boardctl hacks

move I2C bus clock defaults to board px4_i2c_buses
2026-05-25 01:57:36 +08:00 · 2022-10-09 11:31:33 -04:00 · 2022-10-08 13:25:15 -04:00
1457 changed files with 37939 additions and 57740 deletions
@@ -69,18 +69,24 @@ pipeline {
                     "matek_h743-slim_default",
                     "matek_h743_default",
                     "modalai_fc-v1_default",
+                     "modalai_fc-v1_rtps",
                     "modalai_fc-v2_default",
                     "modalai_voxl2-io_default",
                     "mro_ctrl-zero-f7_default",
                     "mro_ctrl-zero-f7-oem_default",
                     "mro_ctrl-zero-h7-oem_default",
+                     "mro_ctrl-zero-h7-oem_rtps",
                     "mro_ctrl-zero-h7_default",
+                     "mro_ctrl-zero-h7_rtps",
                     "mro_pixracerpro_default",
+                     "mro_pixracerpro_rtps",
                     "mro_x21-777_default",
                     "mro_x21_default",
                     "nxp_fmuk66-e_default",
+                     "nxp_fmuk66-e_rtps",
                     "nxp_fmuk66-e_socketcan",
                     "nxp_fmuk66-v3_default",
+                     "nxp_fmuk66-v3_rtps",
                     "nxp_fmuk66-v3_socketcan",
                     "nxp_fmurt1062-v1_default",
                     "nxp_ucans32k146_canbootloader",
@@ -98,6 +104,7 @@ pipeline {
                     "px4_fmu-v5_debug",
                     "px4_fmu-v5_default",
                     "px4_fmu-v5_lto",
+                     "px4_fmu-v5_rtps",
                     "px4_fmu-v5_stackcheck",
                     "px4_fmu-v5_uavcanv0periph",
                     "px4_fmu-v5x_default",
@@ -61,13 +61,9 @@ pipeline {
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_RATEMAX" --value "2000"'
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "13000"'   // generic vtol standard
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
-                    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 "logger on"' // run logger
                    checkStatus()
                    quickCalibrate()
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
                  }
                }
                stage("print topics") {
@@ -136,12 +132,8 @@ pipeline {
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_RATEMAX" --value "2000"'
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "13000"'   // generic vtol standard
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
-                    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 "logger on"' // run logger
                    checkStatus()
                    quickCalibrate()
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
                  }
                }
                stage("print topics") {
@@ -160,6 +152,76 @@ pipeline {
          }
        }

+        stage("px4_fmu-v3_test") {
+          stages {
+            stage("build px4_fmu-v3_test") {
+              agent {
+                docker {
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
+                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                }
+              }
+              steps {
+                checkoutSCM()
+                sh 'make px4_fmu-v3_test'
+                sh 'make px4_fmu-v3_test bootloader_elf'
+                sh 'ccache -s'
+                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; git clean -ff -x -d .'
+                }
+              }
+            } // stage build
+            stage("hardware") {
+              agent {
+                label 'px4_fmu-v3'
+              }
+              stages {
+                stage("flash") {
+                  steps {
+                    sh 'export'
+                    sh 'find /dev/serial'
+                    unstash 'px4_fmu-v3_test'
+                    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") {
+                  steps {
+                    runTests()
+                  }
+                }
+                stage("status") {
+                  steps {
+                    // configure
+                    resetParameters()
+                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "13000"'   // generic vtol standard
+                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
+                    checkStatus()
+                    quickCalibrate()
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
+                  }
+                }
+                stage("print topics") {
+                  steps {
+                    printTopics()
+                  }
+                }
+              }
+              post {
+                always {
+                  sh 'cat /tmp/pyserial_spy_file.txt || true'
+                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf || true'
+                }
+              }
+            } // stage test
+          }
+        }
+
        stage("px4_fmu-v4_test") {
          stages {
            stage("build px4_fmu-v4_test") {
@@ -209,12 +271,8 @@ pipeline {
                    resetParameters()
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"'    // generic quadcopter
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
-                    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 "logger on"' // run logger
                    checkStatus()
                    quickCalibrate()
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
                  }
                }
                stage("print topics") {
@@ -282,13 +340,9 @@ pipeline {
                    resetParameters()
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "13000"'   // generic vtol standard
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
-                    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 "logger on"' // run logger
                    checkStatus()
                    quickCalibrate()
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
                  }
                }
                stage("print topics") {
@@ -377,7 +431,6 @@ 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/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
                    checkStatus()
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
                  }
@@ -460,7 +513,6 @@ 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/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
                    checkStatus()
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
                  }
@@ -530,13 +582,9 @@ pipeline {
                    resetParameters()
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"'    // generic quadcopter
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
-                    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 "logger on"' // run logger
                    checkStatus()
                    quickCalibrate()
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
                  }
                }
                stage("print topics") {
@@ -605,12 +653,8 @@ pipeline {
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_RATEMAX" --value "400"'
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"'    // generic quadcopter
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
-                    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 "logger on"' // run logger
                    checkStatus()
                    quickCalibrate()
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
                  }
                }
                stage("print topics") {
@@ -684,8 +728,14 @@ 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 "bsondump /fs/mtd_params"'
+  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"'
+  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"'
@@ -715,7 +765,7 @@ void checkStatus() {
  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 "bsondump /fs/mtd_params"'
+  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"'
@@ -729,6 +779,8 @@ void checkStatus() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a" || true'
  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"'
 }

 void resetParameters() {
@@ -767,13 +819,13 @@ void runTests() {

  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 "bsondump /fs/mtd_params"'
+  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 "bsondump /fs/mtd_params"'
+  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 "bsondump /fs/mtd_params"'
+  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 "bsondump /fs/mtd_params"'
+  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 -v"'
@@ -868,6 +920,7 @@ void printTopics() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener tune_control" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_acceleration" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_air_data" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_acceleration" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_velocity" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude_setpoint" || true'
@@ -884,7 +937,7 @@ void printTopics() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_odometry" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_rates_setpoint" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener failsafe_flags" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_status_flags" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vtol_vehicle_status" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener yaw_estimator_status" || true'
 }
@@ -5,7 +5,7 @@ labels: feature-request

 ---

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

 ## Describe problem solved by the proposed feature
 A clear and concise description of the problem, if any, this feature will solve. E.g. I'm always frustrated when ...
@@ -1,29 +1,17 @@
-<!--
+Please use [PX4 Discuss](http://discuss.px4.io/) or [Slack](http://slack.px4.io/) to align on pull requests if necessary. You can then open draft pull requests to get early feedback.

-Thank you for your contribution!
+## Describe problem solved by this pull request
+A clear and concise description of the problem this proposed change will solve. Or, what it will improve.
+E.g. For this use case I ran into...

-Get early feedback through
- Dronecode Discord: https://discord.gg/dronecode
- PX4 Discuss: http://discuss.px4.io/
- opening a draft pr and sharing the link
+## Describe your solution
+A clear and concise description of what you have implemented.

-->
+## Describe possible alternatives
+A clear and concise description of alternative solutions or features you've considered.

-### Solved Problem
-When ... I found that ...
+## Test data / coverage
+How was it tested? What cases were covered? Logs uploaded to https://review.px4.io/ and screenshots of the important plot parts.

-Fixes #{Github issue ID}
-
-### Solution
- Add ... for ...
- Refactor ...
-
-### Alternatives
-We could also ...
-
-### Test coverage
- Unit/integration test: ...
- Simulation/hardware testing logs: https://review.px4.io/
-
-### Context
-Related links, screenshot before/after, video
+## Additional context
+Add any other related context or media.
@@ -23,6 +23,7 @@ jobs:
          "shellcheck_all",
          "NO_NINJA_BUILD=1 px4_fmu-v5_default",
          "NO_NINJA_BUILD=1 px4_sitl_default",
+          "BUILD_MICRORTPS_AGENT=1 px4_sitl_rtps",
          "airframe_metadata",
          "module_documentation",
          "parameters_metadata",
@@ -1,44 +0,0 @@
-name: Failsafe Simulator Build
-
-on:
-  push:
-    branches:
-    - 'main'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    defaults:
-      run:
-        shell: bash
-    strategy:
-      fail-fast: false
-      matrix:
-        check: [
-          "failsafe_web",
-        ]
-    container:
-      image: px4io/px4-dev-nuttx-focal:2021-09-08
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: check environment
-      run: |
-          export
-          ulimit -a
-    - name: install emscripten
-      run: |
-        git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk
-        cd _emscripten_sdk
-        ./emsdk install latest
-        ./emsdk activate latest
-    - name: ${{matrix.check}}
-      run: |
-        . ./_emscripten_sdk/emsdk_env.sh
-        make ${{matrix.check}}
@@ -116,7 +116,7 @@ jobs:
        ls -ls *
      # TODO: deploy graph_px4_sitl.json to S3 px4-travis:Firmware/master/

-  ROS2_msgs:
+  micrortps_agent:
    runs-on: ubuntu-latest
    container: px4io/px4-dev-base-focal:2021-09-08
    steps:
@@ -124,8 +124,34 @@ jobs:
      with:
        token: ${{ secrets.ACCESS_TOKEN }}

-    - name: PX4 ROS2 msgs
+    - name: microRTPS agent
+      run: |
+        make px4_sitl_rtps
+        git clone https://github.com/PX4/micrortps_agent.git
+        cp -R build/px4_sitl_rtps/src/modules/micrortps_bridge/micrortps_agent/* micrortps_agent
+
+  ROS_msgs:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2021-09-08
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: PX4 ROS msgs
      run: |
        git clone https://github.com/PX4/px4_msgs.git
-        rm px4_msgs/msg/*.msg
-        cp msg/*.msg px4_msgs/msg/
+        python3 msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/
+
+  ROS2_bridge:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2021-09-08
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: PX4 ROS2 bridge
+      run: |
+        git clone https://github.com/PX4/px4_ros_com.git
+        ./msg/tools/uorb_to_ros_urtps_topics.py -i msg/tools/urtps_bridge_topics.yaml -o px4_ros_com/templates/urtps_bridge_topics.yaml
@@ -16,7 +16,7 @@ jobs:
      matrix:
        config:
          - {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: "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

@@ -47,8 +47,6 @@ GTAGS
 *.files
 *.includes

-Tools/jlink-nuttx.so
-
 # CLion ignores
 .idea
 cmake-build-*/
@@ -18,14 +18,18 @@
 	path = src/drivers/gps/devices
 	url = https://github.com/PX4/PX4-GPSDrivers.git
 	branch = main
+[submodule "src/modules/micrortps_bridge/micro-CDR"]
+	path = src/modules/micrortps_bridge/micro-CDR
+	url = https://github.com/PX4/Micro-CDR.git
+	branch = master
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
 	url = https://github.com/PX4/NuttX.git
-	branch = px4_firmware_nuttx-10.3.0+
+	branch = px4_firmware_nuttx-10.1.0+
 [submodule "platforms/nuttx/NuttX/apps"]
 	path = platforms/nuttx/NuttX/apps
 	url = https://github.com/PX4/NuttX-apps.git
-	branch = px4_firmware_nuttx-10.3.0+
+	branch = px4_firmware_nuttx-10.1.0+
 [submodule "Tools/flightgear_bridge"]
 	path = Tools/simulation/flightgear/flightgear_bridge
 	url = https://github.com/PX4/PX4-FlightGear-Bridge.git
@@ -60,5 +64,4 @@
 	branch = px4
 [submodule "src/modules/microdds_client/Micro-XRCE-DDS-Client"]
 	path = src/modules/microdds_client/Micro-XRCE-DDS-Client
-	url = https://github.com/PX4/Micro-XRCE-DDS-Client.git
-	branch = px4
+	url = https://github.com/eProsima/Micro-XRCE-DDS-Client.git
@@ -6,11 +6,11 @@ CONFIG:
      buildType: RelWithDebInfo
      settings:
        CONFIG: px4_sitl_default
-    px4_sitl_nolockstep:
-      short: px4_sitl_nolockstep
+    px4_sitl_rtps:
+      short: px4_sitl_rtps
      buildType: RelWithDebInfo
      settings:
-        CONFIG: px4_sitl_nolockstep
+        CONFIG: px4_sitl_rtps
    px4_sitl_asan:
      short: px4_sitl (AddressSanitizer)
      buildType: AddressSanitizer
@@ -133,5 +133,6 @@
        "workbench.settings.enableNaturalLanguageSearch": false,
        "yaml.schemas": {
                "${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml"
-        }
+        },
+        "cortex-debug.openocdPath": "${env:PICO_SDK_PATH}/../openocd/src/openocd"       // Added for rp2040
 }
@@ -1,6 +1,6 @@
 ############################################################################
 #
-# Copyright (c) 2017 - 2022 PX4 Development Team. All rights reserved.
+# Copyright (c) 2017 - 2019 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -143,17 +143,25 @@ define_property(GLOBAL PROPERTY PX4_SRC_FILES
 # configuration
 #

+set(CONFIG "px4_sitl_default" CACHE STRING "desired configuration")
+
 include(px4_add_module)
 set(config_module_list)
 set(config_kernel_list)

 # Find Python
-find_package(PythonInterp 3)
-# We have a custom error message to tell users how to install python3.
-if(NOT PYTHONINTERP_FOUND)
-	message(FATAL_ERROR "Python 3 not found. Please install Python 3:\n"
-		"    Ubuntu: sudo apt install python3 python3-dev python3-pip\n"
-		"    macOS: brew install python")
+# If using catkin, Python 2 is found since it points
+# to the Python libs installed with the ROS distro
+if (NOT CATKIN_DEVEL_PREFIX)
+	find_package(PythonInterp 3)
+	# We have a custom error message to tell users how to install python3.
+	if (NOT PYTHONINTERP_FOUND)
+		message(FATAL_ERROR "Python 3 not found. Please install Python 3:\n"
+			"    Ubuntu: sudo apt install python3 python3-dev python3-pip\n"
+			"    macOS: brew install python")
+	endif()
+else()
+	find_package(PythonInterp REQUIRED)
 endif()

 option(PYTHON_COVERAGE "Python code coverage" OFF)
@@ -199,11 +207,6 @@ if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake/init.cmake")
 	include(init)
 endif()

-#=============================================================================
-# project definition
-#
-project(px4 CXX C ASM)
-
 # CMake build type (Debug Release RelWithDebInfo MinSizeRel Coverage)
 if(NOT CMAKE_BUILD_TYPE)
 	if(${PX4_PLATFORM} STREQUAL "nuttx")
@@ -232,6 +235,11 @@ endif()
 set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release;RelWithDebInfo;MinSizeRel;Coverage;AddressSanitizer;UndefinedBehaviorSanitizer")
 message(STATUS "cmake build type: ${CMAKE_BUILD_TYPE}")

+#=============================================================================
+# project definition
+#
+project(px4 CXX C ASM)
+
 # Check if LTO option and check if toolchain supports it
 if(LTO)
    include(CheckIPOSupported)
@@ -248,9 +256,15 @@ set(CMAKE_C_STANDARD 11)
 set(CMAKE_C_STANDARD_REQUIRED ON)
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)

-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PX4_BINARY_DIR})
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${PX4_BINARY_DIR})
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${PX4_BINARY_DIR})
+# For the catkin build process, unset build of dynamically-linked binaries
+# and do not change CMAKE_RUNTIME_OUTPUT_DIRECTORY
+if (NOT CATKIN_DEVEL_PREFIX)
+	set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PX4_BINARY_DIR})
+	set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${PX4_BINARY_DIR})
+	set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${PX4_BINARY_DIR})
+else()
+	SET(BUILD_SHARED_LIBS OFF)
+endif()

 #=============================================================================

@@ -295,6 +309,21 @@ endif()

 include(ccache)

+#=============================================================================
+# find programs and packages
+#
+
+# see if catkin was invoked to build this
+if (CATKIN_DEVEL_PREFIX)
+	message(STATUS "catkin ENABLED")
+	find_package(catkin REQUIRED)
+	if (catkin_FOUND)
+		catkin_package()
+	else()
+		message(FATAL_ERROR "catkin not found")
+	endif()
+endif()
+
 #=============================================================================
 # get chip and chip manufacturer
 #
@@ -421,10 +450,10 @@ add_subdirectory(src/lib/metadata EXCLUDE_FROM_ALL)
 add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL)

 if(${PX4_PLATFORM} STREQUAL "nuttx" AND NOT CONFIG_BUILD_FLAT)
-	target_link_libraries(parameters_interface INTERFACE usr_parameters)
-	target_link_libraries(kernel_parameters_interface INTERFACE parameters)
+target_link_libraries(parameters_interface INTERFACE usr_parameters)
+target_link_libraries(kernel_parameters_interface INTERFACE parameters)
 else()
-	target_link_libraries(parameters_interface INTERFACE parameters)
+target_link_libraries(parameters_interface INTERFACE parameters)
 endif()

 # firmware added last to generate the builtin for included modules
@@ -457,13 +486,17 @@ include(doxygen)
 include(metadata)
 include(package)

+# print size
+add_custom_target(size
+	COMMAND size $<TARGET_FILE:px4>
+	DEPENDS px4
+	WORKING_DIRECTORY ${PX4_BINARY_DIR}
+	USES_TERMINAL
+	)
+
 # install python requirements using configured python
 add_custom_target(install_python_requirements
 	COMMAND ${PYTHON_EXECUTABLE} -m pip install --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
 	DEPENDS ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
 	USES_TERMINAL
 )
-
-if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake/finalize.cmake")
-	include(finalize)
-endif()
@@ -829,6 +829,7 @@ RECURSIVE              = YES
 # run.

 EXCLUDE                = @CMAKE_SOURCE_DIR@/src/modules/uavcan/libuavcan \
+                         @CMAKE_SOURCE_DIR@/src/modules/micrortps_bridge/micro-CDR \
                         @CMAKE_SOURCE_DIR@/src/examples \
                         @CMAKE_SOURCE_DIR@/src/templates

@@ -13,6 +13,76 @@ pipeline {
        }
      }
      parallel {
+        // stage('Catkin build on ROS workspace') {
+        //   agent {
+        //     docker {
+        //       image 'px4io/px4-dev-ros-melodic:2021-08-18'
+        //       args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
+        //     }
+        //   }
+        //   steps {
+        //     sh 'ls -l'
+        //     sh '''#!/bin/bash -l
+        //       echo $0;
+        //       mkdir -p catkin_ws/src;
+        //       cd catkin_ws;
+        //       git -C ${WORKSPACE}/catkin_ws/src/Firmware submodule update --init --recursive --force Tools/simulation/gazebo/sitl_gazebo
+        //       git clone --recursive ${WORKSPACE}/catkin_ws/src/Firmware/Tools/simulation/gazebo/sitl_gazebo src/mavlink_sitl_gazebo;
+        //       git -C ${WORKSPACE}/catkin_ws/src/Firmware fetch --tags;
+        //       source /opt/ros/melodic/setup.bash;
+        //       export PYTHONPATH=/opt/ros/$ROS_DISTRO/lib/python2.7/dist-packages:/usr/lib/python2.7/dist-packages:/usr/local/lib/python2.7/dist-packages;
+        //       catkin init;
+        //       catkin build -j$(nproc) -l$(nproc);
+        //     '''
+        //     // test if the binary was correctly installed and runs using 'mavros_posix_sitl.launch'
+        //     sh '''#!/bin/bash -l
+        //       echo $0;
+        //       source catkin_ws/devel/setup.bash;
+        //       rostest px4 pub_test.launch;
+        //     '''
+        //   }
+        //   post {
+        //     always {
+        //       sh 'rm -rf catkin_ws'
+        //     }
+        //     failure {
+        //       archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.xml, .ros/**/*.log')
+        //     }
+        //   }
+        //   options {
+        //     checkoutToSubdirectory('catkin_ws/src/Firmware')
+        //   }
+        // }
+
+        stage('Colcon build on ROS2 workspace') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-ros2-foxy:2021-08-18'
+              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
+            }
+          }
+          steps {
+            sh 'ls -l'
+            sh '''#!/bin/bash -l
+              echo $0;
+              unset ROS_DISTRO;
+              mkdir -p colcon_ws/src;
+              cd colcon_ws;
+              git -C ${WORKSPACE}/colcon_ws/src/Firmware submodule update --init --recursive --force Tools/simulation/gazebo/sitl_gazebo;
+              git -C ${WORKSPACE}/colcon_ws/src/Firmware fetch --tags;
+              source /opt/ros/foxy/setup.sh;
+              colcon build --event-handlers console_direct+ --symlink-install;
+            '''
+          }
+          post {
+            always {
+              sh 'rm -rf colcon_ws'
+            }
+          }
+          options {
+            checkoutToSubdirectory('colcon_ws/src/Firmware')
+          }
+        }

        stage('Airframe') {
          agent {
@@ -79,7 +149,7 @@ pipeline {
            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
          }
          steps {
-            sh 'mkdir -p build/msg_docs; ./Tools/msg/generate_msg_docs.py -d build/msg_docs'
+            sh 'mkdir -p build/msg_docs; ./msg/tools/generate_msg_docs.py -d build/msg_docs'
            dir('build') {
              archiveArtifacts(artifacts: 'msg_docs/*.md')
              stash includes: 'msg_docs/*.md', name: 'msg_documentation'
@@ -92,36 +162,6 @@ pipeline {
          }
        }

-        stage('failsafe docs') {
-          agent {
-            docker { image 'px4io/px4-dev-nuttx-focal:2021-08-18' }
-          }
-          steps {
-            sh '''#!/bin/bash -l
-            echo $0;
-            git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk;
-            cd _emscripten_sdk;
-            ./emsdk install latest;
-            ./emsdk activate latest;
-            cd ..;
-            . ./_emscripten_sdk/emsdk_env.sh;
-            make failsafe_web;
-            cd build/px4_sitl_default_failsafe_web;
-            mkdir -p failsafe_sim;
-            cp index.* parameters.json failsafe_sim;
-            '''
-            dir('build/px4_sitl_default_failsafe_web') {
-              archiveArtifacts(artifacts: 'failsafe_sim/*')
-              stash includes: 'failsafe_sim/*', name: 'failsafe_sim'
-            }
-          }
-          post {
-            always {
-              sh 'make distclean; git clean -ff -x -d .'
-            }
-          }
-        }
-
        stage('uORB graphs') {
          agent {
            docker {
@@ -163,7 +203,6 @@ pipeline {
            unstash 'metadata_parameters'
            unstash 'metadata_module_documentation'
            unstash 'msg_documentation'
-            unstash 'failsafe_sim'
            unstash 'uorb_graph'
            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
              sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/PX4-user_guide.git')
@@ -172,7 +211,6 @@ pipeline {
              sh('cp -R modules/*.md PX4-user_guide/en/modules/')
              sh('cp -R graph_*.json PX4-user_guide/.vuepress/public/en/middleware/')
              sh('cp -R msg_docs/*.md PX4-user_guide/en/msg_docs/')
-              sh('cp -R failsafe_sim/* PX4-user_guide/.vuepress/public/en/config/failsafe')
              sh('cd PX4-user_guide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
              sh('cd PX4-user_guide; git push origin main || true')
              sh('rm -rf PX4-user_guide')
@@ -219,6 +257,37 @@ pipeline {
          }
        }

+        stage('microRTPS agent') {
+          agent {
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
+          }
+          steps {
+            sh('export')
+            sh('git fetch --all --tags')
+            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}")
+              sh("rm -rf micrortps_agent/src micrortps_agent/idl")
+              sh('cp -R build/px4_sitl_rtps/src/modules/micrortps_bridge/micrortps_agent/* micrortps_agent')
+              sh('cd micrortps_agent; git status; git add src; git commit -a -m "Update microRTPS agent source code `date`" || true')
+              sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
+              sh('cd micrortps_agent; git status; git add idl; git commit -a -m "Update IDL definitions `date`" || true')
+              sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
+              sh('cd micrortps_agent; git status; git add CMakeLists.txt; git commit -a -m "Update CMakeLists.txt `date`" || true')
+              sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
+              sh('rm -rf micrortps_agent')
+            }
+          }
+          when {
+            anyOf {
+              branch 'main'
+              branch 'master' // should be removed, but in case there is something going on...
+              branch 'pr-jenkins' // for testing
+            }
+          }
+        }
+
        stage('PX4 ROS msgs') {
          agent {
            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
@@ -229,16 +298,66 @@ pipeline {
            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
              // 'main' branch
-              sh('rm -f px4_msgs/msg/*.msg')
-              sh('cp msg/*.msg px4_msgs/msg/')
+              sh('./msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
              sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
              sh('cd px4_msgs; git push origin main || true')
+              // 'ros1' branch
+              sh('cd px4_msgs; git checkout ros1')
+              sh('./msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
+              sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
+              sh('cd px4_msgs; git push origin ros1 || true')
              sh('rm -rf px4_msgs')
            }
          }
          when {
            anyOf {
              branch 'main'
+              branch 'master' // should be removed, but in case there is something going on...
+              branch 'pr-jenkins' // for testing
+            }
+          }
+        }
+
+        stage('PX4 ROS2 bridge') {
+          agent {
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
+          }
+          steps {
+            sh('export')
+            sh('make distclean; git clean -ff -x -d .')
+            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
+              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_ros_com.git -b ${BRANCH_NAME}")
+              // deploy uORB RTPS ID map
+              sh('./msg/tools/uorb_to_ros_urtps_topics.py -i msg/tools/urtps_bridge_topics.yaml -o px4_ros_com/templates/urtps_bridge_topics.yaml')
+              sh('cd px4_ros_com; git status; git add .; git commit -a -m "Update uORB RTPS ID map `date`" || true')
+              sh('cd px4_ros_com; git push origin ${BRANCH_NAME} || true')
+              // deploy uORB RTPS required tools
+              sh('cp msg/tools/uorb_rtps_classifier.py px4_ros_com/scripts/uorb_rtps_classifier.py')
+              sh('cp msg/tools/generate_microRTPS_bridge.py px4_ros_com/scripts/generate_microRTPS_bridge.py')
+              sh('cp msg/tools/px_generate_uorb_topic_files.py px4_ros_com/scripts/px_generate_uorb_topic_files.py')
+              sh('cp msg/tools/px_generate_uorb_topic_helper.py px4_ros_com/scripts/px_generate_uorb_topic_helper.py')
+              // deploy templates
+              sh('cp msg/templates/urtps/microRTPS_agent.cpp.em px4_ros_com/templates/microRTPS_agent.cpp.em')
+              sh('cp msg/templates/urtps/microRTPS_timesync.cpp.em px4_ros_com/templates/microRTPS_timesync.cpp.em')
+              sh('cp msg/templates/urtps/microRTPS_timesync.h.em px4_ros_com/templates/microRTPS_timesync.h.em')
+              sh('cp msg/templates/urtps/microRTPS_transport.cpp px4_ros_com/templates/microRTPS_transport.cpp')
+              sh('cp msg/templates/urtps/microRTPS_transport.h px4_ros_com/templates/microRTPS_transport.h')
+              sh('cp msg/templates/urtps/Publisher.cpp.em px4_ros_com/templates/Publisher.cpp.em')
+              sh('cp msg/templates/urtps/Publisher.h.em px4_ros_com/templates/Publisher.h.em')
+              sh('cp msg/templates/urtps/Subscriber.cpp.em px4_ros_com/templates/Subscriber.cpp.em')
+              sh('cp msg/templates/urtps/Subscriber.h.em px4_ros_com/templates/Subscriber.h.em')
+              sh('cp msg/templates/urtps/RtpsTopics.cpp.em px4_ros_com/templates/RtpsTopics.cpp.em')
+              sh('cp msg/templates/urtps/RtpsTopics.h.em px4_ros_com/templates/RtpsTopics.h.em')
+              sh('cd px4_ros_com; git status; git add .; git commit -a -m "Update uORB RTPS script tools `date`" || true')
+              sh('cd px4_ros_com; git push origin ${BRANCH_NAME} || true')
+              sh('rm -rf px4_msgs')
+            }
+          }
+          when {
+            anyOf {
+              branch 'main'
+              branch 'master' // should be removed, but in case there is something going on...
+              branch 'pr-jenkins' // for testing
            }
          }
        }
@@ -17,8 +17,6 @@ menu "Toolchain"
            bool "posix"
        config PLATFORM_QURT
            bool "qurt"
-        config PLATFORM_ROS2
-            bool "ros2"
    endchoice

    config BOARD_PLATFORM
@@ -26,7 +24,6 @@ menu "Toolchain"
        default "nuttx" if PLATFORM_NUTTX
        default "posix" if PLATFORM_POSIX
        default "qurt" if PLATFORM_QURT
-        default "ros2" if PLATFORM_ROS2

    config BOARD_LOCKSTEP
        bool "Force enable lockstep"
@@ -40,8 +37,8 @@ menu "Toolchain"
        help
            forces nolockstep behaviour, despite REPLAY env variable

-    config BOARD_LINUX_TARGET
-        bool "Linux OS Target"
+    config BOARD_LINUX
+        bool "Linux OS"
        depends on PLATFORM_POSIX
        help
            Board Platform is running the Linux operating system
@@ -193,7 +190,3 @@ endmenu
 menu "examples"
 source "src/examples/Kconfig"
 endmenu
-
-menu "platforms"
-source "platforms/common/Kconfig"
-endmenu
@@ -172,6 +172,11 @@ ifdef PYTHON_EXECUTABLE
 	override CMAKE_ARGS += -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
 endif

+# Check if the microRTPS agent is to be built
+ifdef BUILD_MICRORTPS_AGENT
+  override CMAKE_ARGS += -DBUILD_MICRORTPS_AGENT=ON
+endif
+
 # Functions
 # --------------------------------------------------------------------
 # describe how to build a cmake config
@@ -248,7 +253,7 @@ endef
 # Other targets
 # --------------------------------------------------------------------

-.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware
+.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware check_rtps

 # QGroundControl flashable NuttX firmware
 qgc_firmware: px4fmu_firmware misc_qgc_extra_firmware
@@ -273,7 +278,15 @@ misc_qgc_extra_firmware: \
 	check_airmind_mindpx-v2_default \
 	sizes

-.PHONY: sizes check quick_check uorb_graphs
+# builds with RTPS
+check_rtps: \
+	check_px4_fmu-v3_rtps \
+	check_px4_fmu-v4_rtps \
+	check_px4_fmu-v4pro_rtps \
+	check_px4_sitl_rtps \
+	sizes
+
+.PHONY: sizes check quick_check check_rtps uorb_graphs

 sizes:
 	@-find build -name *.elf -type f | xargs size 2> /dev/null || :
@@ -324,10 +337,6 @@ px4io_update:
 	cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
 	git status

-jlink-nuttx:
-	$(CC) -shared -fPIC platforms/nuttx/NuttX/nuttx/tools/jlink-nuttx.c -o Tools/jlink-nuttx.so
-
-
 bootloaders_update: ark_fmu-v6x_bootloader cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader holybro_kakuteh7_bootloader matek_h743_bootloader matek_h743-mini_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-classic_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6c_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader
 	git status

@@ -486,9 +495,7 @@ shellcheck_all:

 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/*" \
-	-not -path "$(SRC_DIR)/src/modules/microdds_client/dds_topics.yaml" \
-	-not -path "$(SRC_DIR)/src/lib/crypto/libtommath/*" -print0 | \
+	-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
@@ -554,12 +561,17 @@ check_px4: $(call make_list,nuttx,"px4") \
 check_nxp: $(call make_list,nuttx,"nxp") \
 	sizes

-.PHONY: failsafe_web run_failsafe_web_server
-failsafe_web:
-	@if ! command -v emcc; then echo -e "Install emscripten first: https://emscripten.org/docs/getting_started/downloads.html\nAnd source the env: source <path>/emsdk_env.sh"; exit 1; fi
-	@$(MAKE) --no-print-directory px4_sitl_default failsafe_test parameters_xml \
-		PX4_CMAKE_BUILD_TYPE=Release BUILD_DIR_SUFFIX=_failsafe_web \
-		CMAKE_ARGS="-DCMAKE_CXX_COMPILER=em++ -DCMAKE_C_COMPILER=emcc"
-run_failsafe_web_server: failsafe_web
-	@cd build/px4_sitl_default_failsafe_web && \
-		python3 -m http.server
+ifneq ($(ROS2_WS_DIR),)
+  ROS2_WS_DIR := $(basename ${ROS2_WS_DIR})
+else
+  ROS2_WS_DIR := ~/colcon_ws
+endif
+
+update_ros2_bridge:
+	@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --all
+
+update_px4_ros_com:
+	@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --px4_ros_com
+
+update_px4_msgs:
+	@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --px4_msgs
@@ -4,7 +4,7 @@

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

-[![Discord Shield](https://discordapp.com/api/guilds/1022170275984457759/widget.png?style=shield)](https://discord.gg/dronecode)
+[![Slack](/.github/slack.svg)](https://join.slack.com/t/px4/shared_invite/zt-si4xo5qs-R4baYFmMjlrT4rQK5yUnaA)

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

@@ -75,7 +75,7 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://docs.px4.io/main/en/con
    * [Paul Riseborough](https://github.com/priseborough)
  * Vision based navigation and Obstacle Avoidance
    * [Markus Achtelik](https://github.com/markusachtelik)
-  * DDS/ROS2 Interface
+  * RTPS/ROS2 Interface
    * [Nuno Marques](https://github.com/TSC21)

 See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/PX4-Autopilot/graphs/contributors) (Github).
@@ -31,11 +31,6 @@ then
 	set PARAM_FILE /dev/eeeprom0
 fi

-if mft query -q -k MTD -s MTD_PARAMETERS -v /mnt/qspi/params
-then
-	set PARAM_FILE /mnt/qspi/params
-fi
-
 #
 # Load parameters.
 #
@@ -36,6 +36,7 @@ add_subdirectory(airframes)
 px4_add_romfs_files(
 	px4-rc.mavlink
 	px4-rc.params
+	px4-rc.rtps
 	px4-rc.simulator
 	rc.replay
 	rcS
@@ -14,7 +14,7 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=xvert}
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_TYPE 0
 param set-default VT_FW_DIFTHR_EN 1
-param set-default VT_FW_DIFTHR_S_Y 0.3
+param set-default VT_FW_DIFTHR_SC 0.3
 param set-default MPC_MAN_Y_MAX 60
 param set-default MC_PITCH_P 5

@@ -10,7 +10,6 @@
 # EKF2: Vision position and heading
 param set-default EKF2_AID_MASK 24
 param set-default EKF2_EV_DELAY 5
-param set-default EKF2_EV_CTRL 15
 param set-default EKF2_GPS_CTRL 0

 # LPE: Vision + baro
@@ -8,6 +8,7 @@
 param set-default EKF2_MAG_ACCLIM 0
 param set-default EKF2_MAG_YAWLIM 0

+param set-default FW_LND_AIRSPD_SC 1
 param set-default FW_LND_ANG 8

 param set-default FW_L1_PERIOD 12
@@ -40,6 +41,7 @@ param set-default FW_T_SINK_MIN 2.2

 param set-default FW_W_EN 1

+param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 30

 param set-default NAV_ACC_RAD 15
@@ -5,6 +5,7 @@

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

+param set-default FW_LND_AIRSPD_SC 1.1
 param set-default FW_LND_ANG 5
 param set-default FW_LND_FL_PMIN 9.5
 param set-default FW_LND_FL_PMAX 20
@@ -23,6 +24,7 @@ param set-default FW_RR_P 0.085

 param set-default FW_W_EN 1

+param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 20
 param set-default MIS_DIST_1WP 2500
 param set-default MIS_DIST_WPS 10000
@@ -31,7 +33,11 @@ param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1
+
+param set-default RWTO_MAX_PITCH 20
+
 param set-default RWTO_PSP 8
+param set-default RWTO_AIRSPD_SCL 1.8

 param set-default CA_AIRFRAME 1

@@ -5,6 +5,7 @@

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

+param set-default FW_LND_AIRSPD_SC 1.1
 param set-default FW_LND_ANG 5
 param set-default FW_LND_FL_PMIN 9.5
 param set-default FW_LND_FL_PMAX 20
@@ -23,6 +24,7 @@ param set-default FW_RR_P 0.085

 param set-default FW_W_EN 1

+param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 20
 param set-default MIS_DIST_1WP 2500
 param set-default MIS_DIST_WPS 10000
@@ -31,7 +33,11 @@ param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1
+
+param set-default RWTO_MAX_PITCH 20
+
 param set-default RWTO_PSP 8
+param set-default RWTO_AIRSPD_SCL 1.8

 param set-default CA_AIRFRAME 1

@@ -8,6 +8,7 @@
 param set-default EKF2_MAG_ACCLIM 0
 param set-default EKF2_MAG_YAWLIM 0

+param set-default FW_LND_AIRSPD_SC 1
 param set-default FW_LND_ANG 8

 param set-default FW_L1_PERIOD 15
@@ -26,6 +27,7 @@ param set-default FW_L1_PERIOD 12

 param set-default FW_W_EN 1

+param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 30

 param set-default NAV_ACC_RAD 15
@@ -5,6 +5,7 @@

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

+param set-default FW_LND_AIRSPD_SC 1.1
 param set-default FW_LND_ANG 5
 param set-default FW_LND_FL_PMIN 9.5
 param set-default FW_LND_FL_PMAX 20
@@ -23,6 +24,7 @@ param set-default FW_RR_P 0.085

 param set-default FW_W_EN 1

+param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 20
 param set-default MIS_DIST_1WP 2500
 param set-default MIS_DIST_WPS 10000
@@ -31,7 +33,9 @@ param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1
+param set-default RWTO_MAX_PITCH 20
 param set-default RWTO_PSP 8
+param set-default RWTO_AIRSPD_SCL 1.8

 param set-default CA_AIRFRAME 1

@@ -8,6 +8,7 @@
 param set-default EKF2_MAG_ACCLIM 0
 param set-default EKF2_MAG_YAWLIM 0

+param set-default FW_LND_AIRSPD_SC 1
 param set-default FW_LND_ANG 8

 param set-default FW_L1_PERIOD 12
@@ -33,11 +34,14 @@ param set-default FW_T_TAS_TC 2

 param set-default FW_W_EN 1

+param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 30

 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2

+param set-default FW_USE_NPFG 1
+
 param set-default RWTO_TKOFF 1

 param set-default CA_AIRFRAME 1
@@ -8,6 +8,7 @@
 param set-default EKF2_MAG_ACCLIM 0
 param set-default EKF2_MAG_YAWLIM 0

+param set-default FW_LND_AIRSPD_SC 1
 param set-default FW_LND_ANG 8
 param set-default FW_THR_LND_MAX 0

@@ -30,6 +31,7 @@ param set-default FW_T_SINK_MIN 2.2

 param set-default FW_W_EN 1

+param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 30

 param set-default NAV_ACC_RAD 15
@@ -70,7 +70,7 @@ param set-default MPC_XY_VEL_D_ACC 0.1
 param set-default NAV_ACC_RAD 5

 param set-default VT_FW_DIFTHR_EN 1
-param set-default VT_FW_DIFTHR_S_Y 0.5
+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
@@ -18,6 +18,7 @@ param set-default GND_THR_CRUISE 0.3
 param set-default GND_THR_MAX 0.5
 param set-default GND_THR_MIN 0

+param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01
 param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2
@@ -18,6 +18,7 @@ param set-default GND_THR_CRUISE 0.3
 param set-default GND_THR_MAX 0.5
 param set-default GND_THR_MIN 0

+param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01
 param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2
@@ -25,6 +25,7 @@ param set-default GND_THR_CRUISE 0.3
 param set-default GND_THR_MAX 0.5
 param set-default GND_THR_MIN 0

+param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01
 param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2
@@ -18,6 +18,7 @@ param set-default GND_THR_CRUISE 0.85
 param set-default GND_THR_MAX 1
 param set-default GND_THR_MIN 0

+param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01
 param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2
@@ -20,6 +20,7 @@ param set-default FW_W_EN 1

 param set-default FW_RR_P 0.08

+param set-default MIS_LTRMIN_ALT 50
 param set-default MIS_TAKEOFF_ALT 3

 param set-default NAV_ACC_RAD 20
@@ -20,6 +20,7 @@ param set-default FW_W_EN 1

 param set-default FW_RR_P 0.08

+param set-default MIS_LTRMIN_ALT 50
 param set-default MIS_TAKEOFF_ALT 7

 param set-default NAV_ACC_RAD 20
@@ -3,7 +3,7 @@

 udp_offboard_port_local=$((14580+px4_instance))
 udp_offboard_port_remote=$((14540+px4_instance))
-[ "$px4_instance" -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps
+[ $px4_instance -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps
 udp_onboard_payload_port_local=$((14280+px4_instance))
 udp_onboard_payload_port_remote=$((14030+px4_instance))
 udp_onboard_gimbal_port_local=$((13030+px4_instance))
@@ -0,0 +1,4 @@
+#!/bin/sh
+# shellcheck disable=SC2154
+
+micrortps_client start -t UDP -r $((2019+2*px4_instance)) -s $((2020+2*px4_instance))
@@ -13,97 +13,108 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"
 		sensor_mag_sim start

 	else
-		echo "ERROR [init] simulator_sih failed to start"
+		echo "ERROR  [init] simulator_sih failed to start"
 		exit 1
 	fi

 elif [ "$PX4_SIMULATOR" = "gz" ]; then

 	# source generated gazebo_env.sh for IGN_GAZEBO_RESOURCE_PATH
-	if [ -f ./gazebo_env.sh ]; then
+	if [ -f gazebo_env.sh ]; then
 		. ./gazebo_env.sh
-
 	elif [ -f ../gazebo_env.sh ]; then
 		. ../gazebo_env.sh
 	fi

-	gz_command="ign" # "ign" before garden
-	gz_sub_command="gazebo" # "gazebo" before garden
-
-	# look for running ${gz_command} gazebo world
-	gz_world=$( ${gz_command} topic -l | grep -m 1 -e "/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
-
-	# shellcheck disable=SC2153
-	if [ -z "${gz_world}" ] && [ -n "${PX4_GZ_WORLDS}" ] && [ -n "${PX4_GZ_WORLD}" ]; then
-
-		echo "INFO  [init] starting gazebo with world: ${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf"
-
-		${gz_command} ${gz_sub_command} --verbose=1 -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &
-
-		if [ -z "${HEADLESS}" ]; then
-			# HEADLESS not set, starting ign gazebo gui
-			${gz_command} gazebo -g &
+# shellcheck disable=SC2236
+	if [ ! -z $PX4_GZ_VERBOSE ]; then
+		if [ "$PX4_GZ_VERBOSE" -le "4" ] && [ "$PX4_GZ_VERBOSE" -ge "1" ]; then
+			gz_verbose=$PX4_GZ_VERBOSE
+		else
+			gz_verbose=4
+			echo "WARN  [init] PX4_GZ_VERBOSE was passed: $PX4_GZ_VERBOSE, not in range [1,4], defaulting to: $gz_verbose."
 		fi
-
+		echo "INFO  [init] PX4_GZ_VERBOSE set to $gz_verbose."
 	else
-		echo "INFO  [init] gazebo already running world: ${gz_world}"
-		PX4_GZ_WORLD=${gz_world}
+		gz_verbose=1
+		echo "INFO  [init] PX4_GZ_VERBOSE not explicitly set, defaulting to: $gz_verbose."
 	fi

-	# start gz_bridge
-	if [ -n "${PX4_GZ_MODEL}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ]; then
-		# model specified, gz_bridge will spawn model
+	gz_world=$( ign topic -l | grep -m 1 -e "/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
+	
+	gz_version_major=$( ign gazebo --versions | sed 's/\..*//g' )
+	gz_version_minor=$( ign gazebo --versions | sed 's/'"${gz_version_major}"\.'//; s/\..*//g' )
+	gz_version_point=$( ign gazebo --versions | sed 's/'"${gz_version_major}"\.'//; s/'"${gz_version_minor}"\.'//')

-		if [ -n "${PX4_GZ_MODEL_POSE}" ]; then
+	if [ "$gz_version_major" -gt "6" ] || { [ "$gz_version_major" -eq "6" ] && [ "$gz_version_minor" -gt "12" ]; } || { [ "$gz_version_major" -eq "6" ] && [ "$gz_version_minor" -eq "12" ] && [ "$gz_version_point" -gt "0" ]; }; then
+		echo "INFO  [init] using latest version of MultiCopterMotor plugin."
+	else
+		echo "WARN  [init] using older version of MultiCopterMotor plugin, please update to latest gazebo > 6.12.0."
+		if [ "$PX4_SIM_MODEL" = "x500" ]; then
+			PX4_SIM_MODEL="x500-Legacy"
+			echo "WARN  [init] setting PX4_SIM_MODEL -> $PX4_SIM_MODEL from x500 till gazebo > 6.12.0"
+		fi
+	fi
+
+	if [ -z $gz_world ]; then
+
+		# starting ign gazebo with ${PX4_GZ_WORLD} world
+		echo "INFO  [init] starting ign gazebo"
+# shellcheck disable=SC2153
+		ign gazebo --verbose=$gz_verbose -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &
+
+		if [ -z $HEADLESS ]; then
+			# HEADLESS not set, starting ign gazebo gui
+			ign gazebo -g &
+		fi
+	else
+		echo "INFO  [init] ign gazebo already running world: $gz_world"
+		PX4_GZ_WORLD=$gz_world
+	fi
+
+# shellcheck disable=SC2236
+	if [ ! -z $PX4_GZ_MODEL ] && [ -z $PX4_GZ_MODEL_NAME ]; then
+
+# shellcheck disable=SC2236
+		if [ ! -z $PX4_GZ_MODEL_POSE ]; then
 			# Clean potential input line formatting.
-			model_pose="$( echo "${PX4_GZ_MODEL_POSE}" | sed -e 's/^[ \t]*//; s/[ \t]*$//; s/,/ /g; s/  / /g; s/ /,/g' )"
+			model_pose="$( echo ${PX4_GZ_MODEL_POSE} | sed -e 's/^[ \t]*//; s/[ \t]*$//; s/,/ /g; s/  / /g; s/ /,/g' )"
 			echo "INFO  [init] PX4_GZ_MODEL_POSE set, spawning at: ${model_pose}"
-
 		else
 			echo "WARN  [init] PX4_GZ_MODEL_POSE not set, spawning at origin."
 			model_pose="0,0,0,0,0,0"
 		fi
-
 		# start gz bridge with pose arg.
-		if gz_bridge start -p "${model_pose}" -m "${PX4_GZ_MODEL}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
+		if gz_bridge start -p "${model_pose}"  -m "${PX4_GZ_MODEL}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
 			sensor_baro_sim start
 			sensor_gps_sim start
 			sensor_mag_sim start
-
 		else
-			echo "ERROR [init] gazebo failed to start"
+			echo "ERROR  [init] ign gazebo failed to start"
 			exit 1
 		fi
-
-	elif [ -n "${PX4_GZ_MODEL_NAME}" ] && [ -z "${PX4_GZ_MODEL}" ]; then
-		# model name specificed, gz_bridge will attach to existing model
-
+	elif [ ! -z $PX4_GZ_MODEL_NAME ] && [ -z $PX4_GZ_MODEL ]; then
 		if gz_bridge start -n "${PX4_GZ_MODEL_NAME}" -w "${PX4_GZ_WORLD}"; then
 			sensor_baro_sim start
 			sensor_gps_sim start
 			sensor_mag_sim start
-
 		else
-			echo "ERROR [init] gazebo failed to start"
+			echo "ERROR  [init] ign gazebo failed to start"
 			exit 1
 		fi
-
-	elif [ -n "${PX4_SIM_MODEL}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ] && [ -z "${PX4_GZ_MODEL}" ]; then
-
+	elif [ ! -z $PX4_SIM_MODEL ] && [ -z $PX4_GZ_MODEL_NAME ] && [ -z $PX4_GZ_MODEL ]; then
 		echo "WARN  [init] PX4_GZ_MODEL_NAME or PX4_GZ_MODEL not set using PX4_SIM_MODEL."
-
 		if gz_bridge start -m "${PX4_SIM_MODEL}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
 			sensor_baro_sim start
 			sensor_gps_sim start
 			sensor_mag_sim start
-
 		else
-			echo "ERROR [init] gazebo failed to start"
+			echo "ERROR  [init] ign gazebo failed to start"
 			exit 1
 		fi

 	else
-		echo "ERROR [init] failed to pass only PX4_GZ_MODEL_NAME or PX4_GZ_MODEL"
+		echo "ERROR  [init] failed to pass only PX4_GZ_MODEL_NAME or PX4_GZ_MODEL"
 		exit 1
 	fi

@@ -120,13 +131,13 @@ else
 			echo "PX4 SIM HOST: localhost"
 			simulator_mavlink start -c $simulator_tcp_port
 		else
-			echo "PX4 SIM HOST: ${PX4_SIM_HOST_ADDR}"
-			simulator_mavlink start -t "${PX4_SIM_HOST_ADDR}" "${simulator_tcp_port}"
+			echo "PX4 SIM HOST: $PX4_SIM_HOST_ADDR"
+			simulator_mavlink start -t $PX4_SIM_HOST_ADDR $simulator_tcp_port
 		fi

 	else
-		echo "PX4 SIM HOST: ${PX4_SIM_HOSTNAME}"
-		simulator_mavlink start -h "${PX4_SIM_HOSTNAME}" "${simulator_tcp_port}"
+		echo "PX4 SIM HOST: $PX4_SIM_HOSTNAME"
+		simulator_mavlink start -h $PX4_SIM_HOSTNAME $simulator_tcp_port
 	fi

 fi
@@ -74,7 +74,7 @@ if [ -f $PARAM_FILE ]; then
 	then
 		echo "ERROR [init] param import failed"

-		bsondump $PARAM_FILE
+		param dump $PARAM_FILE

 		# try to make a backup copy
 		cp $PARAM_FILE param_import_fail.bson
@@ -85,7 +85,7 @@ if [ -f $PARAM_FILE ]; then
 			echo "[init] importing from parameter backup"

 			# dump current backup file contents for comparison
-			bsondump $PARAM_BACKUP_FILE
+			param dump $PARAM_BACKUP_FILE

 			param import $PARAM_BACKUP_FILE

@@ -142,9 +142,7 @@ then
 	param set CAL_GYRO2_ID 1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION

 	param set CAL_MAG0_ID 197388
-	param set CAL_MAG0_PRIO 50
 	param set CAL_MAG1_ID 197644
-	param set CAL_MAG1_PRIO 50

 	param set SENS_BOARD_X_OFF 0.000001
 	param set SENS_DPRES_OFF 0.001
@@ -227,7 +225,7 @@ then
 elif [ ! -e "$autostart_file" ] && [ "$SYS_AUTOSTART" -ne "0" ]
 then
 	echo "Error: no autostart file found ($autostart_file)"
-	#exit 1
+	exit 1
 fi

 #user defined params for instances can be in PATH
@@ -261,20 +259,11 @@ fi

 navigator start

-# Try to start the microdds_client with UDP transport if module exists
-microdds_ns=""
-if [ "$px4_instance" -ne "0" ]
+# Try to start the micrortps_client with UDP transport if module exists
+if px4-micrortps_client status > /dev/null 2>&1
 then
-	# Assign new xrce dds key based on instance number and set default namespace
-	param set XRCE_DDS_KEY ${px4_instance}
-	microdds_ns="-n px4_$px4_instance"
+	. px4-rc.rtps
 fi
-if [ -n "$PX4_MICRODDS_NS" ]
-then
-	# Override namespace if environment variable is defined
-	microdds_ns="-n $PX4_MICRODDS_NS"
-fi
-microdds_client start -t udp -p 8888 $microdds_ns

 if param greater -s MNT_MODE_IN -1
 then
@@ -31,6 +31,7 @@ param set-default MC_PITCH_P 6
 param set-default MC_PITCHRATE_P 0.2
 param set-default MC_ROLL_P 6
 param set-default MC_ROLLRATE_P 0.3
+param set-default MIS_LTRMIN_ALT 10
 param set-default MIS_TAKEOFF_ALT 10
 param set-default MIS_YAW_TMT 10

@@ -22,7 +22,7 @@ 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_S_Y 0.3
+param set-default VT_FW_DIFTHR_SC 0.3
 param set-default MPC_MAN_Y_MAX 60
 param set-default MC_PITCH_P 5

@@ -39,6 +39,7 @@ param set-default GND_THR_CRUISE 0.3
 param set-default GND_THR_MAX 0.5
 param set-default GND_THR_MIN 0

+param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01

 param set-default NAV_ACC_RAD 0.5
@@ -1,74 +0,0 @@
-#!/bin/sh
-#
-# @name Aion Robotics R1 UGV
-#
-# @url https://www.aionrobotics.com/r1
-#
-# @type Rover
-# @class Rover
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.rover_defaults
-
-param set-default BAT1_N_CELLS 4
-
-param set-default EKF2_GBIAS_INIT 0.01
-param set-default EKF2_ANGERR_INIT 0.01
-param set-default EKF2_MAG_TYPE 1
-
-param set-default FW_AIRSPD_MIN 0
-param set-default FW_AIRSPD_TRIM 1
-param set-default FW_AIRSPD_MAX 3
-
-param set-default GND_SP_CTRL_MODE 1
-param set-default GND_L1_DIST 5
-param set-default GND_L1_PERIOD 3
-param set-default GND_THR_CRUISE 0.7
-param set-default GND_THR_MAX 0.5
-
-# Because this is differential drive, it can make a turn with radius 0.
-# This corresponds to a turn angle of pi radians.
-# If a special case is made for differential-drive, this will need to change.
-param set-default GND_MAX_ANG 3.142
-param set-default GND_WHEEL_BASE 0.3
-
-# TODO: Set to -1.0, to allow reversing. This will require many changes in the codebase
-# to support negative throttle.
-param set-default GND_THR_MIN 0
-param set-default GND_SPEED_P 0.25
-param set-default GND_SPEED_I 3
-param set-default GND_SPEED_D 0.001
-param set-default GND_SPEED_IMAX 0.125
-param set-default GND_SPEED_THR_SC 1
-
-param set-default MIS_TAKEOFF_ALT 0.01
-
-param set-default NAV_ACC_RAD 0.5
-
-# Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor
-param set-default CBRK_AIRSPD_CHK 162128
-
-# Differential drive acts like ackermann steering with a maximum turn angle of 180 degrees, or pi radians
-param set-default GND_MAX_ANG 3.1415
-
-param set-default RBCLW_BAUD 8
-param set-default RBCLW_COUNTS_REV 1200
-param set-default RBCLW_ADDRESS 128
-# 104 corresponds to Telem 4
-param set-default RBCLW_SER_CFG 104
-# Start this driver after setting parameters, because the driver uses some of those parameters.
-# roboclaw start /dev/ttyS3
-
-# Set geometry & output configration
-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 102
-param set-default PWM_MAIN_DIS1 1500
-param set-default PWM_MAIN_DIS2 1500
-param set-default PWM_MAIN_TIM0 50
-param set-default PWM_MAIN_TIM1 50
-
@@ -45,6 +45,7 @@ param set-default GND_SPEED_D 0.001
 param set-default GND_SPEED_IMAX 0.125
 param set-default GND_SPEED_THR_SC 1

+param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01

 param set-default NAV_ACC_RAD 0.5
@@ -118,7 +118,6 @@ px4_add_romfs_files(

 	50000_generic_ground_vehicle
 	50004_nxpcup_car_dfrobot_gpx
-	50003_aion_robotics_r1_rover

 	# [60000, 61000] (Unmanned) Underwater Robots
 	60000_uuv_generic
@@ -13,6 +13,7 @@ param set-default MAV_TYPE 11
 #
 # Default parameters for UGVs.
 #
+param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01

 param set-default NAV_ACC_RAD 2
@@ -43,8 +43,8 @@ param set-default RTL_LAND_DELAY -1
 param set-default NAV_ACC_RAD 10

 param set-default MIS_DIST_WPS 5000
+param set-default MIS_LTRMIN_ALT 25
 param set-default MIS_TAKEOFF_ALT 25
-param set-default MIS_TKO_LAND_REQ 2

 #
 # FW takeoff acceleration can easily exceed ublox GPS 2G default.
@@ -13,6 +13,7 @@ param set-default MAV_TYPE 10
 #
 # Default parameters for UGVs.
 #
+param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01

 param set-default NAV_ACC_RAD 2
@@ -191,10 +191,7 @@ then
 	ist8308 -X -q start
 	ist8310 -X -q start
 	lis2mdl -X -q start
-	if ! lis3mdl -X -q start
-	then
-		lis3mdl -X -q -a 0x1c start
-	fi
+	lis3mdl -X -q start
 	qmc5883l -X -q start
 	rm3100 -X -q start

@@ -19,7 +19,6 @@ param set-default EKF2_FUSE_BETA 1
 param set-default HTE_VXY_THR 2.0

 param set-default MIS_DIST_WPS 5000
-param set-default MIS_TKO_LAND_REQ 2

 param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_VEL_MANUAL 5
@@ -130,7 +130,7 @@ else
 		echo "ERROR [init] param import failed"
 		set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE

-		bsondump $PARAM_FILE
+		param dump $PARAM_FILE

 		if [ -d "/fs/microsd" ]
 		then
@@ -143,7 +143,7 @@ else
 				echo "[init] importing from parameter backup"

 				# dump current backup file contents for comparison
-				bsondump $PARAM_BACKUP_FILE
+				param dump $PARAM_BACKUP_FILE

 				param import $PARAM_BACKUP_FILE

@@ -162,7 +162,7 @@ else
 		param select-backup $PARAM_BACKUP_FILE
 	fi

-	if ver hwcmp PX4_FMU_V5X PX4_FMU_V6X ARK_FMU_V6X
+	if ver hwcmp PX4_FMU_V5X PX4_FMU_V6X
 	then
 		netman update -i eth0
 	fi
@@ -264,6 +264,23 @@ else
 		. $FCONFIG
 	fi

+	#
+	# Check if UAVCAN is enabled, default to it for ESCs.
+	#
+	if param greater -s UAVCAN_ENABLE 0
+	then
+		# Start core UAVCAN module.
+		if ! uavcan start
+		then
+			tune_control play error
+		fi
+	else
+		if param greater -s CYPHAL_ENABLE 0
+		then
+			cyphal start
+		fi
+	fi
+
 	#
 	# Start IO for PWM output or RC input if enabled
 	#
@@ -510,23 +527,6 @@ else
 	fi
 	unset BOARD_BOOTLOADER_UPGRADE

-	#
-	# Check if UAVCAN is enabled, default to it for ESCs.
-	#
-	if param greater -s UAVCAN_ENABLE 0
-	then
-		# Start core UAVCAN module.
-		if ! uavcan start
-		then
-			tune_control play error
-		fi
-	else
-		if param greater -s CYPHAL_ENABLE 0
-		then
-			cyphal start
-		fi
-	fi
-
 #
 # End of autostart.
 #
@@ -43,13 +43,13 @@ do
 	${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 'bsondump /fs/mtd_params'
+	${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 'bsondump /fs/mtd_params' || true
-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'bsondump /fs/microsd/parameters_backup.bson' || true
+	${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'
@@ -8,6 +8,7 @@ if [ $# -gt 0 ]; then
 fi

 exec find boards msg src platforms test \
+    -path msg/templates/urtps -prune -o \
    -path platforms/nuttx/NuttX -prune -o \
    -path platforms/qurt/dspal -prune -o \
    -path src/drivers/uavcan/libuavcan -prune -o \
@@ -20,6 +21,8 @@ exec find boards msg src platforms test \
    -path src/modules/ekf2/EKF -prune -o \
    -path src/modules/gyro_fft/CMSIS_5 -prune -o \
    -path src/modules/mavlink/mavlink -prune -o \
+    -path src/modules/micrortps_bridge/micro-CDR -prune -o \
+    -path src/modules/micrortps_bridge/microRTPS_client -prune -o \
    -path test/mavsdk_tests/catch2 -prune -o \
    -path src/lib/crypto/monocypher -prune -o \
    -path src/lib/crypto/libtomcrypt -prune -o \
@@ -0,0 +1,15 @@
+#!/usr/bin/env bash
+set -e
+
+SCRIPT_DIR=$0
+if [[ ${SCRIPT_DIR:0:1} != '/' ]]; then
+  SCRIPT_DIR=$(dirname $(realpath -s "$PWD/$0"))
+fi
+
+PX4_DIR=$(cd "$(dirname $(dirname $SCRIPT_DIR))" && pwd)
+
+if [ -d $PX4_DIR/build/*_rtps ]; then
+  cd $PX4_DIR/build/*_rtps/src/modules/micrortps_bridge/micrortps_agent/
+  cmake -Bbuild
+  cmake --build build -j$(nproc --all)
+fi
@@ -28,7 +28,7 @@ args = parser.parse_args()
 verbose = args.verbose

 build_configs = []
-excluded_boards = ['modalai_voxl2', 'px4_ros2']  # TODO: fix and enable
+excluded_boards = ['modalai_voxl2']  # TODO: fix and enable
 excluded_manufacturers = ['atlflight']
 excluded_platforms = ['qurt']
 excluded_labels = [
@@ -32,16 +32,16 @@ def extract_timer(line):
    # Try format: initIOTimer(Timer::Timer5, DMA{DMA::Index1, DMA::Stream0, DMA::Channel6}),
    search = re.search('Timer::([0-9a-zA-Z_]+)[,\)]', line, re.IGNORECASE)
    if search:
-        return search.group(1), 'generic'
+        return search.group(1)

    # nxp rt1062 format: initIOPWM(PWM::FlexPWM2),
    search = re.search('PWM::Flex([0-9a-zA-Z_]+)[,\)]', line, re.IGNORECASE)
    if search:
-        return search.group(1), 'imxrt'
+        return search.group(1)

-    return None, 'unknown'
+    return None

-def extract_timer_from_channel(line, num_channels_already_found):
+def extract_timer_from_channel(line):
    # Try format: initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortA, GPIO::Pin0}),
    search = re.search('Timer::([0-9a-zA-Z_]+), ', line, re.IGNORECASE)
    if search:
@@ -50,8 +50,7 @@ def extract_timer_from_channel(line, num_channels_already_found):
    # nxp rt1062 format: initIOTimerChannel(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_B0_06),
    search = re.search('PWM::(PWM[0-9]+)[_,\)]', line, re.IGNORECASE)
    if search:
-        # imxrt uses a 1:1 timer group to channel association
-        return str(num_channels_already_found)
+        return search.group(1)

    return None

@@ -73,14 +72,7 @@ def get_timer_groups(timer_config_file, verbose=False):
        line = line.strip()
        if len(line) == 0 or line.startswith('//'):
            continue
-        timer, timer_type = extract_timer(line)
-
-        if timer_type == 'imxrt':
-            if verbose: print('imxrt timer found')
-            max_num_channels = 16 # Just add a fixed number of timers
-            timers = [str(i) for i in range(max_num_channels)]
-            dshot_support = {str(i): False for i in range(max_num_channels)}
-            break
+        timer = extract_timer(line)

        if timer:
            if verbose: print('found timer def: {:}'.format(timer))
@@ -109,7 +101,7 @@ def get_timer_groups(timer_config_file, verbose=False):
            continue

        if verbose: print('--'+line+'--')
-        timer = extract_timer_from_channel(line, len(channel_timers))
+        timer = extract_timer_from_channel(line)

        if timer:
            if verbose: print('Found timer: {:} in channel line {:}'.format(timer, line))
@@ -1,245 +0,0 @@
-#!/usr/bin/env python3
-#############################################################################
-#
-#   Copyright (C) 2013-2022 PX4 Pro Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-#############################################################################
-
-"""
-px_generate_uorb_topic_files.py
-Generates c/cpp header/source files for uorb topics from .msg
-message files
-"""
-
-import os
-import argparse
-import re
-import sys
-
-try:
-    import em
-except ImportError as e:
-    print("Failed to import em: " + str(e))
-    print("")
-    print("You may need to install it using:")
-    print("    pip3 install --user empy")
-    print("")
-    sys.exit(1)
-
-try:
-    import genmsg.template_tools
-except ImportError as e:
-    print("Failed to import genmsg: " + str(e))
-    print("")
-    print("You may need to install it using:")
-    print("    pip3 install --user pyros-genmsg")
-    print("")
-    sys.exit(1)
-
-
-__author__ = "Sergey Belash, Thomas Gubler, Beat Kueng"
-__copyright__ = "Copyright (C) 2013-2022 PX4 Development Team."
-__license__ = "BSD"
-__email__ = "thomasgubler@gmail.com"
-
-
-TEMPLATE_FILE = ['msg.h.em', 'msg.cpp.em']
-TOPICS_LIST_TEMPLATE_FILE = ['uORBTopics.hpp.em', 'uORBTopics.cpp.em']
-OUTPUT_FILE_EXT = ['.h', '.cpp']
-INCL_DEFAULT = ['std_msgs:./msg/std_msgs']
-PACKAGE = 'px4'
-TOPICS_TOKEN = '# TOPICS '
-
-
-def get_topics(filename):
-    """
-    Get TOPICS names from a "# TOPICS" line
-    """
-    ofile = open(filename, 'r')
-    text = ofile.read()
-    result = []
-    for each_line in text.split('\n'):
-        if each_line.startswith(TOPICS_TOKEN):
-            topic_names_str = each_line.strip()
-            topic_names_str = topic_names_str.replace(TOPICS_TOKEN, "")
-            topic_names_list = topic_names_str.split(" ")
-            for topic in topic_names_list:
-                # topic name PascalCase (file name) to snake_case (topic name)
-                topic_name = re.sub(r'(?<!^)(?=[A-Z])', '_', topic).lower()
-                result.append(topic_name)
-    ofile.close()
-
-    if len(result) == 0:
-        # topic name PascalCase (file name) to snake_case (topic name)
-        file_base_name = os.path.basename(filename).replace(".msg", "")
-        topic_name = re.sub(r'(?<!^)(?=[A-Z])', '_', file_base_name).lower()
-        result.append(topic_name)
-
-    return result
-
-
-def generate_output_from_file(format_idx, filename, outputdir, package, templatedir, includepath):
-    """
-    Converts a single .msg file to an uorb header/source file
-    """
-    msg_context = genmsg.msg_loader.MsgContext.create_default()
-    full_type_name = genmsg.gentools.compute_full_type_name(package, os.path.basename(filename))
-
-    file_base_name = os.path.basename(filename).replace(".msg", "")
-
-    full_type_name_snake = re.sub(r'(?<!^)(?=[A-Z])', '_', file_base_name).lower()
-
-    spec = genmsg.msg_loader.load_msg_from_file(msg_context, filename, full_type_name)
-
-    field_name_and_type = {}
-    for field in spec.parsed_fields():
-        field_name_and_type.update({field.name: field.type})
-
-    # assert if the timestamp field is of type uint64
-    # try:
-    #     assert field_name_and_type.get('timestamp') == 'uint64'
-    # except AssertionError:
-    #     print("[ERROR] uORB topic files generator:\n\tgenerate_output_from_file:\t'timestamp' field in " + spec.short_name +
-    #           " msg definition is not of type uint64 but rather of type " + field_name_and_type.get('timestamp') + "!")
-    #     exit(1)
-
-    topics = get_topics(filename)
-
-    if includepath:
-        search_path = genmsg.command_line.includepath_to_dict(includepath)
-    else:
-        search_path = {}
-
-    genmsg.msg_loader.load_depends(msg_context, spec, search_path)
-
-    em_globals = {
-        "name_snake_case": full_type_name_snake,
-        "file_name_in": filename,
-        "search_path": search_path,
-        "msg_context": msg_context,
-        "spec": spec,
-        "topics": topics,
-    }
-
-    # Make sure output directory exists:
-    if not os.path.isdir(outputdir):
-        os.makedirs(outputdir)
-
-    template_file = os.path.join(templatedir, TEMPLATE_FILE[format_idx])
-    output_file = os.path.join(outputdir, full_type_name_snake + OUTPUT_FILE_EXT[format_idx])
-
-    return generate_by_template(output_file, template_file, em_globals)
-
-
-def generate_by_template(output_file, template_file, em_globals):
-    """
-    Invokes empy intepreter to geneate output_file by the
-    given template_file and predefined em_globals dict
-    """
-    # check if folder exists:
-    folder_name = os.path.dirname(output_file)
-    if not os.path.exists(folder_name):
-        os.makedirs(folder_name)
-
-    ofile = open(output_file, 'w')
-    # todo, reuse interpreter
-    interpreter = em.Interpreter(output=ofile, globals=em_globals, options={
-                                 em.RAW_OPT: True, em.BUFFERED_OPT: True})
-    try:
-        interpreter.file(open(template_file))
-    except OSError as e:
-        ofile.close()
-        os.remove(output_file)
-        raise
-    interpreter.shutdown()
-    ofile.close()
-    return True
-
-
-def generate_topics_list_file_from_files(files, outputdir, template_filename, templatedir):
-    # generate cpp file with topics list
-    filenames = []
-    for filename in [os.path.basename(p) for p in files if os.path.basename(p).endswith(".msg")]:
-        filenames.append(re.sub(r'(?<!^)(?=[A-Z])', '_', filename).lower())
-
-    topics = []
-    for msg_filename in files:
-        topics.extend(get_topics(msg_filename))
-
-    tl_globals = {"msgs": filenames, "topics": topics}
-    tl_template_file = os.path.join(templatedir, template_filename)
-    tl_out_file = os.path.join(outputdir, template_filename.replace(".em", ""))
-
-    generate_by_template(tl_out_file, tl_template_file, tl_globals)
-
-
-def append_to_include_path(path_to_append, curr_include, package):
-    for p in path_to_append:
-        curr_include.append('%s:%s' % (package, p))
-
-
-if __name__ == "__main__":
-    parser = argparse.ArgumentParser(description='Convert msg files to uorb headers/sources')
-    parser.add_argument('--headers', help='Generate header files', action='store_true')
-    parser.add_argument('--sources', help='Generate source files', action='store_true')
-    parser.add_argument('-f', dest='file',
-                        help="files to convert (use only without -d)",
-                        nargs="+")
-    parser.add_argument('-i', dest="include_paths",
-                        help='Additional Include Paths', nargs="*",
-                        default=None)
-    parser.add_argument('-e', dest='templatedir',
-                        help='directory with template files',)
-    parser.add_argument('-k', dest='package', default=PACKAGE,
-                        help='package name')
-    parser.add_argument('-o', dest='outputdir',
-                        help='output directory for header files')
-    parser.add_argument('-p', dest='prefix', default='',
-                        help='string added as prefix to the output file '
-                        ' name when converting directories')
-    args = parser.parse_args()
-
-    if args.include_paths:
-        append_to_include_path(args.include_paths, INCL_DEFAULT, args.package)
-
-    if args.headers:
-        generate_idx = 0
-    elif args.sources:
-        generate_idx = 1
-    else:
-        print('Error: either --headers or --sources must be specified')
-        exit(-1)
-    if args.file is not None:
-        for f in args.file:
-            generate_output_from_file(generate_idx, f, args.outputdir, args.package, args.templatedir, INCL_DEFAULT)
-
-        # Generate topics list header and source file
-        if os.path.isfile(os.path.join(args.templatedir, TOPICS_LIST_TEMPLATE_FILE[generate_idx])):
-            generate_topics_list_file_from_files(args.file, args.outputdir, TOPICS_LIST_TEMPLATE_FILE[generate_idx], args.templatedir)
@@ -51,9 +51,9 @@ div.frame_variant td, div.frame_variant th {
  text-align : left;
 }
 </style>\n\n"""
-
+ 
        type_set = set()
-
+        
        if len(image_path) > 0 and image_path[-1] != '/':
            image_path = image_path + '/'

@@ -62,7 +62,7 @@ div.frame_variant td, div.frame_variant th {
               result += '## %s\n\n' % group.GetClass()
               type_set.add(group.GetClass())

-            result += '### %s\n\n' % group.GetType()
+            result += '### %s\n\n' % group.GetName()

            # Display an image of the frame
            image_name = group.GetImageName()
@@ -73,11 +73,11 @@ div.frame_variant td, div.frame_variant th {
            # check if all outputs are equal for the group: if so, show them
            # only once
            all_outputs = {}
-            num_configs = len(group.GetAirframes())
-            for airframe in group.GetAirframes():
-                if not self.IsExcluded(airframe, board):
-                    for output_name in airframe.GetOutputCodes():
-                        value = airframe.GetOutputValue(output_name)
+            num_configs = len(group.GetParams())
+            for param in group.GetParams():
+                if not self.IsExcluded(param, board):
+                    for output_name in param.GetOutputCodes():
+                        value = param.GetOutputValue(output_name)
                        key_value_pair = (output_name, value)
                        if key_value_pair not in all_outputs:
                            all_outputs[key_value_pair] = 0
@@ -104,17 +104,18 @@ div.frame_variant td, div.frame_variant th {
            result += ' </thead>\n'
            result += '<tbody>\n'

-            for airframe in group.GetAirframes():
-                if not self.IsExcluded(airframe, board):
-                    name = airframe.GetName()
-                    airframe_id = airframe.GetId()
+            for param in group.GetParams():
+                if not self.IsExcluded(param, board):
+                    #print("generating: {0} {1}".format(param.GetName(), excluded))
+                    name = param.GetName()
+                    airframe_id = param.GetId()
                    airframe_id_entry = '<p><code>SYS_AUTOSTART</code> = %s</p>' % (airframe_id)
-                    maintainer = airframe.GetMaintainer()
+                    maintainer = param.GetMaintainer()
                    maintainer_entry = ''
                    if maintainer != '':
                        maintainer_entry = 'Maintainer: %s' % (html.escape(maintainer))
-                    url = airframe.GetFieldValue('url')
-                    name_anchor='%s_%s_%s' % (group.GetClass(),group.GetType(),name)
+                    url = param.GetFieldValue('url')
+                    name_anchor='%s_%s_%s' % (group.GetClass(),group.GetName(),name)
                    name_anchor=name_anchor.replace(' ','_').lower()
                    name_anchor=name_anchor.replace('"','_').lower()
                    name_anchor='id="%s"' % name_anchor
@@ -123,8 +124,8 @@ div.frame_variant td, div.frame_variant th {
                        name_entry = '<a href="%s">%s</a>' % (url, name)
                    outputs = '<ul>'
                    has_outputs = False
-                    for output_name in airframe.GetOutputCodes():
-                        value = airframe.GetOutputValue(output_name)
+                    for output_name in param.GetOutputCodes():
+                        value = param.GetOutputValue(output_name)
                        valstrs = value.split(";")
                        key_value_pair = (output_name, value)
                        if all_outputs[key_value_pair] < num_configs:
@@ -151,9 +152,9 @@ div.frame_variant td, div.frame_variant th {

        self.output = result

-    def IsExcluded(self, airframe, board):
-        for code in airframe.GetArchCodes():
-            if "CONFIG_ARCH_BOARD_{0}".format(code) == board and airframe.GetArchValue(code) == "exclude":
+    def IsExcluded(self, param, board):
+        for code in param.GetArchCodes():
+            if "CONFIG_ARCH_BOARD_{0}".format(code) == board and param.GetArchValue(code) == "exclude":
                return True
        return False

@@ -3,9 +3,6 @@ import codecs
 import os

 class RCOutput():
-    """
-        Generates RC scripts for the airframes
-    """
    def __init__(self, groups, board, post_start=False):

        result = (  "#\n"
@@ -37,33 +34,33 @@ class RCOutput():
        result += "set AIRFRAME none\n"
        result += "\n"
        for group in groups:
-            result += "# GROUP: %s\n\n" % group.GetType()
-            for airframe in group.GetAirframes():
+            result += "# GROUP: %s\n\n" % group.GetName()
+            for param in group.GetParams():
                excluded = False
-                for code in airframe.GetArchCodes():
-                    if "{0}".format(code) == board and airframe.GetArchValue(code) == "exclude":
+                for code in param.GetArchCodes():
+                    if "{0}".format(code) == board and param.GetArchValue(code) == "exclude":
                        excluded = True
                if excluded:
                    continue

                if post_start:
                    # Path to post-start sript
-                    path = airframe.GetPostPath()
+                    path = param.GetPostPath()
                else:
                    # Path to start script
-                    path = airframe.GetPath()
+                    path = param.GetPath()

                if not path:
                    continue

                path = os.path.split(path)[1]

-                id_val = airframe.GetId()
-                name = airframe.GetFieldValue("short_desc")
-                long_desc = airframe.GetFieldValue("long_desc")
+                id_val = param.GetId()
+                name = param.GetFieldValue("short_desc")
+                long_desc = param.GetFieldValue("long_desc")

                result +=   "#\n"
-                result +=   "# %s\n" % airframe.GetName()
+                result +=   "# %s\n" % param.GetName()
                result +=   "if param compare SYS_AUTOSTART %s\n" % id_val
                result +=   "then\n"
                result +=   "\tset AIRFRAME %s\n" % path
@@ -2,38 +2,31 @@ import sys
 import re
 import os

-class AirframeGroup(object):
+class ParameterGroup(object):
    """
-    Airframe group
-
-    type: specific vehicle type (e.g. VTOL Tiltrotor, VTOL Quadrotor, etc.)
-    class: vehicle class (e.g. Multicopter, Fixed Wing, etc.)
+    Single parameter group
    """
-    def __init__(self, type, af_class):
-        self.type = type
+    def __init__(self, name, af_class):
+        self.name = name
        self.af_class = af_class
-        self.airframes = []
+        self.params = []


-    def AddAirframe(self, airframe):
+    def AddParameter(self, param):
        """
-        Add airframe to the airframe group
+        Add parameter to the group
        """
-        self.airframes.append(airframe)
+        self.params.append(param)

-    def GetType(self):
+    def GetName(self):
        """
-        Get airframe group's vehicle type
-
-        e.g. VTOL Tiltrotor, VTOL Quadrotor, etc.
+        Get parameter group name
        """
-        return self.type
+        return self.name

    def GetClass(self):
        """
-        Get airframe group's vehicle class
-
-        e.g. Multicopter, Fixed Wing, etc.
+        Get parameter group vehicle type.
        """
        return self.af_class

@@ -41,84 +34,86 @@ class AirframeGroup(object):
        """
        Get parameter group image base name (w/o extension)
        """
-        if (self.type == "Standard Plane"):
+        if (self.name == "Standard Plane"):
            return "Plane"
-        elif (self.type == "Flying Wing"):
+        elif (self.name == "Flying Wing"):
            return "FlyingWing"
-        elif (self.type == "Quadrotor x"):
+        elif (self.name == "Quadrotor x"):
            return "QuadRotorX"
-        elif (self.type == "Quadrotor +"):
+        elif (self.name == "Quadrotor +"):
            return "QuadRotorPlus"
-        elif (self.type == "Hexarotor x"):
+        elif (self.name == "Hexarotor x"):
            return "HexaRotorX"
-        elif (self.type == "Hexarotor +"):
+        elif (self.name == "Hexarotor +"):
            return "HexaRotorPlus"
-        elif (self.type == "Octorotor +"):
+        elif (self.name == "Octorotor +"):
            return "OctoRotorPlus"
-        elif (self.type == "Octorotor x"):
+        elif (self.name == "Octorotor x"):
            return "OctoRotorX"
-        elif (self.type == "Octorotor Coaxial"):
+        elif (self.name == "Octorotor Coaxial"):
            return "OctoRotorXCoaxial"
-        elif (self.type == "Octo Coax Wide"):
+        elif (self.name == "Octo Coax Wide"):
            return "OctoRotorXCoaxial"
-        elif (self.type == "Quadrotor Wide"):
+        elif (self.name == "Quadrotor Wide"):
            return "QuadRotorWide"
-        elif (self.type == "Quadrotor H"):
+        elif (self.name == "Quadrotor H"):
            return "QuadRotorH"
-        elif (self.type == "Dodecarotor cox"):
+        elif (self.name == "Dodecarotor cox"):
            return "DodecaRotorXCoaxial"
-        elif (self.type == "Simulation"):
+        elif (self.name == "Simulation"):
            return "AirframeSimulation"
-        elif (self.type == "Plane A-Tail"):
+        elif (self.name == "Plane A-Tail"):
            return "PlaneATail"
-        elif (self.type == "Plane V-Tail"):
+        elif (self.name == "Plane V-Tail"):
            return "PlaneVTail"
-        elif (self.type == "VTOL Duo Tailsitter"):
+        elif (self.name == "VTOL Duo Tailsitter"):
            return "VTOLDuoRotorTailSitter"
-        elif (self.type == "Standard VTOL"):
+        elif (self.name == "Standard VTOL"):
            return "VTOLPlane"
-        elif (self.type == "VTOL Quad Tailsitter"):
+        elif (self.name == "VTOL Quad Tailsitter"):
            return "VTOLQuadRotorTailSitter"
-        elif (self.type == "VTOL Tiltrotor"):
+        elif (self.name == "VTOL Tiltrotor"):
            return "VTOLTiltRotor"
-        elif (self.type == "VTOL Octoplane"):
+        elif (self.name == "VTOL Octoplane"):
            return "VTOLPlaneOcto"
-        elif (self.type == "Coaxial Helicopter"):
+        elif (self.name == "Coaxial Helicopter"):
            return "HelicopterCoaxial"
-        elif (self.type == "Helicopter"):
+        elif (self.name == "Helicopter"):
            return "Helicopter"
-        elif (self.type == "Hexarotor Coaxial"):
+        elif (self.name == "Hexarotor Coaxial"):
            return "Y6B"
-        elif (self.type == "Y6A"):
+        elif (self.name == "Y6A"):
            return "Y6A"
-        elif (self.type == "Tricopter Y-"):
+        elif (self.name == "Tricopter Y-"):
            return "YMinus"
-        elif (self.type == "Tricopter Y+"):
+        elif (self.name == "Tricopter Y+"):
            return "YPlus"
-        elif (self.type == "Autogyro"):
+        elif (self.name == "Autogyro"):
            return "Autogyro"
-        elif (self.type == "Airship"):
+        elif (self.name == "Airship"):
            return "Airship"
-        elif (self.type == "Rover"):
+        elif (self.name == "Rover"):
            return "Rover"
-        elif (self.type == "Boat"):
+        elif (self.name == "Boat"):
            return "Boat"
-        elif (self.type == "Balloon"):
+        elif (self.name == "Balloon"):
            return "Balloon"
-        elif (self.type == "Vectored 6 DOF UUV"):
+        elif (self.name == "Vectored 6 DOF UUV"):
            return "Vectored6DofUUV"
        return "AirframeUnknown"

-    def GetAirframes(self):
+    def GetParams(self):
        """
-        Returns the parsed list of airframes objects. Note that returned
-        object is not a copy. Modifications affect state of the parser.
+        Returns the parsed list of parameters. Every parameter is a Parameter
+        object. Note that returned object is not a copy. Modifications affect
+        state of the parser.
        """
-        return sorted(self.airframes, key=lambda x: x.GetId())

-class Airframe(object):
+        return sorted(self.params, key=lambda x: x.GetId())
+
+class Parameter(object):
    """
-    Single Airframe definition
+    Single parameter
    """

    # Define sorting order of the fields
@@ -293,7 +288,7 @@ class SourceParser(object):
    }

    def __init__(self):
-        self.airframe_groups = {}
+        self.param_groups = {}

    def GetSupportedExtensions(self):
        """
@@ -352,10 +347,10 @@ class SourceParser(object):
                            tag, desc = m.group(1, 2)
                            if (tag == "output"):
                                key, text = desc.split(' ', 1)
-                                outputs[key] = text
+                                outputs[key] = text;
                            elif (tag == "board"):
                                key, text = desc.split(' ', 1)
-                                archs[key] = text
+                                archs[key] = text;
                            else:
                                tags[tag] = desc
                            current_tag = tag
@@ -432,7 +427,7 @@ class SourceParser(object):
            post_path = None

        # We already know this is an airframe config, so add it
-        airframe = Airframe(path, post_path, airframe_name, airframe_type, airframe_class, airframe_id, maintainer)
+        param = Parameter(path, post_path, airframe_name, airframe_type, airframe_class, airframe_id, maintainer)

        # Done with file, store
        for tag in tags:
@@ -445,24 +440,24 @@ class SourceParser(object):
            if tag == "name":
                airframe_name = tags[tag]
            else:
-                airframe.SetField(tag, tags[tag])
+                param.SetField(tag, tags[tag])

        # Store outputs
        for output in outputs:
-            airframe.SetOutput(output, outputs[output])
+            param.SetOutput(output, outputs[output])

        # Store outputs
        for arch in archs:
-            airframe.SetArch(arch, archs[arch])
+            param.SetArch(arch, archs[arch])

        # Store the parameter

        # Create a class-specific airframe group. This is needed to catch cases where an airframe type might cross classes (e.g. simulation)
-        class_group_identifier=airframe_type + airframe_class
-        if class_group_identifier not in self.airframe_groups:
-            #self.airframe_groups[airframe_type] = ParameterGroup(airframe_type)  #HW TEST REMOVE
-            self.airframe_groups[class_group_identifier] = AirframeGroup(airframe_type, airframe_class)
-        self.airframe_groups[class_group_identifier].AddAirframe(airframe)
+        class_group_identifier=airframe_type+airframe_class
+        if class_group_identifier not in self.param_groups:
+            #self.param_groups[airframe_type] = ParameterGroup(airframe_type)  #HW TEST REMOVE
+            self.param_groups[class_group_identifier] = ParameterGroup(airframe_type, airframe_class)
+        self.param_groups[class_group_identifier].AddParameter(param)

        return True

@@ -478,8 +473,8 @@ class SourceParser(object):
        Validates the airframe meta data.
        """
        seenParamNames = []
-        for group in self.GetAirframeGroups():
-            for param in group.GetAirframes():
+        for group in self.GetParamGroups():
+            for param in group.GetParams():
                name  = param.GetName()
                board = param.GetFieldValue("board")
                # Check for duplicates
@@ -492,27 +487,27 @@ class SourceParser(object):

        return True

-    def GetAirframeGroups(self):
+    def GetParamGroups(self):
        """
-        Returns the parsed list of Airframe groups. Every Airframe is an Airframe
+        Returns the parsed list of parameters. Every parameter is a Parameter
        object. Note that returned object is not a copy. Modifications affect
        state of the parser.
        """
-        groups = self.airframe_groups.values()
-        groups = sorted(groups, key=lambda x: x.GetType())
+        groups = self.param_groups.values()
+        groups = sorted(groups, key=lambda x: x.GetName())
        groups = sorted(groups, key=lambda x: x.GetClass())
-        groups = sorted(groups, key=lambda x: self.priority.get(x.GetType(), 0), reverse=True)
+        groups = sorted(groups, key=lambda x: self.priority.get(x.GetName(), 0), reverse=True)

        #Rename duplicate groups to include the class (creating unique headings in page TOC)
        duplicate_test=set()
        duplicate_set=set()
        for group in groups:
-            if group.GetType() in duplicate_test:
-                duplicate_set.add(group.GetType())
+            if group.GetName() in duplicate_test:
+                duplicate_set.add(group.GetName())
            else:
-                duplicate_test.add(group.GetType() )
+                duplicate_test.add(group.GetName() )
        for group in groups:
-            if group.GetType() in duplicate_set:
-                group.name=group.GetType()+' (%s)' % group.GetClass()
+            if group.GetName() in duplicate_set:
+                group.name=group.GetName()+' (%s)' % group.GetClass()

        return groups
@@ -28,28 +28,28 @@ class XMLOutput():
        xml_version.text = "1"
        for group in groups:
            xml_group = ET.SubElement(xml_parameters, "airframe_group")
-            xml_group.attrib["name"] = group.GetType()
+            xml_group.attrib["name"] = group.GetName()
            xml_group.attrib["image"] = group.GetImageName()
-            for airframe in group.GetAirframes():
+            for param in group.GetParams():

                # check if there is an exclude tag for this airframe
                excluded = False
-                for code in airframe.GetArchCodes():
-                    if "CONFIG_ARCH_BOARD_{0}".format(code) == board and airframe.GetArchValue(code) == "exclude":
+                for code in param.GetArchCodes():
+                    if "CONFIG_ARCH_BOARD_{0}".format(code) == board and param.GetArchValue(code) == "exclude":
                        excluded = True

                if not excluded:
-                    #print("generating: {0} {1}".format(airframe.GetName(), excluded))
+                    #print("generating: {0} {1}".format(param.GetName(), excluded))
                    xml_param = ET.SubElement(xml_group, "airframe")
-                    xml_param.attrib["name"] = airframe.GetName()
-                    xml_param.attrib["id"] = airframe.GetId()
-                    xml_param.attrib["maintainer"] = airframe.GetMaintainer()
-                    for code in airframe.GetFieldCodes():
-                        value = airframe.GetFieldValue(code)
+                    xml_param.attrib["name"] = param.GetName()
+                    xml_param.attrib["id"] = param.GetId()
+                    xml_param.attrib["maintainer"] = param.GetMaintainer()
+                    for code in param.GetFieldCodes():
+                        value = param.GetFieldValue(code)
                        xml_field = ET.SubElement(xml_param, code)
                        xml_field.text = value
-                    for code in airframe.GetOutputCodes():
-                        value = airframe.GetOutputValue(code)
+                    for code in param.GetOutputCodes():
+                        value = param.GetOutputValue(code)
                        valstrs = value.split(";")
                        xml_field = ET.SubElement(xml_param, "output")
                        xml_field.attrib["name"] = code
@@ -211,11 +211,6 @@ class SourceParser(object):

                    ignore_event = False

-                    def parse_message(s):
-                        assert s[0] == '"', "Argument must be a string literal: {:}".format(s)
-                        # unescape \x, to treat the string the same as the C++ compiler
-                        return s[1:-1].encode("utf-8").decode('unicode_escape')
-
                    # extract function arguments
                    args_split = self._parse_arguments(args)
                    if call == "events::send" or call == "send":
@@ -233,7 +228,8 @@ class SourceParser(object):
                            else:
                                raise Exception("Could not extract event ID from {:}".format(args_split[0]))
                            event.name = event_name
-                            event.message = parse_message(args_split[2])
+                            # unescape \x, to treat the string the same as the C++ compiler
+                            event.message = args_split[2][1:-1].encode("utf-8").decode('unicode_escape')
                    elif call in ['reporter.healthFailure', 'reporter.armingCheckFailure']:
                        assert len(args_split) == num_args + 5, \
                            "Unexpected Number of arguments for: {:}, {:}".format(args_split, num_args)
@@ -243,7 +239,7 @@ class SourceParser(object):
                        else:
                            raise Exception("Could not extract event ID from {:}".format(args_split[2]))
                        event.name = event_name
-                        event.message = parse_message(args_split[4])
+                        event.message = args_split[4][1:-1]
                        if 'health' in call:
                            event.group = "health"
                        else:
@@ -35,11 +35,12 @@
 #
 # PX4 airframe config processor (main executable file)
 #
-# This tool scans the PX4 ROMFS directory for declarations of airframes
+# This tool scans the PX4 ROMFS code for declarations of airframes
+#
+# Currently supported formats are:
+#   * XML for the parametric UI generator
+#   * Markdown for the PX4 dev guide (https://github.com/PX4/Devguide)
 #
-# Currently supported output formats are:
-#   * XML for the parametric UI generator (Used in QGC)
-#   * Markdown for the PX4 User guide (https://github.com/PX4/PX4-user_guide)
 #

 from __future__ import print_function
@@ -103,31 +104,31 @@ def main():
    # We can't validate yet
    # if not parser.Validate():
    #     sys.exit(1)
-    airframe_groups = parser.GetAirframeGroups()
+    param_groups = parser.GetParamGroups()

    # Output to XML file
    if args.xml:
        if args.verbose: print("Creating XML file " + args.xml)
-        out = xmlout.XMLOutput(airframe_groups, args.board)
+        out = xmlout.XMLOutput(param_groups, args.board)
        out.Save(args.xml)

    # Output to markdown file
    if args.markdown:
        if args.verbose: print("Creating markdown file " + args.markdown)
-        out = markdownout.MarkdownTablesOutput(airframe_groups, args.board, args.image_path)
+        out = markdownout.MarkdownTablesOutput(param_groups, args.board, args.image_path)
        out.Save(args.markdown)

    # Output to start scripts
    if args.start_script:
        # Airframe start script
        if args.verbose: print("Creating start script " + args.start_script)
-        out = rcout.RCOutput(airframe_groups, args.board)
+        out = rcout.RCOutput(param_groups, args.board)
        out.Save(args.start_script)

        # Airframe post-start script
        post_start_script = args.start_script + '.post'
        if args.verbose: print("Creating post-start script " + post_start_script)
-        out_post = rcout.RCOutput(airframe_groups, args.board, post_start=True)
+        out_post = rcout.RCOutput(param_groups, args.board, post_start=True)
        out_post.Save(post_start_script)

    if (args.verbose): print("All done!")
@@ -582,35 +582,7 @@ class uploader(object):
        self.fw_maxsize = self.__getInfo(uploader.INFO_FLASH_SIZE)

    # upload the firmware
-    def upload(self, fw_list, force=False, boot_delay=None, boot_check=False):
-        # select correct binary
-        found_suitable_firmware = False
-        for file in fw_list:
-            fw = firmware(file)
-            if self.board_type == fw.property('board_id'):
-                if len(fw_list) > 1: print("using firmware binary {}".format(file))
-                found_suitable_firmware = True
-                break
-
-        if not found_suitable_firmware:
-            msg = "Firmware not suitable for this board (Firmware board_type=%u board_id=%u)" % (
-                self.board_type, fw.property('board_id'))
-            print("WARNING: %s" % msg)
-            if force:
-                if len(fw_list) > 1:
-                    raise FirmwareNotSuitableException("force flashing failed, more than one file provided, none suitable")
-                print("FORCED WRITE, FLASHING ANYWAY!")
-            else:
-                raise FirmwareNotSuitableException(msg)
-
-        percent = fw.property('image_size') / fw.property('image_maxsize')
-        binary_size = float(fw.property('image_size'))
-        binary_max_size = float(fw.property('image_maxsize'))
-        percent = (binary_size / binary_max_size) * 100
-
-        print("Loaded firmware for board id: %s,%s size: %d bytes (%.2f%%) " % (fw.property('board_id'), fw.property('board_revision'), fw.property('image_size'), percent))
-        print()
-
+    def upload(self, fw, force=False, boot_delay=None):
        # Make sure we are doing the right thing
        start = _time()
        if self.board_type != fw.property('board_id'):
@@ -792,7 +764,7 @@ def main():
    parser.add_argument('--force', action='store_true', default=False, help='Override board type check, or silicon errata checks and continue loading')
    parser.add_argument('--boot-delay', type=int, default=None, help='minimum boot delay to store in flash')
    parser.add_argument('--use-protocol-splitter-format', action='store_true', help='use protocol splitter format for reboot')
-    parser.add_argument('firmware', action="store", nargs='+', help="Firmware file(s)")
+    parser.add_argument('firmware', action="store", help="Firmware file to be uploaded")
    args = parser.parse_args()

    if args.use_protocol_splitter_format:
@@ -804,7 +776,17 @@ def main():
        print("WARNING: You should uninstall ModemManager as it conflicts with any non-modem serial device (like Pixhawk)")
        print("==========================================================================================================")

-    print("Waiting for bootloader...")
+    # Load the firmware file
+    fw = firmware(args.firmware)
+
+    percent = fw.property('image_size') / fw.property('image_maxsize')
+    binary_size = float(fw.property('image_size'))
+    binary_max_size = float(fw.property('image_maxsize'))
+    percent = (binary_size / binary_max_size) * 100
+
+    print("Loaded firmware for board id: %s,%s size: %d bytes (%.2f%%), waiting for the bootloader..." % (fw.property('board_id'), fw.property('board_revision'), fw.property('image_size'), percent))
+    print()
+
    # tell any GCS that might be connected to the autopilot to give up
    # control of the serial port

@@ -907,7 +889,7 @@ def main():

                try:
                    # ok, we have a bootloader, try flashing it
-                    up.upload(args.firmware, force=args.force, boot_delay=args.boot_delay)
+                    up.upload(fw, force=args.force, boot_delay=args.boot_delay)

                    # if we made this far without raising exceptions, the upload was successful
                    successful = True
@@ -136,9 +136,9 @@ serial_ports = {
        "default_baudrate": 1, # set default to an unusable value to detect that this serial port has not been configured
        },

-    # EXT2
-    "EXT2": {
-        "label": "EXT2",
+    # Pixhawk Payload Bus
+    "PPB": {
+        "label": "Pixhawk Payload Bus",
        "index": 401,
        "default_baudrate": 57600,
        },
@@ -9,6 +9,8 @@
 ## - jMAVSim simulator (omit with arg: --no-sim-tools)
 ## - Gazebo simulator (not by default, use --gazebo)
 ##
+## Not Installs:
+## - FastRTPS and FastCDR

 INSTALL_NUTTX="true"
 INSTALL_SIM="true"
@@ -120,7 +122,7 @@ if [[ $INSTALL_SIM == "true" ]]; then
 	echo
 	echo "Installing PX4 simulation dependencies"

-	# java (jmavsim)
+	# java (jmavsim or fastrtps)
 	sudo pacman -S --noconfirm --needed \
 		ant \
 		jdk-openjdk \
@@ -10,6 +10,8 @@ set -e
 ## - NuttX toolchain (omit with arg: --no-nuttx)
 ## - jMAVSim and Gazebo9 simulator (omit with arg: --no-sim-tools)
 ##
+## Not Installs:
+## - FastRTPS and FastCDR

 INSTALL_NUTTX="true"
 INSTALL_SIM="true"
@@ -214,7 +216,7 @@ if [[ $INSTALL_SIM == "true" ]]; then
 	else
 		java_version=14
 	fi
-	# Java (jmavsim)
+	# Java (jmavsim or fastrtps)
 	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 		ant \
 		openjdk-$java_version-jre \
@@ -0,0 +1,11 @@
+<?xml version="1.0"?>
+<model>
+  <name>x500-Legacy</name>
+  <version>1.0</version>
+  <sdf version="1.9">model.sdf</sdf>
+  <author>
+    <name>Benjamin Perseghetti</name>
+    <email>bperseghetti@rudislabs.com</email>
+  </author>
+  <description>Model of the NXP HoverGames Drone development kit (KIT-HGDRONEK66). The PX4 software compatible kit provides mechanical, RC remote and other components needed to evaluate the RDDRONE-FMUK66 reference design. The FMU includes 100Base-T1 Automotive Ethernet, dual CAN transceivers, as well as SE050 secure element, and works with add on boards NavQPlus, MR-T1ETH8, MR-T1ADAPT, and CAN-nodes such as UCANS32K1SIC.  Kit may be used with, and contains the components needed for the HoverGames.com coding challenges.</description>
+</model>
@@ -0,0 +1,76 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<sdf version='1.9'>
+  <model name='x500-Legacy'>
+    <include merge='true'>
+      <uri>model://x500-NoPlugin</uri>
+    </include>
+    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
+      <robotNamespace>/x500-Legacy_0</robotNamespace>
+      <jointName>rotor_0_joint</jointName>
+      <linkName>rotor_0</linkName>
+      <turningDirection>ccw</turningDirection>
+      <timeConstantUp>0.0125</timeConstantUp>
+      <timeConstantDown>0.025</timeConstantDown>
+      <maxRotVelocity>1000.0</maxRotVelocity>
+      <motorConstant>8.54858e-06</motorConstant>
+      <momentConstant>0.016</momentConstant>
+      <commandSubTopic>command/motor_speed</commandSubTopic>
+      <motorNumber>0</motorNumber>
+      <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
+      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
+      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
+      <motorType>velocity</motorType>
+    </plugin>
+    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
+      <robotNamespace>/x500-Legacy_0</robotNamespace>
+      <jointName>rotor_1_joint</jointName>
+      <linkName>rotor_1</linkName>
+      <turningDirection>ccw</turningDirection>
+      <timeConstantUp>0.0125</timeConstantUp>
+      <timeConstantDown>0.025</timeConstantDown>
+      <maxRotVelocity>1000.0</maxRotVelocity>
+      <motorConstant>8.54858e-06</motorConstant>
+      <momentConstant>0.016</momentConstant>
+      <commandSubTopic>command/motor_speed</commandSubTopic>
+      <motorNumber>1</motorNumber>
+      <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
+      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
+      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
+      <motorType>velocity</motorType>
+    </plugin>
+    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
+      <robotNamespace>/x500-Legacy_0</robotNamespace>
+      <jointName>rotor_2_joint</jointName>
+      <linkName>rotor_2</linkName>
+      <turningDirection>cw</turningDirection>
+      <timeConstantUp>0.0125</timeConstantUp>
+      <timeConstantDown>0.025</timeConstantDown>
+      <maxRotVelocity>1000.0</maxRotVelocity>
+      <motorConstant>8.54858e-06</motorConstant>
+      <momentConstant>0.016</momentConstant>
+      <commandSubTopic>command/motor_speed</commandSubTopic>
+      <motorNumber>2</motorNumber>
+      <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
+      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
+      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
+      <motorType>velocity</motorType>
+    </plugin>
+    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
+      <robotNamespace>/x500-Legacy_0</robotNamespace>
+      <jointName>rotor_3_joint</jointName>
+      <linkName>rotor_3</linkName>
+      <turningDirection>cw</turningDirection>
+      <timeConstantUp>0.0125</timeConstantUp>
+      <timeConstantDown>0.025</timeConstantDown>
+      <maxRotVelocity>1000.0</maxRotVelocity>
+      <motorConstant>8.54858e-06</motorConstant>
+      <momentConstant>0.016</momentConstant>
+      <commandSubTopic>command/motor_speed</commandSubTopic>
+      <motorNumber>3</motorNumber>
+      <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
+      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
+      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
+      <motorType>velocity</motorType>
+    </plugin>
+  </model>
+</sdf>
@@ -73,5 +73,4 @@ fi
 ant create_run_jar copy_res
 cd out/production

-java --add-exports java.base/java.lang=ALL-UNNAMED --add-exports java.desktop/sun.awt=ALL-UNNAMED --add-exports java.desktop/sun.java2d=ALL-UNNAMED \
-	-XX:GCTimeRatio=20 -Djava.ext.dirs= -jar jmavsim_run.jar $device $extra_args
+java -XX:GCTimeRatio=20 -Djava.ext.dirs= -jar jmavsim_run.jar $device $extra_args
@@ -0,0 +1,135 @@
+#!/usr/bin/env bash
+set -e
+
+agent_template_files_updated=0
+code_generator_files_updated=0
+
+# parse help argument
+if [[ $1 == "-h" ]] || [[ $1 == "--help" ]]; then
+  echo -e "Usage: update_px4_ros2_bridge.bash [options...] \t This script allows to update px4_ros_com and px4_msgs in a specified directory." >&2
+  echo
+  echo -e "\t--ws_dir \t\t Location of the ament/colcon workspace. Default: $HOME/colcon_ws."
+  echo -e "\t--px4_ros_com \t\t Updates px4_ros_com microRTPS agent code generation and templates."
+  echo -e "\t--px4_msgs \t\t Updates px4_msgs messages definition files."
+  echo -e "\t--all \t\t Updates both px4_ros_com and px4_msgs."
+  echo
+  exit 0
+fi
+
+# parse the arguments
+while [ $# -gt 0 ]; do
+  if [[ $1 == *"--"* ]]; then
+    v="${1/--/}"
+    if [ ! -z $2 ]; then
+      declare $v="$2"
+    else
+      declare $v=1
+    fi
+  fi
+  shift
+done
+
+# get script directory
+SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
+
+# get PX4-Autopilot directory
+PX4_DIR=$(cd "$(dirname "$SCRIPT_DIR")" && pwd)
+
+function compare_and_update () {
+  cmp -s "$1" "$2"
+  if [ $? -eq 1 ]; then
+    cp "$1" "$2"
+    return 0
+  fi
+
+  return 1;
+}
+
+# update microRTPS agent code generators / helpers
+function update_agent_code {
+  declare -a templates=( \
+    "microRTPS_agent.cpp.em" \
+    "microRTPS_timesync.cpp.em" \
+    "microRTPS_timesync.h.em" \
+    "microRTPS_transport.cpp" \
+    "microRTPS_transport.h" \
+    "Publisher.cpp.em" \
+    "Publisher.h.em" \
+    "Subscriber.cpp.em" \
+    "Subscriber.h.em" \
+    "RtpsTopics.cpp.em" \
+    "RtpsTopics.h.em" \
+    )
+
+  for file in ${templates[@]}; do
+    compare_and_update "$PX4_DIR/msg/templates/urtps/$file" "$ws_dir/src/px4_ros_com/templates/$file" \
+      && echo -e "--\t\t- '$ws_dir/src/px4_ros_com/templates/$file' updated" && ((agent_template_files_updated+=1))
+  done
+  if [ $agent_template_files_updated -eq 0 ]; then
+    echo -e "--\t\t- No template files updated"
+  elif [ $agent_template_files_updated -eq 1 ]; then
+    echo -e "--\t\t  - 1 template file updated"
+  else
+    echo -e "--\t\t  - $agent_template_files_updated template files updated"
+  fi
+}
+
+# update microRTPS agent code templates
+function update_agent_templates {
+  declare -a code_generators=( \
+    "uorb_rtps_classifier.py" \
+    "generate_microRTPS_bridge.py" \
+    "px_generate_uorb_topic_files.py" \
+    )
+  for file in ${code_generators[@]}; do
+    compare_and_update "$PX4_DIR/msg/tools/$file $ws_dir/src/px4_ros_com/scripts/$file" \
+      && echo -e "--\t\t- '$ws_dir/src/px4_ros_com/scripts/$file' updated" && ((code_generator_files_updated+=1))
+  done
+  if [ $code_generator_files_updated -eq 0 ]; then
+    echo -e "--\t\t- No code generators / helpers files updated"
+  elif [ $code_generator_files_updated -eq 1 ]; then
+    echo -e "--\t\t  - 1 code generator / helper file updated"
+  else
+    echo -e "--\t\t  - $code_generator_files_updated code generator / helper files updated"
+  fi
+}
+
+# update px4_ros_com files
+function update_px4_ros_com {
+  python3 $PX4_DIR/msg/tools/uorb_to_ros_urtps_topics.py -i $PX4_DIR/msg/tools/urtps_bridge_topics.yaml -o $ws_dir/src/px4_ros_com/templates/urtps_bridge_topics.yaml
+  echo -e "---------------          \033[1mmicroRTPS agent code generation and templates update\033[0m          ----------------"
+  echo "-------------------------------------------------------------------------------------------------------"
+  update_agent_code
+  update_agent_templates
+  return 0
+}
+
+# function to update px4_msgs
+function update_px4_msgs {
+  find "$ws_dir/src/px4_msgs/msg/" -maxdepth 1 -type f -delete
+  python3 $PX4_DIR/msg/tools/uorb_to_ros_msgs.py $PX4_DIR/msg/ $ws_dir/src/px4_msgs/msg/
+}
+
+# decisor
+echo "-------------------------------------------------------------------------------------------------------"
+if [ -d "${ws_dir}" ]; then
+  ws_dir=$(cd "$ws_dir" && pwd)
+  if [ ! -z ${all} ]; then
+    update_px4_ros_com
+    echo "-------------------------------------------------------------------------------------------------------"
+    update_px4_msgs
+  elif [ ! -z ${px4_ros_com} ]; then
+    update_px4_ros_com
+    echo "-------------------------------------------------------------------------------------------------------"
+  elif [ ! -z ${px4_msgs} ]; then
+    update_px4_msgs
+  fi
+  echo -e "--------------------------------          \033[0;32mUpdate successful!\033[0m          ---------------------------------"
+  echo "-------------------------------------------------------------------------------------------------------"
+  exit 0
+else
+  echo -e "-- \033[0;31mWorkspace directory doesn't exist...\033[0m"
+  echo -e "----------------------------------          \033[0;31mUpdate failed!\033[0m          -----------------------------------"
+  echo "-------------------------------------------------------------------------------------------------------"
+  exit $ERRCODE
+fi
@@ -79,9 +79,8 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_BSONDUMP=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
@@ -7,7 +7,6 @@
 #
 # CONFIG_DISABLE_ENVIRON is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_DISABLE_PTHREAD is not set
 # CONFIG_MMCSD_HAVE_CARDDETECT is not set
 # CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
 # CONFIG_MMCSD_MMCSUPPORT is not set
@@ -37,11 +36,9 @@ CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARDCTL=y
 CONFIG_BOARD_CRASHDUMP=y
 CONFIG_BOARD_LOOPSPERMSEC=16717
 CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BOARD_ASSERT_RESET_VALUE=0
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
@@ -57,25 +54,6 @@ CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEFAULT_SMALL=y
-# CONFIG_NSH_DISABLE_ECHO is not set
-# CONFIG_NSH_DISABLE_ENV is not set
-# CONFIG_NSH_DISABLE_FREE is not set
-# CONFIG_NSH_DISABLE_HELP is not set
-# CONFIG_NSH_DISABLE_KILL is not set
-# CONFIG_NSH_DISABLE_LS is not set
-# CONFIG_NSH_DISABLE_MKDIR is not set
-# CONFIG_NSH_DISABLE_MODCMDS is not set
-# CONFIG_NSH_DISABLE_MOUNT is not set
-# CONFIG_NSH_DISABLE_MV is not set
-# CONFIG_NSH_DISABLE_PRINTF is not set
-# CONFIG_NSH_DISABLE_PSSTACKUSAGE
-# CONFIG_NSH_DISABLE_PWD is not set
-# CONFIG_NSH_DISABLE_SOURCE is not set
-# CONFIG_NSH_DISABLE_SLEEP is not set
-# CONFIG_NSH_DISABLE_TEST is not set
-# CONFIG_NSH_DISABLE_UMOUNT is not set
-# CONFIG_NSH_DISABLE_UNSET is not set
-# CONFIG_NSH_DISABLE_USLEEP is not set
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
 CONFIG_DEV_PIPE_SIZE=70
@@ -140,13 +118,12 @@ CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000
 CONFIG_RAW_BINARY=y
 CONFIG_RTC_DATETIME=y
-CONFIG_LIBC_MAX_EXITFUNS=1
+CONFIG_SCHED_ATEXIT=y
 CONFIG_SCHED_HPWORK=y
 CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
@@ -249,5 +226,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_INIT_STACKSIZE=2944
-CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_USERMAIN_STACKSIZE=2944
+CONFIG_USER_ENTRYPOINT="nsh_main"
@@ -50,7 +50,7 @@
 #include <arch/board/board.h>

 #include "chip.h"
-#include "arm_internal.h"
+#include "arm_arch.h"

 #include "stm32.h"
 #include "stm32_can.h"
@@ -51,7 +51,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>

-#include <arm_internal.h>
+#include <arm_arch.h>
 #include <stm32.h>
 #include "board_config.h"

@@ -23,25 +23,6 @@ CONFIG_CLOCK_MONOTONIC=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEFAULT_SMALL=y
-# CONFIG_NSH_DISABLE_ECHO is not set
-# CONFIG_NSH_DISABLE_ENV is not set
-# CONFIG_NSH_DISABLE_FREE is not set
-# CONFIG_NSH_DISABLE_HELP is not set
-# CONFIG_NSH_DISABLE_KILL is not set
-# CONFIG_NSH_DISABLE_LS is not set
-# CONFIG_NSH_DISABLE_MKDIR is not set
-# CONFIG_NSH_DISABLE_MODCMDS is not set
-# CONFIG_NSH_DISABLE_MOUNT is not set
-# CONFIG_NSH_DISABLE_MV is not set
-# CONFIG_NSH_DISABLE_PRINTF is not set
-# CONFIG_NSH_DISABLE_PSSTACKUSAGE
-# CONFIG_NSH_DISABLE_PWD is not set
-# CONFIG_NSH_DISABLE_SOURCE is not set
-# CONFIG_NSH_DISABLE_SLEEP is not set
-# CONFIG_NSH_DISABLE_TEST is not set
-# CONFIG_NSH_DISABLE_UMOUNT is not set
-# CONFIG_NSH_DISABLE_UNSET is not set
-# CONFIG_NSH_DISABLE_USLEEP is not set
 CONFIG_DISABLE_MOUNTPOINT=y
 CONFIG_DISABLE_MQUEUE=y
 CONFIG_DISABLE_PTHREAD=y
@@ -54,7 +35,7 @@ CONFIG_IDLETHREAD_STACKSIZE=4096
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
-CONFIG_BOARDCTL=y
+CONFIG_LIB_BOARDCTL=y
 CONFIG_FS_PROCFS_MAX_TASKS=0
 CONFIG_MM_REGIONS=2
 CONFIG_NAME_MAX=0
@@ -77,4 +58,4 @@ CONFIG_STM32_NOEXT_VECTORS=y
 CONFIG_STM32_TIM8=y
 CONFIG_TASK_NAME_SIZE=0
 CONFIG_USEC_PER_TICK=1000
-CONFIG_INIT_STACKSIZE=4096
+CONFIG_USERMAIN_STACKSIZE=4096
@@ -5,51 +5,20 @@
 # You can then do "make savedefconfig" to generate a new defconfig file that includes your
 # modifications.
 #
-# CONFIG_DISABLE_ENVIRON is not set
+# CONFIG_DISABLE_OS_API is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_DISABLE_PTHREAD is not set
-# CONFIG_MMCSD_HAVE_CARDDETECT is not set
-# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
-# CONFIG_MMCSD_MMCSUPPORT is not set
-# CONFIG_MMCSD_SPI is not set
 # CONFIG_NSH_DISABLEBG is not set
 # CONFIG_NSH_DISABLESCRIPT is not set
-# CONFIG_NSH_DISABLE_ARP is not set
-# CONFIG_NSH_DISABLE_CAT is not set
-# CONFIG_NSH_DISABLE_CD is not set
-# CONFIG_NSH_DISABLE_CP is not set
-# CONFIG_NSH_DISABLE_DATE is not set
 # CONFIG_NSH_DISABLE_DF is not set
-# CONFIG_NSH_DISABLE_ECHO is not set
-# CONFIG_NSH_DISABLE_ENV is not set
 # CONFIG_NSH_DISABLE_EXEC is not set
-# CONFIG_NSH_DISABLE_EXPORT is not set
-# CONFIG_NSH_DISABLE_FREE is not set
+# CONFIG_NSH_DISABLE_EXIT is not set
 # CONFIG_NSH_DISABLE_GET is not set
-# CONFIG_NSH_DISABLE_HELP is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
-# CONFIG_NSH_DISABLE_KILL is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
-# CONFIG_NSH_DISABLE_LS is not set
-# CONFIG_NSH_DISABLE_MKDIR is not set
 # CONFIG_NSH_DISABLE_MKFATFS is not set
-# CONFIG_NSH_DISABLE_MOUNT is not set
-# CONFIG_NSH_DISABLE_MV is not set
-# CONFIG_NSH_DISABLE_NSLOOKUP is not set
-# CONFIG_NSH_DISABLE_PS is not set
-# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
-# CONFIG_NSH_DISABLE_PWD is not set
-# CONFIG_NSH_DISABLE_RM is not set
-# CONFIG_NSH_DISABLE_RMDIR is not set
 # CONFIG_NSH_DISABLE_SEMICOLON is not set
-# CONFIG_NSH_DISABLE_SET is not set
-# CONFIG_NSH_DISABLE_SLEEP is not set
-# CONFIG_NSH_DISABLE_SOURCE is not set
-# CONFIG_NSH_DISABLE_TEST is not set
 # CONFIG_NSH_DISABLE_TIME is not set
-# CONFIG_NSH_DISABLE_UMOUNT is not set
-# CONFIG_NSH_DISABLE_UNSET is not set
-# CONFIG_NSH_DISABLE_USLEEP is not set
+# CONFIG_STM32_DMACAPABLE is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
 CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/can-flow/nuttx-config"
@@ -63,10 +32,8 @@ CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARDCTL=y
 CONFIG_BOARD_LOOPSPERMSEC=16717
 CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BOARD_ASSERT_RESET_VALUE=0
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CLOCK_MONOTONIC=y
@@ -128,13 +95,12 @@ CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000
 CONFIG_RAW_BINARY=y
 CONFIG_RTC_DATETIME=y
-CONFIG_LIBC_MAX_EXITFUNS=1
+CONFIG_SCHED_ATEXIT=y
 CONFIG_SCHED_HPWORK=y
 CONFIG_SCHED_HPWORKPRIORITY=254
 CONFIG_SCHED_HPWORKSTACKSIZE=3000
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
@@ -183,5 +149,5 @@ CONFIG_USART2_RXBUFSIZE=600
 CONFIG_USART2_SERIAL_CONSOLE=y
 CONFIG_USART2_TXBUFSIZE=1100
 CONFIG_USEC_PER_TICK=1000
-CONFIG_INIT_STACKSIZE=2624
-CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_USERMAIN_STACKSIZE=2624
+CONFIG_USER_ENTRYPOINT="nsh_main"
@@ -50,7 +50,7 @@
 #include <arch/board/board.h>

 #include "chip.h"
-#include "arm_internal.h"
+#include "arm_arch.h"

 #include "stm32.h"
 #include "stm32_can.h"
@@ -23,25 +23,6 @@ CONFIG_CLOCK_MONOTONIC=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEFAULT_SMALL=y
-# CONFIG_NSH_DISABLE_ECHO is not set
-# CONFIG_NSH_DISABLE_ENV is not set
-# CONFIG_NSH_DISABLE_FREE is not set
-# CONFIG_NSH_DISABLE_HELP is not set
-# CONFIG_NSH_DISABLE_KILL is not set
-# CONFIG_NSH_DISABLE_LS is not set
-# CONFIG_NSH_DISABLE_MKDIR is not set
-# CONFIG_NSH_DISABLE_MODCMDS is not set
-# CONFIG_NSH_DISABLE_MOUNT is not set
-# CONFIG_NSH_DISABLE_MV is not set
-# CONFIG_NSH_DISABLE_PRINTF is not set
-# CONFIG_NSH_DISABLE_PSSTACKUSAGE
-# CONFIG_NSH_DISABLE_PWD is not set
-# CONFIG_NSH_DISABLE_SOURCE is not set
-# CONFIG_NSH_DISABLE_SLEEP is not set
-# CONFIG_NSH_DISABLE_TEST is not set
-# CONFIG_NSH_DISABLE_UMOUNT is not set
-# CONFIG_NSH_DISABLE_UNSET is not set
-# CONFIG_NSH_DISABLE_USLEEP is not set
 CONFIG_DISABLE_MOUNTPOINT=y
 CONFIG_DISABLE_MQUEUE=y
 CONFIG_DISABLE_PTHREAD=y
@@ -54,7 +35,7 @@ CONFIG_IDLETHREAD_STACKSIZE=4096
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
-CONFIG_BOARDCTL=y
+CONFIG_LIB_BOARDCTL=y
 CONFIG_FS_PROCFS_MAX_TASKS=0
 CONFIG_MM_REGIONS=2
 CONFIG_NAME_MAX=0
@@ -77,4 +58,4 @@ CONFIG_STM32_NOEXT_VECTORS=y
 CONFIG_STM32_TIM8=y
 CONFIG_TASK_NAME_SIZE=0
 CONFIG_USEC_PER_TICK=1000
-CONFIG_INIT_STACKSIZE=4096
+CONFIG_USERMAIN_STACKSIZE=4096
@@ -5,51 +5,20 @@
 # You can then do "make savedefconfig" to generate a new defconfig file that includes your
 # modifications.
 #
-# CONFIG_DISABLE_ENVIRON is not set
+# CONFIG_DISABLE_OS_API is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_DISABLE_PTHREAD is not set
-# CONFIG_MMCSD_HAVE_CARDDETECT is not set
-# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
-# CONFIG_MMCSD_MMCSUPPORT is not set
-# CONFIG_MMCSD_SPI is not set
 # CONFIG_NSH_DISABLEBG is not set
 # CONFIG_NSH_DISABLESCRIPT is not set
-# CONFIG_NSH_DISABLE_ARP is not set
-# CONFIG_NSH_DISABLE_CAT is not set
-# CONFIG_NSH_DISABLE_CD is not set
-# CONFIG_NSH_DISABLE_CP is not set
-# CONFIG_NSH_DISABLE_DATE is not set
 # CONFIG_NSH_DISABLE_DF is not set
-# CONFIG_NSH_DISABLE_ECHO is not set
-# CONFIG_NSH_DISABLE_ENV is not set
 # CONFIG_NSH_DISABLE_EXEC is not set
-# CONFIG_NSH_DISABLE_EXPORT is not set
-# CONFIG_NSH_DISABLE_FREE is not set
+# CONFIG_NSH_DISABLE_EXIT is not set
 # CONFIG_NSH_DISABLE_GET is not set
-# CONFIG_NSH_DISABLE_HELP is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
-# CONFIG_NSH_DISABLE_KILL is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
-# CONFIG_NSH_DISABLE_LS is not set
-# CONFIG_NSH_DISABLE_MKDIR is not set
 # CONFIG_NSH_DISABLE_MKFATFS is not set
-# CONFIG_NSH_DISABLE_MOUNT is not set
-# CONFIG_NSH_DISABLE_MV is not set
-# CONFIG_NSH_DISABLE_NSLOOKUP is not set
-# CONFIG_NSH_DISABLE_PS is not set
-# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
-# CONFIG_NSH_DISABLE_PWD is not set
-# CONFIG_NSH_DISABLE_RM is not set
-# CONFIG_NSH_DISABLE_RMDIR is not set
 # CONFIG_NSH_DISABLE_SEMICOLON is not set
-# CONFIG_NSH_DISABLE_SET is not set
-# CONFIG_NSH_DISABLE_SLEEP is not set
-# CONFIG_NSH_DISABLE_SOURCE is not set
-# CONFIG_NSH_DISABLE_TEST is not set
 # CONFIG_NSH_DISABLE_TIME is not set
-# CONFIG_NSH_DISABLE_UMOUNT is not set
-# CONFIG_NSH_DISABLE_UNSET is not set
-# CONFIG_NSH_DISABLE_USLEEP is not set
+# CONFIG_STM32_DMACAPABLE is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
 CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/can-gps/nuttx-config"
@@ -63,10 +32,8 @@ CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARDCTL=y
 CONFIG_BOARD_LOOPSPERMSEC=16717
 CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BOARD_ASSERT_RESET_VALUE=0
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CLOCK_MONOTONIC=y
@@ -130,13 +97,12 @@ CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000
 CONFIG_RAW_BINARY=y
 CONFIG_RTC_DATETIME=y
-CONFIG_LIBC_MAX_EXITFUNS=1
+CONFIG_SCHED_ATEXIT=y
 CONFIG_SCHED_HPWORK=y
 CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
@@ -188,5 +154,5 @@ CONFIG_USART2_RXBUFSIZE=600
 CONFIG_USART2_SERIAL_CONSOLE=y
 CONFIG_USART2_TXBUFSIZE=1100
 CONFIG_USEC_PER_TICK=1000
-CONFIG_INIT_STACKSIZE=2624
-CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_USERMAIN_STACKSIZE=2624
+CONFIG_USER_ENTRYPOINT="nsh_main"
@@ -50,7 +50,7 @@
 #include <arch/board/board.h>

 #include "chip.h"
-#include "arm_internal.h"
+#include "arm_arch.h"

 #include "stm32.h"
 #include "stm32_can.h"
@@ -23,25 +23,6 @@ CONFIG_CLOCK_MONOTONIC=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEFAULT_SMALL=y
-# CONFIG_NSH_DISABLE_ECHO is not set
-# CONFIG_NSH_DISABLE_ENV is not set
-# CONFIG_NSH_DISABLE_FREE is not set
-# CONFIG_NSH_DISABLE_HELP is not set
-# CONFIG_NSH_DISABLE_KILL is not set
-# CONFIG_NSH_DISABLE_LS is not set
-# CONFIG_NSH_DISABLE_MKDIR is not set
-# CONFIG_NSH_DISABLE_MODCMDS is not set
-# CONFIG_NSH_DISABLE_MOUNT is not set
-# CONFIG_NSH_DISABLE_MV is not set
-# CONFIG_NSH_DISABLE_PRINTF is not set
-# CONFIG_NSH_DISABLE_PSSTACKUSAGE
-# CONFIG_NSH_DISABLE_PWD is not set
-# CONFIG_NSH_DISABLE_SOURCE is not set
-# CONFIG_NSH_DISABLE_SLEEP is not set
-# CONFIG_NSH_DISABLE_TEST is not set
-# CONFIG_NSH_DISABLE_UMOUNT is not set
-# CONFIG_NSH_DISABLE_UNSET is not set
-# CONFIG_NSH_DISABLE_USLEEP is not set
 CONFIG_DISABLE_MOUNTPOINT=y
 CONFIG_DISABLE_MQUEUE=y
 CONFIG_DISABLE_PTHREAD=y
@@ -54,7 +35,7 @@ CONFIG_IDLETHREAD_STACKSIZE=4096
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
-CONFIG_BOARDCTL=y
+CONFIG_LIB_BOARDCTL=y
 CONFIG_FS_PROCFS_MAX_TASKS=0
 CONFIG_MM_REGIONS=2
 CONFIG_NAME_MAX=0
@@ -77,4 +58,4 @@ CONFIG_STM32_NOEXT_VECTORS=y
 CONFIG_STM32_TIM8=y
 CONFIG_TASK_NAME_SIZE=0
 CONFIG_USEC_PER_TICK=1000
-CONFIG_INIT_STACKSIZE=4096
+CONFIG_USERMAIN_STACKSIZE=4096
@@ -5,51 +5,20 @@
 # You can then do "make savedefconfig" to generate a new defconfig file that includes your
 # modifications.
 #
-# CONFIG_DISABLE_ENVIRON is not set
+# CONFIG_DISABLE_OS_API is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_DISABLE_PTHREAD is not set
-# CONFIG_MMCSD_HAVE_CARDDETECT is not set
-# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
-# CONFIG_MMCSD_MMCSUPPORT is not set
-# CONFIG_MMCSD_SPI is not set
 # CONFIG_NSH_DISABLEBG is not set
 # CONFIG_NSH_DISABLESCRIPT is not set
-# CONFIG_NSH_DISABLE_ARP is not set
-# CONFIG_NSH_DISABLE_CAT is not set
-# CONFIG_NSH_DISABLE_CD is not set
-# CONFIG_NSH_DISABLE_CP is not set
-# CONFIG_NSH_DISABLE_DATE is not set
 # CONFIG_NSH_DISABLE_DF is not set
-# CONFIG_NSH_DISABLE_ECHO is not set
-# CONFIG_NSH_DISABLE_ENV is not set
 # CONFIG_NSH_DISABLE_EXEC is not set
-# CONFIG_NSH_DISABLE_EXPORT is not set
-# CONFIG_NSH_DISABLE_FREE is not set
+# CONFIG_NSH_DISABLE_EXIT is not set
 # CONFIG_NSH_DISABLE_GET is not set
-# CONFIG_NSH_DISABLE_HELP is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
-# CONFIG_NSH_DISABLE_KILL is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
-# CONFIG_NSH_DISABLE_LS is not set
-# CONFIG_NSH_DISABLE_MKDIR is not set
 # CONFIG_NSH_DISABLE_MKFATFS is not set
-# CONFIG_NSH_DISABLE_MOUNT is not set
-# CONFIG_NSH_DISABLE_MV is not set
-# CONFIG_NSH_DISABLE_NSLOOKUP is not set
-# CONFIG_NSH_DISABLE_PS is not set
-# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
-# CONFIG_NSH_DISABLE_PWD is not set
-# CONFIG_NSH_DISABLE_RM is not set
-# CONFIG_NSH_DISABLE_RMDIR is not set
 # CONFIG_NSH_DISABLE_SEMICOLON is not set
-# CONFIG_NSH_DISABLE_SET is not set
-# CONFIG_NSH_DISABLE_SLEEP is not set
-# CONFIG_NSH_DISABLE_SOURCE is not set
-# CONFIG_NSH_DISABLE_TEST is not set
 # CONFIG_NSH_DISABLE_TIME is not set
-# CONFIG_NSH_DISABLE_UMOUNT is not set
-# CONFIG_NSH_DISABLE_UNSET is not set
-# CONFIG_NSH_DISABLE_USLEEP is not set
+# CONFIG_STM32_DMACAPABLE is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
 CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/can-rtk-gps/nuttx-config"
@@ -63,10 +32,8 @@ CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARDCTL=y
 CONFIG_BOARD_LOOPSPERMSEC=16717
 CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BOARD_ASSERT_RESET_VALUE=0
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CLOCK_MONOTONIC=y
@@ -130,13 +97,12 @@ CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000
 CONFIG_RAW_BINARY=y
 CONFIG_RTC_DATETIME=y
-CONFIG_LIBC_MAX_EXITFUNS=1
+CONFIG_SCHED_ATEXIT=y
 CONFIG_SCHED_HPWORK=y
 CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
@@ -189,5 +155,5 @@ CONFIG_USART2_RXBUFSIZE=600
 CONFIG_USART2_SERIAL_CONSOLE=y
 CONFIG_USART2_TXBUFSIZE=1100
 CONFIG_USEC_PER_TICK=1000
-CONFIG_INIT_STACKSIZE=2624
-CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_USERMAIN_STACKSIZE=2624
+CONFIG_USER_ENTRYPOINT="nsh_main"
@@ -50,7 +50,7 @@
 #include <arch/board/board.h>

 #include "chip.h"
-#include "arm_internal.h"
+#include "arm_arch.h"

 #include "stm32.h"
 #include "stm32_can.h"
@@ -23,25 +23,6 @@ CONFIG_CLOCK_MONOTONIC=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEFAULT_SMALL=y
-# CONFIG_NSH_DISABLE_ECHO is not set
-# CONFIG_NSH_DISABLE_ENV is not set
-# CONFIG_NSH_DISABLE_FREE is not set
-# CONFIG_NSH_DISABLE_HELP is not set
-# CONFIG_NSH_DISABLE_KILL is not set
-# CONFIG_NSH_DISABLE_LS is not set
-# CONFIG_NSH_DISABLE_MKDIR is not set
-# CONFIG_NSH_DISABLE_MODCMDS is not set
-# CONFIG_NSH_DISABLE_MOUNT is not set
-# CONFIG_NSH_DISABLE_MV is not set
-# CONFIG_NSH_DISABLE_PRINTF is not set
-# CONFIG_NSH_DISABLE_PSSTACKUSAGE
-# CONFIG_NSH_DISABLE_PWD is not set
-# CONFIG_NSH_DISABLE_SOURCE is not set
-# CONFIG_NSH_DISABLE_SLEEP is not set
-# CONFIG_NSH_DISABLE_TEST is not set
-# CONFIG_NSH_DISABLE_UMOUNT is not set
-# CONFIG_NSH_DISABLE_UNSET is not set
-# CONFIG_NSH_DISABLE_USLEEP is not set
 CONFIG_DISABLE_MOUNTPOINT=y
 CONFIG_DISABLE_MQUEUE=y
 CONFIG_DISABLE_PTHREAD=y
@@ -54,7 +35,7 @@ CONFIG_IDLETHREAD_STACKSIZE=4096
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
-CONFIG_BOARDCTL=y
+CONFIG_LIB_BOARDCTL=y
 CONFIG_FS_PROCFS_MAX_TASKS=0
 CONFIG_MM_REGIONS=2
 CONFIG_NAME_MAX=0
@@ -77,4 +58,4 @@ CONFIG_STM32_FLASH_CONFIG_G=y
 CONFIG_STM32_NOEXT_VECTORS=y
 CONFIG_TASK_NAME_SIZE=0
 CONFIG_USEC_PER_TICK=1000
-CONFIG_INIT_STACKSIZE=4096
+CONFIG_USERMAIN_STACKSIZE=4096
@@ -5,51 +5,20 @@
 # You can then do "make savedefconfig" to generate a new defconfig file that includes your
 # modifications.
 #
-# CONFIG_DISABLE_ENVIRON is not set
+# CONFIG_DISABLE_OS_API is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_DISABLE_PTHREAD is not set
-# CONFIG_MMCSD_HAVE_CARDDETECT is not set
-# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
-# CONFIG_MMCSD_MMCSUPPORT is not set
-# CONFIG_MMCSD_SPI is not set
 # CONFIG_NSH_DISABLEBG is not set
 # CONFIG_NSH_DISABLESCRIPT is not set
-# CONFIG_NSH_DISABLE_ARP is not set
-# CONFIG_NSH_DISABLE_CAT is not set
-# CONFIG_NSH_DISABLE_CD is not set
-# CONFIG_NSH_DISABLE_CP is not set
-# CONFIG_NSH_DISABLE_DATE is not set
 # CONFIG_NSH_DISABLE_DF is not set
-# CONFIG_NSH_DISABLE_ECHO is not set
-# CONFIG_NSH_DISABLE_ENV is not set
 # CONFIG_NSH_DISABLE_EXEC is not set
-# CONFIG_NSH_DISABLE_EXPORT is not set
-# CONFIG_NSH_DISABLE_FREE is not set
+# CONFIG_NSH_DISABLE_EXIT is not set
 # CONFIG_NSH_DISABLE_GET is not set
-# CONFIG_NSH_DISABLE_HELP is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
-# CONFIG_NSH_DISABLE_KILL is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
-# CONFIG_NSH_DISABLE_LS is not set
-# CONFIG_NSH_DISABLE_MKDIR is not set
 # CONFIG_NSH_DISABLE_MKFATFS is not set
-# CONFIG_NSH_DISABLE_MOUNT is not set
-# CONFIG_NSH_DISABLE_MV is not set
-# CONFIG_NSH_DISABLE_NSLOOKUP is not set
-# CONFIG_NSH_DISABLE_PS is not set
-# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
-# CONFIG_NSH_DISABLE_PWD is not set
-# CONFIG_NSH_DISABLE_RM is not set
-# CONFIG_NSH_DISABLE_RMDIR is not set
 # CONFIG_NSH_DISABLE_SEMICOLON is not set
-# CONFIG_NSH_DISABLE_SET is not set
-# CONFIG_NSH_DISABLE_SLEEP is not set
-# CONFIG_NSH_DISABLE_SOURCE is not set
-# CONFIG_NSH_DISABLE_TEST is not set
 # CONFIG_NSH_DISABLE_TIME is not set
-# CONFIG_NSH_DISABLE_UMOUNT is not set
-# CONFIG_NSH_DISABLE_UNSET is not set
-# CONFIG_NSH_DISABLE_USLEEP is not set
+# CONFIG_STM32_DMACAPABLE is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
 CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/cannode/nuttx-config"
@@ -63,10 +32,8 @@ CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARDCTL=y
 CONFIG_BOARD_LOOPSPERMSEC=16717
 CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BOARD_ASSERT_RESET_VALUE=0
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CLOCK_MONOTONIC=y
@@ -130,13 +97,12 @@ CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000
 CONFIG_RAW_BINARY=y
 CONFIG_RTC_DATETIME=y
-CONFIG_LIBC_MAX_EXITFUNS=1
+CONFIG_SCHED_ATEXIT=y
 CONFIG_SCHED_HPWORK=y
 CONFIG_SCHED_HPWORKPRIORITY=254
 CONFIG_SCHED_HPWORKSTACKSIZE=3000
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
@@ -190,5 +156,5 @@ CONFIG_USART2_RXBUFSIZE=600
 CONFIG_USART2_SERIAL_CONSOLE=y
 CONFIG_USART2_TXBUFSIZE=1100
 CONFIG_USEC_PER_TICK=1000
-CONFIG_INIT_STACKSIZE=2624
-CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_USERMAIN_STACKSIZE=2624
+CONFIG_USER_ENTRYPOINT="nsh_main"
@@ -50,7 +50,7 @@
 #include <arch/board/board.h>

 #include "chip.h"
-#include "arm_internal.h"
+#include "arm_arch.h"

 #include "stm32.h"
 #include "stm32_can.h"
@@ -6,7 +6,6 @@ CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS7"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
-CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS3"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_DRIVERS_BAROMETER_MS5611=y
@@ -70,7 +69,6 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
@@ -82,8 +80,6 @@ CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_SD_BENCH=y
-CONFIG_SYSTEMCMDS_SD_STRESS=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
@@ -16,11 +16,6 @@ param set-default SENS_EN_INA238 0
 param set-default SENS_EN_INA228 0
 param set-default SENS_EN_INA226 1

-if ver hwtypecmp ARKV6X001000 ARKV6X001001 ARKV6X001002 ARKV6X001003 ARKV6X001004 ARKV6X001005 ARKV6X001006 ARKV6X001007
-then
-	param set-default SYS_USE_IO 0
-else
-	param set-default SYS_USE_IO 1
-fi
+param set-default SYS_USE_IO 1

 safety_button start
@@ -7,7 +7,6 @@
 #
 # CONFIG_DEV_CONSOLE is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_DISABLE_PTHREAD is not set
 # CONFIG_SPI_EXCHANGE is not set
 # CONFIG_STM32H7_SYSCFG is not set
 CONFIG_ARCH="arm"
@@ -24,12 +23,10 @@ CONFIG_ARMV7M_ICACHE=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARDCTL=y
 CONFIG_BOARD_INITTHREAD_PRIORITY=254
 CONFIG_BOARD_LATE_INITIALIZE=y
 CONFIG_BOARD_LOOPSPERMSEC=95150
 CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BOARD_ASSERT_RESET_VALUE=0
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
 CONFIG_CDCACM_IFLOWCONTROL=y
@@ -43,25 +40,6 @@ CONFIG_CLOCK_MONOTONIC=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEFAULT_SMALL=y
-# CONFIG_NSH_DISABLE_ECHO is not set
-# CONFIG_NSH_DISABLE_ENV is not set
-# CONFIG_NSH_DISABLE_FREE is not set
-# CONFIG_NSH_DISABLE_HELP is not set
-# CONFIG_NSH_DISABLE_KILL is not set
-# CONFIG_NSH_DISABLE_LS is not set
-# CONFIG_NSH_DISABLE_MKDIR is not set
-# CONFIG_NSH_DISABLE_MODCMDS is not set
-# CONFIG_NSH_DISABLE_MOUNT is not set
-# CONFIG_NSH_DISABLE_MV is not set
-# CONFIG_NSH_DISABLE_PRINTF is not set
-# CONFIG_NSH_DISABLE_PSSTACKUSAGE
-# CONFIG_NSH_DISABLE_PWD is not set
-# CONFIG_NSH_DISABLE_SOURCE is not set
-# CONFIG_NSH_DISABLE_SLEEP is not set
-# CONFIG_NSH_DISABLE_TEST is not set
-# CONFIG_NSH_DISABLE_UMOUNT is not set
-# CONFIG_NSH_DISABLE_UNSET is not set
-# CONFIG_NSH_DISABLE_USLEEP is not set
 CONFIG_DISABLE_MQUEUE=y
 CONFIG_DISABLE_PTHREAD=y
 CONFIG_EXPERIMENTAL=y
@@ -73,6 +51,7 @@ CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
+CONFIG_LIB_BOARDCTL=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_PREALLOC_TIMERS=50
@@ -113,5 +92,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_INIT_STACKSIZE=2944
-CONFIG_INIT_ENTRYPOINT="bootloader_main"
+CONFIG_USERMAIN_STACKSIZE=2944
+CONFIG_USER_ENTRYPOINT="bootloader_main"
@@ -7,7 +7,6 @@
 #
 # CONFIG_DISABLE_ENVIRON is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_DISABLE_PTHREAD is not set
 # CONFIG_MMCSD_HAVE_CARDDETECT is not set
 # CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
 # CONFIG_MMCSD_MMCSUPPORT is not set
@@ -15,44 +14,14 @@
 # CONFIG_NSH_DISABLEBG is not set
 # CONFIG_NSH_DISABLESCRIPT is not set
 # CONFIG_NSH_DISABLE_ARP is not set
-# CONFIG_NSH_DISABLE_CAT is not set
-# CONFIG_NSH_DISABLE_CD is not set
-# CONFIG_NSH_DISABLE_CP is not set
-# CONFIG_NSH_DISABLE_DATE is not set
 # CONFIG_NSH_DISABLE_DF is not set
-# CONFIG_NSH_DISABLE_ECHO is not set
-# CONFIG_NSH_DISABLE_ENV is not set
 # CONFIG_NSH_DISABLE_EXEC is not set
-# CONFIG_NSH_DISABLE_EXPORT is not set
-# CONFIG_NSH_DISABLE_FREE is not set
 # CONFIG_NSH_DISABLE_GET is not set
-# CONFIG_NSH_DISABLE_HELP is not set
-# CONFIG_NSH_DISABLE_IFCONFIG is not set
-# CONFIG_NSH_DISABLE_IFUPDOWN is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
-# CONFIG_NSH_DISABLE_KILL is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
-# CONFIG_NSH_DISABLE_LS is not set
-# CONFIG_NSH_DISABLE_MKDIR is not set
 # CONFIG_NSH_DISABLE_MKFATFS is not set
-# CONFIG_NSH_DISABLE_MOUNT is not set
-# CONFIG_NSH_DISABLE_MV is not set
-# CONFIG_NSH_DISABLE_NSLOOKUP is not set
-# CONFIG_NSH_DISABLE_PS is not set
-# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
-# CONFIG_NSH_DISABLE_PWD is not set
-# CONFIG_NSH_DISABLE_RM is not set
-# CONFIG_NSH_DISABLE_RMDIR is not set
 # CONFIG_NSH_DISABLE_SEMICOLON is not set
-# CONFIG_NSH_DISABLE_SET is not set
-# CONFIG_NSH_DISABLE_SLEEP is not set
-# CONFIG_NSH_DISABLE_SOURCE is not set
-# CONFIG_NSH_DISABLE_TELNETD is not set
-# CONFIG_NSH_DISABLE_TEST is not set
 # CONFIG_NSH_DISABLE_TIME is not set
-# CONFIG_NSH_DISABLE_UMOUNT is not set
-# CONFIG_NSH_DISABLE_UNSET is not set
-# CONFIG_NSH_DISABLE_USLEEP is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
 CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/fmu-v6x/nuttx-config"
@@ -71,11 +40,11 @@ CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_ARM_MPU_EARLY_RESET=y
 CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARD_ASSERT_RESET_VALUE=0
 CONFIG_BOARD_CRASHDUMP=y
 CONFIG_BOARD_LOOPSPERMSEC=95751
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
+CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
 CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x0039
@@ -117,8 +86,6 @@ CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
-CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
 CONFIG_IOB_NBUFFERS=24
 CONFIG_IOB_THROTTLE=0
 CONFIG_IPCFG_BINARY=y
@@ -126,7 +93,6 @@ CONFIG_IPCFG_CHARDEV=y
 CONFIG_IPCFG_PATH="/fs/mtd_net"
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
-CONFIG_LIBC_MAX_EXITFUNS=1
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
@@ -149,7 +115,6 @@ CONFIG_NETINIT_DHCPC=y
 CONFIG_NETINIT_DNS=y
 CONFIG_NETINIT_DNSIPADDR=0XC0A800FE
 CONFIG_NETINIT_DRIPADDR=0XC0A800FE
-CONFIG_NETINIT_MONITOR=y
 CONFIG_NETINIT_THREAD=y
 CONFIG_NETINIT_THREAD_PRIORITY=49
 CONFIG_NETUTILS_TELNETD=y
@@ -159,7 +124,6 @@ CONFIG_NET_BROADCAST=y
 CONFIG_NET_ETH_PKTSIZE=1518
 CONFIG_NET_ICMP=y
 CONFIG_NET_ICMP_SOCKET=y
-CONFIG_NET_NACTIVESOCKETS=16
 CONFIG_NET_SOLINGER=y
 CONFIG_NET_TCP=y
 CONFIG_NET_TCPBACKLOG=y
@@ -196,16 +160,17 @@ CONFIG_RAW_BINARY=y
 CONFIG_READLINE_CMD_HISTORY=y
 CONFIG_READLINE_TABCOMPLETION=y
 CONFIG_RTC_DATETIME=y
+CONFIG_SCHED_ATEXIT=y
 CONFIG_SCHED_HPWORK=y
 CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
+CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC2_SDIO_PULLUP=y
 CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
@@ -243,7 +208,6 @@ CONFIG_STM32H7_PHYSR_100MBPS=0x8
 CONFIG_STM32H7_PHYSR_FULLDUPLEX=0x10
 CONFIG_STM32H7_PHYSR_MODE=0x10
 CONFIG_STM32H7_PHYSR_SPEED=0x8
-CONFIG_STM32H7_PHY_POLLING=y
 CONFIG_STM32H7_PROGMEM=y
 CONFIG_STM32H7_RTC=y
 CONFIG_STM32H7_RTC_AUTO_LSECLOCK_START_DRV_CAPABILITY=y
@@ -265,6 +229,7 @@ CONFIG_STM32H7_SPI5=y
 CONFIG_STM32H7_SPI6=y
 CONFIG_STM32H7_SPI6_DMA=y
 CONFIG_STM32H7_SPI6_DMA_BUFFER=1024
+CONFIG_STM32H7_SPI_DMA=y
 CONFIG_STM32H7_TIM12=y
 CONFIG_STM32H7_TIM1=y
 CONFIG_STM32H7_TIM4=y
@@ -325,4 +290,6 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
+CONFIG_USERMAIN_STACKSIZE=2944
+CONFIG_USER_ENTRYPOINT="nsh_main"
 CONFIG_WATCHDOG=y
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Daniel Agar	f82eae800d	boardctl hacks	2022-10-09 11:31:33 -04:00
Daniel Agar	bb96343e8d	move I2C bus clock defaults to board px4_i2c_buses	2022-10-08 13:25:15 -04:00