mission_block: acquire gimbal control also when the command from the gimbal

protocol v2 is parsed

.ci/Jenkinsfile-compile

@@ -42,8 +42,6 @@ pipeline {
                      "ark_can-gps_default",
                      "ark_can-rtk-gps_canbootloader",
                      "ark_can-rtk-gps_default",
-                     "ark_fmu-v6x_bootloader",
-                     "ark_fmu-v6x_default",
                      "atl_mantis-edu_default",
                      "av_x-v1_default",
                      "bitcraze_crazyflie_default",
@@ -69,18 +67,23 @@ 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 +101,7 @@ 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",

.ci/Jenkinsfile-hardware

@@ -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"'
@@ -715,12 +765,14 @@ 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"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ps"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm info -d /dev/pwm_output0"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm info -d /dev/pwm_output1" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm_out status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
@@ -729,6 +781,8 @@ 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() {
@@ -740,7 +794,7 @@ void resetParameters() {
 void runTests() {
 
   // test loading a range of airframes
-  sh './Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` 2100 3000 4001 6001 8001'
+  sh './Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` 2100 3000 4001 6001 8001 10016'
 
   resetParameters()
 
@@ -767,13 +821,13 @@ 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"'
@@ -803,6 +857,7 @@ void printTopics() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_0" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_1" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_2" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_3" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_outputs" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener adc_report" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener airspeed_validated" || true'
@@ -864,10 +919,12 @@ void printTopics() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener system_power" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener task_stack_info" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener telemetry_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener test_motor" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener trajectory_setpoint" || true'
   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 +941,7 @@ 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'
 }

.gitattributes

@@ -19,8 +19,9 @@
 *.jar    binary
 *.xml    text eol=lf
 
-# PX4 msgs, etc
+# PX4 mixers, msgs, etc
 *.bin    binary
+*.mix    text eol=lf
 *.msg    text eol=lf
 *.config text eol=lf
 *.sdf    text eol=lf

.github/ISSUE_TEMPLATE/1_Bug_report.md

@@ -20,7 +20,7 @@ A clear and concise description of what you expected to happen.
 
 ## Log Files and Screenshots
 *Always* provide a link to the flight log file:
-- Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/main/en/getting_started/flight_reporting.html)).
+- Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/master/en/getting_started/flight_reporting.html)).
 - Upload the log to the [PX4 Flight Review](http://logs.px4.io/)
 - Share the link to the log (Copy and paste the URL of the log)
 

.github/ISSUE_TEMPLATE/2_Feature_request.md

@@ -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 ...

.github/PULL_REQUEST_TEMPLATE.md

@@ -1,29 +1,14 @@
-<!--
+**How this PR solves the problem**
+Depending on how complex the PR is, something between a line and a few paragraphs with logs and videos.
 
-Thank you for your contribution!
+**JIRA ID in title, and link here**
+Add a link and the title of the JIRA for context
 
-Get early feedback through
-- Dronecode Discord: https://discord.gg/dronecode
-- PX4 Discuss: http://discuss.px4.io/
-- opening a draft pr and sharing the link
+**Upstream/develop PR that this was backported from**
+If applicable, link to PR and/or commit
 
--->
+**Critical bug that needs backporting?**
+Yes/No, link to backport PR when applicable
 
-### Solved Problem
-When ... I found that ...
-
-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.

.github/workflows/cflite_batch.yml

@@ -1,34 +0,0 @@
-name: ClusterFuzzLite batch fuzzing
-on:
-  schedule:
-    - cron: '0 6 * * *'  # UTC 6am every day.
-permissions: read-all
-jobs:
-  BatchFuzzing:
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      matrix:
-        sanitizer:
-        - address
-        - undefined
-        - memory
-    steps:
-    - name: Build Fuzzers (${{ matrix.sanitizer }})
-      id: build
-      uses: google/clusterfuzzlite/actions/build_fuzzers@v1
-      with:
-        sanitizer: ${{ matrix.sanitizer }}
-    - name: Run Fuzzers (${{ matrix.sanitizer }})
-      id: run
-      uses: google/clusterfuzzlite/actions/run_fuzzers@v1
-      with:
-        github-token: ${{ secrets.GITHUB_TOKEN }}
-        fuzz-seconds: 1800 # 30 mins
-        mode: 'batch'
-        sanitizer: ${{ matrix.sanitizer }}
-        # Optional but recommended: For storing certain artifacts from fuzzing.
-        # See later section on "Git repo for storage".
-        # storage-repo: https://${{ secrets.PERSONAL_ACCESS_TOKEN }}@github.com/OWNER/STORAGE-REPO-NAME.git
-        # storage-repo-branch: main   # Optional. Defaults to "main"
-        # storage-repo-branch-coverage: gh-pages  # Optional. Defaults to "gh-pages".

.github/workflows/checks.yml

@@ -1,50 +0,0 @@
-name: Checks
-
-on:
-  push:
-    branches:
-    - 'main'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      matrix:
-        check: [
-          "check_format",
-          "tests",
-          "tests_coverage",
-          "px4_fmu-v2_default stack_check",
-          "validate_module_configs",
-          "shellcheck_all",
-          "NO_NINJA_BUILD=1 px4_fmu-v5_default",
-          "NO_NINJA_BUILD=1 px4_sitl_default",
-          "airframe_metadata",
-          "module_documentation",
-          "parameters_metadata",
-        ]
-    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: ${{matrix.check}}
-      run: make ${{matrix.check}}
-    - name: upload coverage
-      if: contains(matrix.check, 'coverage')
-      uses: codecov/codecov-action@v1
-      with:
-        token: ${{ secrets.CODECOV_TOKEN }}
-        flags: unittests
-        file: coverage/lcov.info

.github/workflows/clang-tidy.yml

@@ -1,21 +0,0 @@
-name: Clang Tidy
-
-on:
-  push:
-    branches:
-    - 'main'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-clang:2021-09-08
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-
-    - name: make clang-tidy-quiet
-      run: make clang-tidy-quiet

.github/workflows/compile_linux.yml

@@ -1,54 +0,0 @@
-name: Linux Targets
-
-on:
-  push:
-    branches:
-    - 'main'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-armhf:2021-09-08
-    strategy:
-      matrix:
-        config: [
-          beaglebone_blue_default,
-          emlid_navio2_default,
-          px4_raspberrypi_default,
-          scumaker_pilotpi_default,
-          ]
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: ${{matrix.config}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: make ${{matrix.config}}
-      run: make ${{matrix.config}}
-    - name: ccache post-run
-      run: ccache -s

.github/workflows/compile_linux_arm64.yml

@@ -1,51 +0,0 @@
-name: Linux ARM64 Targets
-
-on:
-  push:
-    branches:
-    - 'main'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-aarch64:2021-09-08
-    strategy:
-      matrix:
-        config: [
-          scumaker_pilotpi_arm64,
-          ]
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: ${{matrix.config}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: make ${{matrix.config}}
-      run: make ${{matrix.config}}
-    - name: ccache post-run
-      run: ccache -s

.github/workflows/compile_macos.yml

@@ -1,56 +0,0 @@
-name: MacOS build
-
-on:
-  push:
-    branches:
-    - 'main'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: macos-10.15
-    strategy:
-      matrix:
-        config: [
-          px4_fmu-v5_default,
-          px4_sitl
-          #tests, # includes px4_sitl
-          ]
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-
-    - name: setup
-      run: ./Tools/setup/macos.sh; ./Tools/setup/macos.sh
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: macos_${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: macos_${{matrix.config}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 40M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: make ${{matrix.config}}
-      run: |
-          ccache -z
-          make ${{matrix.config}}
-          ccache -s

.github/workflows/compile_nuttx.yml

@@ -1,127 +0,0 @@
-name: Nuttx Targets
-
-on:
-  push:
-    branches:
-    - 'main'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-09-08
-    strategy:
-      fail-fast: false
-      matrix:
-        config: [
-          airmind_mindpx-v2,
-          ark_can-flow,
-          ark_can-gps,
-          ark_can-rtk-gps,
-          ark_cannode,
-          ark_fmu-v6x,
-          atl_mantis-edu,
-          av_x-v1,
-          bitcraze_crazyflie,
-          bitcraze_crazyflie21,
-          cuav_can-gps-v1,
-          cuav_nora,
-          cuav_x7pro,
-          cubepilot_cubeorange,
-          cubepilot_cubeyellow,
-          diatone_mamba-f405-mk2,
-          freefly_can-rtk-gps,
-          holybro_can-gps-v1,
-          holybro_durandal-v1,
-          holybro_kakutef7,
-          holybro_kakuteh7,
-          holybro_pix32v5,
-          matek_gnss-m9n-f4,
-          matek_h743,
-          matek_h743-mini,
-          matek_h743-slim,
-          modalai_fc-v1,
-          modalai_fc-v2,
-          mro_ctrl-zero-f7,
-          mro_ctrl-zero-f7-oem,
-          mro_ctrl-zero-h7,
-          mro_ctrl-zero-h7-oem,
-          mro_pixracerpro,
-          mro_x21,
-          mro_x21-777,
-          nxp_fmuk66-e,
-          nxp_fmuk66-v3,
-          nxp_fmurt1062-v1,
-          nxp_ucans32k146,
-          omnibus_f4sd,
-          px4_fmu-v2,
-          px4_fmu-v3,
-          px4_fmu-v4,
-          px4_fmu-v4pro,
-          px4_fmu-v5,
-          px4_fmu-v5x,
-          px4_fmu-v6c,
-          px4_fmu-v6u,
-          px4_fmu-v6x,
-          raspberrypi_pico,
-          sky-drones_smartap-airlink,
-          spracing_h7extreme,
-          uvify_core
-          ]
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: ${{matrix.config}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 120M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: make all_variants_${{matrix.config}}
-      run: make all_variants_${{matrix.config}}
-      timeout-minutes: 45
-    - name: make ${{matrix.config}} bloaty_compileunits
-      run: make ${{matrix.config}} bloaty_compileunits || true
-    - name: make ${{matrix.config}} bloaty_inlines
-      run: make ${{matrix.config}} bloaty_inlines || true
-    - name: make ${{matrix.config}} bloaty_segments
-      run: make ${{matrix.config}} bloaty_segments || true
-    - name: make ${{matrix.config}} bloaty_symbols
-      run: make ${{matrix.config}} bloaty_symbols || true
-    - name: make ${{matrix.config}} bloaty_templates
-      run: make ${{matrix.config}} bloaty_templates || true
-    - name: make ${{matrix.config}} bloaty_ram
-      run: make ${{matrix.config}} bloaty_ram || true
-    - name: make ${{matrix.config}} bloaty_compare_master
-      run: make ${{matrix.config}} bloaty_compare_master || true
-    - name: ccache post-run
-      run: ccache -s
-
-    - name: Upload px4 package
-      uses: actions/upload-artifact@v2
-      with:
-        name: px4_package_${{matrix.config}}
-        path: |
-          build/**/*.px4
-          build/**/*.bin

.github/workflows/deploy_all.yml

@@ -1,54 +0,0 @@
-name: Deploy metadata for all targets
-
-on:
-  push:
-    branches:
-    - 'main'
-    - 'release/*'
-    - 'pr-metadata-test'
-
-jobs:
-  enumerate_targets:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    outputs:
-      matrix: ${{ steps.set-matrix.outputs.matrix }}
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-    - id: set-matrix
-      run: echo "::set-output name=matrix::$(./Tools/generate_board_targets_json.py)"
-  build:
-    runs-on: ubuntu-latest
-    needs: enumerate_targets
-    strategy:
-      matrix: ${{fromJson(needs.enumerate_targets.outputs.matrix)}}
-    container: px4io/px4-dev-${{ matrix.container }}:2021-09-08
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-
-    - name: make ${{matrix.target}}
-      run: make ${{matrix.target}}
-
-    - name: parameter & events metadata
-      run: |
-        make ${{matrix.target}} ver_gen events_json actuators_json
-        ./src/lib/version/get_git_tag_or_branch_version.sh build/${{ matrix.target }} >> $GITHUB_ENV
-        cd build/${{ matrix.target }}
-        mkdir _metadata || true
-        cp parameters.* events/*.xz actuators.json* _metadata
-
-    - uses: jakejarvis/s3-sync-action@master
-      with:
-        args: --acl public-read
-      env:
-        AWS_S3_BUCKET: 'px4-travis'
-        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
-        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
-        AWS_REGION: 'us-west-1'
-        SOURCE_DIR: 'build/${{ matrix.target }}/_metadata/'
-        DEST_DIR: 'Firmware/${{ env.version }}/${{ matrix.target }}/'
-

.github/workflows/ekf_functional_change_indicator.yml

@@ -1,21 +0,0 @@
-name: EKF Change Indicator
-
-on: pull_request
-
-jobs:
-  unit_tests:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    steps:
-    - uses: actions/checkout@v2.3.1
-      with:
-        fetch-depth: 0
-    - name: checkout newest version of branch
-      run: |
-        git fetch origin pull/${{github.event.pull_request.number}}/head:${{github.head_ref}}
-        git checkout ${GITHUB_HEAD_REF}
-    - name: main test
-      run: make tests TESTFILTER=EKF
-    - name: Check if there is a functional change
-      run: git diff --exit-code
-      working-directory: src/modules/ekf2/test/change_indication

.github/workflows/ekf_update_change_indicator.yml

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

.github/workflows/failsafe_sim.yml

@@ -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}}

.github/workflows/mavros_mission_tests.yml

@@ -1,139 +0,0 @@
-name: MAVROS Mission Tests
-
-on:
-  push:
-    branches:
-    - 'main'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      matrix:
-        config:
-          - {vehicle: "iris",          mission: "MC_mission_box",  build_type: "RelWithDebInfo"}
-          - {vehicle: "rover",         mission: "rover_mission_1", build_type: "RelWithDebInfo"}
-          #- {vehicle: "plane",         mission: "FW_mission_1",    build_type: "RelWithDebInfo"}
-          #- {vehicle: "plane_catapult",mission: "FW_mission_1",    build_type: "RelWithDebInfo"}
-          #- {vehicle: "standard_vtol", mission: "VTOL_mission_1",  build_type: "Coverage"}
-          #- {vehicle: "standard_vtol", mission: "VTOL_mission_1",  build_type: "AddressSanitizer"}
-          #- {vehicle: "tailsitter",    mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}
-          #- {vehicle: "tiltrotor",     mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}
-
-    container:
-      image: px4io/px4-dev-ros-melodic:2021-09-08
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: check environment
-      run: |
-          export
-          ulimit -a
-    - name: Build PX4 and sitl_gazebo
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: |
-        ccache -z
-        make px4_sitl_default
-        make px4_sitl_default sitl_gazebo
-        ccache -s
-
-    - name: Core dump settings
-      run: |
-          ulimit -c unlimited
-          echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
-
-    - name: Run SITL tests
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: |
-        export
-        ./test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=${{matrix.config.mission}} vehicle:=${{matrix.config.vehicle}}
-      timeout-minutes: 45
-
-    - name: Look at core files
-      if: failure()
-      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
-    - name: Upload px4 coredump
-      if: failure()
-      uses: actions/upload-artifact@v2-preview
-      with:
-        name: coredump
-        path: px4.core
-
-    - name: ecl EKF analysis
-      if: always()
-      run: ./Tools/ecl_ekf/process_logdata_ekf.py ~/.ros/log/*/*.ulg || true
-
-    - name: Upload logs to flight review
-      if: always()
-      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg
-
-    - name: Upload px4 binary
-      if: failure()
-      uses: actions/upload-artifact@v2
-      with:
-        name: binary
-        path: build/px4_sitl_default/bin/px4
-
-    - name: Store PX4 log
-      if: failure()
-      uses: actions/upload-artifact@v2
-      with:
-        name: px4_log
-        path: ~/.ros/log/*/*.ulg
-
-    - name: Store ROS log
-      if: failure()
-      uses: actions/upload-artifact@v2
-      with:
-        name: ros_log
-        path: ~/.ros/**/rostest-*.log
-
-    # Report test coverage
-    - name: Upload coverage
-      if: contains(matrix.config.build_type, 'Coverage')
-      run: |
-          git config --global credential.helper "" # disable the keychain credential helper
-          git config --global --add credential.helper store # enable the local store credential helper
-          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
-          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
-          mkdir -p coverage
-          lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
-    - name: Upload coverage information to Codecov
-      if: contains(matrix.config.build_type, 'Coverage')
-      uses: codecov/codecov-action@v1
-      with:
-        token: ${{ secrets.CODECOV_TOKEN }}
-        flags: mavros_mission
-        file: coverage/lcov.info

.github/workflows/mavros_offboard_tests.yml

@@ -1,134 +0,0 @@
-name: MAVROS Offboard Tests
-
-on:
-  push:
-    branches:
-    - 'main'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      matrix:
-        config:
-          - {test_file: "mavros_posix_tests_offboard_posctl.test",    vehicle: "iris", build_type: "RelWithDebInfo"}
-          #- {test_file: "mavros_posix_tests_offboard_attctl.test",    vehicle: "iris", build_type: "RelWithDebInfo"}
-          #- {test_file: "mavros_posix_tests_offboard_rpyrt_ctl.test", vehicle: "iris", build_type: "RelWithDebInfo"}
-
-    container:
-      image: px4io/px4-dev-ros-melodic:2021-09-08
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: check environment
-      run: |
-          export
-          ulimit -a
-    - name: Build PX4 and sitl_gazebo
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: |
-        ccache -z
-        make px4_sitl_default
-        make px4_sitl_default sitl_gazebo
-        ccache -s
-
-    - name: Core dump settings
-      run: |
-          ulimit -c unlimited
-          echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
-
-    - name: Run SITL tests
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: |
-        export
-        ./test/rostest_px4_run.sh ${{matrix.config.test_file}} vehicle:=${{matrix.config.vehicle}}
-      timeout-minutes: 45
-
-    - name: Look at core files
-      if: failure()
-      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
-    - name: Upload px4 coredump
-      if: failure()
-      uses: actions/upload-artifact@v2-preview
-      with:
-        name: coredump
-        path: px4.core
-
-    - name: ecl EKF analysis
-      if: always()
-      run: ./Tools/ecl_ekf/process_logdata_ekf.py ~/.ros/log/*/*.ulg || true
-
-    - name: Upload logs to flight review
-      if: always()
-      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg
-
-    - name: Upload px4 binary
-      if: failure()
-      uses: actions/upload-artifact@v2
-      with:
-        name: binary
-        path: build/px4_sitl_default/bin/px4
-
-    - name: Store PX4 log
-      if: failure()
-      uses: actions/upload-artifact@v2
-      with:
-        name: px4_log
-        path: ~/.ros/log/*/*.ulg
-
-    - name: Store ROS log
-      if: failure()
-      uses: actions/upload-artifact@v2
-      with:
-        name: ros_log
-        path: ~/.ros/**/rostest-*.log
-
-    # Report test coverage
-    - name: Upload coverage
-      if: contains(matrix.config.build_type, 'Coverage')
-      run: |
-          git config --global credential.helper "" # disable the keychain credential helper
-          git config --global --add credential.helper store # enable the local store credential helper
-          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
-          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
-          mkdir -p coverage
-          lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
-    - name: Upload coverage information to Codecov
-      if: contains(matrix.config.build_type, 'Coverage')
-      uses: codecov/codecov-action@v1
-      with:
-        token: ${{ secrets.CODECOV_TOKEN }}
-        flags: mavros_offboard
-        file: coverage/lcov.info

.github/workflows/metadata.yml

@@ -1,131 +0,0 @@
-name: Metadata
-
-on:
-  push:
-    branches:
-    - 'main'
-    - 'release/*'
-    - 'pr-metadata-test'
-
-jobs:
-
-  airframe:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: airframe metadata
-      run: |
-        make airframe_metadata
-        ./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
-        cd build/px4_sitl_default/docs
-      # TODO: deploy to userguide gitbook
-
-    - uses: jakejarvis/s3-sync-action@master
-      with:
-        args: --acl public-read
-      env:
-        AWS_S3_BUCKET: 'px4-travis'
-        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
-        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
-        AWS_REGION: 'us-west-1'
-        SOURCE_DIR: 'build/px4_sitl_default/docs/'
-        DEST_DIR: 'Firmware/${{ env.version }}/_general/'
-
-  module:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: module documentation
-      run: |
-        make module_documentation
-        cd build/px4_sitl_default/docs
-        ls -ls *
-      # TODO: deploy to userguide gitbook and s3
-
-  parameter:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: parameter metadata
-      run: |
-        make parameters_metadata
-        ./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
-
-    - uses: jakejarvis/s3-sync-action@master
-      with:
-        args: --acl public-read
-      env:
-        AWS_S3_BUCKET: 'px4-travis'
-        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
-        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
-        AWS_REGION: 'us-west-1'
-        SOURCE_DIR: 'build/px4_sitl_default/docs/'
-        DEST_DIR: 'Firmware/${{ env.version }}/_general/'
-
-  events:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: events metadata
-      run: |
-        make extract_events
-        ./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
-        cd build/px4_sitl_default
-        mkdir _events_full || true
-        cp events/all_events_full.json.xz _events_full/all_events.json.xz
-
-    - uses: jakejarvis/s3-sync-action@master
-      with:
-        args: --acl public-read
-      env:
-        AWS_S3_BUCKET: 'px4-travis'
-        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
-        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
-        AWS_REGION: 'us-west-1'
-        SOURCE_DIR: 'build/px4_sitl_default/_events_full/'
-        DEST_DIR: 'Firmware/${{ env.version }}/_general/'
-
-  uorb_graph:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-09-08
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: uORB graph
-      run: |
-        make uorb_graphs
-        cd Tools/uorb_graph
-        ls -ls *
-      # TODO: deploy graph_px4_sitl.json to S3 px4-travis:Firmware/master/
-
-  ROS2_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 ROS2 msgs
-      run: |
-        git clone https://github.com/PX4/px4_msgs.git
-        rm px4_msgs/msg/*.msg
-        cp msg/*.msg px4_msgs/msg/

.github/workflows/python_checks.yml

@@ -1,25 +0,0 @@
-name: Python CI Checks
-
-on:
-  push:
-    branches:
-    - 'main'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-    - name: Install Python3
-      run: sudo apt-get install python3 python3-setuptools python3-pip -y
-    - name: Install tools
-      run: pip3 install --user mypy types-requests flake8
-    - name: Check MAVSDK test scripts with mypy
-      run: $HOME/.local/bin/mypy --strict test/mavsdk_tests/*.py
-    - name: Check MAVSDK test scripts with flake8
-      run: $HOME/.local/bin/flake8 test/mavsdk_tests/*.py

.github/workflows/sitl_tests.yml

@@ -1,135 +0,0 @@
-name: SITL Tests
-
-on:
-  push:
-    branches:
-    - 'main'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      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: "tailsitter" ,   latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo" } # Florida
-          - {model: "standard_vtol", latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage" } # Zurich
-
-    container:
-      image: px4io/px4-dev-simulation-focal:2021-09-08
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: Download MAVSDK
-      run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
-    - name: Install MAVSDK
-      run: dpkg -i "libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: check environment
-      env:
-        PX4_HOME_LAT: ${{matrix.config.latitude}}
-        PX4_HOME_LON: ${{matrix.config.longitude}}
-        PX4_HOME_ALT: ${{matrix.config.altitude}}
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: |
-          export
-          ulimit -a
-    - name: Build PX4
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: make px4_sitl_default
-    - name: ccache post-run px4/firmware
-      run: ccache -s
-    - name: Build SITL Gazebo
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: make px4_sitl_default sitl_gazebo
-    - name: ccache post-run sitl_gazebo
-      run: ccache -s
-    - name: Build MAVSDK tests
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-        DONT_RUN: 1
-      run: make px4_sitl_default gazebo mavsdk_tests
-    - name: ccache post-run mavsdk_tests
-      run: ccache -s
-
-    - name: Core dump settings
-      run: |
-          ulimit -c unlimited
-          echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
-
-    - name: Run SITL tests
-      env:
-        PX4_HOME_LAT: ${{matrix.config.latitude}}
-        PX4_HOME_LON: ${{matrix.config.longitude}}
-        PX4_HOME_ALT: ${{matrix.config.altitude}}
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose
-      timeout-minutes: 45
-
-    - name: Look at core files
-      if: failure()
-      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
-    - name: Upload px4 coredump
-      if: failure()
-      uses: actions/upload-artifact@v2-preview
-      with:
-        name: coredump
-        path: px4.core
-
-    - name: Upload px4 binary
-      if: failure()
-      uses: actions/upload-artifact@v2-preview
-      with:
-        name: binary
-        path: build/px4_sitl_default/bin/px4
-
-    # Report test coverage
-    - name: Upload coverage
-      if: contains(matrix.config.build_type, 'Coverage')
-      run: |
-          git config --global credential.helper "" # disable the keychain credential helper
-          git config --global --add credential.helper store # enable the local store credential helper
-          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
-          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
-          mkdir -p coverage
-          lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
-    - name: Upload coverage information to Codecov
-      if: contains(matrix.config.build_type, 'Coverage')
-      uses: codecov/codecov-action@v1
-      with:
-        token: ${{ secrets.CODECOV_TOKEN }}
-        flags: mavsdk
-        file: coverage/lcov.info

.gitignore

@@ -47,8 +47,6 @@ GTAGS
 *.files
 *.includes
 
-Tools/jlink-nuttx.so
-
 # CLion ignores
 .idea
 cmake-build-*/
@@ -95,6 +93,7 @@ rules.ninja
 /googletest-*/
 /logs
 /mavsdk_tests
+/test_mixer_multirotor
 /unit-*
 /uORB/
 DartConfiguration.tcl

.gitmodules

@@ -1,36 +1,40 @@
 [submodule "src/modules/mavlink/mavlink"]
 	path = src/modules/mavlink/mavlink
-	url = https://github.com/mavlink/mavlink.git
+	url = https://github.com/Auterion/mavlink.git
 	branch = master
 [submodule "src/drivers/uavcan/libuavcan"]
 	path = src/drivers/uavcan/libuavcan
 	url = https://github.com/dronecan/libuavcan.git
 	branch = main
-[submodule "Tools/simulation/jmavsim/jMAVSim"]
-	path = Tools/simulation/jmavsim/jMAVSim
+[submodule "Tools/jMAVSim"]
+	path = Tools/jMAVSim
 	url = https://github.com/PX4/jMAVSim.git
-	branch = main
-[submodule "Tools/simulation/gazebo/sitl_gazebo"]
-	path = Tools/simulation/gazebo/sitl_gazebo
-	url = https://github.com/PX4/PX4-SITL_gazebo.git
-	branch = main
+	branch = master
+[submodule "Tools/sitl_gazebo"]
+	path = Tools/sitl_gazebo
+	url = git@github.com:Auterion/sitl_gazebo.git
+	branch = develop
 [submodule "src/drivers/gps/devices"]
 	path = src/drivers/gps/devices
 	url = https://github.com/PX4/PX4-GPSDrivers.git
-	branch = main
+	branch = master
+[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
+	path = Tools/flightgear_bridge
 	url = https://github.com/PX4/PX4-FlightGear-Bridge.git
-[submodule "Tools/simulation/jsbsim/jsbsim_bridge"]
-	path = Tools/simulation/jsbsim/jsbsim_bridge
+[submodule "Tools/jsbsim_bridge"]
+	path = Tools/jsbsim_bridge
 	url = https://github.com/PX4/px4-jsbsim-bridge.git
 [submodule "src/drivers/cyphal/libcanard"]
 	path = src/drivers/cyphal/libcanard
@@ -49,7 +53,9 @@
 [submodule "src/lib/events/libevents"]
 	path = src/lib/events/libevents
 	url = https://github.com/mavlink/libevents.git
-	branch = main
+[submodule "Tools/simulation-ignition"]
+	path = Tools/simulation-ignition
+	url = https://github.com/PX4/px4-simulation-ignition.git
 [submodule "src/lib/crypto/libtomcrypt"]
 	path = src/lib/crypto/libtomcrypt
 	url = https://github.com/PX4/libtomcrypt.git
@@ -60,5 +66,4 @@
 	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

.travis.yml

@@ -11,7 +11,7 @@ matrix:
       dist: xenial
       # In order to stay under the coverity rate limit, we only run this weekly
       # and not on push which is configured in travis-ci settings.
-      if: branch = main
+      if: branch = master
 
 before_install:
     - echo -n | openssl s_client -connect scan.coverity.com:443 | sed -ne '/-BEGIN CERTIFICATE-/,/-END CERTIFICATE-/p' | sudo tee -a /etc/ssl/certs/ca-

.vscode/cmake-variants.yaml

@@ -2,15 +2,15 @@ CONFIG:
   default: px4_sitl_default
   choices:
     px4_sitl_default:
-      short: px4_sitl_default
+      short: px4_sitl
       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
@@ -131,16 +131,6 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: ark_cannode_canbootloader
-    ark_fmu-v6x_bootloader:
-      short: ark_fmu-v6x_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_fmu-v6x_bootloader
-    ark_fmu-v6x_default:
-      short: ark_fmu-v6x_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_fmu-v6x_default
     atl_mantis-edu_default:
       short: atl_mantis-edu
       buildType: MinSizeRel
@@ -236,11 +226,6 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: modalai_fc-v2_default
-    modalai_voxl2-io_default:
-      short: modalai_voxl2-io
-      buildType: MinSizeRel
-      settings:
-        CONFIG: modalai_voxl2-io_default
     mro_ctrl-zero-f7_default:
       short: mro_ctrl-zero-f7
       buildType: MinSizeRel

.vscode/settings.json

@@ -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
 }

.vscode/tasks.json

@@ -54,19 +54,17 @@
             "type": "shell",
             "command": "ant create_run_jar copy_res",
             "options": {
-                "cwd": "${workspaceFolder}/Tools/simulation/jmavsim/jMAVSim"
+                "cwd": "${workspaceFolder}/Tools/jMAVSim"
             },
-            "presentation": {
+            "problemMatcher": [],
+            "presentation":{
                 "echo": true,
                 "reveal": "never",
-                "revealProblems": "onProblem",
                 "focus": false,
-                "panel": "dedicated",
+                "panel": "shared",
                 "showReuseMessage": false,
                 "clear": false,
-                "close": true
-            },
-            "problemMatcher": []
+            }
         },
         {
             "label": "jmavsim",
@@ -74,7 +72,7 @@
             "dependsOn": "jmavsim build",
             "command": "java -Djava.ext.dirs= -jar jmavsim_run.jar -r 250 -lockstep -tcp localhost:4560 -qgc",
             "options": {
-                "cwd": "${workspaceFolder}/Tools/simulation/jmavsim/jMAVSim/out/production",
+                "cwd": "${workspaceFolder}/Tools/jMAVSim/out/production",
                 "env": {
                     "PX4_SIM_SPEED_FACTOR": "1"
                 }
@@ -83,31 +81,42 @@
             "presentation": {
                 "echo": true,
                 "reveal": "never",
-                "revealProblems": "onProblem",
                 "focus": false,
-                "panel": "dedicated",
+                "panel": "shared",
                 "showReuseMessage": false,
-                "clear": false,
-                "close": true
+                "clear": false
             },
-            "problemMatcher": []
+            "problemMatcher": [
+                {
+                    "pattern": [
+                        {
+                            "regexp": ".",
+                            "file": 1,
+                            "location": 2,
+                            "message": 3
+                        }
+                    ],
+                    "background": {
+                        "activeOnStart": true,
+                        "beginsPattern": ".",
+                        "endsPattern": ".",
+                    }
+                }
+            ]
         },
         {
             "label": "jmavsim kill",
             "type": "shell",
-            "command": "kill $(ps aux | grep jmavsim | grep -v 'grep' | awk '{print $2}') || true",
+            "command": "kill $(ps aux | grep jmavsim | grep -v 'grep' | awk '{print $2}')",
             "presentation": {
-                "echo": true,
+                "echo": false,
                 "reveal": "never",
-                "revealProblems": "onProblem",
                 "focus": false,
-                "panel": "dedicated",
+                "panel": "shared",
                 "showReuseMessage": false,
-                "clear": false,
-                "close": true
+                "clear": false
             },
-            "problemMatcher": [],
-            "dependsOn":["px4_sitl_cleanup"]
+            "problemMatcher": []
         },
         {
             "label": "gazebo build",
@@ -116,17 +125,15 @@
             "options": {
                 "cwd": "${workspaceFolder}"
             },
-            "presentation": {
+            "problemMatcher": [],
+            "presentation":{
                 "echo": true,
-                "reveal": "never",
-                "revealProblems": "onProblem",
+                "reveal": "always",
                 "focus": false,
-                "panel": "dedicated",
+                "panel": "shared",
                 "showReuseMessage": false,
                 "clear": false,
-                "close": true
-            },
-            "problemMatcher": [],
+            }
         },
         {
             "label": "gazebo start",
@@ -136,21 +143,19 @@
                 "cwd": "${workspaceFolder}",
                 "env": {
                     "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
-                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/models",
+                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models",
                     "PX4_SIM_SPEED_FACTOR": "1"
                 }
             },
-            "command": "gzserver --verbose ${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/worlds/empty.world",
+            "command": "gzserver --verbose ${workspaceFolder}/Tools/sitl_gazebo/worlds/${input:gazeboWorld}.world",
             "isBackground": true,
             "presentation": {
                 "echo": true,
                 "reveal": "never",
-                "revealProblems": "onProblem",
                 "focus": false,
-                "panel": "dedicated",
+                "panel": "shared",
                 "showReuseMessage": false,
-                "clear": false,
-                "close": true
+                "clear": false
             },
             "problemMatcher": [
                 {
@@ -178,21 +183,19 @@
                 "cwd": "${workspaceFolder}",
                 "env": {
                     "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
-                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/models",
+                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models",
                     "PX4_SIM_SPEED_FACTOR": "1"
                 }
             },
-            "command": "gz model --verbose --spawn-file=${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/models/iris/iris.sdf --model-name=iris -x 1.01 -y 0.98 -z 0.83",
+            "command": "gz model --verbose --spawn-file=${workspaceFolder}/Tools/sitl_gazebo/models/${input:vehicleModel}/${input:vehicleModel}.sdf --model-name=${input:vehicleModel} -x 1.01 -y 0.98 -z 0.83",
             "isBackground": false,
             "presentation": {
                 "echo": true,
                 "reveal": "never",
-                "revealProblems": "onProblem",
                 "focus": false,
-                "panel": "dedicated",
+                "panel": "shared",
                 "showReuseMessage": false,
-                "clear": false,
-                "close": true
+                "clear": false
             },
             "problemMatcher": [
                 {
@@ -213,77 +216,71 @@
             ]
         },
         {
-            "label": "ign gazebo",
+            "label": "gazebo client",
             "type": "shell",
+            "dependsOn": "gazebo build",
             "options": {
                 "cwd": "${workspaceFolder}",
                 "env": {
-                    "IGN_GAZEBO_RESOURCE_PATH": "${workspaceFolder}/Tools/simulation/gz/models",
+                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
+                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models",
+                    "PX4_SIM_SPEED_FACTOR": "1"
                 }
             },
-            "command": "ign gazebo -v 4 -r ${workspaceFolder}/Tools/simulation/gz/worlds/${input:gzWorld}.sdf",
+            "command": "gzclient --verbose",
             "isBackground": true,
             "presentation": {
                 "echo": true,
-                "reveal": "always",
-                "revealProblems": "onProblem",
-                "focus": true,
-                "panel": "dedicated",
+                "reveal": "never",
+                "focus": false,
+                "panel": "shared",
                 "showReuseMessage": false,
-                "clear": false,
-                "close": false
+                "clear": false
             },
-            "problemMatcher": [],
-            "dependsOn":["ign gazebo kill"]
+            "problemMatcher": [
+                {
+                    "pattern": [
+                        {
+                            "regexp": ".",
+                            "file": 1,
+                            "location": 2,
+                            "message": 3
+                        }
+                    ],
+                    "background": {
+                        "activeOnStart": true,
+                        "beginsPattern": ".",
+                        "endsPattern": ".",
+                    }
+                }
+            ]
         },
         {
             "label": "gazebo kill",
             "type": "shell",
-            "command": "pkill -9 -f gzserver || true",
+            "command": "killall gzserver",
             "presentation": {
                 "echo": true,
-                "reveal": "never",
-                "revealProblems": "onProblem",
+                "reveal": "silent",
                 "focus": false,
-                "panel": "dedicated",
+                "panel": "shared",
                 "showReuseMessage": false,
-                "clear": false,
-                "close": true
+                "clear": false
             },
             "problemMatcher": [],
             "dependsOn":["px4_sitl_cleanup"]
         },
-        {
-            "label": "ign gazebo kill",
-            "type": "shell",
-            "command": "pkill -9 -f 'ign gazebo' || true",
-            "presentation": {
-                "echo": true,
-                "reveal": "never",
-                "revealProblems": "onProblem",
-                "focus": false,
-                "panel": "dedicated",
-                "showReuseMessage": false,
-                "clear": false,
-                "close": true
-            },
-            "problemMatcher": [],
-            "dependsOn":["px4_sitl_cleanup"]
-        },
-
         {
             "label": "px4_sitl_cleanup",
             "type": "shell",
-            "command": "rm -rfv /tmp/px4* || true",
+            "command": "rm -rfv /tmp/px4*",
             "presentation": {
                 "echo": true,
-                "reveal": "never",
-                "revealProblems": "onProblem",
+                "reveal": "silent",
                 "focus": false,
-                "panel": "dedicated",
+                "panel": "shared",
                 "showReuseMessage": false,
-                "clear": false,
-                "close": true
+                "clear": false
             },
             "problemMatcher": [],
             "dependsOn":["px4_kill"]
@@ -291,16 +288,14 @@
         {
             "label": "px4_kill",
             "type": "shell",
-            "command": "pkill -9 px4 || true",
+            "command": "killall px4 || true",
             "presentation": {
                 "echo": true,
-                "reveal": "never",
-                "revealProblems": "onProblem",
+                "reveal": "silent",
                 "focus": false,
-                "panel": "dedicated",
+                "panel": "shared",
                 "showReuseMessage": false,
-                "clear": false,
-                "close": true
+                "clear": false
             },
             "problemMatcher": []
         },
@@ -342,12 +337,37 @@
     "inputs": [
         {
             "type": "pickString",
-            "id": "gzWorld",
-            "description": "gz world",
+            "id": "vehicleModel",
+            "description": "gazebo model",
             "options": [
-                "default"
+              "iris",
+              "typhoon_h480",
+              "plane",
+              "plane_catapult",
+              "plane_lidar",
+              "standard_vtol",
+              "tailsitter",
+              "tiltrotor",
+              "r1_rover",
+              "boat"
             ],
-            "default": "default"
+            "default": "iris"
+        },
+        {
+            "type": "pickString",
+            "id": "gazeboWorld",
+            "description": "gazebo world",
+            "options": [
+                "baylands",
+                "empty",
+                "ksql_airport",
+                "mcmillan_airfield",
+                "sonoma_raceway",
+                "warehouse",
+                "windy",
+                "yosemite"
+            ],
+            "default": "empty"
         }
     ]
 }

CMakeLists.txt

@@ -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)
@@ -183,6 +191,18 @@ if(${PX4_PLATFORM} STREQUAL "posix")
 	endif()
 endif()
 
+
+option(PX4_RESTRICTED_BUILD "Enable restricted build (limit param access)" OFF)
+if(PX4_RESTRICTED_BUILD)
+	add_definitions(-DPX4_RESTRICTED_BUILD)
+	message(STATUS "Enabling restricted build")
+endif()
+
+if(PX4_EXPORT_CONTROLLED_BUILD)
+	add_definitions(-DPX4_EXPORT_CONTROLLED_BUILD)
+	message(STATUS "Enabling export controlled build (with flight time and wind restrictions)")
+endif()
+
 # external modules
 set(EXTERNAL_MODULES_LOCATION "" CACHE STRING "External modules source location")
 
@@ -199,11 +219,6 @@ 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 +247,11 @@ 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 +268,15 @@ 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 +321,21 @@ 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
 #
@@ -385,6 +426,7 @@ if(BUILD_TESTING)
 			DEPENDS
 				px4
 				examples__dyn_hello
+				test_mixer_multirotor
 			USES_TERMINAL
 			COMMENT "Running tests"
 			WORKING_DIRECTORY ${PX4_BINARY_DIR})
@@ -421,10 +463,10 @@ 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 +499,17 @@ 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()

CONTRIBUTING.md

@@ -8,7 +8,7 @@ First [fork and clone](https://help.github.com/articles/fork-a-repo) the project
 
 ### Create a feature branch
 
-*Always* branch off main for new features.
+*Always* branch off master for new features.
 
 ```
 git checkout -b mydescriptivebranchname
@@ -16,7 +16,7 @@ git checkout -b mydescriptivebranchname
 
 ### Edit and build the code
 
-The [developer guide](https://docs.px4.io/main/en/development/development.html) explains how to set up the development environment on Mac OS, Linux or Windows. Please take note of our [coding style](https://docs.px4.io/main/en/contribute/code.html) when editing files.
+The [developer guide](http://dev.px4.io/) explains how to set up the development environment on Mac OS, Linux or Windows. Please take note of our [coding style](https://dev.px4.io/master/en/contribute/code.html) when editing files.
 
 ### Commit your changes
 

Documentation/Doxyfile.in

@@ -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
 

Jenkinsfile

@@ -7,12 +7,81 @@ pipeline {
     stage('Analysis') {
       when {
         anyOf {
-          branch 'main'
-          branch 'master' // should be removed, but in case there is something going on...
+          branch 'master'
           branch 'pr-jenkins' // for testing
         }
       }
       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/sitl_gazebo
+        //       git clone --recursive ${WORKSPACE}/catkin_ws/src/Firmware/Tools/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_silt.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/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 +148,7 @@ 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 +161,6 @@ pipeline {
           }
         }
 
-        stage('failsafe docs') {
-          agent {
-            docker { image 'px4io/px4-dev-nuttx-focal:2021-08-18' }
-          }
-          steps {
-            sh '''#!/bin/bash -l
-            echo $0;
-            git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk;
-            cd _emscripten_sdk;
-            ./emsdk install latest;
-            ./emsdk activate latest;
-            cd ..;
-            . ./_emscripten_sdk/emsdk_env.sh;
-            make failsafe_web;
-            cd build/px4_sitl_default_failsafe_web;
-            mkdir -p failsafe_sim;
-            cp index.* parameters.json failsafe_sim;
-            '''
-            dir('build/px4_sitl_default_failsafe_web') {
-              archiveArtifacts(artifacts: 'failsafe_sim/*')
-              stash includes: 'failsafe_sim/*', name: 'failsafe_sim'
-            }
-          }
-          post {
-            always {
-              sh 'make distclean; git clean -ff -x -d .'
-            }
-          }
-        }
-
         stage('uORB graphs') {
           agent {
             docker {
@@ -163,25 +202,22 @@ pipeline {
             unstash 'metadata_parameters'
             unstash 'metadata_module_documentation'
             unstash 'msg_documentation'
-            unstash 'failsafe_sim'
             unstash 'uorb_graph'
             withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
-              sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/PX4-user_guide.git')
-              sh('cp airframes.md PX4-user_guide/en/airframes/airframe_reference.md')
-              sh('cp parameters.md PX4-user_guide/en/advanced_config/parameter_reference.md')
-              sh('cp -R modules/*.md PX4-user_guide/en/modules/')
-              sh('cp -R graph_*.json PX4-user_guide/.vuepress/public/en/middleware/')
-              sh('cp -R msg_docs/*.md PX4-user_guide/en/msg_docs/')
-              sh('cp -R failsafe_sim/* PX4-user_guide/.vuepress/public/en/config/failsafe')
-              sh('cd PX4-user_guide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
-              sh('cd PX4-user_guide; git push origin main || true')
-              sh('rm -rf PX4-user_guide')
+              sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_user_guide.git')
+              sh('cp airframes.md px4_user_guide/en/airframes/airframe_reference.md')
+              sh('cp parameters.md px4_user_guide/en/advanced_config/parameter_reference.md')
+              sh('cp -R modules/*.md px4_user_guide/en/modules/')
+              sh('cp -R graph_*.json px4_user_guide/.vuepress/public/en/middleware/')
+              sh('cp -R msg_docs/*.md px4_user_guide/en/msg_docs/')
+              sh('cd px4_user_guide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
+              sh('cd px4_user_guide; git push origin master || true')
+              sh('rm -rf px4_user_guide')
             }
           }
           when {
             anyOf {
-              branch 'main'
-              branch 'master' // should be removed, but in case there is something going on...
+              branch 'master'
               branch 'pr-jenkins' // for testing
             }
           }
@@ -209,8 +245,7 @@ pipeline {
           }
           when {
             anyOf {
-              branch 'main'
-              branch 'master' // should be removed, but in case there is something going on...
+              branch 'master'
               branch 'pr-jenkins' // for testing
             }
           }
@@ -219,6 +254,36 @@ 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 ${BRANCH_NAME} || true')
+              sh('rm -rf micrortps_agent')
+            }
+          }
+          when {
+            anyOf {
+              branch 'master'
+              branch 'pr-jenkins' // for testing
+            }
+          }
+        }
+
         stage('PX4 ROS msgs') {
           agent {
             docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
@@ -228,17 +293,65 @@ pipeline {
             sh('make distclean; git clean -ff -x -d .')
             withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
               sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
-              // 'main' branch
-              sh('rm -f px4_msgs/msg/*.msg')
-              sh('cp msg/*.msg px4_msgs/msg/')
+              // 'master' branch
+              sh('./msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
               sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
-              sh('cd px4_msgs; git push origin main || true')
+              sh('cd px4_msgs; git push origin master || true')
+              // 'ros1' branch
+              sh('cd px4_msgs; git checkout ros1')
+              sh('./msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
+              sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
+              sh('cd px4_msgs; git push origin ros1 || true')
               sh('rm -rf px4_msgs')
             }
           }
           when {
             anyOf {
-              branch 'main'
+              branch 'master'
+              branch 'pr-jenkins' // for testing
+            }
+          }
+        }
+
+        stage('PX4 ROS2 bridge') {
+          agent {
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
+          }
+          steps {
+            sh('export')
+            sh('make distclean; git clean -ff -x -d .')
+            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
+              sh("git clone https://${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 'master'
+              branch 'pr-jenkins' // for testing
             }
           }
         }
@@ -260,8 +373,7 @@ pipeline {
           }
           when {
             anyOf {
-              branch 'main'
-              branch 'master' // should be removed, but in case there is something going on...
+              branch 'master'
               branch 'pr-jenkins' // for testing
             }
           }

Kconfig

@@ -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

Makefile

@@ -129,54 +129,73 @@ else
 	BUILD_DIR_SUFFIX :=
 endif
 
-CMAKE_ARGS ?=
+ifdef PX4_RESTRICTED_BUILD
+	CMAKE_ARGS += -DPX4_RESTRICTED_BUILD=ON
+	BUILD_DIR_SUFFIX := $(BUILD_DIR_SUFFIX)_restricted
+endif
+
+# pass the PX4_EXPORT_CONTROLLED_BUILD on to CMAKE_ARGS, and set it to 0 (OFF) by default
+PX4_EXPORT_CONTROLLED_BUILD ?= 0
+ifeq ($(PX4_EXPORT_CONTROLLED_BUILD),1)
+	CMAKE_ARGS += -DPX4_EXPORT_CONTROLLED_BUILD=ON
+	BUILD_DIR_SUFFIX := $(BUILD_DIR_SUFFIX)_export_controlled
+else ifeq ($(PX4_EXPORT_CONTROLLED_BUILD),0)
+	CMAKE_ARGS += -DPX4_EXPORT_CONTROLLED_BUILD=OFF
+else
+        $(error ERROR: Invalid value of flag PX4_EXPORT_CONTROLLED_BUILD, has to be '0' or '1')
+endif
 
 # additional config parameters passed to cmake
 ifdef EXTERNAL_MODULES_LOCATION
-	override CMAKE_ARGS += -DEXTERNAL_MODULES_LOCATION:STRING=$(EXTERNAL_MODULES_LOCATION)
+	CMAKE_ARGS += -DEXTERNAL_MODULES_LOCATION:STRING=$(EXTERNAL_MODULES_LOCATION)
 endif
 
 ifdef PX4_CMAKE_BUILD_TYPE
-	override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=${PX4_CMAKE_BUILD_TYPE}
+	CMAKE_ARGS += -DCMAKE_BUILD_TYPE=${PX4_CMAKE_BUILD_TYPE}
 else
 
 	# Address Sanitizer
 	ifdef PX4_ASAN
-		override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=AddressSanitizer
+		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=AddressSanitizer
 	endif
 
 	# Memory Sanitizer
 	ifdef PX4_MSAN
-		override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=MemorySanitizer
+		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=MemorySanitizer
 	endif
 
 	# Thread Sanitizer
 	ifdef PX4_TSAN
-		override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=ThreadSanitizer
+		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=ThreadSanitizer
 	endif
 
 	# Undefined Behavior Sanitizer
 	ifdef PX4_UBSAN
-		override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=UndefinedBehaviorSanitizer
+		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=UndefinedBehaviorSanitizer
 	endif
 
 	# Fuzz Testing
 	ifdef PX4_FUZZ
-		override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=FuzzTesting
+		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=FuzzTesting
 	endif
 
 endif
 
 # Pick up specific Python path if set
 ifdef PYTHON_EXECUTABLE
-	override CMAKE_ARGS += -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
+	CMAKE_ARGS += -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
+endif
+
+# Check if the microRTPS agent is to be built
+ifdef BUILD_MICRORTPS_AGENT
+  CMAKE_ARGS += -DBUILD_MICRORTPS_AGENT=ON
 endif
 
 # Functions
 # --------------------------------------------------------------------
 # describe how to build a cmake config
 define cmake-build
-	$(eval override CMAKE_ARGS += -DCONFIG=$(1))
+	$(eval CMAKE_ARGS += -DCONFIG=$(1))
 	@$(eval BUILD_DIR = "$(SRC_DIR)/build/$(1)")
 	@# check if the desired cmake configuration matches the cache then CMAKE_CACHE_CHECK stays empty
 	@$(call cmake-cache-check)
@@ -242,13 +261,19 @@ define deprecation_warning
 	$(warning $(1) has been deprecated and will be removed, please use $(2)!)
 endef
 
+skynode:
+	$(MAKE) px4_fmu-v5x $(ARGS)
+
+skynode_rtps:
+	$(MAKE) px4_fmu-v5x_rtps $(ARGS)
+
 # All targets with just dependencies but no recipe must either be marked as phony (or have the special @: as recipe).
 .PHONY: all px4_sitl_default all_config_targets all_default_targets
 
 # 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 +298,15 @@ 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 || :
@@ -307,10 +340,8 @@ px4io_update:
 	@$(MAKE) --no-print-directory px4_io-v2_default
 	@$(MAKE) --no-print-directory cubepilot_io-v2_default
 	# px4_io-v2_default
-	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/ark/fmu-v6x/extras/px4_io-v2_default.bin
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/holybro/durandal-v1/extras/px4_io-v2_default.bin
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/holybro/pix32v5/extras/px4_io-v2_default.bin
-	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/mro/x21/extras/px4_io-v2_default.bin
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/mro/x21-777/extras/px4_io-v2_default.bin
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v2/extras/px4_io-v2_default.bin
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v3/extras/px4_io-v2_default.bin
@@ -324,11 +355,7 @@ 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
+bootloaders_update: 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
 
 .PHONY: coverity_scan
@@ -378,7 +405,7 @@ format:
 .PHONY: rostest python_coverage
 
 tests:
-	$(eval override CMAKE_ARGS += -DTESTFILTER=$(TESTFILTER))
+	$(eval CMAKE_ARGS += -DTESTFILTER=$(TESTFILTER))
 	$(eval ARGS += test_results)
 	$(eval ASAN_OPTIONS += color=always:check_initialization_order=1:detect_stack_use_after_return=1)
 	$(eval UBSAN_OPTIONS += color=always)
@@ -486,9 +513,7 @@ 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 +579,17 @@ 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

README.md

@@ -4,40 +4,40 @@
 
 [![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.
+This repository holds the [PX4](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/PX4-Autopilot/tree/master/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.
 
 PX4 is highly portable, OS-independent and supports Linux, NuttX and MacOS out of the box.
 
-* Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/PX4-Autopilot/blob/main/LICENSE))
-* [Supported airframes](https://docs.px4.io/main/en/airframes/airframe_reference.html) ([portfolio](https://px4.io/ecosystem/commercial-systems/)):
-  * [Multicopters](https://docs.px4.io/main/en/frames_multicopter/)
-  * [Fixed wing](https://docs.px4.io/main/en/frames_plane/)
-  * [VTOL](https://docs.px4.io/main/en/frames_vtol/)
-  * [Autogyro](https://docs.px4.io/main/en/frames_autogyro/)
-  * [Rover](https://docs.px4.io/main/en/frames_rover/)
+* Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/PX4-Autopilot/blob/master/LICENSE))
+* [Supported airframes](https://docs.px4.io/master/en/airframes/airframe_reference.html) ([portfolio](http://px4.io/#airframes)):
+  * [Multicopters](https://docs.px4.io/master/en/frames_multicopter/)
+  * [Fixed wing](https://docs.px4.io/master/en/frames_plane/)
+  * [VTOL](https://docs.px4.io/master/en/frames_vtol/)
+  * [Autogyro](https://docs.px4.io/master/en/frames_autogyro/)
+  * [Rover](https://docs.px4.io/master/en/frames_rover/)
   * many more experimental types (Blimps, Boats, Submarines, High altitude balloons, etc)
 * Releases: [Downloads](https://github.com/PX4/PX4-Autopilot/releases)
 
 
 ## Building a PX4 based drone, rover, boat or robot
 
-The [PX4 User Guide](https://docs.px4.io/main/en/) explains how to assemble [supported vehicles](https://docs.px4.io/main/en/airframes/airframe_reference.html) and fly drones with PX4.
-See the [forum and chat](https://docs.px4.io/main/en/#getting-help) if you need help!
+The [PX4 User Guide](https://docs.px4.io/master/en/) explains how to assemble [supported vehicles](https://docs.px4.io/master/en/airframes/airframe_reference.html) and fly drones with PX4.
+See the [forum and chat](https://docs.px4.io/master/en/#support) if you need help!
 
 
 ## Changing code and contributing
 
-This [Developer Guide](https://docs.px4.io/main/en/development/development.html) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.
+This [Developer Guide](https://docs.px4.io/master/en/development/development.html) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.
 
-Developers should read the [Guide for Contributions](https://docs.px4.io/main/en/contribute/).
-See the [forum and chat](https://docs.px4.io/main/en/#getting-help) if you need help!
+Developers should read the [Guide for Contributions](https://docs.px4.io/master/en/contribute/).
+See the [forum and chat](https://dev.px4.io/master/en/#support) if you need help!
 
 
 ### Weekly Dev Call
 
-The PX4 Dev Team syncs up on a [weekly dev call](https://docs.px4.io/main/en/contribute/).
+The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/master/en/contribute/#dev_call).
 
 > **Note** The dev call is open to all interested developers (not just the core dev team). This is a great opportunity to meet the team and contribute to the ongoing development of the platform. It includes a QA session for newcomers. All regular calls are listed in the [Dronecode calendar](https://www.dronecode.org/calendar/).
 
@@ -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).
@@ -88,43 +88,35 @@ This repository contains code supporting Pixhawk standard boards (best supported
   * FMUv6X and FMUv6U (STM32H7, 2021)
     * Various vendors will provide FMUv6X and FMUv6U based designs Q3/2021
   * FMUv5 and FMUv5X (STM32F7, 2019/20)
-    * [Pixhawk 4 (FMUv5)](https://docs.px4.io/main/en/flight_controller/pixhawk4.html)
-    * [Pixhawk 4 mini (FMUv5)](https://docs.px4.io/main/en/flight_controller/pixhawk4_mini.html)
-    * [CUAV V5+ (FMUv5)](https://docs.px4.io/main/en/flight_controller/cuav_v5_plus.html)
-    * [CUAV V5 nano (FMUv5)](https://docs.px4.io/main/en/flight_controller/cuav_v5_nano.html)
-    * [Auterion Skynode (FMUv5X)](https://docs.auterion.com/skynode)
+    * [Pixhawk 4 (FMUv5)](https://docs.px4.io/master/en/flight_controller/pixhawk4.html)
+    * [Pixhawk 4 mini (FMUv5)](https://docs.px4.io/master/en/flight_controller/pixhawk4_mini.html)
+    * [CUAV V5+ (FMUv5)](https://docs.px4.io/master/en/flight_controller/cuav_v5_plus.html)
+    * [CUAV V5 nano (FMUv5)](https://docs.px4.io/master/en/flight_controller/cuav_v5_nano.html)
+    * [Auterion Skynode (FMUv5X)](https://docs.px4.io/master/en/flight_controller/auterion_skynode.html)
   * FMUv4 (STM32F4, 2015)
-    * [Pixracer](https://docs.px4.io/main/en/flight_controller/pixracer.html)
-    * [Pixhawk 3 Pro](https://docs.px4.io/main/en/flight_controller/pixhawk3_pro.html)
+    * [Pixracer](https://docs.px4.io/master/en/flight_controller/pixracer.html)
+    * [Pixhawk 3 Pro](https://docs.px4.io/master/en/flight_controller/pixhawk3_pro.html)
   * FMUv3 (STM32F4, 2014)
-    * [Pixhawk 2](https://docs.px4.io/main/en/flight_controller/pixhawk-2.html)
-    * [Pixhawk Mini](https://docs.px4.io/main/en/flight_controller/pixhawk_mini.html)
-    * [CUAV Pixhack v3](https://docs.px4.io/main/en/flight_controller/pixhack_v3.html)
+    * [Pixhawk 2](https://docs.px4.io/master/en/flight_controller/pixhawk-2.html)
+    * [Pixhawk Mini](https://docs.px4.io/master/en/flight_controller/pixhawk_mini.html)
+    * [CUAV Pixhack v3](https://docs.px4.io/master/en/flight_controller/pixhack_v3.html)
   * FMUv2 (STM32F4, 2013)
-    * [Pixhawk](https://docs.px4.io/main/en/flight_controller/pixhawk.html)
-    * [Pixfalcon](https://docs.px4.io/main/en/flight_controller/pixfalcon.html)
+    * [Pixhawk](https://docs.px4.io/master/en/flight_controller/pixhawk.html)
+    * [Pixfalcon](https://docs.px4.io/master/en/flight_controller/pixfalcon.html)
 
 ### Manufacturer and Community supported
-  * [Holybro Durandal](https://docs.px4.io/main/en/flight_controller/durandal.html)
-  * [Hex Cube Orange](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orange.html)
-  * [Hex Cube Yellow](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_yellow.html)
+  * [Holybro Durandal](https://docs.px4.io/master/en/flight_controller/durandal.html)
+  * [Hex Cube Orange](https://docs.px4.io/master/en/flight_controller/cubepilot_cube_orange.html)
+  * [Hex Cube Yellow](https://docs.px4.io/master/en/flight_controller/cubepilot_cube_yellow.html)
   * [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
   * [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
-  * [Bitcraze Crazyflie 2.0](https://docs.px4.io/main/en/complete_vehicles/crazyflie2.html)
-  * [Omnibus F4 SD](https://docs.px4.io/main/en/flight_controller/omnibus_f4_sd.html)
-  * [Holybro Kakute F7](https://docs.px4.io/main/en/flight_controller/kakutef7.html)
-  * [Raspberry PI with Navio 2](https://docs.px4.io/main/en/flight_controller/raspberry_pi_navio2.html)
+  * [Bitcraze Crazyflie 2.0](https://docs.px4.io/master/en/complete_vehicles/crazyflie2.html)
+  * [Omnibus F4 SD](https://docs.px4.io/master/en/flight_controller/omnibus_f4_sd.html)
+  * [Holybro Kakute F7](https://docs.px4.io/master/en/flight_controller/kakutef7.html)
+  * [Raspberry PI with Navio 2](https://docs.px4.io/master/en/flight_controller/raspberry_pi_navio2.html)
 
-Additional information about supported hardware can be found in [PX4 user Guide > Autopilot Hardware](https://docs.px4.io/main/en/flight_controller/).
+Additional information about supported hardware can be found in [PX4 user Guide > Autopilot Hardware](https://docs.px4.io/master/en/flight_controller/).
 
 ## Project Roadmap
 
 A high level project roadmap is available [here](https://github.com/orgs/PX4/projects/25).
-
-## Project Governance
-
-The PX4 Autopilot project including all of its trademarks is hosted under [Dronecode](https://www.dronecode.org/), part of the Linux Foundation.
-
-<a href="https://www.dronecode.org/" style="padding:20px" ><img src="https://mavlink.io/assets/site/logo_dronecode.png" alt="Dronecode Logo" width="110px"/></a>
-<a href="https://www.linuxfoundation.org/projects" style="padding:20px;"><img src="https://mavlink.io/assets/site/logo_linux_foundation.png" alt="Linux Foundation Logo" width="80px" /></a>
-<div style="padding:10px">&nbsp;</div>

ROMFS/CMakeLists.txt

@@ -112,17 +112,23 @@ add_custom_command(
 		${PX4_SOURCE_DIR}/Tools/px4airframes/xmlout.py
 		${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
 	)
+set(romfs_extract_stamp ${CMAKE_CURRENT_BINARY_DIR}/romfs_extract.stamp)
+add_custom_command(
+	OUTPUT ${romfs_extract_stamp}
+	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/*
+	COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file}
+	COMMAND ${CMAKE_COMMAND} -E touch ${romfs_extract_stamp}
+	WORKING_DIRECTORY ${romfs_gen_root_dir}
+	DEPENDS ${romfs_tar_file}
+	VERBATIM
+	)
 
-
-set(romfs_copy_stamp ${CMAKE_CURRENT_BINARY_DIR}/romfs_copy.stamp)
 add_custom_command(
 	OUTPUT
 		${romfs_gen_root_dir}/init.d/rc.serial
 		${romfs_gen_root_dir}/init.d/rc.autostart
 		${romfs_gen_root_dir}/init.d/rc.autostart.post
-		${romfs_copy_stamp}
-	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/*
-	COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file}
+		romfs_copy.stamp
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
 		--airframes-path ${romfs_gen_root_dir}/init.d
 		--start-script ${romfs_gen_root_dir}/init.d/rc.autostart
@@ -131,9 +137,9 @@ add_custom_command(
 		--rc-dir ${romfs_gen_root_dir}/init.d
 		--serial-ports ${board_serial_ports} ${added_arguments}
 		--config-files ${module_config_files} #--verbose
-	COMMAND ${CMAKE_COMMAND} -E touch ${romfs_copy_stamp}
-	WORKING_DIRECTORY ${romfs_gen_root_dir}
-	DEPENDS ${romfs_tar_file}
+	COMMAND ${CMAKE_COMMAND} -E touch romfs_copy.stamp
+	DEPENDS
+		${romfs_extract_stamp}
 	COMMENT "ROMFS: copying, generating airframes"
 	)
 
@@ -305,7 +311,7 @@ add_custom_command(OUTPUT romfs_extras.stamp
 
 add_custom_target(romfs_gen_files_target
 	DEPENDS
-		${romfs_copy_stamp}
+		${romfs_extract_stamp}
 		${romfs_gen_root_dir}/init.d/rc.serial
 		romfs_extras.stamp
 	)

ROMFS/cannode/init.d/rcS

@@ -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.
 #
@@ -91,28 +86,10 @@ unset BOARD_RC_SENSORS
 . ${R}etc/init.d/rc.serial
 
 # Check for flow sensor
-if param compare -s SENS_EN_PX4FLOW 1
+if param compare SENS_EN_PX4FLOW 1
 then
 	px4flow start -X &
 fi
 
-if param compare -s IMU_GYRO_CAL_EN 1
-then
-	gyro_calibration start
-fi
-
-
-if param compare -s MBE_ENABLE 1
-then
-	# conservative mag bias estimation
-	param set-default MBE_LEARN_GAIN 5
-	param set-default IMU_GYRO_CUTOFF 20
-	mag_bias_estimator start
-fi
-
-param set-default SENS_MAG_RATE 100
-
-sensors start
-
 uavcannode start
 unset R

ROMFS/px4fmu_common/CMakeLists.txt

@@ -32,7 +32,9 @@
 ############################################################################
 
 add_subdirectory(init.d)
+add_subdirectory(mixers)
 # TODO: make this configurable from the board config, or better combine
 if("${PX4_BOARD}" MATCHES "sitl")
+	add_subdirectory(mixers-sitl)
 	add_subdirectory(init.d-posix)
 endif()

ROMFS/px4fmu_common/init.d-posix/CMakeLists.txt

@@ -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

ROMFS/px4fmu_common/init.d-posix/airframes/10016_iris

@@ -9,24 +9,4 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-
-param set-default CA_AIRFRAME 0
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.1515
-param set-default CA_ROTOR0_PY 0.245
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.1515
-param set-default CA_ROTOR1_PY -0.1875
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.1515
-param set-default CA_ROTOR2_PY -0.245
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.1515
-param set-default CA_ROTOR3_PY 0.1875
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
+set MIXER quad_w

ROMFS/px4fmu_common/init.d-posix/airframes/10017_iris_ctrlalloc

@@ -0,0 +1,37 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL
+#
+# @type Quadrotor Wide
+#
+# @maintainer Julian Oes <julian@oes.ch>
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+param set-default SYS_CTRL_ALLOC 1
+
+
+param set-default CA_AIRFRAME 0
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.1515
+param set-default CA_ROTOR0_PY 0.245
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.1515
+param set-default CA_ROTOR1_PY -0.1875
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.1515
+param set-default CA_ROTOR2_PY -0.245
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.1515
+param set-default CA_ROTOR3_PY 0.1875
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+
+set MIXER skip
+set MIXER_AUX none

ROMFS/px4fmu_common/init.d-posix/airframes/10019_omnicopter

@@ -9,6 +9,8 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
+param set-default SYS_CTRL_ALLOC 1
+
 
 param set-default CA_AIRFRAME 0
 
@@ -95,3 +97,5 @@ param set-default CA_METHOD 0
 param set-default FD_FAIL_P 0
 param set-default FD_FAIL_R 0
 
+set MIXER skip
+set MIXER_AUX none

ROMFS/px4fmu_common/init.d-posix/airframes/10020_if750a

@@ -0,0 +1,19 @@
+#!/bin/sh
+#
+# @name IF750A SITL
+# InspiredFlight 750 Auterion edition. Gazebo Only.
+#
+# @type Quadrotor
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+# EKF2: Multi GPS blending (as the model has 2 GPS's)
+param set-default SENS_GPS_MASK 7
+param set-default TRIG_INTERFACE 3
+param set-default TRIG_MODE 4
+param set-default MNT_MODE_IN 4
+param set-default MNT_MODE_OUT 2
+param set-default MNT_DO_STAB 2
+
+set MIXER quad_x

ROMFS/px4fmu_common/init.d-posix/airframes/10020_if750a.post

@@ -0,0 +1,10 @@
+
+mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
+
+mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530
+
+# shellcheck disable=SC2154
+mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local
+# shellcheck disable=SC2154
+mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_offboard_port_local
+mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_offboard_port_local

ROMFS/px4fmu_common/init.d-posix/airframes/10028_quadrotor_x

@@ -0,0 +1,12 @@
+#!/bin/sh
+#
+# @name Quadrotor SITL model for JSBSim
+#
+# @type Quadrotor Wide
+#
+# @maintainer Jaeyoung Lim <jaeyoung@auterion.com>
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+set MIXER quad_w

ROMFS/px4fmu_common/init.d-posix/airframes/10029_hexarotor_x

@@ -0,0 +1,30 @@
+#!/bin/sh
+#
+# @name Hexacopter SITL model for JSBSim
+#
+# @type Hexarotor x
+#
+# @maintainer Jaeyoung Lim <jaeyoung@auterion.com>
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+param set-default MC_PITCHRATE_P 0.1
+param set-default MC_PITCHRATE_I 0.05
+param set-default MC_PITCH_P 6.0
+param set-default MC_ROLLRATE_P 0.15
+param set-default MC_ROLLRATE_I 0.1
+param set-default MC_ROLL_P 6.0
+param set-default MPC_XY_VEL_I_ACC 4
+param set-default MPC_XY_VEL_P_ACC 3
+
+param set-default RTL_DESCEND_ALT 10
+
+param set-default TRIG_INTERFACE 3
+param set-default TRIG_MODE 4
+param set-default MNT_MODE_IN 4
+param set-default MNT_DO_STAB 2
+
+param set-default MAV_TYPE 13
+
+set MIXER hexa_x

ROMFS/px4fmu_common/init.d-posix/airframes/10030_px4vision

@@ -8,8 +8,4 @@
 
 . ${R}etc/init.d/airframes/4016_holybro_px4vision
 
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-
+set MIXER quad_x

ROMFS/px4fmu_common/init.d-posix/airframes/10040_quadx

@@ -9,8 +9,7 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=quadx}
+set MIXER quad_x
 
 # disable some checks to allow to fly:
 # - with usb
@@ -21,24 +20,4 @@ param set-default CBRK_SUPPLY_CHK 894281
 param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027
 
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-
 param set SIH_VEHICLE_TYPE 0
-

ROMFS/px4fmu_common/init.d-posix/airframes/10041_airplane

@@ -8,8 +8,7 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=airplane}
+set MIXER AERT
 
 # disable some checks to allow to fly:
 # - with usb
@@ -22,30 +21,13 @@ param set-default CBRK_IO_SAFETY 22027
 
 param set-default BAT_N_CELLS 3
 
-param set-default SIH_T_MAX 6.0
-param set-default SIH_MASS 0.3
-param set-default SIH_IXX 0.00402
-param set-default SIH_IYY 0.0144
-param set-default SIH_IZZ 0.0177
-param set-default SIH_IXZ 0.00046
-param set-default SIH_KDV 0.2
+param set SIH_T_MAX 6.0
+param set SIH_MASS 0.3
+param set SIH_IXX 0.00402
+param set SIH_IYY 0.0144
+param set SIH_IZZ 0.0177
+param set SIH_IXZ 0.00046
+param set SIH_KDV 0.2
 
-param set-default SIH_VEHICLE_TYPE 1 	# sih as fixed wing
-param set-default RWTO_TKOFF 1  # enable takeoff from runway (as opposed to launched)
-
-
-param set-default CA_AIRFRAME 1
-
-param set-default CA_ROTOR_COUNT 1
-
-param set-default CA_SV_CS_COUNT 3
-param set-default CA_SV_CS0_TRQ_R -0.5
-param set-default CA_SV_CS0_TYPE 1
-param set-default CA_SV_CS1_TRQ_P 1.0
-param set-default CA_SV_CS1_TYPE 3
-param set-default CA_SV_CS2_TRQ_Y 1.0
-param set-default CA_SV_CS2_TYPE 4
-param set-default PWM_MAIN_FUNC3 201
-param set-default PWM_MAIN_FUNC4 202
-param set-default PWM_MAIN_FUNC5 203
-param set-default PWM_MAIN_FUNC6 101
+param set SIH_VEHICLE_TYPE 1 	# sih as fixed wing
+param set RWTO_TKOFF 1  # enable takeoff from runway (as opposed to launched)

ROMFS/px4fmu_common/init.d-posix/airframes/10042_xvert

@@ -8,17 +8,16 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
-PX4_SIM_MODEL=${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
 
 param set-default MAV_TYPE 19
+set MAV_TYPE 19
+set MIXER vtol_tailsitter_duo_sat
 
 # disable some checks to allow to fly:
 # - with usb
@@ -31,39 +30,16 @@ param set-default CBRK_IO_SAFETY 22027
 
 param set-default BAT_N_CELLS 3
 
-param set-default SIH_T_MAX 2.0
-param set-default SIH_Q_MAX 0.0165
-param set-default SIH_MASS 0.2
+param set SIH_T_MAX 2.0
+param set SIH_Q_MAX 0.0165
+param set SIH_MASS 0.2
 # IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
-param set-default SIH_IXX 0.00354
-param set-default SIH_IYY 0.000625
-param set-default SIH_IZZ 0.00300
-param set-default SIH_IXZ 0.0
-param set-default SIH_KDV 0.2
-param set-default SIH_L_ROLL 0.145
+param set SIH_IXX 0.00354
+param set SIH_IYY 0.000625
+param set SIH_IZZ 0.00300
+param set SIH_IXZ 0.0
+param set SIH_KDV 0.2
+param set SIH_L_ROLL 0.145
 
 # sih as tailsitter
-param set-default SIH_VEHICLE_TYPE 2
-
-param set-default CA_AIRFRAME 4
-
-param set-default CA_ROTOR_COUNT 2
-param set-default CA_ROTOR0_PX 0
-param set-default CA_ROTOR0_PY 2
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX 0
-param set-default CA_ROTOR1_PY -1
-param set-default CA_ROTOR1_KM 0.05
-
-param set-default CA_SV_CS_COUNT 2
-param set-default CA_SV_CS0_TYPE 5
-param set-default CA_SV_CS0_TRQ_P 0.5
-param set-default CA_SV_CS0_TRQ_Y -0.5
-param set-default CA_SV_CS1_TYPE 6
-param set-default CA_SV_CS1_TRQ_P 0.5
-param set-default CA_SV_CS1_TRQ_Y 0.5
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC5 201
-param set-default PWM_MAIN_FUNC6 202
+param set SIH_VEHICLE_TYPE 2

ROMFS/px4fmu_common/init.d-posix/airframes/1010_iris_opt_flow

@@ -9,7 +9,6 @@
 
 # EKF2
 param set-default EKF2_AID_MASK 2
-param set-default EKF2_GPS_CTRL 0
 param set-default EKF2_EVP_NOISE 0.05
 param set-default EKF2_EVA_NOISE 0.05
 
@@ -19,7 +18,3 @@ param set-default LPE_FAKE_ORIGIN 1
 
 param set-default MPC_ALT_MODE 2
 
-param set-default SENS_FLOW_ROT 6
-param set-default SENS_FLOW_MINHGT 0.7
-param set-default SENS_FLOW_MAXHGT 3.0
-param set-default SENS_FLOW_MAXR 2.5

ROMFS/px4fmu_common/init.d-posix/airframes/1013_iris_vision

@@ -10,8 +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
 param set-default LPE_FUSION 132

ROMFS/px4fmu_common/init.d-posix/airframes/1014_solo

@@ -0,0 +1,13 @@
+#!/bin/sh
+#
+# @name Solo
+#
+# @type Quadrotor
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+param set-default MC_PITCHRATE_P 0.1
+param set-default MC_ROLLRATE_P 0.05
+
+set MIXER quad_x

ROMFS/px4fmu_common/init.d-posix/airframes/1017_iris_opt_flow_mockup

@@ -9,7 +9,7 @@
 
 # EKF2
 param set-default EKF2_AID_MASK 2
-param set-default EKF2_GPS_CTRL 0
+param set-default SENS_FLOW_ROT 0
 
 # LPE: Flow-only mode
 param set-default LPE_FUSION 242

ROMFS/px4fmu_common/init.d-posix/airframes/1018_iris_vision_velocity

@@ -10,4 +10,3 @@
 # EKF2: Vision velocity and heading
 param set-default EKF2_AID_MASK 272
 param set-default EKF2_EV_DELAY 5
-param set-default EKF2_GPS_CTRL 0

ROMFS/px4fmu_common/init.d-posix/airframes/1020_uuv_generic

@@ -0,0 +1,12 @@
+#!/bin/sh
+#
+# @name UUV
+#
+
+. ${R}etc/init.d/rc.uuv_defaults
+
+# disable circuit breaker for airspeed sensor
+param set-default CBRK_AIRSPD_CHK 162128
+
+set MIXER_FILE etc/mixers-sitl/uuv_x_sitl.main.mix
+set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/1021_uuv_hippocampus

@@ -8,40 +8,5 @@
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128
 
-param set-default CA_AIRFRAME 7
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_R_REV 255
-param set-default CA_ROTOR0_AX 1.0000
-param set-default CA_ROTOR0_AY 0.0000
-param set-default CA_ROTOR0_AZ 0.0000
-param set-default CA_ROTOR0_KM 0.0000
-param set-default CA_ROTOR0_PX 0.0000
-param set-default CA_ROTOR0_PY -0.3000
-param set-default CA_ROTOR0_PZ -0.3000
-param set-default CA_ROTOR1_AX 1.0000
-param set-default CA_ROTOR1_AY 0.0000
-param set-default CA_ROTOR1_AZ 0.0000
-param set-default CA_ROTOR1_KM 0.0000
-param set-default CA_ROTOR1_PX 0.0000
-param set-default CA_ROTOR1_PY 0.3000
-param set-default CA_ROTOR1_PZ -0.3000
-param set-default CA_ROTOR2_AX 1.0000
-param set-default CA_ROTOR2_AY 0.0000
-param set-default CA_ROTOR2_AZ 0.0000
-param set-default CA_ROTOR2_KM 0.0000
-param set-default CA_ROTOR2_PX 0.0000
-param set-default CA_ROTOR2_PY 0.3000
-param set-default CA_ROTOR2_PZ 0.3000
-param set-default CA_ROTOR3_AX 1.0000
-param set-default CA_ROTOR3_AY 0.0000
-param set-default CA_ROTOR3_AZ 0.0000
-param set-default CA_ROTOR3_KM 0.0000
-param set-default CA_ROTOR3_PX 0.0000
-param set-default CA_ROTOR3_PY -0.3000
-param set-default CA_ROTOR3_PZ 0.3000
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-
+set MIXER_FILE etc/mixers-sitl/uuv_x_sitl.main.mix
+set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/1022_uuv_bluerov2_heavy

@@ -8,6 +8,7 @@
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128
 
+param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 7
 
 param set-default CA_ROTOR_COUNT 8
@@ -65,3 +66,4 @@ param set-default PWM_MAIN_FUNC6 106
 param set-default PWM_MAIN_FUNC7 107
 param set-default PWM_MAIN_FUNC8 108
 
+set MIXER skip

ROMFS/px4fmu_common/init.d-posix/airframes/1025_iris_depth_camera

@@ -0,0 +1,11 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (Depth Camera)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d-posix/airframes/10016_iris
+
+# param set COM_OBS_AVOID 1
+param set-default MPC_XY_CRUISE 5.0

ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane

@@ -8,25 +8,18 @@
 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
 
 param set-default FW_PR_P 0.9
-param set-default FW_PR_FF 0.5
-param set-default FW_PR_I 0.5
-param set-default TRIM_PITCH -0.15
-
+param set-default FW_PR_FF 0.2
 param set-default FW_PSP_OFF 2
 param set-default FW_P_LIM_MIN -15
 
-param set-default FW_RR_FF 0.5
+param set-default FW_RR_FF 0.1
 param set-default FW_RR_P 0.3
-param set-default FW_RR_I 0.5
-
-param set-default FW_YR_FF 0.5
-param set-default FW_YR_P 0.6
-param set-default FW_YR_I 0.5
 
 param set-default FW_SPOILERS_LND 0.4
 
@@ -40,6 +33,7 @@ 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
@@ -47,6 +41,7 @@ param set-default NAV_DLL_ACT 2
 
 param set-default RWTO_TKOFF 1
 
+#param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 1
 
 param set-default CA_ROTOR_COUNT 1
@@ -73,3 +68,5 @@ param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
 
 
+set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
+set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/1033_rascal

@@ -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
@@ -31,30 +33,12 @@ 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
-
-param set-default CA_ROTOR_COUNT 1
-param set-default CA_ROTOR0_PX 0.3
-
-param set-default CA_SV_CS_COUNT 6
-param set-default CA_SV_CS0_TRQ_R -0.5
-param set-default CA_SV_CS0_TYPE 1
-param set-default CA_SV_CS1_TRQ_R 0.5
-param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
-param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
-param set-default CA_SV_CS3_TYPE 4
-param set-default CA_SV_CS4_TYPE 9
-param set-default CA_SV_CS5_TYPE 10
-param set-default PWM_MAIN_FUNC3 204
-param set-default PWM_MAIN_FUNC4 205
-param set-default PWM_MAIN_FUNC5 101
-param set-default PWM_MAIN_FUNC6 201
-param set-default PWM_MAIN_FUNC7 202
-param set-default PWM_MAIN_FUNC8 203
-param set-default PWM_MAIN_FUNC9 206
-param set-default PWM_MAIN_REV 256
 
+set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
+set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/1034_rascal-electric

@@ -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
@@ -31,30 +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
-
-param set-default CA_ROTOR_COUNT 1
-param set-default CA_ROTOR0_PX 0.3
-
-param set-default CA_SV_CS_COUNT 6
-param set-default CA_SV_CS0_TRQ_R -0.5
-param set-default CA_SV_CS0_TYPE 1
-param set-default CA_SV_CS1_TRQ_R 0.5
-param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
-param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
-param set-default CA_SV_CS3_TYPE 4
-param set-default CA_SV_CS4_TYPE 9
-param set-default CA_SV_CS5_TYPE 10
-param set-default PWM_MAIN_FUNC3 204
-param set-default PWM_MAIN_FUNC4 205
-param set-default PWM_MAIN_FUNC5 101
-param set-default PWM_MAIN_FUNC6 201
-param set-default PWM_MAIN_FUNC7 202
-param set-default PWM_MAIN_FUNC8 203
-param set-default PWM_MAIN_FUNC9 206
-param set-default PWM_MAIN_REV 256
-
+set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
+set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/1035_techpod

@@ -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
@@ -33,28 +35,5 @@ param set-default NAV_DLL_ACT 2
 
 param set-default RWTO_TKOFF 1
 
-param set-default CA_AIRFRAME 1
-
-param set-default CA_ROTOR_COUNT 1
-param set-default CA_ROTOR0_PX 0.3
-
-param set-default CA_SV_CS_COUNT 6
-param set-default CA_SV_CS0_TRQ_R -0.5
-param set-default CA_SV_CS0_TYPE 1
-param set-default CA_SV_CS1_TRQ_R 0.5
-param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
-param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
-param set-default CA_SV_CS3_TYPE 4
-param set-default CA_SV_CS4_TYPE 9
-param set-default CA_SV_CS5_TYPE 10
-param set-default PWM_MAIN_FUNC3 204
-param set-default PWM_MAIN_FUNC4 205
-param set-default PWM_MAIN_FUNC5 101
-param set-default PWM_MAIN_FUNC6 201
-param set-default PWM_MAIN_FUNC7 202
-param set-default PWM_MAIN_FUNC8 203
-param set-default PWM_MAIN_FUNC9 206
-param set-default PWM_MAIN_REV 256
-
+set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
+set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/1036_malolo

@@ -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
@@ -31,30 +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
-
-param set-default CA_ROTOR_COUNT 1
-param set-default CA_ROTOR0_PX 0.3
-
-param set-default CA_SV_CS_COUNT 6
-param set-default CA_SV_CS0_TRQ_R -0.5
-param set-default CA_SV_CS0_TYPE 1
-param set-default CA_SV_CS1_TRQ_R 0.5
-param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
-param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
-param set-default CA_SV_CS3_TYPE 4
-param set-default CA_SV_CS4_TYPE 9
-param set-default CA_SV_CS5_TYPE 10
-param set-default PWM_MAIN_FUNC3 204
-param set-default PWM_MAIN_FUNC4 205
-param set-default PWM_MAIN_FUNC5 101
-param set-default PWM_MAIN_FUNC6 201
-param set-default PWM_MAIN_FUNC7 202
-param set-default PWM_MAIN_FUNC8 203
-param set-default PWM_MAIN_FUNC9 206
-param set-default PWM_MAIN_REV 256
-
+set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
+set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/1037_believer

@@ -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
@@ -33,35 +34,15 @@ 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
-
-param set-default CA_ROTOR_COUNT 1
-param set-default CA_ROTOR0_PX 0.3
-
-param set-default CA_SV_CS_COUNT 6
-param set-default CA_SV_CS0_TRQ_R -0.5
-param set-default CA_SV_CS0_TYPE 1
-param set-default CA_SV_CS1_TRQ_R 0.5
-param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
-param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
-param set-default CA_SV_CS3_TYPE 4
-param set-default CA_SV_CS4_TYPE 9
-param set-default CA_SV_CS5_TYPE 10
-param set-default PWM_MAIN_FUNC3 204
-param set-default PWM_MAIN_FUNC4 205
-param set-default PWM_MAIN_FUNC5 101
-param set-default PWM_MAIN_FUNC6 201
-param set-default PWM_MAIN_FUNC7 202
-param set-default PWM_MAIN_FUNC8 203
-param set-default PWM_MAIN_FUNC9 206
-param set-default PWM_MAIN_REV 256
-
+set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
+set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/1039_advanced_plane

@@ -1,68 +0,0 @@
-#!/bin/sh
-#
-# @name Advanced Plane SITL
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-param set-default EKF2_MAG_ACCLIM 0
-param set-default EKF2_MAG_YAWLIM 0
-
-param set-default FW_LND_ANG 8
-param set-default FW_THR_LND_MAX 0
-
-param set-default FW_L1_PERIOD 12
-
-param set-default FW_MAN_P_MAX 30
-
-param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MAX 32
-param set-default FW_P_LIM_MIN -15
-
-param set-default FW_SPOILERS_LND 0.4
-
-param set-default FW_THR_MIN 0.05
-param set-default FW_THR_TRIM 0.25
-
-param set-default FW_T_CLMB_MAX 8
-param set-default FW_T_SINK_MAX 2.7
-param set-default FW_T_SINK_MIN 2.2
-
-param set-default FW_W_EN 1
-
-param set-default MIS_TAKEOFF_ALT 30
-
-param set-default NAV_ACC_RAD 15
-param set-default NAV_DLL_ACT 2
-
-param set-default RWTO_TKOFF 1
-
-#param set-default SYS_CTRL_ALLOC 1
-param set-default CA_AIRFRAME 1
-
-param set-default CA_ROTOR_COUNT 1
-param set-default CA_ROTOR0_PX 0.3
-
-param set-default CA_SV_CS_COUNT 6
-param set-default CA_SV_CS0_TRQ_R -0.5
-param set-default CA_SV_CS0_TYPE 1
-param set-default CA_SV_CS1_TRQ_R 0.5
-param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
-param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
-param set-default CA_SV_CS3_TYPE 4
-param set-default CA_SV_CS4_TYPE 9
-param set-default CA_SV_CS5_TYPE 10
-param set-default PWM_MAIN_FUNC3 204
-param set-default PWM_MAIN_FUNC4 205
-param set-default PWM_MAIN_FUNC5 101
-param set-default PWM_MAIN_FUNC6 201
-param set-default PWM_MAIN_FUNC7 202
-param set-default PWM_MAIN_FUNC8 203
-param set-default PWM_MAIN_FUNC9 206
-param set-default PWM_MAIN_REV 256
-
-
-set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
-set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol

@@ -12,6 +12,7 @@
 param set-default FD_ACT_EN 0
 param set-default FD_ACT_MOT_TOUT 500
 
+# param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 2
 
 param set-default CA_ROTOR_COUNT 5
@@ -77,6 +78,10 @@ param set-default NAV_ACC_RAD 5
 
 param set-default VT_FWD_THRUST_EN 4
 param set-default VT_F_TRANS_THR 0.75
+param set-default VT_MOT_ID 1234
+param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_B_TRANS_DUR 8
 param set-default VT_TYPE 2
 
+set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
+set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/1041_tailsitter

@@ -9,6 +9,7 @@
 
 param set-default MAV_TYPE 20
 
+# param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 4
 
 param set-default CA_ROTOR_COUNT 4
@@ -70,10 +71,12 @@ 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
 
 param set-default WV_EN 0
 
+set MIXER_FILE etc/mixers-sitl/quad_x_vtol.main.mix
+set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor

@@ -9,6 +9,7 @@
 
 param set-default MAV_TYPE 21
 
+param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 3
 
 param set-default CA_ROTOR_COUNT 4
@@ -26,7 +27,7 @@ param set-default CA_ROTOR3_PY 0.1875
 param set-default CA_ROTOR3_KM -0.05
 
 param set-default CA_ROTOR0_TILT 1
-param set-default CA_ROTOR2_TILT 2
+param set-default CA_ROTOR2_TILT 3
 param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
@@ -34,7 +35,9 @@ param set-default CA_SV_CS1_TYPE 2
 param set-default CA_SV_CS2_TRQ_P 1.0
 param set-default CA_SV_CS2_TYPE 3
 param set-default CA_SV_CS_COUNT 3
-param set-default CA_SV_TL_COUNT 2
+param set-default CA_SV_TL1_CT 0
+param set-default CA_SV_TL3_CT 0
+param set-default CA_SV_TL_COUNT 4
 
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
@@ -42,9 +45,11 @@ param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
 param set-default PWM_MAIN_FUNC5 204
 param set-default PWM_MAIN_FUNC6 205
-param set-default PWM_MAIN_FUNC7 201
-param set-default PWM_MAIN_FUNC8 202
-param set-default PWM_MAIN_FUNC9 203
+param set-default PWM_MAIN_FUNC7 206
+param set-default PWM_MAIN_FUNC8 207
+param set-default PWM_MAIN_FUNC9 201
+param set-default PWM_MAIN_FUNC10 202
+param set-default PWM_MAIN_FUNC11 203
 
 param set-default FW_L1_PERIOD 12
 param set-default FW_PR_FF 0.2
@@ -60,18 +65,26 @@ param set-default FW_T_CLMB_MAX 8
 param set-default FW_T_SINK_MAX 2.7
 param set-default FW_T_SINK_MIN 2.2
 
+param set-default MC_YAW_P 1.6
 param set-default MC_AIRMODE 1
 param set-default MC_YAWRATE_P 0.3
 param set-default MC_YAWRATE_I 0.3
 
+param set-default MIS_TAKEOFF_ALT 10
+
+param set-default MPC_ACC_HOR_MAX 2
+param set-default MPC_XY_P 0.8
 param set-default MPC_XY_VEL_P_ACC 3
 param set-default MPC_XY_VEL_I_ACC 4
 param set-default MPC_XY_VEL_D_ACC 0.1
 
-param set-default MIS_TAKEOFF_ALT 10
+param set-default NAV_ACC_RAD 5
 
 param set-default VT_B_TRANS_DUR 8
 param set-default VT_FWD_THRUST_EN 4
-param set-default VT_FWD_THRUST_SC 0.6
+param set-default VT_MOT_ID 1234
 param set-default VT_TILT_TRANS 0.6
 param set-default VT_TYPE 1
+
+set MIXER_FILE etc/mixers-sitl/tiltrotor_sitl.main.mix
+set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop

@@ -5,14 +5,48 @@
 # @type Standard VTOL
 #
 
-. ${R}etc/init.d-posix/airframes/1040_standard_vtol
+. ${R}etc/init.d/rc.vtol_defaults
 
-# Gimbal
-param set-default PWM_MAIN_FUNC9 420
-param set-default PWM_MAIN_FUNC10 421
-param set-default PWM_MAIN_FUNC11 422
+param set-default FW_L1_PERIOD 12
+param set-default FW_PR_FF 0.2
+param set-default FW_PR_P 0.9
+param set-default FW_PSP_OFF 2
+param set-default FW_P_LIM_MIN -15
+param set-default FW_RR_FF 0.1
+param set-default FW_RR_P 0.3
+param set-default FW_THR_TRIM 0.25
+param set-default FW_THR_MAX 0.6
+param set-default FW_THR_MIN 0.05
+param set-default FW_T_ALT_TC 2
+param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_HRATE_FF 0.5
+param set-default FW_T_SINK_MAX 2.7
+param set-default FW_T_SINK_MIN 2.2
+param set-default FW_T_TAS_TC 2
+
+param set-default MC_ROLLRATE_P 0.3
+param set-default MC_YAW_P 1.6
+
+param set-default MIS_TAKEOFF_ALT 10
+
+param set-default MPC_ACC_HOR_MAX 2
+param set-default MPC_XY_P 0.8
+param set-default MPC_XY_VEL_P_ACC 3
+param set-default MPC_XY_VEL_I_ACC 4
+param set-default MPC_XY_VEL_D_ACC 0.1
+
+param set-default NAV_ACC_RAD 5
+
+param set-default VT_FWD_THRUST_EN 4
+param set-default VT_F_TRANS_THR 0.75
+param set-default VT_MOT_ID 1234
+param set-default VT_FW_MOT_OFFID 1234
+param set-default VT_B_TRANS_DUR 8
+param set-default VT_TYPE 2
 
 param set-default RC_MAP_AUX1 8
 param set-default RC_MAP_AUX2 9
 param set-default RC_MAP_AUX3 10
 
+set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
+set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop.post

@@ -0,0 +1 @@
+mixer append /dev/pwm_output0 etc/mixers-sitl/package_drop.aux.mix

ROMFS/px4fmu_common/init.d-posix/airframes/1058_standard_vtol_gimbal

@@ -0,0 +1,17 @@
+#!/bin/sh
+#
+# @name Standard VTOL with gimbal
+#
+# @type Standard VTOL with gimbal
+#
+
+. ${R}etc/init.d-posix/1040_standard_vtol
+
+param set-default TRIG_INTERFACE 3
+param set-default TRIG_MODE 4
+param set-default MNT_MODE_IN 0
+
+param set-default MAV_TYPE 22
+
+set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
+set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/1058_standard_vtol_gimbal.post

@@ -0,0 +1,10 @@
+
+mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
+
+mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530
+
+# shellcheck disable=SC2154
+mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local
+# shellcheck disable=SC2154
+mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_offboard_port_local
+mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_offboard_port_local

ROMFS/px4fmu_common/init.d-posix/airframes/1059_tiltrotor_tri

@@ -0,0 +1,54 @@
+#!/bin/sh
+#
+# @name VTOL Tiltrotor Tricopter
+#
+# @type VTOL Tiltrotor Tricopter
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+param set-default FW_AIRSPD_MAX 25
+param set-default FW_AIRSPD_MIN 14
+param set-default FW_AIRSPD_TRIM 16
+param set-default FW_L1_PERIOD 12
+
+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
+
+param set-default MC_PITCHRATE_P 0.3
+param set-default MC_PITCH_P 5.0
+param set-default MC_ROLLRATE_P 0.4
+param set-default MC_ROLL_P 5.0
+param set-default MC_YAWRATE_P 0.8
+param set-default MC_YAW_P 1.5
+
+param set-default MPC_ACC_HOR_MAX 2
+param set-default MPC_ACC_HOR_MAX 2
+param set-default MPC_MAN_Y_MAX 70
+param set-default MPC_THR_MIN 0.1
+param set-default MPC_TKO_SPEED 1
+param set-default MPC_XY_P 0.15
+param set-default MPC_XY_VEL_D 0.005
+param set-default MPC_XY_VEL_I 0.2
+param set-default MPC_XY_VEL_P 0.05
+param set-default MPC_Z_VEL_MAX_DN 1.5
+param set-default MPC_Z_VEL_P 0.8
+
+param set-default NAV_ACC_RAD 5
+param set-default NAV_LOITER_RAD 80
+
+param set-default VT_F_TRANS_DUR 5.0
+param set-default VT_F_TRANS_THR 0.75
+param set-default VT_TILT_FW 3.1415
+param set-default VT_TILT_TRANS 1.2
+param set-default VT_ELEV_MC_LOCK 0
+param set-default VT_TYPE 1
+param set-default VT_B_TRANS_DUR 8
+
+param set-default MAV_TYPE 24
+
+set MIXER_FILE etc/mixers-sitl/tiltrotor_tri_sitl.main.mix
+set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/1060_rover

@@ -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
@@ -27,6 +28,7 @@ param set-default CBRK_AIRSPD_CHK 162128
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 2.0
 
+param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 5
 
 param set-default CA_R_REV 1
@@ -35,3 +37,4 @@ param set-default PWM_MAIN_FUNC2 201
 param set-default PWM_MAIN_FUNC6 101
 param set-default PWM_MAIN_FUNC7 101
 
+set MIXER_FILE skip

ROMFS/px4fmu_common/init.d-posix/airframes/1061_r1_rover

@@ -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
@@ -27,6 +28,7 @@ param set-default CBRK_AIRSPD_CHK 162128
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 2.0
 
+param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 6
 
 param set-default CA_R_REV 3
@@ -35,3 +37,4 @@ param set-default PWM_MAIN_FUNC2 101
 param set-default PWM_MAIN_FUNC6 102
 param set-default PWM_MAIN_FUNC7 102
 
+set MIXER_FILE skip

ROMFS/px4fmu_common/init.d-posix/airframes/1062_tf-r1

@@ -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
@@ -34,11 +35,4 @@ param set-default CBRK_AIRSPD_CHK 162128
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 3.0
 
-param set-default CA_AIRFRAME 5
-
-param set-default CA_R_REV 1
-param set-default PWM_MAIN_FUNC1 201
-param set-default PWM_MAIN_FUNC2 201
-param set-default PWM_MAIN_FUNC6 101
-param set-default PWM_MAIN_FUNC7 101
-
+set MIXER_FILE etc/mixers-sitl/rover_ackermann_sitl.main.mix

ROMFS/px4fmu_common/init.d-posix/airframes/1063_rover_gimbal

@@ -0,0 +1,39 @@
+#!/bin/sh
+#
+# @name Rover
+#
+
+. ${R}etc/init.d/rc.rover_defaults
+
+param set-default GND_L1_DIST 5
+param set-default GND_SP_CTRL_MODE 1
+param set-default GND_SPEED_D 0.001
+param set-default GND_SPEED_I 3
+param set-default GND_SPEED_IMAX 0.125
+param set-default GND_SPEED_P 0.25
+param set-default GND_SPEED_THR_SC 1
+param set-default GND_SPEED_TRIM 4
+param set-default GND_THR_CRUISE 0.3
+param set-default GND_THR_IDLE 0
+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
+
+param set-default CBRK_AIRSPD_CHK 162128
+
+param set-default GND_MAX_ANG 0.6
+param set-default GND_WHEEL_BASE 2.0
+
+param set-default TRIG_INTERFACE 3
+param set-default TRIG_MODE 4
+param set-default MNT_MODE_IN 4
+param set-default MNT_MODE_OUT 2
+param set-default MNT_DO_STAB 2
+
+param set-default MAV_TYPE 10
+
+set MIXER_FILE etc/mixers-sitl/rover_ackermann_sitl.main.mix

ROMFS/px4fmu_common/init.d-posix/airframes/1063_rover_gimbal.post

@@ -0,0 +1,10 @@
+
+mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
+
+mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530
+
+# shellcheck disable=SC2154
+mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local
+# shellcheck disable=SC2154
+mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_offboard_port_local
+mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_offboard_port_local

ROMFS/px4fmu_common/init.d-posix/airframes/1070_boat

@@ -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
@@ -27,6 +28,7 @@ param set-default CBRK_AIRSPD_CHK 162128
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 2.0
 
+param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 9
 
 param set-default CA_ROTOR_COUNT 2
@@ -45,3 +47,4 @@ param set-default CA_R_REV 3
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 
+set MIXER skip

ROMFS/px4fmu_common/init.d-posix/airframes/17001_tf-g1

@@ -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
@@ -43,25 +44,5 @@ param set-default FW_THR_TRIM 0.8
 param set-default FW_THR_IDLE 0
 param set-default COM_DISARM_PRFLT 0
 
-param set-default CA_AIRFRAME 1
-
-param set-default CA_ROTOR_COUNT 1
-param set-default CA_ROTOR0_PX 0.3
-
-param set-default CA_SV_CS_COUNT 3
-param set-default CA_SV_CS0_TRQ_R 0
-param set-default CA_SV_CS0_TRQ_Y 1
-param set-default CA_SV_CS0_TYPE 4
-param set-default CA_SV_CS1_TRQ_P 0
-param set-default CA_SV_CS1_TRQ_R -0.5
-param set-default CA_SV_CS1_TYPE 1
-param set-default CA_SV_CS2_TRQ_P 1
-param set-default CA_SV_CS2_TYPE 3
-param set-default PWM_MAIN_FUNC1 201
-param set-default PWM_MAIN_FUNC2 101
-param set-default PWM_MAIN_FUNC3 202
-param set-default PWM_MAIN_FUNC4 203
-param set-default PWM_MAIN_FUNC5 407
-param set-default PWM_MAIN_FUNC6 408
-param set-default PWM_MAIN_FUNC7 409
-
+set MIXER_FILE etc/mixers-sitl/autogyro_sitl.main.mix
+set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/17002_tf-g2

@@ -1,73 +0,0 @@
-#!/bin/sh
-#
-# @name ThunderFly TF-G2
-# ThunderFly TF-G2 autogyro airframe. Only for FlightGear simulator
-#
-# @type Autogyro
-# @class Autogyro
-#
-# @url https://github.com/ThunderFly-aerospace/TF-G2/
-#
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-param set-default FW_AIRSPD_STALL 5
-
-param set-default FW_P_RMAX_NEG 20.0
-param set-default FW_W_RMAX 10
-param set-default FW_W_EN 1
-
-param set-default FW_RR_P 0.08
-
-param set-default MIS_TAKEOFF_ALT 7
-
-param set-default NAV_ACC_RAD 20
-param set-default NAV_DLL_ACT 2
-param set-default NAV_LOITER_RAD 50
-
-param set-default RWTO_TKOFF 0
-# Parameters related to autogyro takeoff PR
-#param set-default AG_TKOFF 1
-#param set-default AG_PROT_TYPE 1
-#param set-default AG_PROT_MIN_RPM 50.0
-#param set-default AG_PROT_TRG_RPM 900.0
-#param set-defoult AG_ROTOR_RPM 900.0
-
-param set-default FW_ARSP_SCALE_EN 0
-
-param set-default FW_AIRSPD_MAX 35
-param set-default FW_AIRSPD_MIN 7
-
-param set-default FW_P_LIM_MAX 25
-param set-default FW_P_LIM_MIN -5
-param set-default FW_R_LIM 30
-
-param set-default FW_MAN_R_MAX 30.0
-
-param set-default FW_THR_CRUISE 0.8
-param set-default FW_THR_IDLE 0
-param set-default COM_DISARM_PRFLT 0
-
-param set-default CA_AIRFRAME 1
-
-param set-default CA_ROTOR_COUNT 1
-param set-default CA_ROTOR0_PX 0.3
-
-param set-default CA_SV_CS_COUNT 3
-param set-default CA_SV_CS0_TRQ_R 0
-param set-default CA_SV_CS0_TRQ_Y 1
-param set-default CA_SV_CS0_TYPE 4
-param set-default CA_SV_CS1_TRQ_P 0
-param set-default CA_SV_CS1_TRQ_R -0.5
-param set-default CA_SV_CS1_TYPE 1
-param set-default CA_SV_CS2_TRQ_P 1
-param set-default CA_SV_CS2_TYPE 3
-param set-default PWM_MAIN_FUNC1 201
-param set-default PWM_MAIN_FUNC2 101
-param set-default PWM_MAIN_FUNC3 202
-param set-default PWM_MAIN_FUNC4 203
-param set-default PWM_MAIN_FUNC5 407
-param set-default PWM_MAIN_FUNC6 408
-param set-default PWM_MAIN_FUNC7 409
-

ROMFS/px4fmu_common/init.d-posix/airframes/2507_cloudship

@@ -11,6 +11,7 @@
 
 . ${R}etc/init.d/rc.airship_defaults
 
+param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 9
 
 param set-default CA_ROTOR_COUNT 3
@@ -37,3 +38,4 @@ param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 201
 param set-default PWM_MAIN_FUNC4 103
 
+set MIXER skip

ROMFS/px4fmu_common/init.d-posix/airframes/3010_quadrotor_x

@@ -9,24 +9,4 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-
-param set-default CA_AIRFRAME 0
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.1515
-param set-default CA_ROTOR0_PY 0.245
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.1515
-param set-default CA_ROTOR1_PY -0.1875
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.1515
-param set-default CA_ROTOR2_PY -0.245
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.1515
-param set-default CA_ROTOR3_PY 0.1875
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
+set MIXER quad_w

ROMFS/px4fmu_common/init.d-posix/airframes/3011_hexarotor_x

@@ -26,29 +26,4 @@ param set-default TRIG_MODE 4
 param set-default MNT_MODE_IN 4
 param set-default MNT_DO_STAB 2
 
-
-param set-default CA_ROTOR0_PX 0.0
-param set-default CA_ROTOR0_PY 1.0
-param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR1_PX 0.0
-param set-default CA_ROTOR1_PY -1.0
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.866025
-param set-default CA_ROTOR2_PY -0.5
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.866025
-param set-default CA_ROTOR3_PY 0.5
-param set-default CA_ROTOR3_KM 0.05
-param set-default CA_ROTOR4_PX 0.866025
-param set-default CA_ROTOR4_PY 0.5
-param set-default CA_ROTOR4_KM 0.05
-param set-default CA_ROTOR5_PX -0.866025
-param set-default CA_ROTOR5_PY -0.5
-param set-default CA_ROTOR5_KM -0.05
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-param set-default PWM_MAIN_FUNC5 105
-param set-default PWM_MAIN_FUNC6 106
+set MIXER hexa_x

ROMFS/px4fmu_common/init.d-posix/airframes/4001_x500

@@ -1,48 +0,0 @@
-#!/bin/sh
-#
-# @name Gazebo x500
-#
-# @type Quadrotor
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500}
-
-param set-default CA_AIRFRAME 0
-param set-default CA_ROTOR_COUNT 4
-
-param set-default CA_ROTOR0_PX 0.13
-param set-default CA_ROTOR0_PY 0.22
-param set-default CA_ROTOR0_KM  0.05
-
-param set-default CA_ROTOR1_PX -0.13
-param set-default CA_ROTOR1_PY -0.20
-param set-default CA_ROTOR1_KM  0.05
-
-param set-default CA_ROTOR2_PX 0.13
-param set-default CA_ROTOR2_PY -0.22
-param set-default CA_ROTOR2_KM -0.05
-
-param set-default CA_ROTOR3_PX -0.13
-param set-default CA_ROTOR3_PY 0.20
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default SIM_GZ_FUNC1 101
-param set-default SIM_GZ_FUNC2 102
-param set-default SIM_GZ_FUNC3 103
-param set-default SIM_GZ_FUNC4 104
-
-param set-default SIM_GZ_MIN1 150
-param set-default SIM_GZ_MIN2 150
-param set-default SIM_GZ_MIN3 150
-param set-default SIM_GZ_MIN4 150
-
-param set-default SIM_GZ_MAX1 1000
-param set-default SIM_GZ_MAX2 1000
-param set-default SIM_GZ_MAX3 1000
-param set-default SIM_GZ_MAX4 1000
-
-param set-default MPC_THR_HOVER 0.60

ROMFS/px4fmu_common/init.d-posix/airframes/6011_typhoon_h480

@@ -28,39 +28,4 @@ param set-default MNT_MODE_IN 4
 param set-default MNT_MODE_OUT 2
 param set-default MAV_PROTO_VER 2
 
-param set-default CA_AIRFRAME 0
-param set-default CA_ROTOR_COUNT 6
-
-param set-default CA_ROTOR0_PX 0.0
-param set-default CA_ROTOR0_PY 1.0
-param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR1_PX 0.0
-param set-default CA_ROTOR1_PY -1.0
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.866025
-param set-default CA_ROTOR2_PY -0.5
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.866025
-param set-default CA_ROTOR3_PY 0.5
-param set-default CA_ROTOR3_KM 0.05
-param set-default CA_ROTOR4_PX 0.866025
-param set-default CA_ROTOR4_PY 0.5
-param set-default CA_ROTOR4_KM 0.05
-param set-default CA_ROTOR5_PX -0.866025
-param set-default CA_ROTOR5_PY -0.5
-param set-default CA_ROTOR5_KM -0.05
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-param set-default PWM_MAIN_FUNC5 105
-param set-default PWM_MAIN_FUNC6 106
-# Gimbal
-param set-default PWM_MAIN_FUNC7 420
-param set-default PWM_MAIN_FUNC8 421
-param set-default PWM_MAIN_FUNC9 422
-# Landing gear
-param set-default PWM_MAIN_FUNC10 400
-param set-default PWM_MAIN_FUNC11 400
-
+set MIXER hexa_x

ROMFS/px4fmu_common/init.d-posix/airframes/6011_typhoon_h480.post

@@ -1,4 +1,6 @@
 
+mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
+
 mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 -p
 
 # shellcheck disable=SC2154

ROMFS/px4fmu_common/init.d-posix/airframes/6012_typhoon_h480_ctrlalloc

@@ -0,0 +1,70 @@
+#!/bin/sh
+#
+# @name Typhoon H480 SITL
+#
+# @type Hexarotor x
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+param set-default MAV_TYPE 13
+
+param set-default SYS_CTRL_ALLOC 1
+
+param set-default MC_PITCHRATE_P 0.0800
+param set-default MC_PITCHRATE_I 0.0400
+param set-default MC_PITCHRATE_D 0.0010
+param set-default MC_PITCH_P 9.0
+param set-default MC_ROLLRATE_P 0.0800
+param set-default MC_ROLLRATE_I 0.0400
+param set-default MC_ROLLRATE_D 0.0010
+param set-default MC_ROLL_P 9.0
+
+param set-default MC_PITCHRATE_P 0.0800
+param set-default MC_PITCHRATE_I 0.0400
+param set-default MC_PITCHRATE_D 0.0010
+param set-default MC_PITCH_P 9.0
+param set-default MC_ROLLRATE_P 0.0800
+param set-default MC_ROLLRATE_I 0.0400
+param set-default MC_ROLLRATE_D 0.0010
+param set-default MC_ROLL_P 9.0
+
+param set-default RTL_DESCEND_ALT 10
+param set-default RTL_LAND_DELAY 0
+
+param set-default TRIG_INTERFACE 3
+param set-default TRIG_MODE 4
+param set-default MNT_MODE_IN 0
+param set-default MAV_PROTO_VER 2
+
+param set-default CA_AIRFRAME 0
+param set-default CA_ROTOR_COUNT 6
+
+param set-default CA_ROTOR0_PX 0.0
+param set-default CA_ROTOR0_PY 1.0
+param set-default CA_ROTOR0_KM -0.05
+param set-default CA_ROTOR1_PX 0.0
+param set-default CA_ROTOR1_PY -1.0
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.866025
+param set-default CA_ROTOR2_PY -0.5
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.866025
+param set-default CA_ROTOR3_PY 0.5
+param set-default CA_ROTOR3_KM 0.05
+param set-default CA_ROTOR4_PX 0.866025
+param set-default CA_ROTOR4_PY 0.5
+param set-default CA_ROTOR4_KM 0.05
+param set-default CA_ROTOR5_PX -0.866025
+param set-default CA_ROTOR5_PY -0.5
+param set-default CA_ROTOR5_KM -0.05
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+param set-default PWM_MAIN_FUNC5 105
+param set-default PWM_MAIN_FUNC6 106
+
+set MIXER skip
+set MIXER_AUX none

ROMFS/px4fmu_common/init.d-posix/airframes/6012_typhoon_h480_ctrlalloc.post

@@ -0,0 +1,8 @@
+
+mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 -p
+
+# shellcheck disable=SC2154
+mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local
+# shellcheck disable=SC2154
+mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_offboard_port_local
+mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_offboard_port_local

ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt

@@ -33,8 +33,13 @@
 
 px4_add_romfs_files(
 	10016_iris
+	10017_iris_ctrlalloc
 	10018_iris_foggy_lidar
 	10019_omnicopter
+	10020_if750a
+	10020_if750a.post
+	10028_quadrotor_x
+	10029_hexarotor_x
 	10030_px4vision
 	10040_quadx
 	10041_airplane
@@ -45,41 +50,46 @@ px4_add_romfs_files(
 	1012_iris_rplidar
 	1013_iris_vision
 	1013_iris_vision.post
+	1014_solo
 	1015_iris_obs_avoid
 	1015_iris_obs_avoid.post
 	1017_iris_opt_flow_mockup
 	1018_iris_vision_velocity
 	1019_iris_dual_gps
+	1020_uuv_generic
 	1021_uuv_hippocampus
 	1022_uuv_bluerov2_heavy
+	1025_iris_depth_camera
 	1030_plane
 	1031_plane_cam
 	1032_plane_catapult
+	1033_plane_lidar
 	1033_rascal
 	1034_rascal-electric
 	1035_techpod
 	1036_malolo
 	1037_believer
 	1038_glider
-	1039_advanced_plane
 	1040_standard_vtol
 	1041_tailsitter
 	1042_tiltrotor
 	1043_standard_vtol_drop
-	1044_plane_lidar
+	1043_standard_vtol_drop.post
+	1058_standard_vtol_gimbal
+	1058_standard_vtol_gimbal.post
+	1059_tiltrotor_tri
 	1060_rover
 	1061_r1_rover
 	1062_tf-r1
+	1063_rover_gimbal
+	1063_rover_gimbal.post
 	1070_boat
 	3010_quadrotor_x
 	3011_hexarotor_x
-
-	4001_x500
-
 	17001_tf-g1
-	17002_tf-g2
 	2507_cloudship
-
 	6011_typhoon_h480
 	6011_typhoon_h480.post
+	6012_typhoon_h480_ctrlalloc
+	6012_typhoon_h480_ctrlalloc.post
 )

ROMFS/px4fmu_common/init.d-posix/px4-rc.mavlink

@@ -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))
@@ -24,6 +24,7 @@ mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local
 
 # API/Offboard link
 mavlink start -x -u $udp_offboard_port_local -r 4000000 -f -m onboard -o $udp_offboard_port_remote
+mavlink stream -r 2 -s COMMAND_CANCEL -u $udp_offboard_port_local
 
 # Onboard link to camera
 mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote
@@ -32,7 +33,7 @@ mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $ud
 mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote
 
 # To display for SIH sitl
-if [ "$PX4_SIMULATOR" = "sihsim" ]; then
+if [ "$SIM_MODE" = "sihsim" ]; then
 	udp_sihsim_port_local=$((19450+px4_instance))
 	udp_sihsim_port_remote=$((19410+px4_instance))
 	mavlink start -x -u $udp_sihsim_port_local -r 400000 -m custom -o $udp_sihsim_port_remote

ROMFS/px4fmu_common/init.d-posix/px4-rc.rtps

@@ -0,0 +1,4 @@
+#!/bin/sh
+# shellcheck disable=SC2154
+
+micrortps_client start -t UDP -r $((2019+2*px4_instance)) -s $((2020+2*px4_instance))

ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator

@@ -1,132 +1,20 @@
 #!/bin/sh
 # shellcheck disable=SC2154
 
-# Simulator IMU data provided at 250 Hz
-param set-default IMU_INTEG_RATE 250
-
-if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0" ]; then
-
-	if simulator_sih start; then
-
-		sensor_baro_sim start
-		sensor_gps_sim start
-		sensor_mag_sim start
-
-	else
-		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
-		. ./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 &
-		fi
-
-	else
-		echo "INFO  [init] gazebo already running world: ${gz_world}"
-		PX4_GZ_WORLD=${gz_world}
-	fi
-
-	# start gz_bridge
-	if [ -n "${PX4_GZ_MODEL}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ]; then
-		# model specified, gz_bridge will spawn model
-
-		if [ -n "${PX4_GZ_MODEL_POSE}" ]; then
-			# Clean potential input line formatting.
-			model_pose="$( echo "${PX4_GZ_MODEL_POSE}" | sed -e 's/^[ \t]*//; s/[ \t]*$//; s/,/ /g; s/  / /g; s/ /,/g' )"
-			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 "${px4_instance}"; then
-			sensor_baro_sim start
-			sensor_gps_sim start
-			sensor_mag_sim start
-
-		else
-			echo "ERROR [init] gazebo failed to start"
-			exit 1
-		fi
-
-	elif [ -n "${PX4_GZ_MODEL_NAME}" ] && [ -z "${PX4_GZ_MODEL}" ]; then
-		# model name specificed, gz_bridge will attach to existing model
-
-		if gz_bridge start -n "${PX4_GZ_MODEL_NAME}" -w "${PX4_GZ_WORLD}"; then
-			sensor_baro_sim start
-			sensor_gps_sim start
-			sensor_mag_sim start
-
-		else
-			echo "ERROR [init] gazebo failed to start"
-			exit 1
-		fi
-
-	elif [ -n "${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 "${px4_instance}"; then
-			sensor_baro_sim start
-			sensor_gps_sim start
-			sensor_mag_sim start
-
-		else
-			echo "ERROR [init] gazebo failed to start"
-			exit 1
-		fi
-
-	else
-		echo "ERROR [init] failed to pass only PX4_GZ_MODEL_NAME or PX4_GZ_MODEL"
-		exit 1
-	fi
+simulator_tcp_port=$((4560+px4_instance))
 
+# Check if PX4_SIM_HOSTNAME environment variable is empty
+# If empty check if PX4_SIM_HOST_ADDR environment variable is empty
+# If both are empty use localhost for simulator
+if [ -z "${PX4_SIM_HOSTNAME}" ]; then
+  if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
+    echo "PX4 SIM HOST: localhost"
+    simulator start -c $simulator_tcp_port
+  else
+    echo "PX4 SIM HOST: $PX4_SIM_HOST_ADDR"
+    simulator start -t $PX4_SIM_HOST_ADDR $simulator_tcp_port
+  fi
 else
-	# otherwise start simulator (mavlink) module
-	simulator_tcp_port=$((4560+px4_instance))
-
-	# Check if PX4_SIM_HOSTNAME environment variable is empty
-	# If empty check if PX4_SIM_HOST_ADDR environment variable is empty
-	# If both are empty use localhost for simulator
-	if [ -z "${PX4_SIM_HOSTNAME}" ]; then
-
-		if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
-			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}"
-		fi
-
-	else
-		echo "PX4 SIM HOST: ${PX4_SIM_HOSTNAME}"
-		simulator_mavlink start -h "${PX4_SIM_HOSTNAME}" "${simulator_tcp_port}"
-	fi
-
+  echo "PX4 SIM HOST: $PX4_SIM_HOSTNAME"
+  simulator start -h $PX4_SIM_HOSTNAME $simulator_tcp_port
 fi

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -1,9 +1,6 @@
 #!/bin/sh
 
-# Un comment and use set +e to ignore and set -e to enable 'exit on error control'
-set +e
-# Un comment the line below to help debug scripts by printing a trace of the script commands
-#set -x
+set -e
 
 # PX4 commands need the 'px4-' prefix in bash.
 # (px4-alias.sh is expected to be in the PATH)
@@ -26,92 +23,70 @@ then
 fi
 
 # initialize script variables
+set IO_PRESENT                  no
+set MIXER                       none
+set MIXER_AUX                   none
+set MIXER_FILE                  none
+set OUTPUT_MODE                 sim
+set EXTRA_MIXER_MODE            none
+set PWM_OUT                     none
+set PWM_AUX_OUT                 none
+set SDCARD_MIXERS_PATH          etc/mixers
+set USE_IO                      no
 set VEHICLE_TYPE                none
 set LOGGER_ARGS                 ""
 set LOGGER_BUF                  1000
 
 set RUN_MINIMAL_SHELL           no
 
-set SYS_AUTOSTART=0
-
-if [ "$PX4_SIM_MODEL" = "shell" ]
-then
+# Use the variable set by sitl_run.sh to choose the model settings.
+if [ "$PX4_SIM_MODEL" = "shell" ]; then
 	set RUN_MINIMAL_SHELL yes
-
-elif [ -n "$PX4_SYS_AUTOSTART" ]
-then
-	echo "env SYS_AUTOSTART: ${PX4_SYS_AUTOSTART}"
-	SYS_AUTOSTART=${PX4_SYS_AUTOSTART}
-
-elif [ "$PX4_SIM_MODEL" = "none" ] || [ -z $PX4_SIM_MODEL ]
-then
-	# no airframe selected
-	SYS_AUTOSTART=0
-
-elif [ -n "$PX4_SIM_MODEL" ]
-then
+else
 	# Find the matching Autostart ID (file name has the form: [0-9]+_${PX4_SIM_MODEL})
 	# TODO: unify with rc.autostart generation
 	# shellcheck disable=SC2012
 	REQUESTED_AUTOSTART=$(ls "${R}etc/init.d-posix/airframes" | sed -n 's/^\([0-9][0-9]*\)_'${PX4_SIM_MODEL}'$/\1/p')
 	if [ -z "$REQUESTED_AUTOSTART" ]; then
-		echo "ERROR [init] Unknown model $PX4_SIM_MODEL (not found by name on ${R}etc/init.d-posix/airframes)"
+		echo "ERROR  [init] Unknown model $PX4_SIM_MODEL (not found by name on ${R}etc/init.d-posix/airframes)"
 		exit 1
 	else
-		SYS_AUTOSTART=$REQUESTED_AUTOSTART
 		echo "INFO  [init] found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
 	fi
 fi
 
 # Load parameters
-set PARAM_FILE parameters.bson
-set PARAM_BACKUP_FILE parameters_backup.bson
-
+set PARAM_FILE eeprom/parameters_"$REQUESTED_AUTOSTART"
 param select $PARAM_FILE
-if [ -f $PARAM_FILE ]; then
 
-	if ! param import
+if [ -f $PARAM_FILE ]
+then
+	if param load
 	then
-		echo "ERROR [init] param import failed"
-
-		bsondump $PARAM_FILE
-
-		# try to make a backup copy
-		cp $PARAM_FILE param_import_fail.bson
-
-		# try importing from backup file
-		if [ -f $PARAM_BACKUP_FILE ]
-		then
-			echo "[init] importing from parameter backup"
-
-			# dump current backup file contents for comparison
-			bsondump $PARAM_BACKUP_FILE
-
-			param import $PARAM_BACKUP_FILE
-
-			# overwrite invalid $PARAM_FILE with backup
-			cp $PARAM_BACKUP_FILE $PARAM_FILE
-		fi
-
-		param status
+		echo "[param] Loaded: $PARAM_FILE"
+	else
+		echo "[param] FAILED loading $PARAM_FILE"
 	fi
-
-elif [ -f $PARAM_BACKUP_FILE ]; then
-	echo "ERROR [init] primary param file $PARAM_FILE unavailable, using backup $PARAM_BACKUP_FILE"
-	param import $PARAM_BACKUP_FILE
+else
+	echo "[param] parameter file not found, creating $PARAM_FILE"
 fi
 
-param select-backup $PARAM_BACKUP_FILE
-
-
 # exit early when the minimal shell is requested
 [ $RUN_MINIMAL_SHELL = yes ] && exit 0
 
-if param compare SYS_AUTOSTART $SYS_AUTOSTART
-then
-	set AUTOCNF no
 
-elif [ "$SYS_AUTOSTART" -eq 0 ]
+# Use environment variable PX4_ESTIMATOR to choose estimator.
+if [ "$PX4_ESTIMATOR" = "q" ]; then
+	param set SYS_MC_EST_GROUP 3
+elif [ "$PX4_ESTIMATOR" = "ekf2" ]; then
+	param set SYS_MC_EST_GROUP 2
+elif [ "$PX4_ESTIMATOR" = "lpe" ]; then
+	param set SYS_MC_EST_GROUP 1
+elif [ "$PX4_ESTIMATOR" = "inav" ]; then
+	param set SYS_MC_EST_GROUP 0
+fi
+
+if param compare SYS_AUTOSTART $REQUESTED_AUTOSTART
 then
 	set AUTOCNF no
 else
@@ -129,10 +104,11 @@ fi
 # multi-instance setup
 # shellcheck disable=SC2154
 param set MAV_SYS_ID $((px4_instance+1))
+param set MNT_MAV_SYSID $((px4_instance+1))
 
 if [ $AUTOCNF = yes ]
 then
-	param set SYS_AUTOSTART $SYS_AUTOSTART
+	param set SYS_AUTOSTART $REQUESTED_AUTOSTART
 
 	param set CAL_ACC0_ID  1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
 	param set CAL_GYRO0_ID 1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
@@ -142,9 +118,7 @@ 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
@@ -171,7 +145,6 @@ param set-default EKF2_MULTI_MAG 2
 param set-default SENS_MAG_MODE 0
 
 param set-default IMU_GYRO_FFT_EN 1
-param set-default MAV_PROTO_VER 2 # Ensures QGC does not drop the first few packets after a SITL restart due to MAVLINK 1 packets
 
 param set-default -s MC_AT_EN 1
 
@@ -219,28 +192,28 @@ do
 			;;
 	esac
 done
-
-if [ -e "$autostart_file" ]
-then
-	. "$autostart_file"
-
-elif [ ! -e "$autostart_file" ] && [ "$SYS_AUTOSTART" -ne "0" ]
-then
+if [ ! -e "$autostart_file" ]; then
 	echo "Error: no autostart file found ($autostart_file)"
-	#exit 1
+	exit 1
 fi
 
+. "$autostart_file"
+
+# Simulator IMU data provided at 250 Hz
+param set IMU_INTEG_RATE 250
+
 #user defined params for instances can be in PATH
 . px4-rc.params
 
 dataman start
-
+# start sih in sih_sim mode, otherwise simulator module
+if [ "$SIM_MODE" = "sihsim" ]; then
+	sih start
 # only start the simulator if not in replay mode, as both control the lockstep time
-if ! replay tryapplyparams
+elif ! replay tryapplyparams
 then
-	. px4-rc.simulator
+  . px4-rc.simulator
 fi
-
 load_mon start
 battery_simulator start
 tone_alarm start
@@ -249,32 +222,19 @@ manual_control start
 sensors start
 commander start
 
-if ! pwm_out_sim start -m sim
-then
-	tune_control play error
-fi
-
-#
 # Configure vehicle type specific parameters.
-# Note: rc.vehicle_setup is the entry point for all vehicle type specific setup.
+# Note: rc.vehicle_setup is the entry point for rc.interface,
+#       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
+#
 . ${R}etc/init.d/rc.vehicle_setup
 
 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

ROMFS/px4fmu_common/init.d/CMakeLists.txt

@@ -39,9 +39,11 @@ px4_add_romfs_files(
 	rc.balloon_apps
 	rc.balloon_defaults
 	rc.boat_defaults
+	rc.autostart_ext
 	rc.fw_apps
 	rc.fw_defaults
 	rc.heli_defaults
+	rc.interface
 	rc.logging
 	rc.mc_apps
 	rc.mc_defaults

ROMFS/px4fmu_common/init.d/airframes/1000_rc_fw_easystar.hil

@@ -0,0 +1,72 @@
+#!/bin/sh
+#
+# @name HILStar (XPlane)
+#
+# @type Simulation
+# @class Plane
+#
+# @output MAIN1 aileron
+# @output MAIN2 elevator
+# @output MAIN3 rudder
+# @output MAIN4 throttle
+# @output MAIN5 flaps
+# @output MAIN6 gear
+#
+# @maintainer Lorenz Meier <lorenz@px4.io>
+# @board px4_fmu-v2 exclude
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+param set-default BAT1_N_CELLS 3
+
+param set-default FW_AIRSPD_MAX 20
+param set-default FW_AIRSPD_MIN 12
+param set-default FW_AIRSPD_TRIM 14
+param set-default FW_R_TC 0.3
+param set-default FW_P_TC 0.3
+param set-default FW_L1_DAMPING 0.74
+param set-default FW_L1_PERIOD 16
+param set-default FW_LND_ANG 15
+param set-default FW_LND_FLALT 5
+param set-default FW_PR_FF 0.35
+param set-default FW_PR_P 0.2
+param set-default FW_RR_FF 0.6
+param set-default FW_RR_P 0.3
+
+param set-default RWTO_TKOFF 1
+
+param set-default CA_AIRFRAME 1
+param set-default CA_ROTOR_COUNT 1
+param set-default CA_ROTOR0_PX 0.3
+param set-default CA_SV_CS_COUNT 4
+param set-default CA_SV_CS0_TRQ_R 0.5
+param set-default CA_SV_CS0_TYPE 2
+param set-default CA_SV_CS1_TRQ_P 1.0
+param set-default CA_SV_CS1_TYPE 3
+param set-default CA_SV_CS2_TRQ_Y 1.0
+param set-default CA_SV_CS2_TYPE 4
+param set-default CA_SV_CS3_TYPE 10
+
+param set-default HIL_ACT_REV 2
+param set-default HIL_ACT_FUNC1 201
+param set-default HIL_ACT_FUNC2 202
+param set-default HIL_ACT_FUNC3 203
+param set-default HIL_ACT_FUNC4 101
+param set-default HIL_ACT_FUNC5 204
+param set-default HIL_ACT_FUNC6 400
+
+param set SYS_HITL 1
+
+param set UAVCAN_ENABLE 0
+
+# disable some checks to allow to fly
+# - with usb
+param set-default CBRK_USB_CHK 197848
+# - without real battery
+param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default COM_PREARM_MODE 0
+param set-default CBRK_IO_SAFETY 22027
+
+set MIXER AERT

ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil

@@ -11,6 +11,7 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
+set MIXER quad_x
 
 param set SYS_HITL 1
 

ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil

@@ -31,12 +31,14 @@ 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
 
 param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_THR_MIN 0.1
+param set-default MPC_TKO_SPEED 1
 param set-default MPC_XY_P 0.8
 param set-default MPC_XY_VEL_D_ACC 0.1
 param set-default MPC_XY_VEL_I_ACC 4
@@ -53,6 +55,8 @@ param set-default RTL_RETURN_ALT 30
 param set-default SDLOG_DIRS_MAX 7
 
 param set-default VT_F_TRANS_THR 0.75
+param set-default VT_MOT_ID 1234
+param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_TYPE 2
 
 param set-default CA_AIRFRAME 2
@@ -72,8 +76,6 @@ param set-default CA_ROTOR4_AZ 0.0
 param set-default CA_ROTOR4_PX 0.2
 
 param set-default CA_SV_CS_COUNT 3
-param set-default CA_SV_CS0_TRQ_R -0.5
-param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
 param set-default CA_SV_CS2_TRQ_P 1.0
@@ -104,4 +106,6 @@ param set-default CBRK_IO_SAFETY 22027
 
 param set-default MAV_TYPE 22
 
+set MIXER standard_vtol_hitl
 
+set PWM_OUT 1234