,8 @@ parser = argparse.ArgumentParser(description='Validate JSON file(s) against a sc
 parser.add_argument('json_file', nargs='+', help='JSON config file(s)')
 parser.add_argument('--schema-file', type=str, action='store',
                    help='JSON schema file', required=True)
+parser.add_argument('--skip-if-no-schema', dest='skip_if_no_schema', action='store_true',
+                    help='Skip test if schema file does not exist')
 parser.add_argument('-v', '--verbose', dest='verbose', action='store_true',
                    help='Verbose Output')

@@ -29,6 +32,9 @@ schema_file = args.schema_file
 json_files = args.json_file
 verbose = args.verbose

+if args.skip_if_no_schema and not os.path.isfile(schema_file):
+    sys.exit(0)
+
 # load the schema
 with open(schema_file, 'r') as stream:
    schema = json.load(stream)
@@ -65,6 +65,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -76,15 +77,14 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
-CONFIG_SYSTEMCMDS_ESC_CALIB=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_MIXER=y
-CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
@@ -0,0 +1,7 @@
+#!/bin/sh
+#
+# board specific defaults
+#------------------------------------------------------------------------------
+
+param set-default BAT1_V_DIV 10.177939394
+param set-default BAT1_A_PER_V 15.391030303
@@ -42,6 +42,7 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x0030
 CONFIG_CDCACM_PRODUCTSTR="MindPX FMU v2.x"
 CONFIG_CDCACM_RXBUFSIZE=600
@@ -113,7 +114,6 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000
 CONFIG_RAW_BINARY=y
@@ -72,12 +72,6 @@
 #define ADC_RC_RSSI_CHANNEL		11
 #define ADC_AIRSPEED_VOLTAGE_CHANNEL	15

-/* Define Battery 1 Voltage Divider and A per V
- */
-
-#define BOARD_BATTERY1_V_DIV   (10.177939394f)
-#define BOARD_BATTERY1_A_PER_V (15.391030303f)
-
 /* Power supply control and monitoring GPIOs */
 // #define GPIO_VDD_5V_PERIPH_EN	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
 // #define GPIO_VDD_BRICK_VALID	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
@@ -239,7 +239,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	if (!spi4) {
 		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 4\n");
 		board_autoled_on(LED_AMBER);
-		return -ENODEV;
 	}

 	/* Default SPI4 to 10MHz and de-assert the known chip selects. */
@@ -255,7 +254,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	if (!spi1) {
 		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 1\n");
 		board_autoled_on(LED_AMBER);
-		return -ENODEV;
 	}

 	/* Default SPI1 to 37.5 MHz (40 MHz rounded to nearest valid divider, F4 max)
@@ -279,9 +277,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	sdio = sdio_initialize(CONFIG_NSH_MMCSDSLOTNO);

 	if (!sdio) {
-		syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n",
-		       CONFIG_NSH_MMCSDSLOTNO);
-		return -ENODEV;
+		syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", CONFIG_NSH_MMCSDSLOTNO);
 	}

 	/* Now bind the SDIO interface to the MMC/SD driver */
@@ -289,7 +285,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 	if (ret != OK) {
 		syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
-		return ret;
 	}

 	/* Then let's guess and say that there is a card in the slot. There is no card detect GPIO. */
@@ -91,7 +91,6 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000
 CONFIG_RAW_BINARY=y
@@ -61,6 +61,5 @@ else()
 			nuttx_arch
 			nuttx_drivers
 			px4_layer
-			arch_io_pins
 	)
 endif()
@@ -146,7 +146,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 	if (result != OK) {
 		syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
-		return -ENODEV;
 	}

 #endif // FLASH_BASED_PARAMS
@@ -93,7 +93,6 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000
 CONFIG_RAW_BINARY=y
@@ -63,6 +63,5 @@ else()
 			nuttx_arch
 			nuttx_drivers
 			px4_layer
-			arch_io_pins
 	)
 endif()
--- a/Show More
+++ b/Show More