[DO NOT MERGE] parameter testing

Remove relaying of maximum altitude through land detector
commander: prevent uninitialized warning
2026-05-28 03:50:04 +08:00 · 2022-01-05 11:39:22 -05:00 · 2022-01-05 14:54:59 +01:00 · 2022-01-05 10:53:51 +01:00 · 2022-01-04 13:57:49 -05:00 · 2022-01-04 09:32:43 -05:00
244 changed files with 12014 additions and 7886 deletions
@@ -170,7 +170,7 @@ def createBuildNode(Boolean archive, String docker_image, String target) {
            try {
              sh('export')
              checkout(scm)
-              sh('make distclean')
+              sh('make distclean; git clean -ff -x -d .')
              sh('git fetch --tags')
              sh('ccache -s')
              sh('make ' + target)
@@ -187,7 +187,7 @@ def createBuildNode(Boolean archive, String docker_image, String target) {
              throw (exc)
            }
            finally {
-              sh('make distclean')
+              sh('make distclean; git clean -ff -x -d .')
            }
          }
        }
@@ -25,7 +25,7 @@ pipeline {
              }
              post {
                always {
-                    sh 'make distclean'
+                  sh 'make distclean; git clean -ff -x -d .'
                }
              }
            } // stage build
@@ -73,8 +73,11 @@ pipeline {
                }
              }
              post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                always {
-                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf || true'
+                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf || true'
                }
              }
            } // stage test
@@ -99,7 +102,7 @@ pipeline {
              }
              post {
                always {
-                    sh 'make distclean'
+                  sh 'make distclean; git clean -ff -x -d .'
                }
              }
            } // stage build
@@ -142,8 +145,11 @@ pipeline {
                }
              }
              post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                always {
-                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cuav_x7pro_test/cuav_x7pro_test.elf || true'
+                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cuav_x7pro_test/cuav_x7pro_test.elf || true'
                }
              }
            } // stage test
@@ -168,7 +174,7 @@ pipeline {
              }
              post {
                always {
-                    sh 'make distclean'
+                  sh 'make distclean; git clean -ff -x -d .'
                }
              }
            } // stage build
@@ -211,8 +217,11 @@ pipeline {
                }
              }
              post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                always {
-                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf || true'
+                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf || true'
                }
              }
            } // stage test
@@ -237,7 +246,7 @@ pipeline {
              }
              post {
                always {
-                    sh 'make distclean'
+                  sh 'make distclean; git clean -ff -x -d .'
                }
              }
            } // stage build
@@ -279,8 +288,11 @@ pipeline {
                }
              }
              post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                always {
-                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf || true'
+                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf || true'
                }
              }
            } // stage test
@@ -305,7 +317,7 @@ pipeline {
              }
              post {
                always {
-                    sh 'make distclean'
+                  sh 'make distclean; git clean -ff -x -d .'
                }
              }
            } // stage build
@@ -348,8 +360,11 @@ pipeline {
                }
              }
              post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                always {
-                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf || true'
+                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf || true'
                }
              }
            } // stage test
@@ -374,7 +389,7 @@ pipeline {
              }
              post {
                always {
-                    sh 'make distclean'
+                  sh 'make distclean; git clean -ff -x -d .'
                }
              }
            } // stage build
@@ -407,7 +422,7 @@ pipeline {

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

                    // test dataman
@@ -426,7 +441,6 @@ pipeline {
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true'       // limit cpu usage
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true'       // limit cpu usage
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SDLOG_MODE -1" || true'        // limit cpu usage
                    checkStatus()
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
                  }
@@ -438,8 +452,11 @@ pipeline {
                }
              }
              post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                always {
-                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf || true'
+                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf || true'
                }
              }
            } // stage test
@@ -464,7 +481,7 @@ pipeline {
              }
              post {
                always {
-                    sh 'make distclean'
+                  sh 'make distclean; git clean -ff -x -d .'
                }
              }
            } // stage build
@@ -508,7 +525,6 @@ pipeline {
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true'       // limit cpu usage
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true'       // limit cpu usage
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SDLOG_MODE -1" || true'        // limit cpu usage
                    checkStatus()
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
                  }
@@ -520,8 +536,11 @@ pipeline {
                }
              }
              post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                always {
-                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf || true'
+                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf || true'
                }
              }
            } // stage test
@@ -546,7 +565,7 @@ pipeline {
              }
              post {
                always {
-                    sh 'make distclean'
+                  sh 'make distclean; git clean -ff -x -d .'
                }
              }
            } // stage build
@@ -589,8 +608,11 @@ pipeline {
                }
              }
              post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                always {
-                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf || true'
+                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf || true'
                }
              }
            } // stage test
@@ -615,7 +637,7 @@ pipeline {
              }
              post {
                always {
-                    sh 'make distclean'
+                  sh 'make distclean; git clean -ff -x -d .'
                }
              }
            } // stage build
@@ -658,8 +680,11 @@ pipeline {
                }
              }
              post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                always {
-                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf || true'
+                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf || true'
                }
              }
            } // stage test
@@ -685,7 +710,7 @@ void checkoutSCM() {
  retry(3) {
    checkout scm
    sh 'export'
-    sh 'make distclean'
+    sh 'make distclean; git clean -ff -x -d .'
    sh 'git fetch --tags'
    sh 'ccache -z'
  }
@@ -722,26 +747,33 @@ void checkStatus() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'

  // run logger
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sleep 1"' // sleep before continuing
  // status commands
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/usage"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/meminfo"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/uptime"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander check" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dataman status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ekf2 status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "free"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gps status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload; top once; listener cpuload"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /bin"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /dev"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /etc"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /obj"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc/fs"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status streams" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount"'
@@ -762,7 +794,7 @@ void checkStatus() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ver all"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
  // stop logger
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"'
 }

 void resetParameters() {
@@ -819,24 +851,7 @@ void runTests() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors stop"' // ignore irrelevant sensor timeouts during microbenchmarks
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "microbench all"'

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

 void printTopics() {
@@ -936,10 +951,6 @@ void printTopics() {
 }

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

  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 0" || true'
@@ -949,29 +960,4 @@ void resetBoard() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SDLOG_MODE -1" || true'        // limit cpu usage
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "echo > /fs/microsd/.format" || true'
  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
-
-  // check SD card
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc/fs" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/usage" || true'
-  // format
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dataman stop" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "umount /fs/microsd" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mkfatfs -F 32 /dev/mmcsd0" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once" || true'
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount -t vfat /dev/mmcsd0 /fs/microsd" || true'
-  // check SD card
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc/fs" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/usage" || true'
-
-  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
 }
@@ -88,7 +88,7 @@ pipeline {
            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
          }
          steps {
-            sh 'make distclean'
+            sh 'make distclean; git clean -ff -x -d .'
            sh 'git fetch --all --tags'
            sh 'make airframe_metadata'
            dir('build/px4_sitl_default/docs') {
@@ -98,7 +98,7 @@ pipeline {
          }
          post {
            always {
-              sh 'make distclean'
+              sh 'make distclean; git clean -ff -x -d .'
            }
          }
        }
@@ -108,7 +108,7 @@ pipeline {
            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
          }
          steps {
-            sh 'make distclean'
+            sh 'make distclean; git clean -ff -x -d .'
            sh 'git fetch --all --tags'
            sh 'make parameters_metadata'
            dir('build/px4_sitl_default/docs') {
@@ -118,7 +118,7 @@ pipeline {
          }
          post {
            always {
-              sh 'make distclean'
+              sh 'make distclean; git clean -ff -x -d .'
            }
          }
        }
@@ -128,7 +128,7 @@ pipeline {
            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
          }
          steps {
-            sh 'make distclean'
+            sh 'make distclean; git clean -ff -x -d .'
            sh 'git fetch --all --tags'
            sh 'make module_documentation'
            dir('build/px4_sitl_default/docs') {
@@ -138,7 +138,7 @@ pipeline {
          }
          post {
            always {
-              sh 'make distclean'
+              sh 'make distclean; git clean -ff -x -d .'
            }
          }
        }
@@ -156,7 +156,7 @@ pipeline {
          }
          post {
            always {
-              sh 'make distclean'
+              sh 'make distclean; git clean -ff -x -d .'
            }
          }
        }
@@ -170,7 +170,7 @@ pipeline {
          }
          steps {
            sh 'export'
-            sh 'make distclean'
+            sh 'make distclean; git clean -ff -x -d .'
            sh 'git fetch --all --tags'
            sh 'make uorb_graphs'
            dir('Tools/uorb_graph') {
@@ -180,7 +180,7 @@ pipeline {
          }
          post {
            always {
-              sh 'make distclean'
+              sh 'make distclean; git clean -ff -x -d .'
            }
          }
        }
@@ -261,7 +261,7 @@ pipeline {
          steps {
            sh('export')
            sh('git fetch --all --tags')
-            sh('make distclean')
+            sh('make distclean; git clean -ff -x -d .')
            sh('make px4_sitl_rtps')
            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/micrortps_agent.git -b ${BRANCH_NAME}")
@@ -290,7 +290,7 @@ pipeline {
          }
          steps {
            sh('export')
-            sh('make distclean')
+            sh('make distclean; git clean -ff -x -d .')
            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
              // 'master' branch
@@ -319,7 +319,7 @@ pipeline {
          }
          steps {
            sh('export')
-            sh('make distclean')
+            sh('make distclean; git clean -ff -x -d .')
            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_ros_com.git -b ${BRANCH_NAME}")
              // deploy uORB RTPS ID map
@@ -482,7 +482,9 @@ shellcheck_all:
 	@make px4_fmu-v5_default shellcheck

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

 # Cleanup
 # --------------------------------------------------------------------
@@ -14,19 +14,19 @@ param set-default SYS_CTRL_ALLOC 1

 param set-default CA_AIRFRAME 0

-param set-default CA_MC_R_COUNT 4
-param set-default CA_MC_R0_PX 0.1515
-param set-default CA_MC_R0_PY 0.245
-param set-default CA_MC_R0_KM 0.05
-param set-default CA_MC_R1_PX -0.1515
-param set-default CA_MC_R1_PY -0.1875
-param set-default CA_MC_R1_KM 0.05
-param set-default CA_MC_R2_PX 0.1515
-param set-default CA_MC_R2_PY -0.245
-param set-default CA_MC_R2_KM -0.05
-param set-default CA_MC_R3_PX -0.1515
-param set-default CA_MC_R3_PY 0.1875
-param set-default CA_MC_R3_KM -0.05
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.1515
+param set-default CA_ROTOR0_PY 0.245
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.1515
+param set-default CA_ROTOR1_PY -0.1875
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.1515
+param set-default CA_ROTOR2_PY -0.245
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.1515
+param set-default CA_ROTOR3_PY 0.1875
+param set-default CA_ROTOR3_KM -0.05

 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
@@ -8,6 +8,63 @@
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

-set PWM_OUT 12345678
-set MIXER_FILE etc/mixers-sitl/vectored6dof_sitl.main.mix
-set MIXER custom
+param set-default SYS_CTRL_ALLOC 1
+param set-default CA_AIRFRAME 7
+
+param set-default CA_ROTOR_COUNT 8
+param set-default CA_R_REV 255
+param set-default CA_ROTOR0_AX 1.0000
+param set-default CA_ROTOR0_AY -1.0000
+param set-default CA_ROTOR0_AZ 0.0000
+param set-default CA_ROTOR0_KM 0.0000
+param set-default CA_ROTOR0_PX 0.5000
+param set-default CA_ROTOR0_PY 0.3000
+param set-default CA_ROTOR0_PZ 0.2000
+param set-default CA_ROTOR1_AX 1.0000
+param set-default CA_ROTOR1_AY 1.0000
+param set-default CA_ROTOR1_AZ 0.0000
+param set-default CA_ROTOR1_KM 0.0000
+param set-default CA_ROTOR1_PX 0.5000
+param set-default CA_ROTOR1_PY -0.3000
+param set-default CA_ROTOR1_PZ 0.2000
+param set-default CA_ROTOR2_AX 1.0000
+param set-default CA_ROTOR2_AY 1.0000
+param set-default CA_ROTOR2_AZ 0.0000
+param set-default CA_ROTOR2_KM 0.0000
+param set-default CA_ROTOR2_PX -0.5000
+param set-default CA_ROTOR2_PY 0.3000
+param set-default CA_ROTOR2_PZ 0.2000
+param set-default CA_ROTOR3_AX 1.0000
+param set-default CA_ROTOR3_AY -1.0000
+param set-default CA_ROTOR3_AZ 0.0000
+param set-default CA_ROTOR3_KM 0.0000
+param set-default CA_ROTOR3_PX -0.5000
+param set-default CA_ROTOR3_PY -0.3000
+param set-default CA_ROTOR3_PZ 0.2000
+param set-default CA_ROTOR4_AZ -1.0000
+param set-default CA_ROTOR4_KM 0.0000
+param set-default CA_ROTOR4_PX 0.5000
+param set-default CA_ROTOR4_PY 0.5000
+param set-default CA_ROTOR5_AZ 1.0000
+param set-default CA_ROTOR5_KM 0.0000
+param set-default CA_ROTOR5_PX 0.5000
+param set-default CA_ROTOR5_PY -0.5000
+param set-default CA_ROTOR6_AZ 1.0000
+param set-default CA_ROTOR6_KM 0.0000
+param set-default CA_ROTOR6_PX -0.5000
+param set-default CA_ROTOR6_PY 0.5000
+param set-default CA_ROTOR7_KM 0.0000
+param set-default CA_ROTOR7_PX -0.5000
+param set-default CA_ROTOR7_PY -0.5000
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+param set-default PWM_MAIN_FUNC5 105
+param set-default PWM_MAIN_FUNC6 106
+param set-default PWM_MAIN_FUNC7 107
+param set-default PWM_MAIN_FUNC8 108
+
+set MIXER skip
+
@@ -43,5 +43,32 @@ param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1

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

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

+# param set-default SYS_CTRL_ALLOC 1
+param set-default CA_AIRFRAME 2
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.1515
+param set-default CA_ROTOR0_PY 0.245
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.1515
+param set-default CA_ROTOR1_PY -0.1875
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.1515
+param set-default CA_ROTOR2_PY -0.245
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.1515
+param set-default CA_ROTOR3_PY 0.1875
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default CA_SV_CS_COUNT 3
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+param set-default PWM_MAIN_FUNC5 105
+param set-default PWM_MAIN_FUNC6 201
+param set-default PWM_MAIN_FUNC7 202
+param set-default PWM_MAIN_FUNC8 203
+
 param set-default FW_L1_PERIOD 12
 param set-default FW_MAN_P_MAX 30
 param set-default FW_PR_FF 0.2
@@ -7,14 +7,48 @@

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

+# param set-default SYS_CTRL_ALLOC 1
+param set-default CA_AIRFRAME 4
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 2
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default CA_SV_CS_COUNT 2
+param set-default CA_SV_CS0_TYPE 5
+param set-default CA_SV_CS0_TRQ_P 0.5
+param set-default CA_SV_CS0_TRQ_Y -0.5
+param set-default CA_SV_CS1_TYPE 6
+param set-default CA_SV_CS1_TRQ_P 0.5
+param set-default CA_SV_CS1_TRQ_Y 0.5
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+param set-default PWM_MAIN_FUNC5 0
+param set-default PWM_MAIN_FUNC6 201
+param set-default PWM_MAIN_FUNC7 202
+param set-default PWM_MAIN_REV 96 # invert both elevons
+
 param set-default FW_L1_PERIOD 12
 param set-default FW_MAN_P_MAX 30
 param set-default FW_PR_I 0.2
-param set-default FW_PR_P 0.3
+param set-default FW_PR_P 0.2
 param set-default FW_PSP_OFF 2
 param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15
-param set-default FW_RR_P 0.3
+param set-default FW_RR_P 0.2
 param set-default FW_THR_CRUISE 0.33
 param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
@@ -36,6 +70,8 @@ param set-default MPC_XY_VEL_D_ACC 0.1
 param set-default NAV_ACC_RAD 5
 param set-default NAV_LOITER_RAD 80

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

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

+# param set-default SYS_CTRL_ALLOC 1
+param set-default CA_AIRFRAME 3
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.1515
+param set-default CA_ROTOR0_PY 0.245
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.1515
+param set-default CA_ROTOR1_PY -0.1875
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.1515
+param set-default CA_ROTOR2_PY -0.245
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.1515
+param set-default CA_ROTOR3_PY 0.1875
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default CA_ROTOR0_TILT 1
+param set-default CA_ROTOR1_TILT 2
+param set-default CA_ROTOR2_TILT 3
+param set-default CA_ROTOR3_TILT 4
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS_COUNT 3
+param set-default CA_SV_TL0_CT 0
+param set-default CA_SV_TL1_CT 0
+param set-default CA_SV_TL2_CT 0
+param set-default CA_SV_TL3_CT 0
+param set-default CA_SV_TL_COUNT 4
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+param set-default PWM_MAIN_FUNC5 204
+param set-default PWM_MAIN_FUNC6 205
+param set-default PWM_MAIN_FUNC7 206
+param set-default PWM_MAIN_FUNC8 207
+param set-default PWM_MAIN_FUNC9 201
+param set-default PWM_MAIN_FUNC10 202
+param set-default PWM_MAIN_FUNC11 203
+
 param set-default FW_L1_PERIOD 12
 param set-default FW_MAN_P_MAX 30
 param set-default FW_PR_FF 0.2
@@ -28,6 +28,15 @@ param set-default CBRK_AIRSPD_CHK 162128
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 2.0

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

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

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

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

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

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

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

-set MIXER cloudship
-set PWM_OUT 1234
+param set-default SYS_CTRL_ALLOC 1
+param set-default CA_AIRFRAME 9
+
+param set-default CA_ROTOR_COUNT 3
+param set-default CA_ROTOR0_AX 1.0000
+param set-default CA_ROTOR0_AZ 0.0000
+param set-default CA_ROTOR0_KM 0.0000
+param set-default CA_ROTOR0_PY 2.0000
+param set-default CA_ROTOR1_AX 1.0000
+param set-default CA_ROTOR1_AZ 0.0000
+param set-default CA_ROTOR1_KM 0.0000
+param set-default CA_ROTOR1_PY -2.0000
+param set-default CA_ROTOR2_AY -1.0000
+param set-default CA_ROTOR2_AZ 0.0000
+param set-default CA_ROTOR2_KM 0.0000
+param set-default CA_ROTOR2_PX -10.0000
+
+param set-default CA_SV_CS_COUNT 1
+param set-default CA_SV_CS0_TRQ_P 1.0000
+
+param set-default CA_R_REV 7
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 201
+param set-default PWM_MAIN_FUNC4 103
+
+set MIXER skip
@@ -30,26 +30,26 @@ param set-default MNT_MODE_IN 0
 param set-default MAV_PROTO_VER 2

 param set-default CA_AIRFRAME 0
-param set-default CA_MC_R_COUNT 6
+param set-default CA_ROTOR_COUNT 6

-param set-default CA_MC_R0_PX 0.0
-param set-default CA_MC_R0_PY 1.0
-param set-default CA_MC_R0_KM -0.05
-param set-default CA_MC_R1_PX 0.0
-param set-default CA_MC_R1_PY -1.0
-param set-default CA_MC_R1_KM 0.05
-param set-default CA_MC_R2_PX 0.866025
-param set-default CA_MC_R2_PY -0.5
-param set-default CA_MC_R2_KM -0.05
-param set-default CA_MC_R3_PX -0.866025
-param set-default CA_MC_R3_PY 0.5
-param set-default CA_MC_R3_KM 0.05
-param set-default CA_MC_R4_PX 0.866025
-param set-default CA_MC_R4_PY 0.5
-param set-default CA_MC_R4_KM 0.05
-param set-default CA_MC_R5_PX -0.866025
-param set-default CA_MC_R5_PY -0.5
-param set-default CA_MC_R5_KM -0.05
+param set-default CA_ROTOR0_PX 0.0
+param set-default CA_ROTOR0_PY 1.0
+param set-default CA_ROTOR0_KM -0.05
+param set-default CA_ROTOR1_PX 0.0
+param set-default CA_ROTOR1_PY -1.0
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.866025
+param set-default CA_ROTOR2_PY -0.5
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.866025
+param set-default CA_ROTOR3_PY 0.5
+param set-default CA_ROTOR3_KM 0.05
+param set-default CA_ROTOR4_PX 0.866025
+param set-default CA_ROTOR4_PY 0.5
+param set-default CA_ROTOR4_KM 0.05
+param set-default CA_ROTOR5_PX -0.866025
+param set-default CA_ROTOR5_PY -0.5
+param set-default CA_ROTOR5_KM -0.05

 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
@@ -64,7 +64,6 @@ param set-default FW_BAT_SCALE_EN 1
 param set-default FW_THR_ALT_SCL 2.7
 param set-default FW_T_RLL2THR 20

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

@@ -19,19 +19,19 @@ param set-default SYS_CTRL_ALLOC 1

 param set-default CA_AIRFRAME 0

-param set-default CA_MC_R_COUNT 4
-param set-default CA_MC_R0_PX 0.177
-param set-default CA_MC_R0_PY 0.177
-param set-default CA_MC_R0_KM 0.05
-param set-default CA_MC_R1_PX -0.177
-param set-default CA_MC_R1_PY -0.177
-param set-default CA_MC_R1_KM 0.05
-param set-default CA_MC_R2_PX 0.177
-param set-default CA_MC_R2_PY -0.177
-param set-default CA_MC_R2_KM -0.05
-param set-default CA_MC_R3_PX -0.177
-param set-default CA_MC_R3_PY 0.177
-param set-default CA_MC_R3_KM -0.05
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.177
+param set-default CA_ROTOR0_PY 0.177
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.177
+param set-default CA_ROTOR1_PY -0.177
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.177
+param set-default CA_ROTOR2_PY -0.177
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.177
+param set-default CA_ROTOR3_PY 0.177
+param set-default CA_ROTOR3_KM -0.05

 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
@@ -15,31 +15,31 @@
 param set-default SYS_CTRL_ALLOC 1

 param set-default CA_AIRFRAME 0
-param set-default CA_MC_R_COUNT 6
+param set-default CA_ROTOR_COUNT 6

-param set-default CA_MC_R0_PX 0.0
-param set-default CA_MC_R0_PY 0.275
-param set-default CA_MC_R0_KM -0.05
+param set-default CA_ROTOR0_PX 0.0
+param set-default CA_ROTOR0_PY 0.275
+param set-default CA_ROTOR0_KM -0.05

-param set-default CA_MC_R1_PX 0.0
-param set-default CA_MC_R1_PY -0.275
-param set-default CA_MC_R1_KM 0.05
+param set-default CA_ROTOR1_PX 0.0
+param set-default CA_ROTOR1_PY -0.275
+param set-default CA_ROTOR1_KM 0.05

-param set-default CA_MC_R2_PX 0.238
-param set-default CA_MC_R2_PY -0.1375
-param set-default CA_MC_R2_KM -0.05
+param set-default CA_ROTOR2_PX 0.238
+param set-default CA_ROTOR2_PY -0.1375
+param set-default CA_ROTOR2_KM -0.05

-param set-default CA_MC_R3_PX -0.238
-param set-default CA_MC_R3_PY 0.1375
-param set-default CA_MC_R3_KM 0.05
+param set-default CA_ROTOR3_PX -0.238
+param set-default CA_ROTOR3_PY 0.1375
+param set-default CA_ROTOR3_KM 0.05

-param set-default CA_MC_R4_PX 0.238
-param set-default CA_MC_R4_PY 0.1375
-param set-default CA_MC_R4_KM 0.05
+param set-default CA_ROTOR4_PX 0.238
+param set-default CA_ROTOR4_PY 0.1375
+param set-default CA_ROTOR4_KM 0.05

-param set-default CA_MC_R5_PX -0.238
-param set-default CA_MC_R5_PY -0.1375
-param set-default CA_MC_R5_KM -0.05
+param set-default CA_ROTOR5_PX -0.238
+param set-default CA_ROTOR5_PY -0.1375
+param set-default CA_ROTOR5_KM -0.05

 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
@@ -48,6 +48,14 @@ fi
 #                        End Estimator Group Selection                        #
 ###############################################################################

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

+if param compare SYS_CTRL_ALLOC 1
+then
+	#
+	# Start Control Allocator
+	#
+	control_allocator start
+fi
+
 #
 # Start attitude controller.
 #
@@ -12,6 +12,13 @@ ekf2 start &
 #attitude_estimator_q start
 #local_position_estimator start

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

 #
 # Start attitude controllers.
@@ -4,19 +4,6 @@
 #
 # NOTE: Script variables are declared/initialized/unset in the rcS script.
 #
-
-if ! ver hwcmp OMNIBUS_F4SD
-then
-	if ! ver hwcmp BITCRAZE_CRAZYFLIE
-	then
-		# Configure all I2C buses to 100 KHz as they
-		# are all external or slow
-		# TODO: move this
-		pwm_out i2c 1 100000
-		pwm_out i2c 2 100000
-	fi
-fi
-
 ###############################################################################
 #                           Begin Optional drivers                            #
 ###############################################################################
@@ -15,6 +15,14 @@ ekf2 start &
 #                        End Estimator Group Selection                        #
 ###############################################################################

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

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

 vtol_att_control start
@@ -72,28 +72,7 @@ then
 			umount /fs/microsd

 		else
-			# very basic I/O test
-			set PX4_INIT_TEST_FILE "/fs/microsd/.px4_init_test_file"
-			date >> $PX4_INIT_TEST_FILE
-
-			if [ $? -eq 0 -a -f $PX4_INIT_TEST_FILE ]
-			then
-				cat $PX4_INIT_TEST_FILE
-				rm $PX4_INIT_TEST_FILE
-
-				if [ $? -eq 0 -a ! -f $PX4_INIT_TEST_FILE ]
-				then
-					set SDCARD_AVAILABLE yes
-				fi
-			fi
-			unset PX4_INIT_TEST_FILE
-
-			if [ $SDCARD_AVAILABLE = no ]
-			then
-				echo "ERROR [init] card I/O failure, formatting"
-				set SDCARD_FORMAT yes
-				umount /fs/microsd
-			fi
+			set SDCARD_AVAILABLE yes
 		fi
 	fi

@@ -168,6 +147,8 @@ else

 		param dump $PARAM_FILE

+		hexdump $PARAM_FILE
+
 		if [ -d "/fs/microsd" ]
 		then
 			dmesg >> /fs/microsd/param_import_fail.txt &
@@ -179,6 +160,11 @@ else
 		# try importing from backup file
 		if [ -f "/fs/microsd/parameters_backup.bson" ]
 		then
+			echo "[init] importing from parameter backup"
+
+			# dump current backup file contents for comparison
+			param dump /fs/microsd/parameters_backup.bson
+
 			param import /fs/microsd/parameters_backup.bson
 		fi
 	fi
@@ -33,15 +33,11 @@

 px4_add_romfs_files(
 	autogyro_sitl.main.mix
-	boat_sitl.main.mix
 	delta_wing_sitl.main.mix
 	package_drop.aux.mix
 	plane_sitl.main.mix
 	quad_x_vtol.main.mix
-	rover_ackermann_sitl.main.mix
-	rover_diff_sitl.main.mix
 	standard_vtol_sitl.main.mix
 	tiltrotor_sitl.main.mix
 	uuv_x_sitl.main.mix
-	vectored6dof_sitl.main.mix
 )
@@ -1,15 +0,0 @@
-Mixer for SITL boat
-=========================================================
-
-Throttle of left propeller of boat on Output 0
---------------------------------------
-M: 2
-S: 0 2    10000   10000      0  -10000  10000
-S: 0 3    10000   10000      0  -10000  10000
-
-
-Throttle of right propeller of boat on Output 1
---------------------------------------
-M: 2
-S: 0 2   -10000  -10000      0  -10000  10000
-S: 0 3    10000   10000      0  -10000  10000
@@ -1,46 +0,0 @@
-Mixer for SITL rover
-=========================================================
-
-Output 0
---------------------------------------
-M: 1
-O:       10000   10000      0 -10000  10000
-S: 0 2   10000   10000      0 -10000  10000
-
-Output 1
---------------------------------------
-M: 1
-O:       10000   10000      0 -10000  10000
-S: 0 2   10000   10000      0 -10000  10000
-
-Output 2
---------------------------------------
-Z:
-
-Output 3
---------------------------------------
-Z:
-
-Output 4
---------------------------------------
-Z:
-
-Output 5
---------------------------------------
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 3  10000  10000      0 -10000  10000
-
-Output 6
---------------------------------------
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 3  10000  10000      0 -10000  10000
-
-Output 7
---------------------------------------
-Z:
-
-Output 8
---------------------------------------
-Z:
@@ -1,46 +0,0 @@
-Mixer for SITL rover
-=========================================================
-
-Output 0
---------------------------------------
-M: 2
-S: 0 2  10000   10000      0 -10000  10000
-S: 0 3  10000   10000      0 -10000  10000
-
-Output 1
---------------------------------------
-M: 2
-S: 0 2  10000   10000      0 -10000  10000
-S: 0 3  10000   10000      0 -10000  10000
-
-Output 2
---------------------------------------
-Z:
-
-Output 3
---------------------------------------
-Z:
-
-Output 4
---------------------------------------
-Z:
-
-Output 5
---------------------------------------
-M: 2
-S: 0 2  -10000  -10000      0 -10000  10000
-S: 0 3   10000   10000      0 -10000  10000
-
-Output 6
---------------------------------------
-M: 2
-S: 0 2  -10000  -10000      0 -10000  10000
-S: 0 3   10000   10000      0 -10000  10000
-
-Output 7
---------------------------------------
-Z:
-
-Output 8
---------------------------------------
-Z:
@@ -1,40 +0,0 @@
-# Motor 1
-M: 3
-S: 0 2  -4000  -4000  0   -4000  +4000
-S: 0 3  +4000  +4000  0   -4000  +4000
-S: 0 4  -4000  -4000  0   -4000  +4000
-# Motor 2
-M: 3
-S: 0 2  +4000  +4000  0   -4000  +4000
-S: 0 3  +4000  +4000  0   -4000  +4000
-S: 0 4  +4000  +4000  0   -4000  +4000
-# Motor 3
-M: 3
-S: 0 2  -4000  -4000  0   -4000  +4000
-S: 0 3  +4000  +4000  0   -4000  +4000
-S: 0 4  +4000  +4000  0   -4000  +4000
-# Motor 4
-M: 3
-S: 0 2  +4000  +4000  0   -4000  +4000
-S: 0 3  +4000  +4000  0   -4000  +4000
-S: 0 4  -4000  -4000  0   -4000  +4000
-# Motor 5
-M: 3
-S: 0 0  -4000  -4000  0   -4000  +4000
-S: 0 1  +4000  +4000  0   -4000  +4000
-S: 0 5  -4000  -4000  0   -4000  +4000
-# Motor 6
-M: 3
-S: 0 0  -4000  -4000  0   -4000  +4000
-S: 0 1  -4000  -4000  0   -4000  +4000
-S: 0 5  +4000  +4000  0   -4000  +4000
-# Motor 7
-M: 3
-S: 0 0  +4000  +4000  0   -4000  +4000
-S: 0 1  +4000  +4000  0   -4000  +4000
-S: 0 5  +4000  +4000  0   -4000  +4000
-# Motor 8
-M: 3
-S: 0 0  +4000  +4000  0   -4000  +4000
-S: 0 1  -4000  -4000  0   -4000  +4000
-S: 0 5  -4000  -4000  0   -4000  +4000
@@ -7,6 +7,8 @@ from argparse import ArgumentParser
 import re
 import sys
 import datetime
+import serial.tools.list_ports as list_ports
+import tempfile

 COLOR_RED    = "\x1b[31m"
 COLOR_GREEN  = "\x1b[32m"
@@ -36,8 +38,9 @@ def print_line(line):
    else:
        print('{0}'.format(line), end='')

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

    timeout = 180  # 3 minutes
    timeout_start = time.monotonic()
@@ -49,33 +52,59 @@ def monitor_firmware_upload(port, baudrate):
        serial_line = ser.readline().decode("ascii", errors='ignore')

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

            print_line(serial_line)

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

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

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

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

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

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

 COLOR_RED    = "\x1b[31m"
 COLOR_GREEN  = "\x1b[32m"
@@ -29,33 +32,38 @@ def print_line(line):
    if "FAILED" in line:
        line = line.replace("FAILED", f"{COLOR_RED}FAILED{COLOR_RESET}", 1)

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

-def do_param_set_cmd(port, baudrate, param_name, param_value):
-    ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.1, xonxoff=True, rtscts=False, dsrdtr=False)
+
+def do_param_set_cmd(port_url, baudrate, param_name, param_value):
+    ser = serial.serial_for_url(url=port_url, baudrate=baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=3, xonxoff=False, rtscts=False, dsrdtr=False, inter_byte_timeout=1)

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

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

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

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

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

    # run command
    timeout_start = time.monotonic()
@@ -65,28 +73,32 @@ def do_param_set_cmd(port, baudrate, param_name, param_value):

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

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

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

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

    param_show_response = param_name + " ["

@@ -96,44 +108,64 @@ def do_param_set_cmd(port, baudrate, param_name, param_value):
    while True:
        serial_line = ser.readline().decode("ascii", errors='ignore')

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

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

-        if time.monotonic() > timeout_start + timeout:
-            print("Error, timeout")
-            sys.exit(-1)
-
-        if len(serial_line) <= 0:
-            ser.write("\r\n".encode("ascii"))
-            ser.flush()
-            time.sleep(0.2)
-
-    ser.close()

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

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

 if __name__ == "__main__":
   main()
@@ -7,6 +7,8 @@ from argparse import ArgumentParser
 import re
 import sys
 import datetime
+import serial.tools.list_ports as list_ports
+import tempfile

 COLOR_RED    = "\x1b[31m"
 COLOR_GREEN  = "\x1b[32m"
@@ -36,15 +38,15 @@ def print_line(line):
    else:
        print('{0}'.format(line), end='')

-def reboot(port, baudrate):
-    ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=1, xonxoff=True, rtscts=False, dsrdtr=False)

-    # clear
-    ser.readlines()
+def reboot(port_url, baudrate):
+    ser = serial.serial_for_url(url=port_url, baudrate=baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=3, xonxoff=False, rtscts=False, dsrdtr=False, inter_byte_timeout=1)

    time_start = time.monotonic()
-    ser.write("\nreboot\n".encode("ascii"))
-    ser.flush()
+
+    ser.write("\n\n\n".encode("ascii"))
+
+    ser.write("reboot\n".encode("ascii"))
    time_reboot_cmd = time_start

    timeout_reboot_cmd = 90
@@ -53,31 +55,53 @@ def reboot(port, baudrate):
    return_code = 0

    while True:
-        if time.monotonic() > time_reboot_cmd + timeout_reboot_cmd:
-            time_reboot_cmd = time.monotonic()
-            print("sending reboot cmd again")
-            ser.write("reboot\n".encode("ascii"))
-            ser.flush()
-            time.sleep(0.2)
-
        serial_line = ser.readline().decode("ascii", errors='ignore')

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

-            print_line(serial_line)
+            if "NuttShell (NSH)" in serial_line:
+                sys.exit(return_code)

-        if "NuttShell (NSH)" in serial_line:
-            sys.exit(return_code)
+        else:
+            if time.monotonic() > time_start + timeout:
+                print("Error, timeout")
+                sys.exit(-1)
+
+            if time.monotonic() > time_reboot_cmd + timeout_reboot_cmd:
+                time_reboot_cmd = time.monotonic()
+                print("sending reboot cmd again")
+                ser.write("reboot\n".encode("ascii"))

-        if time.monotonic() > time_start + timeout:
-            print("Error, timeout")
-            sys.exit(-1)

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

@@ -7,6 +7,8 @@ from argparse import ArgumentParser
 import re
 import sys
 import datetime
+import serial.tools.list_ports as list_ports
+import tempfile

 COLOR_RED    = "\x1b[31m"
 COLOR_GREEN  = "\x1b[32m"
@@ -37,59 +39,59 @@ def print_line(line):
        print('{0}'.format(line), end='')


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

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

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

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

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

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

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

    success_cmd = "cmd succeeded!"

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

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


    timeout_start = time.monotonic()
@@ -100,40 +102,60 @@ def do_nsh_cmd(port, baudrate, cmd):
    while True:
        serial_line = ser.readline().decode("ascii", errors='ignore')

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

                print_line(serial_line)

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

-        if (len(serial_line) <= 0) and (time.monotonic() > timeout_start + timeout):
-            print("Error, timeout")
-            sys.exit(-1)
-
-        if len(serial_line) <= 0:
-            ser.write("\r\n".encode("ascii"))
-            ser.flush()
-            time.sleep(0.2)
-
-    ser.close()

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

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

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

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

-def do_test(port, baudrate, test_name):
-    ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.2, xonxoff=True, rtscts=False, dsrdtr=False)
+
+def do_test(port_url, baudrate, test_name):
+
+    # ignore pyserial spy:// resource warnings
+    warnings.filterwarnings(action="ignore", message="unclosed", category=ResourceWarning)
+
+    ser = serial.serial_for_url(url=port_url, baudrate=baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=3, xonxoff=False, rtscts=False, dsrdtr=False, inter_byte_timeout=1)

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

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

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

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

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

    # run test cmd
    print('\n|======================================================================')
@@ -79,20 +85,17 @@ def do_test(port, baudrate, test_name):
    print("Running command: \'{0}\'".format(cmd))
    serial_cmd = '{0}\n'.format(cmd)
    ser.write(serial_cmd.encode("ascii"))
-    ser.flush()
+
    while True:
        serial_line = ser.readline().decode("ascii", errors='ignore')

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

    # print results, wait for final result (PASSED or FAILED)
    timeout = 300  # 5 minutes
@@ -105,27 +108,26 @@ def do_test(port, baudrate, test_name):
        if len(serial_line) > 0:
            print_line(serial_line)

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

-        if time.monotonic() > timeout_start + timeout:
-            print("Error, timeout")
-            print(test_name + f" {COLOR_RED}FAILED{COLOR_RESET}")
-            success = False
-            break
-
-        # newline every 10 seconds if still running
-        if (len(serial_line) <= 0) and (time.monotonic() - timeout_newline > 10):
-            ser.write("\n".encode("ascii"))
-            timeout_newline = time.monotonic()
+            # newline every 30 seconds if still running
+            if time.monotonic() - timeout_newline > 30:
+                ser.write("\n".encode("ascii"))
+                timeout_newline = time.monotonic()

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

 class TestHardwareMethods(unittest.TestCase):
    TEST_DEVICE = 0
@@ -207,12 +209,39 @@ class TestHardwareMethods(unittest.TestCase):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "versioning"))

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

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

    unittest.main(__name__, failfast=True, verbosity=0, argv=['main'])
@@ -29,10 +29,16 @@ do
 	${DIR}/nsh_param_set.py --device ${SERIAL_DEVICE} --name SYS_AUTOSTART  --value $airframe
 	${DIR}/nsh_param_set.py --device ${SERIAL_DEVICE} --name CBRK_BUZZER    --value 782097
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param reset SYS_HITL'
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param status'
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param save'
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump'

 	${DIR}/reboot.py --device ${SERIAL_DEVICE}

+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump /fs/mtd_params' || true
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump /fs/microsd/parameters_backup.bson' || true
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump /fs/microsd/param_import_fail.bson' || true
+
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'ps'
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'work_queue status'

@@ -19,7 +19,7 @@ if [ -z ${PX4_DOCKER_REPO+x} ]; then
 		PX4_DOCKER_REPO="px4io/px4-dev-clang:2021-02-04"
 	elif [[ $@ =~ .*tests* ]]; then
 		# run all tests with simulation
-		PX4_DOCKER_REPO="px4io/px4-dev-simulation-bionic:2021-02-04"
+		PX4_DOCKER_REPO="px4io/px4-dev-simulation-bionic:2021-12-11"
 	fi
 else
 	echo "PX4_DOCKER_REPO is set to '$PX4_DOCKER_REPO'";
@@ -130,7 +130,8 @@ def get_actuator_output(yaml_config, output_functions, timer_config_file, verbos
        return None


-    output_groups = yaml_config['actuator_output']['output_groups']
+    actuator_output_yaml = yaml_config['actuator_output']
+    output_groups = actuator_output_yaml['output_groups']
    module_name = process_module_name(yaml_config['module_name'])
    group_idx = 0

@@ -139,8 +140,9 @@ def get_actuator_output(yaml_config, output_functions, timer_config_file, verbos
    actuator_output = {
            'label': module_name
        }
-    if 'show_subgroups_if' in yaml_config['actuator_output']:
-        actuator_output['show-subgroups-if'] = yaml_config['actuator_output']['show_subgroups_if']
+    if 'show_subgroups_if' in actuator_output_yaml:
+        actuator_output['show-subgroups-if'] = actuator_output_yaml['show_subgroups_if']
+    add_reverse_range_param = actuator_output_yaml.get('add_reverse_range_param', False)

    # config parameters
    def get_config_params(param_list):
@@ -159,7 +161,7 @@ def get_actuator_output(yaml_config, output_functions, timer_config_file, verbos
            parameters.append(param)
        return parameters

-    parameters = get_config_params(yaml_config['actuator_output'].get('config_parameters', []))
+    parameters = get_config_params(actuator_output_yaml.get('config_parameters', []))
    if len(parameters) > 0:
        actuator_output['parameters'] = parameters

@@ -254,6 +256,16 @@ def get_actuator_output(yaml_config, output_functions, timer_config_file, verbos
                if show_if: param['show-if'] = show_if
                per_channel_params.append(param)

+
+        if add_reverse_range_param:
+            param = {
+                    'label': 'Rev Range\n(for Servos)',
+                    'name': param_prefix+'_REV',
+                    'index-offset': -1,
+                    'show-as': 'bitset',
+                }
+            per_channel_params.append(param)
+
        # TODO: support non-standard per-channel parameters

        subgroup['per-channel-parameters'] = per_channel_params
@@ -346,33 +358,39 @@ def get_mixers(yaml_config, output_functions, verbose):

            if 'count' in actuator_conf: # possibly dynamic size
                actuator['count'] = actuator_conf['count']
-                per_item_params = actuator_conf['per_item_parameters']
+                per_item_params = actuator_conf.get('per_item_parameters', {})
                params = []
                if 'standard' in per_item_params:
                    standard_params = per_item_params['standard']
+                    index_offset = standard_params.get('index_offset', 0)
                    if 'position' in standard_params:
                        params.extend([
                        {
                            'label': 'Position X',
                            'function': 'posx',
                            'name': standard_params['position'][0],
+                            'index-offset': index_offset,
                        },
                        {
                            'label': 'Position Y',
                            'function': 'posy',
                            'name': standard_params['position'][1],
+                            'index-offset': index_offset,
                        },
                        {
                            'label': 'Position Z',
                            'function': 'posz',
                            'name': standard_params['position'][2],
                            'advanced': True,
+                            'index-offset': index_offset,
                        },
                        ])
                if 'extra' in per_item_params:
                    for extra_param in per_item_params['extra']:
                        params.append({k.replace('_','-'): v for k, v in extra_param.items()})
                actuator['per-item-parameters'] = params
+                if 'item_label_prefix' in actuator_conf:
+                    actuator['item-label-prefix'] = actuator_conf['item_label_prefix']
            else: # fixed size
                labels = []
                pos_x = []
@@ -417,10 +435,18 @@ def get_mixers(yaml_config, output_functions, verbose):

    if verbose:
        print('Mixer configs: {}'.format(config))
+
+    rules = []
+    for rule in yaml_config['mixer'].get('rules', []):
+        rules.append({k.replace('_','-'): v for k, v in rule.items()})
+
+    if verbose:
+        print('Mixer rules: {}'.format(rules))
    
    mixers = {
            'actuator-types': actuator_types,
            'config': config,
+            'rules': rules,
        }
    return mixers

@@ -110,6 +110,13 @@ def parse_yaml_parameters_config(yaml_config, ethernet_supported):
                    param_type = 'INT32'
                    for key in param['values']:
                        tags += '\n * @value {:} {:}'.format(key, param['values'][key])
+                elif param['type'] == 'bitmask':
+                    param_type = 'INT32'
+                    for key in param['bit']:
+                        tags += '\n * @bit {:} {:}'.format(key, param['bit'][key])
+                    max_val = max(key for key in param['bit'])
+                    tags += '\n * @min 0'
+                    tags += '\n * @max {:}'.format((1<<(max_val+1)) - 1)
                elif param['type'] == 'boolean':
                    param_type = 'INT32'
                    tags += '\n * @boolean'
@@ -120,7 +127,7 @@ def parse_yaml_parameters_config(yaml_config, ethernet_supported):
                else:
                    raise Exception("unknown param type {:}".format(param['type']))

-                for tag in ['decimal', 'increment', 'category', 'volatile', 'bit',
+                for tag in ['decimal', 'increment', 'category', 'volatile',
                            'min', 'max', 'unit', 'reboot_required']:
                    if tag in param:
                        tags += '\n * @{:} {:}'.format(tag, param[tag])
@@ -171,6 +178,9 @@ def get_actuator_output_params(yaml_config, output_functions,
    all_params = {}
    group_idx = 0

+    add_reverse_range_param = yaml_config['actuator_output'].get('add_reverse_range_param', False)
+    all_param_prefixes = {}
+
    def add_local_param(param_name, param_def):
        nonlocal all_params
        # add as a list, as there can be multiple entries with the same param_name
@@ -252,6 +262,11 @@ def get_actuator_output_params(yaml_config, output_functions,
                    for i in range(count):
                        output_function_values[start+i] = function_name_label+' '+str(i+1)

+        if param_prefix not in all_param_prefixes:
+            all_param_prefixes[param_prefix] = []
+        all_param_prefixes[param_prefix].append((instance_start,
+            instance_start_label, num_channels, channel_label))
+
        # function param
        param = {
            'description': {
@@ -331,6 +346,30 @@ When set to -1 (default), the value depends on the function (see {:}).
                    }
                add_local_param(param_prefix+'_'+param_suffix+'${i}', param)

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

@@ -72,38 +72,27 @@ div.frame_variant td, div.frame_variant th {

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

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

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

@@ -124,6 +124,8 @@ CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y
+CONFIG_READLINE_CMD_HISTORY=y
+CONFIG_READLINE_TABCOMPLETION=y
 CONFIG_RTC_DATETIME=y
 CONFIG_SCHED_ATEXIT=y
 CONFIG_SCHED_HPWORK=y
@@ -146,6 +146,8 @@ CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y
+CONFIG_READLINE_CMD_HISTORY=y
+CONFIG_READLINE_TABCOMPLETION=y
 CONFIG_RTC_DATETIME=y
 CONFIG_SCHED_ATEXIT=y
 CONFIG_SCHED_HPWORK=y
@@ -35,8 +35,6 @@ CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_MIXER=y
-CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
-CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
@@ -48,6 +46,5 @@ CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
 CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
 CONFIG_SYSTEMCMDS_UORB=y
-CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -19,7 +19,6 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y
-CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
@@ -34,21 +33,17 @@ CONFIG_MODULES_SENSORS=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_MIXER=y
-CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
-CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_PWM=y
 CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_REFLECT=y
 CONFIG_SYSTEMCMDS_SD_BENCH=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
 CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
 CONFIG_SYSTEMCMDS_UORB=y
-CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -5,7 +5,7 @@
 board_adc start

 # SPI1
-if ! icm20689 -s -b 1 -R 2 start
+if ! icm20689 -s -b 1 -R 2 -q start
 then
 	adis16470 -s -b 1 -R 2 start
 fi
@@ -17,6 +17,7 @@
 # CONFIG_NSH_DISABLE_EXEC is not set
 # CONFIG_NSH_DISABLE_EXIT is not set
 # CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_HEXDUMP is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
 # CONFIG_NSH_DISABLE_MKFATFS is not set
@@ -17,6 +17,7 @@
 # CONFIG_NSH_DISABLE_EXEC is not set
 # CONFIG_NSH_DISABLE_EXIT is not set
 # CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_HEXDUMP is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
 # CONFIG_NSH_DISABLE_MKFATFS is not set
@@ -125,6 +125,8 @@ CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y
+CONFIG_READLINE_CMD_HISTORY=y
+CONFIG_READLINE_TABCOMPLETION=y
 CONFIG_RTC_DATETIME=y
 CONFIG_SCHED_ATEXIT=y
 CONFIG_SCHED_HPWORK=y
@@ -109,6 +109,8 @@ CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y
+CONFIG_READLINE_CMD_HISTORY=y
+CONFIG_READLINE_TABCOMPLETION=y
 CONFIG_RTC_DATETIME=y
 CONFIG_SCHED_ATEXIT=y
 CONFIG_SCHED_HPWORK=y
@@ -125,6 +125,8 @@ CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y
+CONFIG_READLINE_CMD_HISTORY=y
+CONFIG_READLINE_TABCOMPLETION=y
 CONFIG_RTC_DATETIME=y
 CONFIG_SCHED_ATEXIT=y
 CONFIG_SCHED_HPWORK=y
@@ -9,10 +9,8 @@ CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP280=y
 CONFIG_DRIVERS_DSHOT=y
-CONFIG_DRIVERS_GPS=n
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
-CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
@@ -21,10 +19,10 @@ CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
-CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MANUAL_CONTROL=y
@@ -33,11 +31,9 @@ CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
-CONFIG_SYSTEMCMDS_DMESG=n
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_MIXER=y
 CONFIG_SYSTEMCMDS_PARAM=y
@@ -124,6 +124,8 @@ CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y
+CONFIG_READLINE_CMD_HISTORY=y
+CONFIG_READLINE_TABCOMPLETION=y
 CONFIG_RTC_DATETIME=y
 CONFIG_SCHED_ATEXIT=y
 CONFIG_SCHED_HPWORK=y
@@ -115,6 +115,8 @@ CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y
+CONFIG_READLINE_CMD_HISTORY=y
+CONFIG_READLINE_TABCOMPLETION=y
 CONFIG_RTC_DATETIME=y
 CONFIG_SCHED_ATEXIT=y
 CONFIG_SCHED_HPWORK=y
@@ -123,6 +123,8 @@ CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y
+CONFIG_READLINE_CMD_HISTORY=y
+CONFIG_READLINE_TABCOMPLETION=y
 CONFIG_RTC_DATETIME=y
 CONFIG_SCHED_ATEXIT=y
 CONFIG_SCHED_HPWORK=y
@@ -123,6 +123,8 @@ CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y
+CONFIG_READLINE_CMD_HISTORY=y
+CONFIG_READLINE_TABCOMPLETION=y
 CONFIG_RTC_DATETIME=y
 CONFIG_SCHED_ATEXIT=y
 CONFIG_SCHED_HPWORK=y
@@ -123,6 +123,8 @@ CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y
+CONFIG_READLINE_CMD_HISTORY=y
+CONFIG_READLINE_TABCOMPLETION=y
 CONFIG_RTC_DATETIME=y
 CONFIG_SCHED_ATEXIT=y
 CONFIG_SCHED_HPWORK=y
@@ -39,6 +39,7 @@ CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
@@ -62,7 +63,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -73,8 +73,8 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_ESC_CALIB=y
@@ -6,5 +6,4 @@
 param set-default BAT1_V_DIV 10.1
 param set-default BAT1_A_PER_V 24

-
 safety_button start
@@ -30,7 +30,7 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
 CONFIG_CDCACM_IFLOWCONTROL=y
-CONFIG_CDCACM_PRODUCTID=0x1023
+CONFIG_CDCACM_PRODUCTID=0x1024
 CONFIG_CDCACM_PRODUCTSTR="PX4 BL mRo ControlZeroH7 OEM"
 CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=12000
@@ -222,34 +222,35 @@


 /* UART/USART */
-#define GPIO_USART2_RX   GPIO_USART2_RX_2       /* PD6 */
-#define GPIO_USART2_TX   GPIO_USART2_TX_2       /* PD5 */
-#define GPIO_USART2_RTS  GPIO_USART2_RTS_2      /* PD4 */
-#define GPIO_USART2_CTS  GPIO_USART2_CTS_NSS_2  /* PD3 */
+#define GPIO_USART2_TX   GPIO_USART2_TX_2      /* PD5  */
+#define GPIO_USART2_RX   GPIO_USART2_RX_2      /* PD6  */
+#define GPIO_USART2_CTS  GPIO_USART2_CTS_NSS_2 /* PD3  */
+#define GPIO_USART2_RTS  GPIO_USART2_RTS_2     /* PD4  */

-#define GPIO_USART3_RX   GPIO_USART3_RX_3       /* PD9 */
-#define GPIO_USART3_TX   GPIO_USART3_TX_3       /* PD8 */
-#define GPIO_USART3_RTS  GPIO_USART3_RTS_2      /* PD12 */
-#define GPIO_USART3_CTS  GPIO_USART3_CTS_NSS_2  /* PD11 */
+#define GPIO_USART3_TX   GPIO_USART3_TX_3      /* PD8  */
+#define GPIO_USART3_RX   GPIO_USART3_RX_3      /* PD9  */
+#define GPIO_USART3_CTS  GPIO_USART3_CTS_NSS_2 /* PD11 */
+#define GPIO_USART3_RTS  GPIO_USART3_RTS_2     /* PD12 */

-#define GPIO_UART4_RX    GPIO_UART4_RX_1        /* PA1 */
-#define GPIO_UART4_TX    GPIO_UART4_TX_1        /* PA0 */
+#define GPIO_UART4_TX    GPIO_UART4_TX_2       /* PA0  */
+#define GPIO_UART4_RX    GPIO_UART4_RX_2       /* PA1  */

-#define GPIO_USART6_RX   GPIO_USART6_RX_1       /* PC7 */
-#define GPIO_USART6_TX   GPIO_USART6_TX_2       /* PG14 */
+#define GPIO_USART6_TX   0                     /* USART6 is RX-only */
+#define GPIO_USART6_RX   GPIO_USART6_RX_1      /* PC7  */

-#define GPIO_UART7_RX    GPIO_UART7_RX_1        /* PE7 */
-#define GPIO_UART7_TX    GPIO_UART7_TX_1        /* PE8 */
+#define GPIO_UART7_TX    GPIO_UART7_TX_3       /* PE8  */
+#define GPIO_UART7_RX    GPIO_UART7_RX_3       /* PE7  */

-#define GPIO_UART8_RX    GPIO_UART8_RX_1        /* PE0 */
-#define GPIO_UART8_TX    GPIO_UART8_TX_1        /* PE1 */
+#define GPIO_UART8_TX    GPIO_UART8_TX_1       /* PE1  */
+#define GPIO_UART8_RX    GPIO_UART8_RX_1       /* PE0  */


 /* CAN */
-#define GPIO_CAN1_RX     GPIO_CAN1_RX_3     /* PD0  */
-#define GPIO_CAN1_TX     GPIO_CAN1_TX_3     /* PD1 */
-#define GPIO_CAN2_RX     GPIO_CAN2_RX_1     /* PB12 */
-#define GPIO_CAN2_TX     GPIO_CAN2_TX_1     /* PB13 */
+#define GPIO_CAN1_RX     GPIO_CAN1_RX_3        /* PD0  */
+#define GPIO_CAN1_TX     GPIO_CAN1_TX_3        /* PD1  */
+
+#define GPIO_CAN2_RX     GPIO_CAN2_RX_1        /* PB12 */
+#define GPIO_CAN2_TX     GPIO_CAN2_TX_1        /* PB13 */


 /* SPI */
@@ -199,7 +199,6 @@ SECTIONS
 	} > AXI_SRAM

 	/* Emit the the D3 power domain section for locating BDMA data */
-
 	.sram4_reserve (NOLOAD) :
 	{
 		*(.sram4)
@@ -77,7 +77,6 @@

 /* CAN Silence: Silent mode control */
 #define GPIO_CAN1_SILENT_S0  /* PF5  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN5)
-#define GPIO_CAN2_SILENT_S0  /* PF5  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN5)

 /* PWM */
 #define DIRECT_PWM_OUTPUT_CHANNELS  8
@@ -169,7 +168,6 @@
 		GPIO_CAN2_TX,                     \
 		GPIO_CAN2_RX,                     \
 		GPIO_CAN1_SILENT_S0,              \
-		GPIO_CAN2_SILENT_S0,              \
 		GPIO_nPOWER_IN_A,                 \
 		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
 		GPIO_TONE_ALARM_IDLE,             \
@@ -40,6 +40,7 @@ CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
@@ -63,7 +64,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -74,8 +74,8 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_ESC_CALIB=y
@@ -221,32 +221,32 @@


 /* UART/USART */
-#define GPIO_USART2_RX   GPIO_USART2_RX_2       /* PD6 */
-#define GPIO_USART2_TX   GPIO_USART2_TX_2       /* PD5 */
-#define GPIO_USART2_RTS  GPIO_USART2_RTS_2      /* PD4 */
-#define GPIO_USART2_CTS  GPIO_USART2_CTS_NSS_2  /* PD3 */
+#define GPIO_USART2_TX   GPIO_USART2_TX_2      /* PD5  */
+#define GPIO_USART2_RX   GPIO_USART2_RX_2      /* PD6  */
+#define GPIO_USART2_CTS  GPIO_USART2_CTS_NSS_2 /* PD3  */
+#define GPIO_USART2_RTS  GPIO_USART2_RTS_2     /* PD4  */

-#define GPIO_USART3_RX   GPIO_USART3_RX_3       /* PD9 */
-#define GPIO_USART3_TX   GPIO_USART3_TX_3       /* PD8 */
-#define GPIO_USART3_RTS  GPIO_USART3_RTS_2      /* PD12 */
-#define GPIO_USART3_CTS  GPIO_USART3_CTS_NSS_2  /* PD11 */
+#define GPIO_USART3_TX   GPIO_USART3_TX_3      /* PD8  */
+#define GPIO_USART3_RX   GPIO_USART3_RX_3      /* PD9  */
+#define GPIO_USART3_CTS  GPIO_USART3_CTS_NSS_2 /* PD11 */
+#define GPIO_USART3_RTS  GPIO_USART3_RTS_2     /* PD12 */

-#define GPIO_UART4_RX    GPIO_UART4_RX_1        /* PA1 */
-#define GPIO_UART4_TX    GPIO_UART4_TX_1        /* PA0 */
+#define GPIO_UART4_TX    GPIO_UART4_TX_2       /* PA0  */
+#define GPIO_UART4_RX    GPIO_UART4_RX_2       /* PA1  */

-#define GPIO_USART6_RX   GPIO_USART6_RX_1       /* PC7 */
-#define GPIO_USART6_TX   GPIO_USART6_TX_2       /* PG14 */
+#define GPIO_USART6_TX   0                     /* USART6 is RX-only */
+#define GPIO_USART6_RX   GPIO_USART6_RX_1      /* PC7  */

-#define GPIO_UART7_RX    GPIO_UART7_RX_1        /* PE7 */
-#define GPIO_UART7_TX    GPIO_UART7_TX_1        /* PE8 */
+#define GPIO_UART7_TX    GPIO_UART7_TX_3       /* PE8  */
+#define GPIO_UART7_RX    GPIO_UART7_RX_3       /* PE7  */

-#define GPIO_UART8_RX    GPIO_UART8_RX_1        /* PE0 */
-#define GPIO_UART8_TX    GPIO_UART8_TX_1        /* PE1 */
+#define GPIO_UART8_TX    GPIO_UART8_TX_1       /* PE1  */
+#define GPIO_UART8_RX    GPIO_UART8_RX_1       /* PE0  */


 /* CAN */
-#define GPIO_CAN1_RX     GPIO_CAN1_RX_3     /* PD0  */
-#define GPIO_CAN1_TX     GPIO_CAN1_TX_3     /* PD1 */
+#define GPIO_CAN1_RX     GPIO_CAN1_RX_3        /* PD0  */
+#define GPIO_CAN1_TX     GPIO_CAN1_TX_3        /* PD1  */


 /* SPI */
@@ -262,7 +262,7 @@

 #define GPIO_SPI5_SCK    ADJ_SLEW_RATE(GPIO_SPI5_SCK_1) /* PF7  */
 #define GPIO_SPI5_MISO   GPIO_SPI5_MISO_1               /* PF8  */
-#define GPIO_SPI5_MOSI   GPIO_SPI5_MOSI_1               /* PF9  */
+#define GPIO_SPI5_MOSI   GPIO_SPI5_MOSI_2               /* PF9  */


 /* I2C */
@@ -123,6 +123,8 @@ CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y
+CONFIG_READLINE_CMD_HISTORY=y
+CONFIG_READLINE_TABCOMPLETION=y
 CONFIG_RTC_DATETIME=y
 CONFIG_SCHED_ATEXIT=y
 CONFIG_SCHED_HPWORK=y
@@ -144,7 +144,6 @@ CONFIG_NSH_CROMFSETC=y
 CONFIG_NSH_DISABLE_BASENAME=y
 CONFIG_NSH_DISABLE_DIRNAME=y
 CONFIG_NSH_DISABLE_EXPORT=y
-CONFIG_NSH_DISABLE_HEXDUMP=y
 CONFIG_NSH_DISABLE_LOSETUP=y
 CONFIG_NSH_DISABLE_MKFIFO=y
 CONFIG_NSH_DISABLE_MKRD=y
@@ -190,6 +190,8 @@ CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=1048576
 CONFIG_RAM_START=0x20200000
 CONFIG_RAW_BINARY=y
+CONFIG_READLINE_CMD_HISTORY=y
+CONFIG_READLINE_TABCOMPLETION=y
 CONFIG_RTC=y
 CONFIG_SCHED_ATEXIT=y
 CONFIG_SCHED_HPWORK=y
@@ -29,7 +29,6 @@ CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
-CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
@@ -38,13 +37,5 @@ CONFIG_MODULES_SENSORS=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_MIXER=y
-CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_PWM=y
-CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_TOP=y
-CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
-CONFIG_SYSTEMCMDS_UORB=y
-CONFIG_SYSTEMCMDS_VER=y
-CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -1,7 +1,4 @@
-CONFIG_MODULES_AIRSPEED_SELECTOR=n
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
-CONFIG_MODULES_FW_ATT_CONTROL=n
-CONFIG_MODULES_FW_POS_CONTROL_L1=n
 CONFIG_MODULES_MC_ATT_CONTROL=n
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
 CONFIG_MODULES_MC_POS_CONTROL=n
@@ -11,9 +8,7 @@ CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_OPTICAL_FLOW_PX4FLOW=y
-CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
-CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_LOAD_MON=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
@@ -1,5 +1,7 @@
 CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS4525=n
 CONFIG_DRIVERS_GPS=n
+CONFIG_DRIVERS_IMU_L3GD20=n
+CONFIG_DRIVERS_IMU_LSM303D=n
 CONFIG_MODULES_AIRSPEED_SELECTOR=n
 CONFIG_MODULES_EKF2=n
 CONFIG_MODULES_FW_ATT_CONTROL=n
@@ -17,6 +17,7 @@
 # CONFIG_NSH_DISABLE_EXEC is not set
 # CONFIG_NSH_DISABLE_EXIT is not set
 # CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_HEXDUMP is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
 # CONFIG_NSH_DISABLE_MKFATFS is not set
@@ -5,19 +5,11 @@

 board_adc start

-# We know there are sketchy boards out there
-# as chinese companies produce Pixracers without
-# fully understanding the critical parts of the
-# schematic and BOM, leading to sensor brownouts
-# on boot. Original Pixracers following the
-# open hardware design do not require this.
-pwm_out sensor_reset 50
-
 # Internal SPI
 ms5611 -s start

 # hmc5883 internal SPI bus is rotated 90 deg yaw
-if ! hmc5883 -T -s -R 2 start
+if ! hmc5883 -T -s -R 2 -q start
 then
 	# lis3mdl internal SPI bus is rotated 90 deg yaw
 	lis3mdl -s start
@@ -17,6 +17,7 @@
 # CONFIG_NSH_DISABLE_EXEC is not set
 # CONFIG_NSH_DISABLE_EXIT is not set
 # CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_HEXDUMP is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
 # CONFIG_NSH_DISABLE_MKFATFS is not set
@@ -4,7 +4,7 @@
 #------------------------------------------------------------------------------

 rgbled start -I
-rgbled_ncp5623c start -I
+rgbled_ncp5623c start -I -q

 board_adc start

@@ -17,6 +17,7 @@
 # CONFIG_NSH_DISABLE_EXEC is not set
 # CONFIG_NSH_DISABLE_EXIT is not set
 # CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_HEXDUMP is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
 # CONFIG_NSH_DISABLE_MKFATFS is not set
@@ -117,6 +118,8 @@ CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=393216
 CONFIG_RAM_START=0x20000000
 CONFIG_RAW_BINARY=y
+CONFIG_READLINE_CMD_HISTORY=y
+CONFIG_READLINE_TABCOMPLETION=y
 CONFIG_RTC_DATETIME=y
 CONFIG_SCHED_ATEXIT=y
 CONFIG_SCHED_HPWORK=y
@@ -126,6 +126,8 @@ CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y
+CONFIG_READLINE_CMD_HISTORY=y
+CONFIG_READLINE_TABCOMPLETION=y
 CONFIG_RTC_DATETIME=y
 CONFIG_SCHED_ATEXIT=y
 CONFIG_SCHED_HPWORK=y
@@ -18,6 +18,7 @@
 # CONFIG_NSH_DISABLE_EXEC is not set
 # CONFIG_NSH_DISABLE_EXIT is not set
 # CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_HEXDUMP is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
 # CONFIG_NSH_DISABLE_MKFATFS is not set
@@ -38,7 +39,6 @@ CONFIG_ARMV7M_DCACHE=y
 CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
 CONFIG_ARMV7M_MEMCPY=y
-CONFIG_ARMV7M_STACKCHECK=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_ARM_MPU_EARLY_RESET=y
 CONFIG_BOARDCTL_RESET=y
@@ -173,6 +173,8 @@ CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y
+CONFIG_READLINE_CMD_HISTORY=y
+CONFIG_READLINE_TABCOMPLETION=y
 CONFIG_RTC_DATETIME=y
 CONFIG_SCHED_ATEXIT=y
 CONFIG_SCHED_HPWORK=y
@@ -18,6 +18,7 @@
 # CONFIG_NSH_DISABLE_EXEC is not set
 # CONFIG_NSH_DISABLE_EXIT is not set
 # CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_HEXDUMP is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
 # CONFIG_NSH_DISABLE_MKFATFS is not set
@@ -123,6 +124,8 @@ CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y
+CONFIG_READLINE_CMD_HISTORY=y
+CONFIG_READLINE_TABCOMPLETION=y
 CONFIG_RTC_DATETIME=y
 CONFIG_SCHED_ATEXIT=y
 CONFIG_SCHED_HPWORK=y
@@ -18,6 +18,7 @@
 # CONFIG_NSH_DISABLE_EXEC is not set
 # CONFIG_NSH_DISABLE_EXIT is not set
 # CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_HEXDUMP is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
 # CONFIG_NSH_DISABLE_MKFATFS is not set
@@ -125,6 +126,8 @@ CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y
+CONFIG_READLINE_CMD_HISTORY=y
+CONFIG_READLINE_TABCOMPLETION=y
 CONFIG_RTC_DATETIME=y
 CONFIG_SCHED_ATEXIT=y
 CONFIG_SCHED_HPWORK=y
@@ -126,6 +126,8 @@ CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y
+CONFIG_READLINE_CMD_HISTORY=y
+CONFIG_READLINE_TABCOMPLETION=y
 CONFIG_RTC_DATETIME=y
 CONFIG_SCHED_ATEXIT=y
 CONFIG_SCHED_HPWORK=y
@@ -4,8 +4,8 @@ CONFIG_DRIVERS_CAMERA_CAPTURE=n
 CONFIG_DRIVERS_CAMERA_TRIGGER=n
 CONFIG_DRIVERS_HEATER=n
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
-CONFIG_DRIVERS_IMU_BOSCH_BMI055=n
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=n
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=n
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=n
 CONFIG_DRIVERS_IRLOCK=n
 CONFIG_DRIVERS_OSD=n
@@ -3,7 +3,7 @@
 # board specific MAVLink startup script.
 #------------------------------------------------------------------------------

-if ver hwtypecmp V5Xa0 V5X91 V5Xa1
+if ver hwtypecmp V5X90 V5X91 V5Xa0 V5Xa1 V5X80 V5X81
 then
 	# Start MAVLink on the UART connected to the mission computer
 	mavlink start -d /dev/ttyS4 -b 3000000 -r 290000 -m onboard_low_bandwidth -x -z
@@ -17,11 +17,13 @@
 # CONFIG_NSH_DISABLE_DF is not set
 # CONFIG_NSH_DISABLE_EXEC is not set
 # CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_HEXDUMP is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
 # CONFIG_NSH_DISABLE_MKFATFS is not set
 # CONFIG_NSH_DISABLE_SEMICOLON is not set
 # CONFIG_NSH_DISABLE_TIME is not set
+# CONFIG_NSH_DISABLE_XD is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
 CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/px4/fmu-v5x/nuttx-config"
@@ -155,6 +157,8 @@ CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y
+CONFIG_READLINE_CMD_HISTORY=y
+CONFIG_READLINE_TABCOMPLETION=y
 CONFIG_RTC_DATETIME=y
 CONFIG_SCHED_ATEXIT=y
 CONFIG_SCHED_HPWORK=y
@@ -125,6 +125,8 @@ CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y
+CONFIG_READLINE_CMD_HISTORY=y
+CONFIG_READLINE_TABCOMPLETION=y
 CONFIG_RTC_DATETIME=y
 CONFIG_SCHED_ATEXIT=y
 CONFIG_SCHED_HPWORK=y
@@ -117,6 +117,8 @@ CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=294912
 CONFIG_RAM_START=0x30000000
 CONFIG_RAW_BINARY=y
+CONFIG_READLINE_CMD_HISTORY=y
+CONFIG_READLINE_TABCOMPLETION=y
 CONFIG_RTC_DATETIME=y
 CONFIG_SCHED_ATEXIT=y
 CONFIG_SCHED_HPWORK=y
@@ -7,9 +7,6 @@
 # IFO
 if param compare SYS_AUTOSTART 4071
 then
-	# Change rate to 400 Khz for fast barometer
-	#pwm_out i2c 1 400000
-
 	# IFO has only external i2c barometer.
 	# It does not start EKF2 in the beginning which is strange behaviour. but 3 seconds hack.
 	# We intentionally put this initialization to here for delayed initialization.
@@ -44,6 +44,7 @@ set(msg_files
 	actuator_motors.msg
 	actuator_outputs.msg
 	actuator_servos.msg
+	actuator_servos_trim.msg
 	actuator_test.msg
 	adc_report.msg
 	airspeed.msg
@@ -144,6 +145,7 @@ set(msg_files
 	sensor_gyro.msg
 	sensor_gyro_fft.msg
 	sensor_gyro_fifo.msg
+	sensor_hygrometer.msg
 	sensor_mag.msg
 	sensor_preflight_mag.msg
 	sensor_selection.msg
@@ -2,6 +2,8 @@
 uint64 timestamp			# time since system start (microseconds)
 uint64 timestamp_sample	    # the timestamp the data this control response is based on was sampled

+uint16 reversible_flags     # bitset which motors are configured to be reversible
+
 uint8 NUM_CONTROLS = 8
 float32[8] control # range: [-1, 1], where 1 means maximum positive thrust,
                   # -1 maximum negative (if not supported by the output, <0 maps to NaN),
@@ -0,0 +1,5 @@
+# Servo trims, added as offset to servo outputs
+uint64 timestamp			# time since system start (microseconds)
+
+uint8 NUM_CONTROLS = 8
+float32[8] trim    # range: [-1, 1]
@@ -0,0 +1,8 @@
+uint64 timestamp          # time since system start (microseconds)
+uint64 timestamp_sample
+
+uint32 device_id          # unique device ID for the sensor that does not change between power cycles
+
+float32  temperature      # Temperature provided by sensor (Celcius)
+
+float32 humidity          # Humidity provided by sensor
@@ -1,5 +1,4 @@
 uint64 timestamp	# time since system start (microseconds)
-float32 alt_max 	# maximum altitude in [m] that can be reached
 bool freefall		# true if vehicle is currently in free-fall
 bool ground_contact	# true if vehicle has ground contact but is not landed (1. stage)
 bool maybe_landed	# true if the vehicle might have landed (2. stage)
@@ -696,7 +696,14 @@ int I2CSPIDriverBase::module_start(const BusCLIArguments &cli, BusInstanceIterat
 	}

 	if (!started && !cli.quiet_start) {
-		PX4_WARN("%s: no instance started (no device on bus?)", px4_get_taskname());
+		static constexpr char no_instance_started[] {"no instance started (no device on bus?)"};
+
+		if (iterator.external()) {
+			PX4_WARN("%s: %s", px4_get_taskname(), no_instance_started);
+
+		} else {
+			PX4_ERR("%s: %s", px4_get_taskname(), no_instance_started);
+		}

 #if defined(CONFIG_I2C)

@@ -80,6 +80,14 @@ public:
 		}
 	}

+	void reset()
+	{
+		// set bits to false
+		for (auto &d : _data) {
+			d.store(0);
+		}
+	}
+
 private:
 	static constexpr uint8_t BITS_PER_ELEMENT = 32;
 	static constexpr size_t ARRAY_SIZE = ((N % BITS_PER_ELEMENT) == 0) ? (N / BITS_PER_ELEMENT) :
@@ -48,7 +48,7 @@ struct wq_config_t {

 namespace wq_configurations
 {
-static constexpr wq_config_t rate_ctrl{"wq:rate_ctrl", 3000, 0}; // PX4 inner loop highest priority
+static constexpr wq_config_t rate_ctrl{"wq:rate_ctrl", 3150, 0}; // PX4 inner loop highest priority

 static constexpr wq_config_t SPI0{"wq:SPI0", 2336, -1};
 static constexpr wq_config_t SPI1{"wq:SPI1", 2336, -2};
@@ -38,7 +38,9 @@ namespace px4

 ScheduledWorkItem::~ScheduledWorkItem()
 {
-	ScheduleClear();
+	if (_call.arg != nullptr) {
+		ScheduleClear();
+	}
 }

 void ScheduledWorkItem::schedule_trampoline(void *arg)
@@ -67,6 +67,8 @@ static uint8_t shutdown_lock_counter = 0;

 int px4_shutdown_lock()
 {
+	printf("px4_shutdown_lock\n");
+
 	int ret = pthread_mutex_lock(&shutdown_mutex);

 	if (ret == 0) {
@@ -80,6 +82,8 @@ int px4_shutdown_lock()

 int px4_shutdown_unlock()
 {
+	printf("px4_shutdown_unlock\n");
+
 	int ret = pthread_mutex_lock(&shutdown_mutex);

 	if (ret == 0) {
@@ -103,7 +103,7 @@ file(RELATIVE_PATH PX4_BINARY_DIR_REL ${CMAKE_CURRENT_BINARY_DIR} ${PX4_BINARY_D

 # only in the cygwin environment: convert absolute linker script path to mixed windows (C:/...)
 # because even relative linker script paths are different for linux, mac and windows
-CYGPATH(PX4_BINARY_DIR PX4_BINARY_DIR_CYG)
+CYGPATH(NUTTX_CONFIG_DIR NUTTX_CONFIG_DIR_CYG)

 target_link_libraries(nuttx_arch
 	INTERFACE
@@ -125,7 +125,7 @@ target_link_libraries(px4 PRIVATE

 	-fno-exceptions
 	-fno-rtti
-	-Wl,--script=${NUTTX_CONFIG_DIR}/scripts/${SCRIPT_PREFIX}script.ld
+	-Wl,--script=${NUTTX_CONFIG_DIR_CYG}/scripts/${SCRIPT_PREFIX}script.ld
 	-Wl,-Map=${PX4_CONFIG}.map
 	-Wl,--warn-common
 	-Wl,--gc-sections
@@ -82,7 +82,7 @@ function(px4_os_add_flags)
 			-ffixed-r10
 			-finstrument-functions
 			# instrumenting PX4 Matrix and Param methods is too burdensome
-			-finstrument-functions-exclude-file-list=matrix/Matrix.hpp,px4_platform_common/param.h
+			-finstrument-functions-exclude-file-list=matrix/Matrix.hpp,px4_platform_common/param.h,modules__ekf2_unity.cpp
 		)
 	endif()

--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Daniel Agar	ced277bf0e	[DO NOT MERGE] parameter testing	2022-01-05 11:39:22 -05:00
Matthias Grob	bbb04ab4b8	Remove relaying of maximum altitude through land detector	2022-01-05 14:54:59 +01:00
Julian Oes	2445fa8b4c	commander: prevent uninitialized warning This prevents a memory sanitizer/valgrind warning: Conditional jump or move depends on uninitialised value(s) at 0x2DA536: __sanitizer_cov_trace_cmp4 (in build/px4_sitl_default-clang/bin/px4) by 0x6590D8: FailureDetector::update(vehicle_status_s const&, vehicle_control_mode_s const&) (src/modules/commander/failure_detector/FailureDetector.cpp:76) by 0x3817DF: Commander::run() (src/modules/commander/Commander.cpp:2605) by 0x38B10B: ModuleBase<Commander>::run_trampoline(int, char**) (platforms/common/include/px4_platform_common/module.h:180)	2022-01-05 10:53:51 +01:00
Daniel Agar	170849c8f8	ekf2: expand accel bias stability criteria	2022-01-04 13:57:49 -05:00
PX4 BuildBot	846f807eff	Update submodule mavlink to latest Tue Jan 4 12:39:05 UTC 2022 - mavlink in PX4/Firmware (a8c88f1c98212e72a266fec8a9e7c0da2a14f3af): https://github.com/mavlink/mavlink/commit/4bc0de9c38626fe3640de266118af5fd64fe6a18 - mavlink current upstream: https://github.com/mavlink/mavlink/commit/75204adad281e017e58e0a68fdb0a478c2b74d6f - Changes: https://github.com/mavlink/mavlink/compare/4bc0de9c38626fe3640de266118af5fd64fe6a18...75204adad281e017e58e0a68fdb0a478c2b74d6f 75204ada 2022-01-04 Hamish Willee - Add ability to specify axis to autotune (#1759)	2022-01-04 09:32:43 -05:00
bresch	d094fbbd70	ekf2: fix delta angle coning metric	2022-01-04 09:28:48 -05:00
PX4BuildBot	6fbc0e95d0	[AUTO COMMIT] update change indication	2022-01-04 09:12:45 -05:00
PX4 BuildBot	a89f21d566	Update world_magnetic_model to latest Tue Jan 4 11:14:11 UTC 2022	2022-01-04 09:12:45 -05:00
Daniel Agar	e835a7c4ea	boards: enable readline history and tab completion on newer boards	2022-01-03 10:44:32 -05:00
Daniel Agar	9d1558af25	ekf2: selector use status timestamp for timeout rather than timestamp_sample (delayed time horizon) - update stale checks for publication to use hrt elapsed time from timestamp sample	2022-01-03 09:20:44 -05:00
Daniel Agar	333edfe12f	ekf2: use delayed IMU timestamp for publication's timestamp_sample	2022-01-03 09:20:44 -05:00
Daniel Agar	35502c249d	ekf2: don't use Vectors for height innovations (baro, rng, etc)	2022-01-03 09:20:20 -05:00
David Sidrane	eac92ec671	imxrt:ADC fix timeouts	2022-01-03 06:02:19 -08:00
Jaeyoung-Lim	bdec85fdd0	Disable local vehicle setpoints while in transition This commit adds disabling vehicle setpoints while in transition	2022-01-03 11:09:06 +01:00
Jaeyoung-Lim	4127dfa791	Log vehicle local position setpoints This commit enables the local position setpoints to be logged by publishing vehicle_local_position_setpoint	2022-01-03 11:09:06 +01:00
Jaeyoung Lim	52418f13b0	Use groundspeed for navigate heading	2022-01-03 10:52:34 +01:00
Jaeyoung-Lim	e66e82228f	Add support for offboard velocity setpoints for fixedwing vehicles This commit adds a velocity controller which the setpoint can be passed using offboard setpoints	2022-01-03 10:52:34 +01:00
Daniel Agar	75bb2f8dd2	Jenkins: hardware temporarily tolerate sd_bench failures on px4_fmu-v5_debug	2022-01-02 14:47:52 -05:00
Daniel Agar	673d4544d1	parameters: verify param backup after export	2022-01-02 10:46:34 -05:00
Daniel Agar	8e26b33009	tinybson: file write error add more detail	2022-01-02 10:46:34 -05:00
Daniel Agar	80ef6e19df	tinybson: explicitly append int32 or int64	2022-01-02 10:46:34 -05:00
Daniel Agar	9cbb5c9920	parameters: fix export shutdown locking - in NuttX bchlib keeps a sector sized buffer that might not be written out to RAMTRON until the file is closed	2022-01-02 10:46:34 -05:00
Daniel Agar	2153710917	Tools/HIL/monitor_firmware_upload.py don't fail on any ERROR - on first boot we only care that it completes (gets to nsh prompt)	2022-01-02 10:05:30 -05:00
Daniel Agar	c421bff73c	Tools/HIL: use pyserial spy:// to log all serial traffic and dump on failure	2022-01-01 22:25:29 -05:00
Daniel Agar	7df1721d32	ROMFS: rcS disable simplistic SD I/O test - this was added when trying to identify SD card issues at boot and trigger a format, but didn't provide any value	2022-01-01 18:43:27 -05:00
Daniel Agar	f76aa0e772	cmake: NuttX ARMV7M_STACKCHECK skip ekf2 - px4_fmu-v5_stackcheck switch from icm20689 -> bmi055 (lower rate) - this is to make performance tolerable	2022-01-01 18:43:27 -05:00
Daniel Agar	e9283d90cc	systemcmds/netman: fix code style	2022-01-01 18:40:47 -05:00
Daniel Agar	0029317e55	Jenkins: hardware additional reboots no longer required	2022-01-01 14:06:05 -05:00
Daniel Agar	439ad7daea	Jenkins: hardware disable calib_delay (too slow) and manual SD format	2022-01-01 12:10:28 -05:00
Daniel Agar	501474993e	Tools/HIL: default to USB UART if available	2022-01-01 10:49:30 -05:00
Daniel Agar	77b65ee564	boards: px4_fmu-v5_debug disable stack check - this is redundant with px4_fmu-v5_stackcheck	2021-12-31 19:34:18 -05:00
Daniel Agar	247b975675	Tools/HIL: disable XON/XOFF, consistent timeouts, proper input buffer clear	2021-12-31 19:28:40 -05:00
Daniel Agar	03371f8522	NuttX with bch flush backport	2021-12-31 10:59:56 -08:00
David Sidrane	db159a43cc	test_dataman:Set SEM_PRIO_NONE on all semaphores	2021-12-31 10:27:24 -05:00
Daniel Agar	1b6700592b	parameters: require valid BSON document size	2021-12-30 16:36:23 -05:00
Daniel Agar	3514458f42	Tools/HIL/test_airframes.sh: dump all parameter storage after bootup to verify contents	2021-12-30 12:43:00 -05:00
Daniel Agar	b06215d038	Tools/HIL/test_airframes.sh: run param dump after save to verify BSON	2021-12-30 11:11:14 -05:00
PX4 BuildBot	5fc7e551ab	Update submodule mavlink to latest Wed Dec 29 12:38:13 UTC 2021 - mavlink in PX4/Firmware (395eeb440a2ca7503591f872d4f733fcd9867218): https://github.com/mavlink/mavlink/commit/bfaf605bd6f25c8c4843d67e455fe02acb5a9452 - mavlink current upstream: https://github.com/mavlink/mavlink/commit/4bc0de9c38626fe3640de266118af5fd64fe6a18 - Changes: https://github.com/mavlink/mavlink/compare/bfaf605bd6f25c8c4843d67e455fe02acb5a9452...4bc0de9c38626fe3640de266118af5fd64fe6a18 4bc0de9c 2021-12-27 olliw42 - Component Information Basics: add camera cap flag (#1752) 8035ad4d 2021-12-27 Hamish Willee - GIMBAL_DEVICE_FLAGS_NEUTRAL - note that this can be any angle (#1758)	2021-12-29 17:16:49 -05:00
Daniel Agar	6706d9b434	Jenkins: always fully clean git workspace	2021-12-29 17:14:11 -05:00
Daniel Agar	6d0339ba0c	I2CSPIDriverBase: sensor start failure ERROR if internal, WARN if external	2021-12-28 11:05:35 -05:00
Daniel Agar	990d7c159d	pwm_out: cleanup and prep for linux compatibility	2021-12-28 11:04:00 -05:00
Daniel Agar	10f4a2e91f	boards: omnibus_f4sd_default disable systemcmds to save flash	2021-12-27 12:19:55 -05:00
Daniel Agar	3ef9c2d16c	boards: holybro_kakutef7_default disable modules/gyro_calibration to save flash	2021-12-27 12:19:55 -05:00
FengShun	8f8719d33b	cmake: use add_definitions instead of add_compile_definitions Using make tests in docker will fail, because the current basic image used by px4io/px4-dev-simulation-bionic is ubuntu18.04, the default version of cmake is 3.10, and the add_compile_definitions command is only available in cmake 3.12+(ubuntu 20.04).	2021-12-27 12:19:31 -05:00
FengShun	65e976bbc2	docker: update px4-dev-simulation-bionic container versions to 2021-12-11 The current docker image will cause "make tests" to fail: "kconfiglib is not installed or not in PATH"	2021-12-27 12:19:31 -05:00
Daniel Agar	d94767ef88	cmake: NuttX use cygwin friendly path for linker script	2021-12-27 12:19:12 -05:00
honglang	17a99bc827	mavlink: add HYGROMETER_SENSOR stream	2021-12-27 12:13:09 -05:00
honglang	983867f9af	uavcan: support uavcan hygrometer	2021-12-27 12:13:09 -05:00
honglang	b60e59d9be	msg: new sensor_hygrometer msg	2021-12-27 12:13:09 -05:00
Daniel Agar	3f17acdcc9	boards: mro_ctrl-zerl-h7-oem pin fixes (sync with mro_ctrl-zero-h7)	2021-12-27 09:25:21 -05:00
Daniel Agar	0f4e1dd9f9	boards: mro ctrl-zero-h7 pin fixes	2021-12-27 09:25:21 -05:00
Daniel Agar	236794235a	parameters: export empty BSON document even if there are no parameters to save - otherwise a 'param reset_all' won't be saved until a parameter is changed	2021-12-27 09:17:00 -05:00
Daniel Agar	33d7b42040	parameters: import quietly retry if there's no data (as a precuation)	2021-12-27 09:17:00 -05:00
Daniel Agar	20d3e6f4e1	parameters: add simple BSON verification pass after export	2021-12-27 09:17:00 -05:00
Beat Küng	72065c3d71	fix protocol_splitter: remove timeout, drop buffer if too full instead The existing implementation had a flaw: when the buffer was getting full, mavlink started to busy-loop, as the uart has data (poll returns immediately) but no new data was read from the uart due to the buffer being full. As rtps is running at lower prio, it never got the chance to read again, making the problem even worse. After 1s the timeout triggered and the buffer was cleared, so it recovered. Instead of allowing for CPU spikes, we now immediately clear the buffer (only as much as we have to), ensuring that new data is read from the uart.	2021-12-24 20:28:43 -05:00
Rui Miguel Carvalho	542ee86bc9	landing_target_estimator: custom irlock frame params (#18884 ) Signed-off-by: ruimscarvalho98 <ruimsc98@gmail.com>	2021-12-24 20:20:35 -05:00
Silvan Fuhrer	28e01c3510	FW Position controller: make loiter switching logic robust against pos_sp with loiter_rad=0 Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2021-12-24 20:17:15 -05:00
Daniel Agar	98d706772e	boards: px4_fmu-v2_rover disable events module to save flash	2021-12-24 20:06:13 -05:00
Beat Küng	d202bf9631	control_allocator: add scope to reduce stack usage by 256B	2021-12-24 20:06:13 -05:00
Silvan Fuhrer	48be55dec8	Tiltrotor: disable tilt/thrust compensation when dynamic allocation is enabled Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2021-12-24 20:06:13 -05:00
Silvan Fuhrer	31d7328f4d	Tailsitter: invert roll (make it NED-correct) for filling vehicle_torque_setpoint Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2021-12-24 20:06:13 -05:00
Silvan Fuhrer	1ad66e606b	ControlAllocation: introduce convention for control surface deflection sign - horizontal control surfaces: up=positive deflection - vertical control surfaces (rudder): right=positive deflection - mixed (V-Tail): up=positive deflection Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2021-12-24 20:06:13 -05:00
Beat Küng	5259877b1b	control_allocator: update matrix normalization - only normalize rpy for MC matrices - for thrust use the 3D vector, so it works for FW and tilt rotors as well This keeps MC unchanged.	2021-12-24 20:06:13 -05:00
Silvan Fuhrer	460a0df850	tiltrotor: fill out thrust_setpoint[0] also in hover, based on tilt and hover thrust In the tiltrotor case, beside an F_z thrust setpoint also a F_x setpoint must be passed to the allocator as the matrix has non-zero thrust-x effectiveness when tilts are applied. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2021-12-24 20:06:13 -05:00
Beat Küng	2333bef670	px4airframes doc: handle common outputs individually preparation for dynamic control allocation, where we won't have MAIN vs AUX anymore (at least for the generic frames).	2021-12-24 20:06:13 -05:00
Beat Küng	203e253dfe	airframes: sitl boat: switch to dynamic control allocation	2021-12-24 20:06:13 -05:00
Beat Küng	8486ca5766	airframes: sitl cloudship: switch to dynamic control allocation	2021-12-24 20:06:13 -05:00
Beat Küng	9bc9169b77	px4/fmu-v5x: add missing board variants to rc.board_mavlink	2021-12-24 20:06:13 -05:00
Beat Küng	09200b994d	airship_att_control: publish thrust + torque setpoint	2021-12-24 20:06:13 -05:00
Silvan Fuhrer	478724c9fe	EffectivenessTiltrotor: fix logic for matrix update Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2021-12-24 20:06:13 -05:00
Beat Küng	6c8f322dfe	px4/fmu-v2/test: disable modules to reduce flash	2021-12-24 20:06:13 -05:00
Beat Küng	082cd74cab	holybro/kakutef7: disable IST8310 to reduce flash	2021-12-24 20:06:13 -05:00
Beat Küng	8e04934eab	commander: consider COM_MOT_TEST_EN for COMMAND_ACTUATOR_TEST as well	2021-12-24 20:06:13 -05:00
Silvan Fuhrer	39d441317a	ActuatorEffectivenssTailsitterVTOL: only enable MC yaw control if more than 3 rotors Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2021-12-24 20:06:13 -05:00
Silvan Fuhrer	426aa76a59	CA/VTOL: change description of VT_ELEV_MC_LOCK as it applies to not just elevons Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2021-12-24 20:06:13 -05:00
Silvan Fuhrer	18008b2de7	CA module.yaml: add motor direction function also to UI for Tailsitter an Tiltrotor Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2021-12-24 20:06:13 -05:00
Beat Küng	8743b78474	px4/fmu-v2/rover: disable modules to reduce flash	2021-12-24 20:06:13 -05:00
Beat Küng	8c782b7cd9	control_allocator: add Custom + MC with tilts effectiveness The param group is changed to Geometry, as this reflects the naming in the QGC UI.	2021-12-24 20:06:13 -05:00
Beat Küng	0818bb4be0	bitcraze/crazyflie{,21}: disable modules to reduce flash	2021-12-24 20:06:13 -05:00
Beat Küng	751539304e	omnibus/f4sd: disable modules to reduce flash	2021-12-24 20:06:13 -05:00
Beat Küng	627ec0df5d	control_allocator: increase STACK_MAIN to 3000 It was exceeding 2000	2021-12-24 20:06:13 -05:00
Beat Küng	4d38742371	control_allocator: show VT_ELEV_MC_LOCK for vtol mixers in config ui	2021-12-24 20:06:13 -05:00
Beat Küng	28c4d0b7df	mixer_module: add unit tests	2021-12-24 20:06:13 -05:00
Beat Küng	fe1b726b62	ScheduledWorkItem: do not call ScheduleClear() if not init in destructor This avoids that unit tests trying to access a wq hang. It still fails with an error currently.	2021-12-24 20:06:13 -05:00
Silvan Fuhrer	07306c4be3	control_allocator: add support for Tailsitter VTOL Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2021-12-24 20:06:13 -05:00
Silvan Fuhrer	0568cff299	control_allocator: handle thrust allocation for VTOL's properly Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2021-12-24 20:06:13 -05:00
Silvan Fuhrer	936f2dff52	logger: log both instances of vehicle_thrust/torque_setpoint Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2021-12-24 20:06:13 -05:00
Beat Küng	d688e5dee4	sitl airframes: add control allocation config to some airframes (not enabled) To use them, manually set SYS_CTRL_ALLOC	2021-12-24 20:06:13 -05:00
Beat Küng	2362feddac	airframes/uuv_bluerov2_heavy: switch over to control allocation	2021-12-24 20:06:13 -05:00
Beat Küng	4f8e6a9548	control_allocator: do not update params while armed As a precaution	2021-12-24 20:06:13 -05:00
Beat Küng	e04b4a8dbf	control_allocator: add 6DOF configuration	2021-12-24 20:06:13 -05:00
Beat Küng	4c80adfaf1	control_allocator: implement trim + slew rate limits configuration	2021-12-24 20:06:13 -05:00
Beat Küng	301100ce0e	uuv_att_control: publish vehicle_thrust_setpoint & vehicle_torque_setpoint	2021-12-24 20:06:13 -05:00
Beat Küng	590239dedb	work_queue: increase rate_ctrl stack size by 150 B WARN [load_mon] wq:rate_ctrl low on stack! (172 bytes left)	2021-12-24 20:06:13 -05:00
Beat Küng	b5c2cdf6c4	vtol_att_control: do not manipulate PWM outputs if SYS_CTRL_ALLOC == 1 Not required anymore	2021-12-24 20:06:13 -05:00
Beat Küng	43e15148f6	rover: switch sitl configs to control allocation	2021-12-24 20:06:13 -05:00
Beat Küng	8d9e2a28c4	control_allocator: add fixed-wing actuator effectiveness	2021-12-24 20:06:13 -05:00
Beat Küng	4d2a403afa	control_allocator: add rover actuator effectiveness This can be generalized later	2021-12-24 20:06:13 -05:00
Beat Küng	ed3a115c8f	control_allocator: add status publication rate limitation comment	2021-12-24 20:06:13 -05:00
Beat Küng	70e46a194f	control_allocator: major refactoring & additions - allow effectiveness matrix to select control allocator method (desaturation algorithm) - add actuator_servos publication - add support for multiple matrices (for vtol) - add updateSetpoint callback method to actuator effectiveness to allow it to manipulate the actuator setpoint after allocation - handle motor stopping & reversal - add control surfaces & tilt servos - handle standard vtol + tiltrotor - rename MC rotors params & class to be more generically usable - fixes and enables ActuatorEffectivenessRotorsTest	2021-12-24 20:06:13 -05:00
Beat Küng	a81f11acdd	mc_rate_control: don't publish thrust + torque sp if vtol	2021-12-24 20:06:13 -05:00
Beat Küng	28e995ede2	fw_att_control: publish vehicle_thrust_setpoint & vehicle_torque_setpoint	2021-12-24 20:06:13 -05:00
Beat Küng	4becd6e4c7	rover: publish vehicle_thrust_setpoint & vehicle_torque_setpoint	2021-12-24 20:06:13 -05:00
Beat Küng	5da67e2e28	vtol_att_control: publish vehicle_thrust_setpoint & vehicle_torque_setpoint	2021-12-24 20:06:13 -05:00
Beat Küng	d1abdd0f8d	output drivers: add option to generate a separate output range reversing param Makes it a bit easier to configure. Reversing by setting MIN > MAX is still supported.	2021-12-24 20:06:13 -05:00
Beat Küng	1901edf13c	actuator_motors.msg: add reversible flags & implement in mixer_module	2021-12-24 20:06:13 -05:00
Beat Küng	ccc1f0e8fa	generate_actuators_metadata: minor additions (index_offset, item_label_prefix)	2021-12-24 20:06:13 -05:00
Beat Küng	81cef522fd	generate_params.py: fix bitmask param type	2021-12-24 20:06:13 -05:00
Beat Küng	5bcc5d3a13	generate_actuators_metadata.py: add mixer rules support	2021-12-24 20:06:13 -05:00
Beat Küng	230aae580f	ROMFS: add control_allocator to all types	2021-12-24 20:06:13 -05:00
Beat Küng	86aa9f9336	Makefile: exclude src/lib/crypto/libtommath from validate_module_configs	2021-12-24 20:06:13 -05:00
Beat Küng	9c767ff1ee	control_allocator: make effective source name a class member	2021-12-24 20:06:13 -05:00
Beat Küng	20d96f3bd9	metadata: fix BOARD_WITH_IO detection Wasn't correctly updated during a rebase.	2021-12-24 20:06:13 -05:00
Daniel Agar	712353ea56	gyro_calibration: increase required samples (to be more conservative) - make sure variance is checked across all available sensors	2021-12-24 19:53:44 -05:00
Daniel Agar	3f3836afa8	parameters: simplify import mark_unsaved and don't fail bson decode unnecessarily	2021-12-24 14:32:40 -05:00
Daniel Agar	d1cd4904dc	parameters: param_value_is_default avoid locking if value unchanged	2021-12-24 14:32:40 -05:00
Daniel Agar	c0b8f2952c	parameters: param_get_default_value avoid locking if value is static default	2021-12-24 14:32:40 -05:00
Daniel Agar	27a113ecab	parameters: param_get avoid locking if value is static default	2021-12-24 14:32:40 -05:00
Daniel Agar	cd8ce4d01e	parameters: remove obsolete perf_end	2021-12-24 14:32:40 -05:00
Daniel Agar	38731662c6	parameters use bitset for mark_unsaved	2021-12-24 14:32:40 -05:00
Daniel Agar	0e0639a5bf	Jenkins: hardware don't tolerate logger failures	2021-12-24 14:31:21 -05:00
Daniel Agar	b054fc7b8b	navigator: trivial code style fix	2021-12-24 10:55:20 -05:00
seungjo0109	0f7c850080	Fix typo(at modules/navigator_main)	2021-12-24 08:54:43 -05:00
PX4 BuildBot	7e9cdef57b	Update submodule jMAVSim to latest Thu Dec 23 18:11:33 UTC 2021 - jMAVSim in PX4/Firmware (`a4040f7afd`): https://github.com/PX4/jMAVSim/commit/b23dc53d558e801b214fbcb605a061c9773105e0 - jMAVSim current upstream: https://github.com/PX4/jMAVSim/commit/66b764ada522893c05224950aa6268c809f8e48a - Changes: https://github.com/PX4/jMAVSim/compare/b23dc53d558e801b214fbcb605a061c9773105e0...66b764ada522893c05224950aa6268c809f8e48a 66b764a 2021-12-17 romain-chiap - Merge pull request #129 from romain-chiap/tailsitter 71444c6 2021-10-04 romain-chiap - Update x_vert.mtl 4cc100e 2021-08-27 Romain Chiappinelli - tailsitter .mtl updated 561a5c4 2021-08-27 Romain Chiappinelli - tailsitter selection and docs 57fbdb8 2021-08-25 Romain Chiappinelli - tailsitter	2021-12-23 17:50:10 -05:00
Daniel Agar	00eae055ac	lib/sensor_calibration: don't save uninitialized priority parameter immediately	2021-12-23 17:49:11 -05:00
Daniel Agar	e694fa906b	tinybson: add more error output on node name overflow	2021-12-23 17:45:50 -05:00
Daniel Agar	47d6a6c63d	Tools/HIL/test_airframes.sh dump parameters before reboot (for verification)	2021-12-23 17:45:50 -05:00
Daniel Agar	14c2225b1c	ROMFS: rcS dump parameter backup contents before using - this is mainly for debug comparion	2021-12-23 17:45:50 -05:00