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ModalAI Starling - fix up links and undeprecated (#25272 )
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2026-05-26 04:57:35 +08:00 · 2025-08-08 08:42:25 +10:00 · 2025-08-07 16:04:21 +10:00 · 2025-08-07 14:22:50 +10:00 · 2025-08-07 14:22:50 +10:00 · 2025-08-07 09:47:51 +10:00
1374 changed files with 39362 additions and 20439 deletions
@@ -1,7 +0,0 @@
-FROM gcr.io/oss-fuzz-base/base-builder:v1
-COPY . $SRC/PX4-Autopilot
-RUN apt-get install -y libjpeg8-dev zlib1g-dev
-RUN pip3 install --upgrade pip
-RUN python3 -m pip install -r $SRC/PX4-Autopilot/Tools/setup/requirements.txt
-WORKDIR $SRC/PX4-Autopilot
-COPY ./.clusterfuzzlite/build.sh $SRC/
@@ -1,4 +0,0 @@
-#!/usr/bin/env bash -eu
-
-PX4_FUZZ=1 make px4_sitl
-cp build/px4_sitl_default/bin/px4 $OUT/px4
@@ -1 +0,0 @@
-language: c++
@@ -12,3 +12,11 @@ max_line_length = 120
 [*.yaml, *.yml]
 indent_style = space
 indent_size = 2
+
+[*.sh]
+indent_style = tab
+indent_size = 2
+insert_final_newline = true
+trim_trailing_whitespace = true
+# Not in the official standard, but supported by many editors
+max_line_length = 80
@@ -0,0 +1,6 @@
+---
+title: '[CI] Fuzzing Workflow Failed'
+labels: ['Fuzzing']
+---
+The automated fuzzing workflow has failed.
+See {{ env.WORKFLOW_RUN_URL }} for details.
@@ -5,6 +5,6 @@


 # Add 'Documentation' label to any changes within 'docs' folder or any subfolders
-"Documentation+📑":
+"Documentation 📑":
 - changed-files:
  - any-glob-to-any-file: docs/**
@@ -1,34 +0,0 @@
-name: ClusterFuzzLite batch fuzzing
-on:
-  schedule:
-    - cron: '0 6 * * *'  # UTC 6am every day.
-permissions: read-all
-jobs:
-  BatchFuzzing:
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      matrix:
-        sanitizer:
-        - address
-        - undefined
-        - memory
-    steps:
-    - name: Build Fuzzers (${{ matrix.sanitizer }})
-      id: build
-      uses: google/clusterfuzzlite/actions/build_fuzzers@v1
-      with:
-        sanitizer: ${{ matrix.sanitizer }}
-    - name: Run Fuzzers (${{ matrix.sanitizer }})
-      id: run
-      uses: google/clusterfuzzlite/actions/run_fuzzers@v1
-      with:
-        github-token: ${{ secrets.GITHUB_TOKEN }}
-        fuzz-seconds: 1800 # 30 mins
-        mode: 'batch'
-        sanitizer: ${{ matrix.sanitizer }}
-        # Optional but recommended: For storing certain artifacts from fuzzing.
-        # See later section on "Git repo for storage".
-        # storage-repo: https://${{ secrets.PERSONAL_ACCESS_TOKEN }}@github.com/OWNER/STORAGE-REPO-NAME.git
-        # storage-repo-branch: main   # Optional. Defaults to "main"
-        # storage-repo-branch-coverage: gh-pages  # Optional. Defaults to "gh-pages".
@@ -19,7 +19,7 @@ jobs:
      with:
        fetch-depth: 0

-    - name: Testing (clang-tidy-quiet)
+    - name: Testing (clang-tidy)
      uses: addnab/docker-run-action@v3
      with:
        image: px4io/px4-dev-clang:2021-09-08
@@ -27,4 +27,4 @@ jobs:
        run: |
          cd /workspace
          git config --global --add safe.directory /workspace
-          make clang-tidy-quiet
+          make clang-tidy
@@ -34,7 +34,8 @@ jobs:
    - uses: actions/checkout@v4

    - name: setup
-      run: ./Tools/setup/macos.sh; ./Tools/setup/macos.sh
+      run: |
+        ./Tools/setup/macos.sh

    - name: Prepare ccache timestamp
      id: ccache_cache_timestamp
@@ -7,6 +7,11 @@ on:
    paths-ignore:
      - 'docs/**'

+# If two events are triggered within a short time in the same PR, cancel the run of the oldest event
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number }}
+  cancel-in-progress: true
+
 jobs:
  unit_tests:
    runs-on: ubuntu-latest
@@ -18,7 +23,7 @@ jobs:
    - name: main test
      uses: addnab/docker-run-action@v3
      with:
-        image: px4io/px4-dev-base-focal:2021-09-08
+        image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
        options: -v ${{ github.workspace }}:/workspace
        run: |
          cd /workspace
@@ -19,7 +19,7 @@ jobs:
    - name: main test
      uses: addnab/docker-run-action@v3
      with:
-        image: px4io/px4-dev-base-focal:2021-09-08
+        image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
        options: -v ${{ github.workspace }}:/workspace
        run: |
          cd /workspace
@@ -0,0 +1,48 @@
+name: Fuzzing
+on:
+  schedule:
+    - cron: '0 6 * * *'  # UTC 6am every day.
+
+permissions:
+  contents: read
+
+env:
+  RUNS_IN_DOCKER: true
+
+jobs:
+  Fuzzing:
+    runs-on: ubuntu-latest
+    container:
+      image: px4io/px4-dev:v1.16.0-rc2-4-gb67c65bfe6
+    steps:
+      - name: Install Dependencies
+        run: |
+          apt update && apt install -y clang
+
+      - name: Fix git in Container
+        run: |
+          git config --global --add safe.directory $(realpath .)
+
+      - uses: actions/checkout@v4
+
+      - name: Build and Run Fuzz Tests
+        run: |
+          # Only build the tests
+          export CC=clang
+          export CXX=clang++
+          make tests TESTFILTER=__no_tests__
+
+          # Run the fuzz tests
+          for fuzz_binary in build/px4_sitl_test/*fuzz*; do
+            ./Tools/ci/run_fuzz_tests.sh $fuzz_binary 15m
+          done
+
+      # Create a github issue in case of a failure
+      - name: Create Issue
+        if: ${{ failure() }}
+        uses: JasonEtco/create-an-issue@v2
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          WORKFLOW_RUN_URL: https://github.com/${{ github.repository }}/actions/runs/${{ github.run_id }}
+        with:
+          filename: .github/fuzzing_issue_template.md
@@ -24,7 +24,6 @@ jobs:
      matrix:
        config:
          - {vehicle: "iris",          mission: "MC_mission_box"}
-          - {vehicle: "rover",         mission: "rover_mission_1"}

    steps:
    - uses: actions/checkout@v4
@@ -89,3 +89,12 @@
 [submodule "src/drivers/uavcan/libdronecan/libuavcan/dsdl_compiler/pydronecan"]
 	path = src/drivers/uavcan/libdronecan/libuavcan/dsdl_compiler/pydronecan
 	url = https://github.com/dronecan/pydronecan
+[submodule "test/fuzztest"]
+	path = test/fuzztest
+	url = https://github.com/google/fuzztest.git
+[submodule "src/lib/tensorflow_lite_micro/tflite_micro"]
+	path = src/lib/tensorflow_lite_micro/tflite_micro
+	url = https://github.com/PX4/tflite-micro.git
+[submodule "src/drivers/ins/microstrain/mip_sdk"]
+	path = src/drivers/ins/microstrain/mip_sdk
+	url = https://github.com/PX4/LORD-MicroStrain_mip_sdk.git
@@ -334,6 +334,33 @@ if(NOT PX4_CHIP)
 	message(FATAL_ERROR "px4_os_determine_build_chip() needs to set PX4_CHIP")
 endif()

+#=============================================================================
+# Testing - Automatic unit and integration testing with CTest
+# (Needs to be before setting the common compile flags)
+#
+
+# optionally enable cmake testing (supported only on posix)
+option(CMAKE_TESTING "Configure test targets" OFF)
+if(${PX4_CONFIG} STREQUAL "px4_sitl_test")
+	set(CMAKE_TESTING ON)
+endif()
+if(CMAKE_TESTING)
+	include(CTest) # sets BUILD_TESTING variable
+endif()
+
+# enable test filtering to run only specific tests with the ctest -R regex functionality
+set(TESTFILTER "" CACHE STRING "Filter string for ctest to selectively only run specific tests (ctest -R)")
+
+include(px4_add_gtest)
+if(BUILD_TESTING)
+	# Setting FUZZTEST_FUZZING_MODE=on enables ASAN, and is only supported with Clang
+	if (("${CMAKE_CXX_COMPILER_ID}" MATCHES "Clang") OR ("${CMAKE_CXX_COMPILER_ID}" MATCHES "AppleClang"))
+		set(FUZZTEST_FUZZING_MODE ON)
+	endif()
+	add_subdirectory(test)
+	fuzztest_setup_fuzzing_flags()
+endif()
+
 #=============================================================================
 # build flags
 #
@@ -386,46 +413,6 @@ if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
 	endforeach()
 endif()

-#=============================================================================
-# Testing - Automatic unit and integration testing with CTest
-#
-
-# optionally enable cmake testing (supported only on posix)
-option(CMAKE_TESTING "Configure test targets" OFF)
-if(${PX4_CONFIG} STREQUAL "px4_sitl_test")
-	set(CMAKE_TESTING ON)
-endif()
-if(CMAKE_TESTING)
-	include(CTest) # sets BUILD_TESTING variable
-endif()
-
-# enable test filtering to run only specific tests with the ctest -R regex functionality
-set(TESTFILTER "" CACHE STRING "Filter string for ctest to selectively only run specific tests (ctest -R)")
-
-# if testing is enabled download and configure gtest
-list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake/gtest/)
-include(px4_add_gtest)
-if(BUILD_TESTING)
-	include(gtest)
-
-	# Ensure there's no -R without any filter expression since that trips newer ctest versions
-	if(TESTFILTER)
-		set(TESTFILTERARG "-R")
-	else()
-		set(TESTFILTERARG "")
-	endif()
-
-	add_custom_target(test_results
-			COMMAND GTEST_COLOR=1 ${CMAKE_CTEST_COMMAND} --output-on-failure -T Test ${TESTFILTERARG} ${TESTFILTER}
-			DEPENDS
-				px4
-				examples__dyn_hello
-			USES_TERMINAL
-			COMMENT "Running tests"
-			WORKING_DIRECTORY ${PX4_BINARY_DIR})
-	set_target_properties(test_results PROPERTIES EXCLUDE_FROM_ALL TRUE)
-endif()
-
 #=============================================================================
 # subdirectories
 #
@@ -206,8 +206,8 @@ source "src/examples/Kconfig"
 endmenu

 menu "platforms"
-depends on PLATFORM_QURT || PLATFORM_POSIX
-source "platforms/common/Kconfig"
+depends on PLATFORM_QURT || PLATFORM_POSIX || PLATFORM_NUTTX
+source "platforms/Kconfig"
 endmenu

 source "src/lib/*/Kconfig"
@@ -160,11 +160,6 @@ else
 		override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=UndefinedBehaviorSanitizer
 	endif

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

 # Pick up specific Python path if set
@@ -473,7 +468,7 @@ python_coverage:

 # static analyzers (scan-build, clang-tidy, cppcheck)
 # --------------------------------------------------------------------
-.PHONY: scan-build px4_sitl_default-clang clang-tidy clang-tidy-fix clang-tidy-quiet
+.PHONY: scan-build px4_sitl_default-clang clang-tidy clang-tidy-fix
 .PHONY: cppcheck shellcheck_all validate_module_configs

 scan-build:
@@ -499,10 +494,6 @@ clang-tidy: px4_sitl_default-clang
 clang-tidy-fix: px4_sitl_default-clang
 	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -fix -p .

-# modified version of run-clang-tidy.py to return error codes and only output relevant results
-clang-tidy-quiet: px4_sitl_default-clang
-	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -p .
-
 # TODO: Fix cppcheck errors then try --enable=warning,performance,portability,style,unusedFunction or --enable=all
 cppcheck: px4_sitl_default
 	@mkdir -p "$(SRC_DIR)"/build/cppcheck
@@ -0,0 +1,72 @@
+#!/bin/sh
+# @name Rover Ackermann
+# @type Rover
+# @class Rover
+
+. ${R}etc/init.d/rc.rover_ackermann_defaults
+
+set VEHICLE_TYPE rover_ackermann
+param set-default CA_AIRFRAME 5         # Rover (Ackermann)
+param set-default CA_R_REV 1            # Motor is assumed to be reversible
+param set-default EKF2_MAG_TYPE 1       # Make sure magnetometer is fused even when not driving
+param set-default NAV_ACC_RAD 0.5       # Waypoint acceptance radius
+param set-default EKF2_GBIAS_INIT 0.01
+param set-default EKF2_ANGERR_INIT 0.01
+
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover_ackermann}
+
+param set-default SIH_VEHICLE_TYPE 5 # sih as rover ackermann
+
+param set-default PWM_MAIN_FUNC1 201 # Steering
+param set-default PWM_MAIN_FUNC2 101 # Throttle
+param set-default SIH_MASS 20
+param set-default SIH_IXX 0.4333
+param set-default SIH_IYY 1.6833
+param set-default SIH_IZZ 2.0833
+param set-default SIH_IXZ 0
+param set-default SIH_KDV 50
+param set-default SIH_KDW 10
+
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 1
+param set-default SENS_EN_MAGSIM 1
+
+# Ackermann Parameters
+param set-default RA_WHEEL_BASE 0.321
+param set-default RA_ACC_RAD_GAIN 2
+param set-default RA_ACC_RAD_MAX 3
+param set-default RA_MAX_STR_ANG 0.5236
+param set-default RA_STR_RATE_LIM 360
+
+# Rate Control Parameters
+param set-default RO_YAW_RATE_I 0.01
+param set-default RO_YAW_RATE_P 0.25
+param set-default RO_YAW_RATE_LIM 180
+param set-default RO_YAW_ACCEL_LIM 400
+param set-default RO_YAW_DECEL_LIM 800
+param set-default RO_YAW_RATE_CORR 1
+
+# Attitude Control Parameters
+param set-default RO_YAW_P 5
+
+# Velocity Control Parameters
+param set-default RO_ACCEL_LIM 3
+param set-default RO_DECEL_LIM 3
+param set-default RO_JERK_LIM 10
+param set-default RO_MAX_THR_SPEED 3.2
+param set-default RO_SPEED_LIM 3
+param set-default RO_SPEED_I 0.001
+param set-default RO_SPEED_P 0.001
+param set-default RO_SPEED_RED 1
+
+# Pure Pursuit parameters
+param set-default PP_LOOKAHD_GAIN 1
+param set-default PP_LOOKAHD_MAX 10
+param set-default PP_LOOKAHD_MIN 1
+
+# Pure Pursuit parameters
+param set-default PP_LOOKAHD_GAIN 1
+param set-default PP_LOOKAHD_MAX 10
+param set-default PP_LOOKAHD_MIN 1
@@ -1,33 +0,0 @@
-#!/bin/sh
-#
-# @name Rover
-#
-
-. ${R}etc/init.d/rc.rover_defaults
-
-param set-default GND_L1_DIST 5
-param set-default GND_L1_PERIOD 10
-param set-default GND_SP_CTRL_MODE 1
-param set-default GND_SPEED_D 0.001
-param set-default GND_SPEED_I 3
-param set-default GND_SPEED_IMAX 0.125
-param set-default GND_SPEED_P 0.25
-param set-default GND_SPEED_THR_SC 1
-param set-default GND_SPEED_TRIM 4
-param set-default GND_THR_CRUISE 0.3
-param set-default GND_THR_MAX 0.5
-param set-default GND_THR_MIN 0
-
-param set-default NAV_ACC_RAD 0.5
-param set-default NAV_LOITER_RAD 2
-
-param set-default GND_MAX_ANG 0.6
-param set-default GND_WHEEL_BASE 2
-
-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
@@ -1,12 +0,0 @@
-#!/bin/sh
-#
-# @name Aion Robotics R1 Rover
-# @type Rover
-# @class Rover
-
-. ${R}etc/init.d/rc.rover_differential_defaults
-
-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
@@ -0,0 +1,138 @@
+#!/bin/sh
+#
+# @name BlueROV2 Heavy
+#
+# @type UUV
+#
+# @maintainer Pedro Roque <padr@kth.se>
+# @maintainer Nicola De Carli <ndc@kth.se>
+#
+
+# Source PX4 parameters and configuration
+. ${R}/etc/init.d/rc.uuv_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=underwater}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=uuv_bluerov2_heavy}
+
+param set-default SIM_GZ_EN 1
+
+# Set parameters using `param` utility for SITL
+param set-default CA_AIRFRAME 7
+param set-default CA_METHOD 0
+param set-default MAV_TYPE 12
+
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 1
+param set-default SENS_EN_MAGSIM 1
+param set-default COM_ARM_CHK_ESCS 0  # We don't have ESCs
+param set-default FD_ESCS_EN 0 # We don't have ESCs - but maybe we need this later?
+
+# Set proper failsafes
+param set-default COM_ACT_FAIL_ACT 0
+param set-default COM_LOW_BAT_ACT 0
+param set-default NAV_DLL_ACT 0
+param set-default GF_ACTION 1
+param set-default NAV_RCL_ACT 1
+param set-default COM_POSCTL_NAVL 2
+
+# disable attitude failure detection
+param set-default FD_FAIL_P 0
+param set-default FD_FAIL_R 0
+
+param set-default CA_ROTOR_COUNT 8
+param set-default CA_R_REV 255
+
+param set-default CA_ROTOR0_AX -1
+param set-default CA_ROTOR0_AY 1
+param set-default CA_ROTOR0_AZ 0
+param set-default CA_ROTOR0_KM 0
+param set-default CA_ROTOR0_PX 0.14
+param set-default CA_ROTOR0_PY 0.10
+param set-default CA_ROTOR0_PZ 0.06
+#param set-default CA_ROTOR0_PZ 0.0
+
+param set-default CA_ROTOR1_AX -1
+param set-default CA_ROTOR1_AY -1
+param set-default CA_ROTOR1_AZ 0
+param set-default CA_ROTOR1_KM 0
+param set-default CA_ROTOR1_PX 0.14
+param set-default CA_ROTOR1_PY -0.10
+param set-default CA_ROTOR1_PZ 0.06
+#param set-default CA_ROTOR1_PZ 0.0
+
+param set-default CA_ROTOR2_AX 1
+param set-default CA_ROTOR2_AY 1
+param set-default CA_ROTOR2_AZ 0
+param set-default CA_ROTOR2_KM 0
+param set-default CA_ROTOR2_PX -0.14
+param set-default CA_ROTOR2_PY 0.10
+param set-default CA_ROTOR2_PZ 0.06
+#param set-default CA_ROTOR2_PZ 0.0
+
+param set-default CA_ROTOR3_AX 1
+param set-default CA_ROTOR3_AY -1
+param set-default CA_ROTOR3_AZ 0
+param set-default CA_ROTOR3_KM 0
+param set-default CA_ROTOR3_PX -0.14
+param set-default CA_ROTOR3_PY -0.10
+param set-default CA_ROTOR3_PZ 0.06
+
+param set-default CA_ROTOR4_AX 0
+param set-default CA_ROTOR4_AY 0
+param set-default CA_ROTOR4_AZ 1
+param set-default CA_ROTOR4_KM 0
+param set-default CA_ROTOR4_PX 0.12
+param set-default CA_ROTOR4_PY 0.22
+param set-default CA_ROTOR4_PZ 0
+
+param set-default CA_ROTOR5_AX 0
+param set-default CA_ROTOR5_AY 0
+param set-default CA_ROTOR5_AZ 1
+param set-default CA_ROTOR5_KM 0
+param set-default CA_ROTOR5_PX 0.12
+param set-default CA_ROTOR5_PY -0.22
+param set-default CA_ROTOR5_PZ 0
+
+param set-default CA_ROTOR6_AX 0
+param set-default CA_ROTOR6_AY 0
+param set-default CA_ROTOR6_AZ 1
+param set-default CA_ROTOR6_KM 0
+param set-default CA_ROTOR6_PX -0.12
+param set-default CA_ROTOR6_PY 0.22
+param set-default CA_ROTOR6_PZ 0
+
+param set-default CA_ROTOR7_AX 0
+param set-default CA_ROTOR7_AY 0
+param set-default CA_ROTOR7_AZ 1
+param set-default CA_ROTOR7_KM 0
+param set-default CA_ROTOR7_PX -0.12
+param set-default CA_ROTOR7_PY -0.22
+param set-default CA_ROTOR7_PZ 0
+
+param set-default SIM_GZ_EC_FUNC1 101
+param set-default SIM_GZ_EC_FUNC2 102
+param set-default SIM_GZ_EC_FUNC3 103
+param set-default SIM_GZ_EC_FUNC4 104
+param set-default SIM_GZ_EC_FUNC5 105
+param set-default SIM_GZ_EC_FUNC6 106
+param set-default SIM_GZ_EC_FUNC7 107
+param set-default SIM_GZ_EC_FUNC8 108
+
+param set-default SIM_GZ_EC_MIN1 1100
+param set-default SIM_GZ_EC_MIN2 1100
+param set-default SIM_GZ_EC_MIN3 1100
+param set-default SIM_GZ_EC_MIN4 1100
+param set-default SIM_GZ_EC_MIN5 1100
+param set-default SIM_GZ_EC_MIN6 1100
+param set-default SIM_GZ_EC_MIN7 1100
+param set-default SIM_GZ_EC_MIN8 1100
+
+param set-default SIM_GZ_EC_MAX1 1900
+param set-default SIM_GZ_EC_MAX2 1900
+param set-default SIM_GZ_EC_MAX3 1900
+param set-default SIM_GZ_EC_MAX4 1900
+param set-default SIM_GZ_EC_MAX5 1900
+param set-default SIM_GZ_EC_MAX6 1900
+param set-default SIM_GZ_EC_MAX7 1900
+param set-default SIM_GZ_EC_MAX8 1900
@@ -0,0 +1,145 @@
+#!/bin/sh
+#
+# @name 3DoF Spacecraft Model
+#
+# @type 2D Freeflyer with 8 thrusters - Planar motion
+#
+# @maintainer Pedro Roque <padr@kth.se>
+#
+
+. ${R}etc/init.d/rc.sc_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=atmos}
+
+param set-default SIM_GZ_EN 1
+
+param set-default SENS_EN_MAGSIM 1
+param set-default COM_ARM_CHK_ESCS 0  # We don't have ESCs
+param set-default FD_ESCS_EN 0
+
+param set-default CA_AIRFRAME 14
+param set-default MAV_TYPE 45
+
+param set-default CA_ROTOR_COUNT 8
+param set-default CA_R_REV 0
+
+# Auto to be provided by Custom Airframe
+param set-default CA_METHOD 0
+
+# Set proper failsafes
+param set-default COM_ACT_FAIL_ACT 0
+param set-default COM_LOW_BAT_ACT 0
+param set-default NAV_DLL_ACT 0
+param set-default GF_ACTION 1
+param set-default NAV_RCL_ACT 1
+param set-default COM_POSCTL_NAVL 2
+
+# disable attitude failure detection
+param set-default FD_FAIL_P 0
+param set-default FD_FAIL_R 0
+
+param set-default CA_ROTOR0_PX -0.12
+param set-default CA_ROTOR0_PY -0.12
+param set-default CA_ROTOR0_PZ 0.0
+param set-default CA_ROTOR0_CT 1.4
+param set-default CA_ROTOR0_AX 1.0
+param set-default CA_ROTOR0_AY 0.0
+param set-default CA_ROTOR0_AZ 0.0
+
+param set-default CA_ROTOR1_PX 0.12
+param set-default CA_ROTOR1_PY -0.12
+param set-default CA_ROTOR1_PZ 0.0
+param set-default CA_ROTOR1_CT 1.4
+param set-default CA_ROTOR1_AX -1.0
+param set-default CA_ROTOR1_AY 0.0
+param set-default CA_ROTOR1_AZ 0.0
+
+param set-default CA_ROTOR2_PX -0.12
+param set-default CA_ROTOR2_PY 0.12
+param set-default CA_ROTOR2_PZ 0.0
+param set-default CA_ROTOR2_CT 1.4
+param set-default CA_ROTOR2_AX 1.0
+param set-default CA_ROTOR2_AY 0.0
+param set-default CA_ROTOR2_AZ 0.0
+
+param set-default CA_ROTOR3_PX 0.12
+param set-default CA_ROTOR3_PY 0.12
+param set-default CA_ROTOR3_PZ 0.0
+param set-default CA_ROTOR3_CT 1.4
+param set-default CA_ROTOR3_AX -1.0
+param set-default CA_ROTOR3_AY 0.0
+param set-default CA_ROTOR3_AZ 0.0
+
+param set-default CA_ROTOR4_PX 0.12
+param set-default CA_ROTOR4_PY -0.12
+param set-default CA_ROTOR4_PZ 0.0
+param set-default CA_ROTOR4_CT 1.4
+param set-default CA_ROTOR4_AX 0.0
+param set-default CA_ROTOR4_AY 1.0
+param set-default CA_ROTOR4_AZ 0.0
+
+param set-default CA_ROTOR5_PX 0.12
+param set-default CA_ROTOR5_PY 0.12
+param set-default CA_ROTOR5_PZ 0.0
+param set-default CA_ROTOR5_CT 1.4
+param set-default CA_ROTOR5_AX 0.0
+param set-default CA_ROTOR5_AY -1.0
+param set-default CA_ROTOR5_AZ 0.0
+
+param set-default CA_ROTOR6_PX -0.12
+param set-default CA_ROTOR6_PY -0.12
+param set-default CA_ROTOR6_PZ 0.0
+param set-default CA_ROTOR6_CT 1.4
+param set-default CA_ROTOR6_AX 0.0
+param set-default CA_ROTOR6_AY 1.0
+param set-default CA_ROTOR6_AZ 0.0
+
+param set-default CA_ROTOR7_PX -0.12
+param set-default CA_ROTOR7_PY 0.12
+param set-default CA_ROTOR7_PZ 0.0
+param set-default CA_ROTOR7_CT 1.4
+param set-default CA_ROTOR7_AX 0.0
+param set-default CA_ROTOR7_AY -1.0
+param set-default CA_ROTOR7_AZ 0.0
+
+param set-default SIM_GZ_EC_FUNC1 101
+param set-default SIM_GZ_EC_FUNC2 102
+param set-default SIM_GZ_EC_FUNC3 103
+param set-default SIM_GZ_EC_FUNC4 104
+param set-default SIM_GZ_EC_FUNC5 105
+param set-default SIM_GZ_EC_FUNC6 106
+param set-default SIM_GZ_EC_FUNC7 107
+param set-default SIM_GZ_EC_FUNC8 108
+
+param set-default SIM_GZ_EC_MIN1 0
+param set-default SIM_GZ_EC_MIN2 0
+param set-default SIM_GZ_EC_MIN3 0
+param set-default SIM_GZ_EC_MIN4 0
+param set-default SIM_GZ_EC_MIN5 0
+param set-default SIM_GZ_EC_MIN6 0
+param set-default SIM_GZ_EC_MIN7 0
+param set-default SIM_GZ_EC_MIN8 0
+
+param set-default SIM_GZ_EC_MAX1 10000
+param set-default SIM_GZ_EC_MAX2 10000
+param set-default SIM_GZ_EC_MAX3 10000
+param set-default SIM_GZ_EC_MAX4 10000
+param set-default SIM_GZ_EC_MAX5 10000
+param set-default SIM_GZ_EC_MAX6 10000
+param set-default SIM_GZ_EC_MAX7 10000
+param set-default SIM_GZ_EC_MAX8 10000
+
+# Controller Tunings
+param set SC_YAWRATE_P 3.335
+param set SC_YAWRATE_I 0.87
+param set SC_YAWRATE_D 0.15
+param set SC_YR_INT_LIM 0.2
+param set SC_YAW_P 3.0
+
+param set SPC_POS_P 0.20
+param set SPC_VEL_P 6.55
+param set SPC_VEL_I 0.0
+param set SPC_VEL_D 0.0
+param set SPC_VEL_MAX 12.0
@@ -1,147 +0,0 @@
-#!/bin/sh
-#
-# @name 3DoF Spacecraft Model
-#
-# @type 2D Freeflyer with 8 thrusters - Planar motion
-#
-# @maintainer Pedro Roque <padr@kth.se>
-#
-
-. ${R}etc/init.d/rc.sc_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=spacecraft_2d}
-
-param set-default SIM_GZ_EN 1
-
-param set-default SENS_EN_MAGSIM 1
-param set-default COM_ARM_CHK_ESCS 0  # We don't have ESCs
-param set-default FD_ESCS_EN 0 # We don't have ESCs - but maybe we need this later?
-
-param set-default CA_AIRFRAME 14
-param set-default MAV_TYPE 45
-
-param set-default CA_THRUSTER_CNT 8
-param set-default CA_R_REV 0
-
-# param set-default FW_ARSP_MODE 1
-
-# Auto to be provided by Custom Airframe
-param set-default CA_METHOD 0  # 0 is PseudoInverse, 3 is Metric
-
-# Set proper failsafes
-param set-default COM_ACT_FAIL_ACT 0
-param set-default COM_LOW_BAT_ACT 0
-param set-default NAV_DLL_ACT 0
-param set-default GF_ACTION 1
-param set-default NAV_RCL_ACT 1
-param set-default COM_POSCTL_NAVL 2
-
-# disable attitude failure detection
-param set-default FD_FAIL_P 0
-param set-default FD_FAIL_R 0
-
-param set-default CA_THRUSTER0_PX -0.12
-param set-default CA_THRUSTER0_PY -0.12
-param set-default CA_THRUSTER0_PZ 0.0
-param set-default CA_THRUSTER0_CT 1.4
-param set-default CA_THRUSTER0_AX 1.0
-param set-default CA_THRUSTER0_AY 0.0
-param set-default CA_THRUSTER0_AZ 0.0
-
-param set-default CA_THRUSTER1_PX 0.12
-param set-default CA_THRUSTER1_PY -0.12
-param set-default CA_THRUSTER1_PZ 0.0
-param set-default CA_THRUSTER1_CT 1.4
-param set-default CA_THRUSTER1_AX -1.0
-param set-default CA_THRUSTER1_AY 0.0
-param set-default CA_THRUSTER1_AZ 0.0
-
-param set-default CA_THRUSTER2_PX -0.12
-param set-default CA_THRUSTER2_PY 0.12
-param set-default CA_THRUSTER2_PZ 0.0
-param set-default CA_THRUSTER2_CT 1.4
-param set-default CA_THRUSTER2_AX 1.0
-param set-default CA_THRUSTER2_AY 0.0
-param set-default CA_THRUSTER2_AZ 0.0
-
-param set-default CA_THRUSTER3_PX 0.12
-param set-default CA_THRUSTER3_PY 0.12
-param set-default CA_THRUSTER3_PZ 0.0
-param set-default CA_THRUSTER3_CT 1.4
-param set-default CA_THRUSTER3_AX -1.0
-param set-default CA_THRUSTER3_AY 0.0
-param set-default CA_THRUSTER3_AZ 0.0
-
-param set-default CA_THRUSTER4_PX 0.12
-param set-default CA_THRUSTER4_PY -0.12
-param set-default CA_THRUSTER4_PZ 0.0
-param set-default CA_THRUSTER4_CT 1.4
-param set-default CA_THRUSTER4_AX 0.0
-param set-default CA_THRUSTER4_AY 1.0
-param set-default CA_THRUSTER4_AZ 0.0
-
-param set-default CA_THRUSTER5_PX 0.12
-param set-default CA_THRUSTER5_PY 0.12
-param set-default CA_THRUSTER5_PZ 0.0
-param set-default CA_THRUSTER5_CT 1.4
-param set-default CA_THRUSTER5_AX 0.0
-param set-default CA_THRUSTER5_AY -1.0
-param set-default CA_THRUSTER5_AZ 0.0
-
-param set-default CA_THRUSTER6_PX -0.12
-param set-default CA_THRUSTER6_PY -0.12
-param set-default CA_THRUSTER6_PZ 0.0
-param set-default CA_THRUSTER6_CT 1.4
-param set-default CA_THRUSTER6_AX 0.0
-param set-default CA_THRUSTER6_AY 1.0
-param set-default CA_THRUSTER6_AZ 0.0
-
-param set-default CA_THRUSTER7_PX -0.12
-param set-default CA_THRUSTER7_PY 0.12
-param set-default CA_THRUSTER7_PZ 0.0
-param set-default CA_THRUSTER7_CT 1.4
-param set-default CA_THRUSTER7_AX 0.0
-param set-default CA_THRUSTER7_AY -1.0
-param set-default CA_THRUSTER7_AZ 0.0
-
-param set-default SIM_GZ_TH_FUNC1 101
-param set-default SIM_GZ_TH_FUNC2 102
-param set-default SIM_GZ_TH_FUNC3 103
-param set-default SIM_GZ_TH_FUNC4 104
-param set-default SIM_GZ_TH_FUNC5 105
-param set-default SIM_GZ_TH_FUNC6 106
-param set-default SIM_GZ_TH_FUNC7 107
-param set-default SIM_GZ_TH_FUNC8 108
-
-param set-default SIM_GZ_TH_MIN1 0
-param set-default SIM_GZ_TH_MIN2 0
-param set-default SIM_GZ_TH_MIN3 0
-param set-default SIM_GZ_TH_MIN4 0
-param set-default SIM_GZ_TH_MIN5 0
-param set-default SIM_GZ_TH_MIN6 0
-param set-default SIM_GZ_TH_MIN7 0
-param set-default SIM_GZ_TH_MIN8 0
-
-param set-default SIM_GZ_TH_MAX1 10000
-param set-default SIM_GZ_TH_MAX2 10000
-param set-default SIM_GZ_TH_MAX3 10000
-param set-default SIM_GZ_TH_MAX4 10000
-param set-default SIM_GZ_TH_MAX5 10000
-param set-default SIM_GZ_TH_MAX6 10000
-param set-default SIM_GZ_TH_MAX7 10000
-param set-default SIM_GZ_TH_MAX8 10000
-
-# Controller Tunings
-param set SC_YAWRATE_P 3.335
-param set SC_YAWRATE_I 0.87
-param set SC_YAWRATE_D 0.15
-param set SC_YR_INT_LIM 0.2
-param set SC_YAW_P 3.0
-
-param set SPC_POS_P 0.20
-param set SPC_VEL_P 6.55
-param set SPC_VEL_I 0.0
-param set SPC_VEL_D 0.0
-param set SPC_VEL_MAX 12.0
@@ -62,8 +62,6 @@ px4_add_romfs_files(
 	1043_gazebo-classic_standard_vtol_drop
 	1044_gazebo-classic_plane_lidar
 	1045_gazebo-classic_quadtailsitter
-	1060_gazebo-classic_rover
-	1061_gazebo-classic_r1_rover
 	1062_flightgear_tf-r1
 	1070_gazebo-classic_boat

@@ -110,13 +108,16 @@ px4_add_romfs_files(
 	10042_sihsim_xvert
 	10043_sihsim_standard_vtol
 	10044_sihsim_hex
+	10045_sihsim_rover_ackermann

 	17001_flightgear_tf-g1
 	17002_flightgear_tf-g2

 	50000_gz_rover_differential

-	71002_gz_spacecraft_2d
+	60002_gz_uuv_bluerov2_heavy
+
+	70000_gz_atmos

 	# [22000, 22999] Reserve for custom models
 )
@@ -190,6 +190,9 @@ param set-default SYS_FAILURE_EN 1
 # does not go below 50% by default, but failure injection can trigger failsafes.
 param set-default COM_LOW_BAT_ACT 3

+# set default IP to localhost
+param set-default UXRCE_DDS_AG_IP 2130706433  # 127.0.0.1
+

 # Adapt timeout parameters if simulation runs faster or slower than realtime.
 if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
@@ -319,7 +322,7 @@ then
 	uxrce_dds_port="$PX4_UXRCE_DDS_PORT"
 fi

-uxrce_dds_client start -t udp -h 127.0.0.1 -p $uxrce_dds_port $uxrce_dds_ns
+uxrce_dds_client start -t udp -p $uxrce_dds_port $uxrce_dds_ns

 if param greater -s MNT_MODE_IN -1
 then
@@ -342,11 +345,7 @@ then
 	gyro_calibration start
 fi

-# Payload deliverer module if gripper is enabled
-if param compare -s PD_GRIPPER_EN 1
-then
-	payload_deliverer start
-fi
+payload_deliverer start

 if param compare -s ICE_EN 1
 then
@@ -69,15 +69,6 @@ if(CONFIG_MODULES_MC_RATE_CONTROL)
 	)
 endif()

-if(CONFIG_MODULES_ROVER_POS_CONTROL)
-	px4_add_romfs_files(
-		rc.rover_apps
-		rc.rover_defaults
-
-		rc.boat_defaults # hack
-	)
-endif()
-
 if(CONFIG_MODULES_ROVER_DIFFERENTIAL)
 	px4_add_romfs_files(
 		rc.rover_differential_apps
@@ -47,3 +47,6 @@ 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 MPC_Z_VEL_MAX_UP 3.0
+param set-default MPC_Z_VEL_MAX_DN 3.0
@@ -2,7 +2,7 @@
 #
 # @name Aion Robotics R1 UGV
 #
-# @url https://www.aionrobotics.com/r1
+# @url https://docs.px4.io/main/en/complete_vehicles_rover/aion_r1.html
 #
 # @type Rover
 # @class Rover
@@ -1,49 +0,0 @@
-#!/bin/sh
-#
-# @name Generic Ground Vehicle (Deprecated)
-#
-# @type Rover
-# @class Rover
-#
-# @output Motor1 throttle
-# @output Servo1 steering
-#
-# @maintainer
-#
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.rover_defaults
-
-param set-default BAT1_N_CELLS 2
-
-param set-default EKF2_ANGERR_INIT 0.01
-param set-default EKF2_GBIAS_INIT 0.01
-param set-default EKF2_MAG_TYPE 1
-
-param set-default FW_AIRSPD_MAX 3
-param set-default FW_AIRSPD_MIN 0
-param set-default FW_AIRSPD_TRIM 1
-
-# Settings for a typical wheelbase 0f 0.3m
-param set-default GND_L1_DIST 1
-param set-default GND_L1_PERIOD 5
-param set-default GND_SP_CTRL_MODE 1
-param set-default GND_SPEED_P 0.25
-param set-default GND_SPEED_I 3
-param set-default GND_SPEED_D 0.001
-param set-default GND_SPEED_IMAX 0.125
-param set-default GND_SPEED_THR_SC 1
-param set-default GND_THR_CRUISE 0.3
-param set-default GND_THR_MAX 0.5
-param set-default GND_THR_MIN 0
-
-param set-default NAV_ACC_RAD 0.5
-
-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
@@ -1,64 +0,0 @@
-#!/bin/sh
-#
-# @name NXP Cup car: DF Robot GPX (Deprecated)
-
-#
-# @type Rover
-# @class Rover
-#
-# @board px4_fmu-v2 exclude
-#
-# @output Motor1 Speed of left wheels
-# @output Servo1 Steering servo
-#
-# @maintainer Katrin Moritz
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.rover_defaults
-
-param set-default BAT1_N_CELLS 2
-
-param set-default EKF2_GBIAS_INIT 0.01
-param set-default EKF2_ANGERR_INIT 0.01
-param set-default EKF2_MAG_TYPE 1
-
-param set-default FW_AIRSPD_MIN 0
-param set-default FW_AIRSPD_TRIM 1
-param set-default FW_AIRSPD_MAX 3
-
-param set-default GND_THR_CRUISE 0.3
-param set-default GND_THR_MAX 0.5
-
-# Differential drive acts like ackermann steering with a maximum turn angle of 60 degrees, or pi/3 radians
-param set-default GND_MAX_ANG 1.042
-param set-default GND_WHEEL_BASE 0.17
-
-# TODO: Set to -1, to allow reversing. This will require many changes in the codebase
-# to support negative throttle.
-param set-default GND_THR_MIN 0
-param set-default GND_SPEED_P 0.25
-param set-default GND_SPEED_I 3
-param set-default GND_SPEED_D 0.001
-param set-default GND_SPEED_IMAX 0.125
-param set-default GND_SPEED_THR_SC 1
-
-param set-default NAV_ACC_RAD 0.5
-
-param set-default CA_AIRFRAME 5
-
-param set-default CA_R_REV 1
-param set-default PWM_MAIN_FUNC2 201
-param set-default PWM_MAIN_FUNC3 101
-param set-default PWM_MAIN_FUNC4 101
-
-# Provide ESC a constant 1500 us pulse to idle
-param set-default PWM_MAIN_DIS2 1500
-param set-default PWM_MAIN_DIS3 1485
-param set-default PWM_MAIN_DIS4 1485
-param set-default PWM_MAIN_FAIL3 1485
-param set-default PWM_MAIN_FAIL4 1485
-param set-default PWM_MAIN_MIN3 970
-param set-default PWM_MAIN_MIN4 970
@@ -22,7 +22,7 @@

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

-param set-default MAV_1_CONFIG 102
+# param set-default MAV_1_CONFIG 102

 param set-default BAT1_A_PER_V 37.8798
 param set-default BAT1_CAPACITY 18000
@@ -30,53 +30,93 @@ param set-default BAT1_V_DIV 11
 param set-default BAT1_N_CELLS 4
 param set-default BAT_V_OFFS_CURR 0.33

+# Set parameters using `param` utility for SITL
 param set-default CA_AIRFRAME 7
+param set-default CA_METHOD 0
+param set-default MAV_TYPE 12
+
+# Board rotation: set to direct replacement of RPi with PX4
+#       with forward facing vehicle forward
+param set-default SENS_BOARD_ROT 16
+
+# Set proper failsafes
+param set-default COM_ACT_FAIL_ACT 0
+param set-default COM_LOW_BAT_ACT 0
+param set-default NAV_DLL_ACT 0
+param set-default GF_ACTION 1
+param set-default NAV_RCL_ACT 1
+param set-default COM_POSCTL_NAVL 2
+
+# disable attitude failure detection
+param set-default FD_FAIL_P 0
+param set-default FD_FAIL_R 0

 param set-default CA_ROTOR_COUNT 8
 param set-default CA_R_REV 255
+
 param set-default CA_ROTOR0_AX 1
 param set-default CA_ROTOR0_AY -1
 param set-default CA_ROTOR0_AZ 0
 param set-default CA_ROTOR0_KM 0
-param set-default CA_ROTOR0_PX 0.5
-param set-default CA_ROTOR0_PY 0.3
-param set-default CA_ROTOR0_PZ 0.2
+param set-default CA_ROTOR0_PX 0.14
+param set-default CA_ROTOR0_PY 0.10
+param set-default CA_ROTOR0_PZ 0.06
+
 param set-default CA_ROTOR1_AX 1
 param set-default CA_ROTOR1_AY 1
 param set-default CA_ROTOR1_AZ 0
 param set-default CA_ROTOR1_KM 0
-param set-default CA_ROTOR1_PX 0.5
-param set-default CA_ROTOR1_PY -0.3
-param set-default CA_ROTOR1_PZ 0.2
+param set-default CA_ROTOR1_PX 0.14
+param set-default CA_ROTOR1_PY -0.10
+param set-default CA_ROTOR1_PZ 0.06
+
 param set-default CA_ROTOR2_AX 1
 param set-default CA_ROTOR2_AY 1
 param set-default CA_ROTOR2_AZ 0
 param set-default CA_ROTOR2_KM 0
-param set-default CA_ROTOR2_PX -0.5
-param set-default CA_ROTOR2_PY 0.3
-param set-default CA_ROTOR2_PZ 0.2
+param set-default CA_ROTOR2_PX -0.14
+param set-default CA_ROTOR2_PY 0.10
+param set-default CA_ROTOR2_PZ 0.06
+
 param set-default CA_ROTOR3_AX 1
 param set-default CA_ROTOR3_AY -1
 param set-default CA_ROTOR3_AZ 0
 param set-default CA_ROTOR3_KM 0
-param set-default CA_ROTOR3_PX -0.5
-param set-default CA_ROTOR3_PY -0.3
-param set-default CA_ROTOR3_PZ 0.2
+param set-default CA_ROTOR3_PX -0.14
+param set-default CA_ROTOR3_PY -0.10
+param set-default CA_ROTOR3_PZ 0.06
+
+param set-default CA_ROTOR4_AX 0
+param set-default CA_ROTOR4_AY 0
 param set-default CA_ROTOR4_AZ -1
 param set-default CA_ROTOR4_KM 0
-param set-default CA_ROTOR4_PX 0.5
-param set-default CA_ROTOR4_PY 0.5
+param set-default CA_ROTOR4_PX 0.12
+param set-default CA_ROTOR4_PY 0.22
+param set-default CA_ROTOR4_PZ 0
+
+param set-default CA_ROTOR5_AX 0
+param set-default CA_ROTOR5_AY 0
 param set-default CA_ROTOR5_AZ 1
 param set-default CA_ROTOR5_KM 0
-param set-default CA_ROTOR5_PX 0.5
-param set-default CA_ROTOR5_PY -0.5
+param set-default CA_ROTOR5_PX 0.12
+param set-default CA_ROTOR5_PY -0.22
+param set-default CA_ROTOR5_PZ 0
+
+param set-default CA_ROTOR6_AX 0
+param set-default CA_ROTOR6_AY 0
 param set-default CA_ROTOR6_AZ 1
 param set-default CA_ROTOR6_KM 0
-param set-default CA_ROTOR6_PX -0.5
-param set-default CA_ROTOR6_PY 0.5
+param set-default CA_ROTOR6_PX -0.12
+param set-default CA_ROTOR6_PY 0.22
+param set-default CA_ROTOR6_PZ 0
+
+param set-default CA_ROTOR7_AX 0
+param set-default CA_ROTOR7_AY 0
+param set-default CA_ROTOR7_AZ -1
 param set-default CA_ROTOR7_KM 0
-param set-default CA_ROTOR7_PX -0.5
-param set-default CA_ROTOR7_PY -0.5
+param set-default CA_ROTOR7_PX -0.12
+param set-default CA_ROTOR7_PY -0.22
+param set-default CA_ROTOR7_PZ 0

 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
@@ -86,3 +126,30 @@ 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
+
+param set-default PWM_MAIN_MIN1 1100
+param set-default PWM_MAIN_MIN2 1100
+param set-default PWM_MAIN_MIN3 1100
+param set-default PWM_MAIN_MIN4 1100
+param set-default PWM_MAIN_MIN5 1100
+param set-default PWM_MAIN_MIN6 1100
+param set-default PWM_MAIN_MIN7 1100
+param set-default PWM_MAIN_MIN8 1100
+
+param set-default PWM_MAIN_MAX1 1900
+param set-default PWM_MAIN_MAX2 1900
+param set-default PWM_MAIN_MAX3 1900
+param set-default PWM_MAIN_MAX4 1900
+param set-default PWM_MAIN_MAX5 1900
+param set-default PWM_MAIN_MAX6 1900
+param set-default PWM_MAIN_MAX7 1900
+param set-default PWM_MAIN_MAX8 1900
+
+param set-default PWM_MAIN_DIS1 1500
+param set-default PWM_MAIN_DIS2 1500
+param set-default PWM_MAIN_DIS3 1500
+param set-default PWM_MAIN_DIS4 1500
+param set-default PWM_MAIN_DIS5 1500
+param set-default PWM_MAIN_DIS6 1500
+param set-default PWM_MAIN_DIS7 1500
+param set-default PWM_MAIN_DIS8 1500
@@ -0,0 +1,150 @@
+#!/bin/sh
+#
+# @name KTH-ATMOS
+#
+# @type Free-Flyer
+# @class Spacecraft
+#
+# @maintainer DISCOWER
+#
+
+. ${R}etc/init.d/rc.sc_defaults
+
+param set-default CA_AIRFRAME 14
+param set-default MAV_TYPE 45
+
+param set-default CA_ROTOR_COUNT 8
+param set-default CA_R_REV 0
+
+# Auto to be provided by Custom Airframe
+param set-default CA_METHOD 0
+
+# Set proper failsafes
+param set-default COM_ACT_FAIL_ACT 0
+param set-default COM_LOW_BAT_ACT 0
+param set-default NAV_DLL_ACT 0
+param set-default GF_ACTION 1
+param set-default NAV_RCL_ACT 1
+param set-default COM_POSCTL_NAVL 2
+
+# Set Mocap Vision frame
+param set EKF2_EV_CTRL 15
+param set EKF2_HGT_REF 3
+
+# disable attitude failure detection
+param set-default FD_FAIL_P 0
+param set-default FD_FAIL_R 0
+
+param set-default CA_ROTOR0_PX -0.12
+param set-default CA_ROTOR0_PY -0.12
+param set-default CA_ROTOR0_PZ 0.0
+param set-default CA_ROTOR0_CT 1.4
+param set-default CA_ROTOR0_AX 1.0
+param set-default CA_ROTOR0_AY 0.0
+param set-default CA_ROTOR0_AZ 0.0
+
+param set-default CA_ROTOR1_PX 0.12
+param set-default CA_ROTOR1_PY -0.12
+param set-default CA_ROTOR1_PZ 0.0
+param set-default CA_ROTOR1_CT 1.4
+param set-default CA_ROTOR1_AX -1.0
+param set-default CA_ROTOR1_AY 0.0
+param set-default CA_ROTOR1_AZ 0.0
+
+param set-default CA_ROTOR2_PX -0.12
+param set-default CA_ROTOR2_PY 0.12
+param set-default CA_ROTOR2_PZ 0.0
+param set-default CA_ROTOR2_CT 1.4
+param set-default CA_ROTOR2_AX 1.0
+param set-default CA_ROTOR2_AY 0.0
+param set-default CA_ROTOR2_AZ 0.0
+
+param set-default CA_ROTOR3_PX 0.12
+param set-default CA_ROTOR3_PY 0.12
+param set-default CA_ROTOR3_PZ 0.0
+param set-default CA_ROTOR3_CT 1.4
+param set-default CA_ROTOR3_AX -1.0
+param set-default CA_ROTOR3_AY 0.0
+param set-default CA_ROTOR3_AZ 0.0
+
+param set-default CA_ROTOR4_PX 0.12
+param set-default CA_ROTOR4_PY -0.12
+param set-default CA_ROTOR4_PZ 0.0
+param set-default CA_ROTOR4_CT 1.4
+param set-default CA_ROTOR4_AX 0.0
+param set-default CA_ROTOR4_AY 1.0
+param set-default CA_ROTOR4_AZ 0.0
+
+param set-default CA_ROTOR5_PX 0.12
+param set-default CA_ROTOR5_PY 0.12
+param set-default CA_ROTOR5_PZ 0.0
+param set-default CA_ROTOR5_CT 1.4
+param set-default CA_ROTOR5_AX 0.0
+param set-default CA_ROTOR5_AY -1.0
+param set-default CA_ROTOR5_AZ 0.0
+
+param set-default CA_ROTOR6_PX -0.12
+param set-default CA_ROTOR6_PY -0.12
+param set-default CA_ROTOR6_PZ 0.0
+param set-default CA_ROTOR6_CT 1.4
+param set-default CA_ROTOR6_AX 0.0
+param set-default CA_ROTOR6_AY 1.0
+param set-default CA_ROTOR6_AZ 0.0
+
+param set-default CA_ROTOR7_PX -0.12
+param set-default CA_ROTOR7_PY 0.12
+param set-default CA_ROTOR7_PZ 0.0
+param set-default CA_ROTOR7_CT 1.4
+param set-default CA_ROTOR7_AX 0.0
+param set-default CA_ROTOR7_AY -1.0
+param set-default CA_ROTOR7_AZ 0.0
+
+
+param set-default PWM_AUX_TIM0 10
+param set-default PWM_AUX_TIM1 10
+param set-default PWM_AUX_TIM2 10
+
+param set-default PWM_AUX_FUNC1 101
+param set-default PWM_AUX_FUNC2 102
+param set-default PWM_AUX_FUNC3 103
+param set-default PWM_AUX_FUNC4 104
+param set-default PWM_AUX_FUNC5 105
+param set-default PWM_AUX_FUNC6 106
+param set-default PWM_AUX_FUNC7 107
+param set-default PWM_AUX_FUNC8 108
+
+param set-default PWM_AUX_DIS1 0
+param set-default PWM_AUX_DIS2 0
+param set-default PWM_AUX_DIS3 0
+param set-default PWM_AUX_DIS4 0
+param set-default PWM_AUX_DIS5 0
+param set-default PWM_AUX_DIS6 0
+param set-default PWM_AUX_DIS7 0
+param set-default PWM_AUX_DIS8 0
+
+param set-default PWM_AUX_MIN1 0
+param set-default PWM_AUX_MIN2 0
+param set-default PWM_AUX_MIN3 0
+param set-default PWM_AUX_MIN4 0
+param set-default PWM_AUX_MIN5 0
+param set-default PWM_AUX_MIN6 0
+param set-default PWM_AUX_MIN7 0
+param set-default PWM_AUX_MIN8 0
+
+# BOARD_PWM_FREQ is downscaled by 10, thus PWM value is given in 10s of usec
+param set-default PWM_AUX_MAX1 10000
+param set-default PWM_AUX_MAX2 10000
+param set-default PWM_AUX_MAX3 10000
+param set-default PWM_AUX_MAX4 10000
+param set-default PWM_AUX_MAX5 10000
+param set-default PWM_AUX_MAX6 10000
+param set-default PWM_AUX_MAX7 10000
+param set-default PWM_AUX_MAX8 10000
+
+# Controller Tunings
+param set-default SC_ROLLRATE_P 0.14
+param set-default SC_PITCHRATE_P 0.14
+param set-default SC_ROLLRATE_I 0.3
+param set-default SC_PITCHRATE_I 0.3
+param set-default SC_ROLLRATE_D 0.004
+param set-default SC_PITCHRATE_D 0.00
@@ -1,150 +0,0 @@
-#!/bin/sh
-#
-# @name KTH Space Robot
-#
-# @type Space Robot
-# @class 2D Space Robot
-#
-# @maintainer DISCOWER
-#
-
-. ${R}etc/init.d/rc.sc_defaults
-
-param set-default CA_AIRFRAME 14
-param set-default MAV_TYPE 45
-
-param set-default CA_THRUSTER_CNT 8
-param set-default CA_R_REV 0
-
-# Auto to be provided by Custom Airframe
-param set-default CA_METHOD 0
-
-# Set proper failsafes
-param set-default COM_ACT_FAIL_ACT 0
-param set-default COM_LOW_BAT_ACT 0
-param set-default NAV_DLL_ACT 0
-param set-default GF_ACTION 1
-param set-default NAV_RCL_ACT 1
-param set-default COM_POSCTL_NAVL 2
-
-# Set Mocap Vision frame
-param set EKF2_EV_CTRL 15
-param set EKF2_HGT_REF 3
-
-# disable attitude failure detection
-param set-default FD_FAIL_P 0
-param set-default FD_FAIL_R 0
-
-param set-default CA_THRUSTER0_PX -0.12
-param set-default CA_THRUSTER0_PY -0.12
-param set-default CA_THRUSTER0_PZ 0.0
-param set-default CA_THRUSTER0_CT 1.4
-param set-default CA_THRUSTER0_AX 1.0
-param set-default CA_THRUSTER0_AY 0.0
-param set-default CA_THRUSTER0_AZ 0.0
-
-param set-default CA_THRUSTER1_PX 0.12
-param set-default CA_THRUSTER1_PY -0.12
-param set-default CA_THRUSTER1_PZ 0.0
-param set-default CA_THRUSTER1_CT 1.4
-param set-default CA_THRUSTER1_AX -1.0
-param set-default CA_THRUSTER1_AY 0.0
-param set-default CA_THRUSTER1_AZ 0.0
-
-param set-default CA_THRUSTER2_PX -0.12
-param set-default CA_THRUSTER2_PY 0.12
-param set-default CA_THRUSTER2_PZ 0.0
-param set-default CA_THRUSTER2_CT 1.4
-param set-default CA_THRUSTER2_AX 1.0
-param set-default CA_THRUSTER2_AY 0.0
-param set-default CA_THRUSTER2_AZ 0.0
-
-param set-default CA_THRUSTER3_PX 0.12
-param set-default CA_THRUSTER3_PY 0.12
-param set-default CA_THRUSTER3_PZ 0.0
-param set-default CA_THRUSTER3_CT 1.4
-param set-default CA_THRUSTER3_AX -1.0
-param set-default CA_THRUSTER3_AY 0.0
-param set-default CA_THRUSTER3_AZ 0.0
-
-param set-default CA_THRUSTER4_PX 0.12
-param set-default CA_THRUSTER4_PY -0.12
-param set-default CA_THRUSTER4_PZ 0.0
-param set-default CA_THRUSTER4_CT 1.4
-param set-default CA_THRUSTER4_AX 0.0
-param set-default CA_THRUSTER4_AY 1.0
-param set-default CA_THRUSTER4_AZ 0.0
-
-param set-default CA_THRUSTER5_PX 0.12
-param set-default CA_THRUSTER5_PY 0.12
-param set-default CA_THRUSTER5_PZ 0.0
-param set-default CA_THRUSTER5_CT 1.4
-param set-default CA_THRUSTER5_AX 0.0
-param set-default CA_THRUSTER5_AY -1.0
-param set-default CA_THRUSTER5_AZ 0.0
-
-param set-default CA_THRUSTER6_PX -0.12
-param set-default CA_THRUSTER6_PY -0.12
-param set-default CA_THRUSTER6_PZ 0.0
-param set-default CA_THRUSTER6_CT 1.4
-param set-default CA_THRUSTER6_AX 0.0
-param set-default CA_THRUSTER6_AY 1.0
-param set-default CA_THRUSTER6_AZ 0.0
-
-param set-default CA_THRUSTER7_PX -0.12
-param set-default CA_THRUSTER7_PY 0.12
-param set-default CA_THRUSTER7_PZ 0.0
-param set-default CA_THRUSTER7_CT 1.4
-param set-default CA_THRUSTER7_AX 0.0
-param set-default CA_THRUSTER7_AY -1.0
-param set-default CA_THRUSTER7_AZ 0.0
-
-
-param set-default PWM_AUX_TIM0 10
-param set-default PWM_AUX_TIM1 10
-param set-default PWM_AUX_TIM2 10
-
-param set-default PWM_AUX_FUNC1 101
-param set-default PWM_AUX_FUNC2 102
-param set-default PWM_AUX_FUNC3 103
-param set-default PWM_AUX_FUNC4 104
-param set-default PWM_AUX_FUNC5 105
-param set-default PWM_AUX_FUNC6 106
-param set-default PWM_AUX_FUNC7 107
-param set-default PWM_AUX_FUNC8 108
-
-param set-default PWM_AUX_DIS1 0
-param set-default PWM_AUX_DIS2 0
-param set-default PWM_AUX_DIS3 0
-param set-default PWM_AUX_DIS4 0
-param set-default PWM_AUX_DIS5 0
-param set-default PWM_AUX_DIS6 0
-param set-default PWM_AUX_DIS7 0
-param set-default PWM_AUX_DIS8 0
-
-param set-default PWM_AUX_MIN1 0
-param set-default PWM_AUX_MIN2 0
-param set-default PWM_AUX_MIN3 0
-param set-default PWM_AUX_MIN4 0
-param set-default PWM_AUX_MIN5 0
-param set-default PWM_AUX_MIN6 0
-param set-default PWM_AUX_MIN7 0
-param set-default PWM_AUX_MIN8 0
-
-# BOARD_PWM_FREQ is downscaled by 10, thus PWM value is given in 10s of usec
-param set-default PWM_AUX_MAX1 10000
-param set-default PWM_AUX_MAX2 10000
-param set-default PWM_AUX_MAX3 10000
-param set-default PWM_AUX_MAX4 10000
-param set-default PWM_AUX_MAX5 10000
-param set-default PWM_AUX_MAX6 10000
-param set-default PWM_AUX_MAX7 10000
-param set-default PWM_AUX_MAX8 10000
-
-# Controller Tunings
-param set-default SC_ROLLRATE_P 0.14
-param set-default SC_PITCHRATE_P 0.14
-param set-default SC_ROLLRATE_I 0.3
-param set-default SC_PITCHRATE_I 0.3
-param set-default SC_ROLLRATE_D 0.004
-param set-default SC_PITCHRATE_D 0.004
@@ -158,14 +158,6 @@ if(CONFIG_MODULES_ROVER_MECANUM)
 	)
 endif()

-if(CONFIG_MODULES_ROVER_POS_CONTROL)
-	px4_add_romfs_files(
-		# [59000, 59999] Rover position control (deprecated)
-		59000_generic_ground_vehicle
-		59001_nxpcup_car_dfrobot_gpx
-	)
-endif()
-
 if(CONFIG_MODULES_UUV_ATT_CONTROL)
 	px4_add_romfs_files(
 		# [60000, 61000] (Unmanned) Underwater Robots
@@ -174,3 +166,10 @@ if(CONFIG_MODULES_UUV_ATT_CONTROL)
 		60002_uuv_bluerov2_heavy
 	)
 endif()
+
+if(CONFIG_MODULES_SPACECRAFT)
+	px4_add_romfs_files(
+		# [70000, 70999] Spacecraft
+		70000_atmos
+	)
+endif()
@@ -36,3 +36,8 @@ mc_pos_control start
 # Start Multicopter Land Detector.
 #
 land_detector start multicopter
+
+if param compare -s MC_NN_EN 1
+then
+	mc_nn_control start
+fi
@@ -1,21 +0,0 @@
-#!/bin/sh
-#
-# Standard apps for unmanned ground vehicles (UGV).
-#
-# NOTE: Script variables are declared/initialized/unset in the rcS script.
-#
-
-#
-# Start Control Allocator
-#
-control_allocator start
-
-#
-# Start attitude controllers.
-#
-rover_pos_control start
-
-#
-# Start Land Detector.
-#
-land_detector start rover
@@ -1,19 +0,0 @@
-#!/bin/sh
-#
-# UGV default parameters.
-#
-# NOTE: Script variables are declared/initialized/unset in the rcS script.
-#
-
-set VEHICLE_TYPE rover
-
-# MAV_TYPE_GROUND_ROVER 10
-param set-default MAV_TYPE 10
-
-param set-default MIS_TAKEOFF_ALT 0.01
-
-param set-default NAV_ACC_RAD 2
-param set-default NAV_LOITER_RAD 2
-
-# Temporary.
-param set-default NAV_FW_ALT_RAD 1000
@@ -5,32 +5,6 @@
 # NOTE: Script variables are declared/initialized/unset in the rcS script.
 #

-# Start Spacecraft App
+control_allocator start
+
 spacecraft start
-
-# Estimator Group Selection
-# ekf2 start &
-
-# Start MicroDDS Client
-# uxrce_dds_client start -t udp -h 192.168.0.1 -n spacebot2
-# uxrce_dds_client start -t udp -p 8888
-
-#
-# Start Control Allocator
-#
-# sc_control_allocator start
-
-#
-# Start Spacecraft Rate Controller.
-#
-# sc_rate_control start
-
-#
-# Start Spacecraft Attitude Controller.
-#
-# sc_att_control start
-
-#
-# Start Spacecraft Position Controller.
-#
-# sc_pos_control start
@@ -236,6 +236,7 @@ then
 	qmc5883l -X -q start
 	qmc5883p -X -q start
 	rm3100 -X -q start
+	bmm350 -X -q start

 	# start last (wait for possible icm20948 passthrough mode)
 	ak09916 -X -q start
@@ -16,6 +16,6 @@ control_allocator start
 uuv_att_control start

 #
-# Start UUV Land Detector.
+# Start UUV Position Controller.
 #
-land_detector start rover
+uuv_pos_control start
@@ -9,3 +9,21 @@ set VEHICLE_TYPE uuv

 # MAV_TYPE_SUBMARINE 12
 param set-default MAV_TYPE 12
+
+# Set micro-dds-client to use ethernet and IP-address 192.168.0.1
+param set-default UXRCE_DDS_AG_IP -1062731775
+
+# Disable preflight disarm to not interfere with external launching
+param set-default COM_DISARM_PRFLT -1
+param set-default CBRK_SUPPLY_CHK 894281
+param set-default COM_ARM_HFLT_CHK 0
+
+#Missing params
+param set-default CP_DIST -1.0
+
+# Default to MoCap fusion
+param set-default ATT_EXT_HDG_M 2
+param set-default EKF2_EV_CTRL 15
+param set-default EKF2_EV_DELAY 5
+param set-default EKF2_GPS_CTRL 0
+param set-default EKF2_HGT_REF 3
@@ -69,7 +69,7 @@ then
 fi

 #
-# Spapcecraft setup.
+# Spacecraft setup.
 #
 if [ $VEHICLE_TYPE = spacecraft ]
 then
@@ -568,11 +568,7 @@ else
 		px4flow start -X &
 	fi

-	# Payload deliverer module if gripper is enabled
-	if param compare -s PD_GRIPPER_EN 1
-	then
-		payload_deliverer start
-	fi
+	payload_deliverer start

 	if param compare -s ICE_EN 1
 	then
@@ -43,7 +43,7 @@ fi

 # install git pre-commit hook
 HOOK_FILE="$DIR/../../.git/hooks/pre-commit"
-if [ ! -f $HOOK_FILE ] && [ "$CI" != "true" ] && [ $- == *i* ]; then
+if [[ ! -f "$HOOK_FILE" && "$CI" != "true" && $- == *i* ]]; then
 	echo ""
 	echo -e "\033[31mNinja tip: add a git pre-commit hook to automatically check code style\033[0m"
 	echo -e "Would you like to install one now? (\033[94mcp ./Tools/astyle/pre-commit .git/hooks/pre-commit\033[0m): [y/\033[1mN\033[0m]"
@@ -11,6 +11,7 @@ exec find boards msg src platforms test \
    -path msg/translation_node -prune -o \
    -path platforms/nuttx/NuttX -prune -o \
    -path platforms/qurt/dspal -prune -o \
+    -path src/drivers/ins/ilabs -prune -o \
    -path src/drivers/ins/vectornav/libvnc -prune -o \
    -path src/drivers/uavcan/libdronecan -prune -o \
    -path src/drivers/uavcan/libuavcan -prune -o \
@@ -24,6 +25,7 @@ exec find boards msg src platforms test \
    -path src/modules/ekf2/EKF/yaw_estimator/derivation/generated -prune -o \
    -path src/modules/gyro_fft/CMSIS_5 -prune -o \
    -path src/modules/mavlink/mavlink -prune -o \
+    -path test/fuzztest -prune -o \
    -path test/mavsdk_tests/catch2 -prune -o \
    -path src/lib/crypto/monocypher -prune -o \
    -path src/lib/crypto/libtomcrypt -prune -o \
@@ -35,4 +37,5 @@ exec find boards msg src platforms test \
    -path src/modules/zenoh/zenoh-pico -prune -o \
    -path boards/modalai/voxl2/libfc-sensor-api -prune -o \
    -path src/drivers/actuators/vertiq_io/iq-module-communication-cpp -prune -o \
+    -path src/lib/tensorflow_lite_micro/tflite_micro -prune -o \
    \( -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) -print \) | grep $PATTERN
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 ############################################################################
 #
 #   Copyright (C) 2012-2015 PX4 Development Team. All rights reserved.
@@ -0,0 +1,19 @@
+#!/bin/bash
+# This script runs the fuzz tests from a given binary for a certain amount of time
+set -e
+
+if [[ "$1" == "--help" || "$1" == "-h" || -z "$1" ]]; then
+  echo "Usage: $0 <binary> [<duration>]"
+  echo "duration can be for example 5m or 5h"
+  exit 0
+fi
+
+binary="$1"
+duration="$2"
+[[ -z "$duration" ]] && duration="1m"
+
+# Iterate over all available fuzz tests in the binary
+for t in $("$binary" --fuzz=__non_existent__ 2>&1 | sed '1,/^Valid tests:$/d' | tr -d ' '); do
+  echo "Running $t"
+  "$binary" --fuzz="$t" --fuzz_for="$duration"
+done
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3

 import argparse
 import lzma
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 ############################################################################
 #
 #   Copyright (C) 2013-2014 PX4 Development Team. All rights reserved.
@@ -34,7 +34,7 @@

 """Fetch files via nsh console

-Usage: python fetch_file.py [-l] [-f] [-d device] [-s speed] [-o out_path] path
+Usage: python3 fetch_file.py [-l] [-f] [-d device] [-s speed] [-o out_path] path
 \t-l\tList files
 \t-f\tOverwrite existing files
 \t-d\tSerial device
@@ -134,7 +134,7 @@ def _get_files_in_dir(ser, path, path_out, force, timeout):
            _get_file(ser, path_fn, path_fn_out, force, timeout)

 def _usage():
-    print("""Usage: python fetch_file.py [-l] [-f] [-d device] [-s speed] [-o out_path] path
+    print("""Usage: python3 fetch_file.py [-l] [-f] [-d device] [-s speed] [-o out_path] path
 \t-l\tList files
 \t-f\tOverwrite existing files
 \t-d\tSerial device
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 #######################################################################################
 #
 # DeltaTag: enhanced geo-referencing survey images
@@ -15,8 +15,8 @@
 # Note: DeltaTag does not make copies, it writes the Exif information directly to the images
 #
 # Install: pip install pyulog piexif Pillow numpy
-# Run: python geotag_images_ulog.py [logfile] [image dir] (optional offset)
-# eg: python geotag_images_ulog.py mylog.ulg ./images
+# Run: python3 geotag_images_ulog.py [logfile] [image dir] (optional offset)
+# eg: python3 geotag_images_ulog.py mylog.ulg ./images
 #
 # Parameters
 # logfile: a ulog formatted logfile containing camera_capture events (survey missions)
@@ -39,8 +39,8 @@ from fractions import Fraction


 if(len(sys.argv)) < 3:
-    print("Usage: python geotag_images_ulog.py [logfile] [image dir]")
-    print("Example: python geotag_images_ulog.py mylog.ulg ./images")
+    print("Usage: python3 geotag_images_ulog.py [logfile] [image dir]")
+    print("Example: python3 geotag_images_ulog.py mylog.ulg ./images")
    print(len(sys.argv))
    sys.exit()

@@ -101,7 +101,6 @@ def main(kconfig_file, config1, config2):
    # load_config() and write_config() returns a message to print.
    print(kconf.load_config(config1, replace=False))
    print(kconf.load_config(config2, replace=False))
-
    # Modification for PX4 unset all symbols (INT,HEX etc) from 2nd config

    f = open(config2, 'r')
@@ -113,13 +112,16 @@ def main(kconfig_file, config1, config2):
        #pprint.pprint(line)
        if match is not None:
            sym_name = match.group(1)
-            kconf.syms[sym_name].unset_value()
+            try:
+                kconf.syms[sym_name].unset_value()

-            if kconf.syms[sym_name].type is BOOL:
-                for default, cond in kconf.syms[sym_name].orig_defaults:
-                    if(cond.str_value == 'y'):
-                        # Default is y, our diff is unset thus we've set it to no
-                        kconf.syms[sym_name].set_value(0)
+                if kconf.syms[sym_name].type is BOOL:
+                    for default, cond in kconf.syms[sym_name].orig_defaults:
+                        if(cond.str_value == 'y'):
+                            # Default is y, our diff is unset thus we've set it to no
+                            kconf.syms[sym_name].set_value(0)
+            except KeyError:
+                pass

    f.close()

@@ -41,6 +41,7 @@ import glob
 import kconfiglib
 import tempfile
 import sys
+from pathlib import Path

 import diffconfig
 import merge_config
@@ -52,6 +53,14 @@ for name in glob.glob(px4_dir + '/boards/*/*/default.px4board'):
    kconf.load_config(name)
    print(kconf.write_min_config(name))

+    board_path = Path(name)
+    defconfig_path = board_path.parent / "nuttx-config" / "nsh" / "defconfig"
+
+    if os.path.exists(defconfig_path):
+        # Merge NuttX with default config
+        kconf = merge_config.main(px4_dir + "/Kconfig", name, defconfig_path)
+        print(kconf.write_min_config(name))
+
 for name in glob.glob(px4_dir + '/boards/*/*/bootloader.px4board'):
    kconf = kconfiglib.Kconfig()
    kconf.load_config(name)
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3

 import glob
 import zipfile
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 # -*- coding: utf-8 -*-

 ############################################################################
@@ -55,7 +55,7 @@ Usage:
    The script needs a list of files as an input. To quickly find and feed all the file
    that it needs to inspect, one can simply pipe the result of a ripgrep -l command as follows:

-        rg -l '\.[gs]et\(|px4::params::' -tcpp | python parameter_update.py
+        rg -l '\.[gs]et\(|px4::params::' -tcpp | python3 parameter_update.py
 """

 import re
@@ -23,7 +23,7 @@ Data can be gathered using the following sequence:
 5) Move to a warm dry, still air, constant pressure environment.
 6) Apply power for 45 minutes, keeping the board still.
 7) Remove power and extract the .ulog file
-8) Open a terminal window in the Firmware/Tools directory and run the python calibration script script file: 'python process_sensor_caldata.py <full path name to .ulog file>
+8) Open a terminal window in the Firmware/Tools directory and run the python calibration script script file: 'python3 process_sensor_caldata.py <full path name to .ulog file>
 9) Power the board, connect QGC and load the parameter from the generated .params file onto the board using QGC. Due to the number of parameters, loading them may take some time.
 10) TODO - we need a way for user to reliably tell when parameters have all been changed and saved.
 11) After parameters have finished loading, set SDLOG_MODE and SDLOG_PROFILE to their respective values prior to step 4) and remove power.
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 ############################################################################
 #
 #   Copyright (c) 2017-2020 PX4 Development Team. All rights reserved.
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 ############################################################################
 #
 #   Copyright (C) 2012, 2013 PX4 Development Team. All rights reserved.
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 ############################################################################
 #
 #   Copyright (C) 2013-2017 PX4 Development Team. All rights reserved.
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 ############################################################################
 #
 #   Copyright (C) 2020 PX4 Development Team. All rights reserved.
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 ############################################################################
 #
 #   Copyright (C) 2017 PX4 Development Team. All rights reserved.
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 ############################################################################
 #
 #   Copyright (C) 2014-2018 PX4 Development Team. All rights reserved.
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 #
 #===- run-clang-tidy.py - Parallel clang-tidy runner ---------*- python -*--===#
 #
@@ -110,10 +110,11 @@ def run_tidy(args, tmpdir, build_path, queue):
                                     args.extra_arg, args.extra_arg_before)

    try:
-      subprocess.check_call(invocation, stdin=None, stdout=open(os.devnull, 'wb'), stderr=subprocess.STDOUT)
+      subprocess.check_call(invocation, stdin=None, stdout=open(os.devnull, 'w'), stderr=open(os.devnull, 'w'))
    except subprocess.CalledProcessError as e:
-      sys.stdout.write(' '.join(invocation) + '\n')
-      subprocess.call(invocation)
+      sys.stdout.write(f'failed on {name} --> {" ".join(invocation)}\n')
+      # Now run again to see the actual output
+      subprocess.call(invocation, stdin=None)
      global tidy_failures
      tidy_failures = tidy_failures + 1

@@ -1,5 +1,18 @@
 #! /usr/bin/env bash

+## Basch script to setup the PX4 development environment on macOS
+## Works for Intel and Arm based Apple hardware
+##
+## Installs:
+##	- Common dependencies and tools for building PX4
+##	- Cross compilers for building hardware targets using NuttX
+##	- Can also install the default simulation provided by the px4-sim homebrew
+##		Formula
+##
+## For more information regarding the Homebrew Formulas see:
+##		https://github.com/PX4/homebrew-px4/
+##
+
 # script directory
 DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )

@@ -18,37 +31,43 @@ do
 	fi
 done

+echo "[macos.sh] Installing the development dependencies for the PX4 Autopilot"
+
 if ! command -v brew &> /dev/null
 then
 	# install Homebrew if not installed yet
+	echo "[macos.sh] Installing Homebrew"
 	/bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install.sh)"
 fi

 # Install px4-dev formula
 if [[ $REINSTALL_FORMULAS == "--reinstall" ]]; then
-	echo "Re-installing PX4 general dependencies (homebrew px4-dev)"
+	echo "[macos.sh] Re-installing dependencies (homebrew px4-dev)"

 	# confirm Homebrew installed correctly
 	brew doctor

+	brew tap osx-cross/arm
 	brew tap PX4/px4
+
 	brew reinstall px4-dev
-	brew install ncurses
-	brew install python-tk
+	brew link --overwrite --force arm-gcc-bin@13
 else
 	if brew ls --versions px4-dev > /dev/null; then
-		echo "px4-dev already installed"
+		echo "[macos.sh] px4-dev already installed"
 	else
-		echo "Installing PX4 general dependencies (homebrew px4-dev)"
+		echo "[macos.sh] Installing general dependencies (homebrew px4-dev)"
+
+		brew tap osx-cross/arm
 		brew tap PX4/px4
+
 		brew install px4-dev
-		brew install ncurses
-		brew install python-tk
+		brew link --overwrite --force arm-gcc-bin@13
 	fi
 fi

 # Python dependencies
-echo "Installing PX4 Python3 dependencies"
+echo "[macos.sh] Installing Python3 dependencies"
 # We need to have future to install pymavlink later.
 python3 -m pip install future
 python3 -m pip install --user -r ${DIR}/requirements.txt
@@ -62,4 +81,4 @@ if [[ $INSTALL_SIM == "--sim-tools" ]]; then
 	fi
 fi

-echo "All set! PX4 toolchain installed!"
+echo "[macos.sh] All set! The PX4 Autopilot toolchain was installed."
@@ -1,4 +1,4 @@
-#! /usr/bin/env python3
+#!/usr/bin/env python3

 from __future__ import print_function

@@ -1,4 +1,4 @@
-#! /usr/bin/env python3
+#!/usr/bin/env python3
 """ Script to validate YAML file(s) against a YAML schema file """

 from __future__ import print_function
@@ -62,7 +62,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
@@ -67,7 +67,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
@@ -15,6 +15,7 @@ CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
+CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_AUAV=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
@@ -78,8 +79,8 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
+CONFIG_MODULES_PAYLOAD_DELIVERER=y
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
@@ -6,3 +6,9 @@ CONFIG_DRIVERS_SW_CRYPTO=y
 # CONFIG_EKF2_AUX_GLOBAL_POSITION is not set
 CONFIG_PUBLIC_KEY0="../../../Tools/test_keys/key0.pub"
 CONFIG_PUBLIC_KEY1="../../../Tools/test_keys/rsa2048.pub"
+CONFIG_MODULES_FW_ATT_CONTROL=n
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_FW_MODE_MANAGER=n
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
+CONFIG_MODULES_FW_RATE_CONTROL=n
+CONFIG_MODULES_VTOL_ATT_CONTROL=n
@@ -0,0 +1,17 @@
+CONFIG_MODULES_AIRSPEED_SELECTOR=n
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
+CONFIG_MODULES_FW_ATT_CONTROL=n
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_FW_MODE_MANAGER=n
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
+CONFIG_MODULES_FW_RATE_CONTROL=n
+CONFIG_MODULES_MC_ATT_CONTROL=n
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
+CONFIG_MODULES_MC_POS_CONTROL=n
+CONFIG_MODULES_MC_RATE_CONTROL=n
+CONFIG_MODULES_VTOL_ATT_CONTROL=n
+CONFIG_DRIVERS_ROBOCLAW=y
+CONFIG_MODULES_ROVER_ACKERMANN=y
+CONFIG_MODULES_ROVER_DIFFERENTIAL=y
+CONFIG_MODULES_ROVER_MECANUM=y
@@ -322,10 +322,6 @@
 #define HRT_PPM_CHANNEL         /* T8C1 */  1  /* use capture/compare channel 1 */
 #define GPIO_PPM_IN             /* PI5 T8C1 */ GPIO_TIM8_CH1IN_2

-/* RC Serial port */
-
-#define RC_SERIAL_PORT                     "/dev/ttyS5"
-
 /* Input Capture Channels. */
 #define INPUT_CAP1_TIMER                  1
 #define INPUT_CAP1_CHANNEL     /* T1C2 */ 2
@@ -58,6 +58,7 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
+CONFIG_MODULES_PAYLOAD_DELIVERER=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y
@@ -5,3 +5,9 @@ CONFIG_DRIVERS_SW_CRYPTO=y
 # CONFIG_EKF2_AUX_GLOBAL_POSITION is not set
 CONFIG_PUBLIC_KEY0="../../../Tools/test_keys/key0.pub"
 CONFIG_PUBLIC_KEY1="../../../Tools/test_keys/rsa2048.pub"
+CONFIG_MODULES_FW_ATT_CONTROL=n
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_FW_MODE_MANAGER=n
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
+CONFIG_MODULES_FW_RATE_CONTROL=n
+CONFIG_MODULES_VTOL_ATT_CONTROL=n
@@ -4,23 +4,26 @@ CONFIG_BOARD_ETHERNET=y
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS6"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS2"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_BOARD_PARAM_FILE="/fs/microsd/params"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
+CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_AUAV=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_BMI088_ACCELEROMETER_INT2=y
-CONFIG_COMMON_INS=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_DATAMAN_PERSISTENT_STORAGE=n
-CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM350=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_COMMON_RC=y
+CONFIG_DRIVERS_POWER_MONITOR_INA226=y
+CONFIG_DRIVERS_POWER_MONITOR_INA228=y
+CONFIG_DRIVERS_POWER_MONITOR_INA238=y
 CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_UAVCAN=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
@@ -43,6 +46,7 @@ CONFIG_FIGURE_OF_EIGHT=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_HARDFAULT_STREAM=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
@@ -3,6 +3,12 @@
 # board specific defaults
 #------------------------------------------------------------------------------

+# By disabling INA modules, we use the
+# i2c_launcher instead.
+param set-default SENS_EN_INA226 0
+param set-default SENS_EN_INA228 0
+param set-default SENS_EN_INA238 0
+
 # Set the backend of the dataman to SRAM
 param set-default SYS_DM_BACKEND 1
 # Set TELEM1 as default mavlink connection
@@ -23,6 +23,48 @@ else
 	bmm350 -I -R 8 start
 fi

+if param compare SENS_EN_INA226 1
+then
+	# Start Digital power monitors
+	ina226 -X -b 1 -t 1 -k start
+
+	# Disable analog monitoring
+	param set BAT1_V_CHANNEL -2
+
+	set INA_CONFIGURED yes
+fi
+
+
+if param compare SENS_EN_INA228 1
+then
+	# Start Digital power monitors
+	ina228 -X -b 1 -t 1 -k start
+
+	# Disable analog monitoring
+	param set BAT1_V_CHANNEL -2
+
+	set INA_CONFIGURED yes
+fi
+
+if param compare SENS_EN_INA238 1
+then
+	# Start Digital power monitors
+	ina238 -X -b 1 -t 1 -k start
+
+	# Disable analog monitoring
+	param set BAT1_V_CHANNEL -2
+
+	set INA_CONFIGURED yes
+fi
+
+if param compare BAT1_V_CHANNEL -2
+then
+    if [ "$INA_CONFIGURED" != "yes" ]
+    then
+        param set BAT1_V_CHANNEL -1
+    fi
+fi
+
 # External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)
 ist8310 -X -b 1 -R 10 start

@@ -8,6 +8,5 @@ CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
 CONFIG_MODULES_FW_RATE_CONTROL=n
 CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_COMMON_RC=y
-CONFIG_EKF2_AUX_GLOBAL_POSITION=y
 # CONFIG_EKF2_SIDESLIP is not set
 # CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
@@ -12,6 +12,5 @@ CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
 CONFIG_MODULES_MC_POS_CONTROL=n
 CONFIG_MODULES_MC_RATE_CONTROL=n
 CONFIG_MODULES_VTOL_ATT_CONTROL=n
-CONFIG_EKF2_AUX_GLOBAL_POSITION=y
 # CONFIG_EKF2_WIND is not set
 CONFIG_MODULES_DIFFERENTIAL_DRIVE=y
@@ -145,9 +145,6 @@
 #define HRT_PPM_CHANNEL         /* T8C2 */  2  /* use capture/compare channel 1 */
 #define GPIO_PPM_IN             /* PC7  */ GPIO_TIM8_CH2IN_1

-/* RC Serial port (input only) */
-#define RC_SERIAL_PORT          "/dev/ttyS4"
-
 /* This board provides a DMA pool and APIs */
 #define BOARD_DMA_ALLOC_POOL_SIZE 5120

@@ -63,7 +63,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
@@ -51,7 +51,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_BATTERY_SIMULATOR=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_MAVLINK=y
@@ -57,7 +57,6 @@ CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DYN=y
@@ -21,7 +21,6 @@ CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
 CONFIG_DRIVERS_IMU_INVENSENSE_IIM42653=y
-CONFIG_COMMON_INS=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_DRIVERS_OSD_MSP_OSD=y
@@ -21,7 +21,6 @@ CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
-CONFIG_COMMON_INS=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
@@ -22,7 +22,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=y
-CONFIG_COMMON_INS=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
@@ -67,7 +67,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
@@ -53,7 +53,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_BATTERY_SIMULATOR=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_MAVLINK=y
@@ -60,7 +60,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y
@@ -62,7 +62,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y
@@ -63,7 +63,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
@@ -66,7 +66,6 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
@@ -66,7 +66,6 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
@@ -66,7 +66,6 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
@@ -71,7 +71,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
@@ -7,29 +7,53 @@ CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS6"
 CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
+CONFIG_BOARD_PARAM_FILE="/fs/microsd/params"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_DPS310=y
+CONFIG_DRIVERS_BATT_SMBUS=y
+CONFIG_DRIVERS_CAMERA_CAPTURE=y
+CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_ASP5033=y
-CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_AUAV=y
 CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_ETS=y
 CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS4515=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
+CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
 CONFIG_DRIVERS_GPS=y
+CONFIG_COMMON_HYGROMETERS=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI270=y
+CONFIG_COMMON_INS=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
+CONFIG_DRIVERS_OSD_MSP_OSD=y
+CONFIG_DRIVERS_POWER_MONITOR_INA220=y
+CONFIG_DRIVERS_POWER_MONITOR_INA226=y
+CONFIG_DRIVERS_POWER_MONITOR_INA228=y
+CONFIG_DRIVERS_POWER_MONITOR_INA238=y
+CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
+CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
 CONFIG_DRIVERS_PPS_CAPTURE=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_COMMON_RC=y
 CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_DRIVERS_ROBOCLAW=y
+CONFIG_COMMON_RPM=y
+CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_DRIVERS_TAP_ESC=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_UAVCAN=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
+CONFIG_COMMON_UWB=y
+CONFIG_COMMON_WIND_SENSOR=y
+CONFIG_MODULES_AIRSHIP_ATT_CONTROL=y
+CONFIG_MODULES_AIRSPEED_SELECTOR=y
+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
@@ -39,9 +63,9 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
+CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
@@ -7,7 +7,7 @@
    "summary": "MicoAir743AIO",
    "version": "0.1",
    "image_size": 0,
-    "image_maxsize": 1835008,
+    "image_maxsize": 1966080,
    "git_identity": "",
    "board_revision": 0
 }
@@ -19,6 +19,7 @@ param set-default MC_ROLLRATE_K 0.35
 param set-default MC_YAWRATE_K 1.2
 param set-default MC_YAWRATE_MAX 360
 param set-default MAV_TYPE 2
+param set-default MSP_OSD_CONFIG 102
 param set-default CA_AIRFRAME 0
 param set-default CA_ROTOR_COUNT 4
 param set-default CBRK_SUPPLY_CHK 894281
@@ -110,7 +110,7 @@
 MEMORY
 {
 	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
-	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1792K
+	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1920K

 	DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
 	DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
--- a/Show More
+++ b/Show More