Add fw indi lib

F

WIP Unit tests

.github/labeler.yml

@@ -1,10 +0,0 @@
-# Labeler configuration file for GitHub Actions
-# The action is ./.github/workflows/label.yml
-# Docs for the syntax in this file can be found at
-# https://github.com/actions/labeler
-
-
-# Add 'Documentation' label to any changes within 'docs' folder or any subfolders
-"Documentation+📑":
-- changed-files:
-  - any-glob-to-any-file: docs/**

.github/workflows/build_all_targets.yml

@@ -18,7 +18,7 @@ on:
       - 'docs/**'
   pull_request:
     branches:
-      - '**'
+      - '*'
     paths-ignore:
       - 'docs/**'
 

.github/workflows/checks.yml

@@ -6,15 +6,13 @@ on:
     - 'main'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
-      - '**'
+    - '*'
     paths-ignore:
       - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
+      - '.github/**'
 
 jobs:
   build:
@@ -43,7 +41,7 @@ jobs:
       - name: Building [${{ matrix.check }}]
         uses: addnab/docker-run-action@v3
         with:
-          image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+          image: px4io/px4-dev-nuttx-focal:2022-08-12
           options: -v ${{ github.workspace }}:/workspace
           run: |
             cd /workspace

.github/workflows/clang-tidy.yml

@@ -6,11 +6,13 @@ on:
     - 'main'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
-      - '**'
+    - '*'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
 jobs:
   build:
     runs-on: ubuntu-latest

.github/workflows/compile_macos.yml

@@ -6,15 +6,13 @@ on:
     - 'main'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
-      - '**'
+    - '*'
     paths-ignore:
       - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
+      - '.github/**'
 
 jobs:
   build:

.github/workflows/compile_ubuntu.yml

@@ -9,19 +9,17 @@ on:
       - 'release/**'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
-      - '**'
+      - '*'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
 
 env:
   RUNS_IN_DOCKER: true
 
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
 jobs:
   build_and_test:
     name: Build and Test

.github/workflows/dev_container.yml

@@ -11,7 +11,7 @@ on:
       - 'v*'
   pull_request:
     branches:
-      - '**'
+      - '*'
     paths:
       - '.github/workflows/dev_container.yml'
       - 'Tools/setup/ubuntu.sh'
@@ -30,10 +30,6 @@ on:
         type: boolean
         default: false
 
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
 jobs:
   setup:
     name: Set Tags and Variables

.github/workflows/docs_deploy.yml

@@ -9,7 +9,7 @@ on:
       - 'docs/en/**'
   pull_request:
     branches:
-      - '**'
+      - '*'
     paths:
       - 'docs/en/**'
 
@@ -80,7 +80,7 @@ jobs:
       - name: Deploy
         run: |
           git clone --single-branch --branch main --depth 1 https://${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}@github.com/PX4/docs.px4.io.git
-          # make it an orphan branch
+          # make it an orphan branch      
           cd docs.px4.io
           CURRENT_DATETIME=$(date +'%Y%m%d_%H_%M')
           git checkout --orphan "${CURRENT_DATETIME}_main"

.github/workflows/ekf_functional_change_indicator.yml

@@ -3,9 +3,10 @@ name: EKF Change Indicator
 on:
   pull_request:
     branches:
-      - '**'
+    - '*'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
 
 jobs:
   unit_tests:

.github/workflows/ekf_update_change_indicator.yml

@@ -4,6 +4,7 @@ on:
   push:
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
 
 jobs:
   unit_tests:

.github/workflows/failsafe_sim.yml

@@ -6,15 +6,13 @@ on:
     - 'main'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
-      - '**'
+    - '*'
     paths-ignore:
       - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
+      - '.github/**'
 
 jobs:
   build:

.github/workflows/flash_analysis.yml

@@ -11,11 +11,13 @@ on:
       - 'main'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
-      - '**'
+      - '*'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
 
 env:
   MIN_FLASH_POS_DIFF_FOR_COMMENT: 50

.github/workflows/itcm_check.yml

@@ -9,15 +9,13 @@ on:
       - 'main'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
-      - '**'
+      - '*'
     paths-ignore:
       - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
+      - '.github/**'
 
 jobs:
   check_itcm:

.github/workflows/label.yml

@@ -1,21 +0,0 @@
-# This workflow will triage pull requests and apply a label based on the
-# paths that are modified in the pull request.
-# The paths are set up in .github/labeler.yml
-#
-# See: https://github.com/actions/labeler
-
-name: Labeler
-on: [pull_request_target]
-
-jobs:
-  label:
-
-    runs-on: ubuntu-latest
-    permissions:
-      contents: read
-      pull-requests: write
-
-    steps:
-    - uses: actions/labeler@v5
-      with:
-        repo-token: "${{ secrets.GITHUB_TOKEN }}"

.github/workflows/mavros_mission_tests.yml

@@ -6,15 +6,13 @@ on:
     - 'main'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
-      - '**'
+    - '*'
     paths-ignore:
       - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
+      - '.github/**'
 
 jobs:
   build:

.github/workflows/mavros_offboard_tests.yml

@@ -6,15 +6,13 @@ on:
     - 'main'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
-      - '**'
+    - '*'
     paths-ignore:
       - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
+      - '.github/**'
 
 jobs:
   build:

.github/workflows/nuttx_env_config.yml

@@ -6,15 +6,13 @@ on:
     - 'main'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
-      - '**'
+    - '*'
     paths-ignore:
       - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
+      - '.github/**'
 
 jobs:
   build:

.github/workflows/python_checks.yml

@@ -6,11 +6,13 @@ on:
     - 'main'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
-      - '**'
+    - '*'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
 
 jobs:
   build:

.github/workflows/ros_integration_tests.yml

@@ -17,10 +17,6 @@ on:
     paths-ignore:
       - 'docs/**'
 
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
 jobs:
   build:
     runs-on: [runs-on,runner=16cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]

.github/workflows/ros_translation_node.yml

@@ -5,19 +5,16 @@ on:
     - 'main'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
-      - '**'
+    - '*'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
 defaults:
   run:
     shell: bash
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
 jobs:
   build_and_test:
     name: Build and test

.github/workflows/sitl_tests.yml

@@ -11,15 +11,13 @@ on:
     - 'main'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
-    - '**'
+    - '*'
     paths-ignore:
       - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
+      - '.github/**'
 
 jobs:
   build:

CMakeLists.txt

@@ -426,6 +426,7 @@ if(BUILD_TESTING)
 	set_target_properties(test_results PROPERTIES EXCLUDE_FROM_ALL TRUE)
 endif()
 
+
 #=============================================================================
 # subdirectories
 #
@@ -495,6 +496,7 @@ add_custom_target(uorb_graph DEPENDS ${uorb_graph_config})
 include(bloaty)
 
 
+include(doxygen)
 include(metadata)
 include(package)
 

Makefile

@@ -365,7 +365,7 @@ coverity_scan: px4_sitl_default
 
 # Documentation
 # --------------------------------------------------------------------
-.PHONY: parameters_metadata airframe_metadata module_documentation extract_events px4_metadata
+.PHONY: parameters_metadata airframe_metadata module_documentation extract_events px4_metadata doxygen
 
 parameters_metadata:
 	@$(MAKE) --no-print-directory px4_sitl_default metadata_parameters ver_gen
@@ -381,6 +381,12 @@ extract_events:
 
 px4_metadata: parameters_metadata airframe_metadata module_documentation extract_events
 
+doxygen:
+	@mkdir -p "$(SRC_DIR)"/build/doxygen
+	@cd "$(SRC_DIR)"/build/doxygen && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DBUILD_DOXYGEN=ON
+	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/doxygen
+	@touch "$(SRC_DIR)"/build/doxygen/Documentation/.nojekyll
+
 # Style
 # --------------------------------------------------------------------
 .PHONY: check_format format check_newlines
@@ -410,18 +416,11 @@ tests:
 	$(eval UBSAN_OPTIONS += color=always)
 	$(call cmake-build,px4_sitl_test)
 
-# work around lcov bug #316; remove once lcov is fixed (see https://github.com/linux-test-project/lcov/issues/316)
-LCOBUG = --ignore-errors mismatch
 tests_coverage:
 	@$(MAKE) clean
 	@$(MAKE) --no-print-directory tests PX4_CMAKE_BUILD_TYPE=Coverage
 	@mkdir -p coverage
-	@lcov --directory build/px4_sitl_test \
-		--base-directory build/px4_sitl_test \
-		--gcov-tool gcov \
-		--capture \
-		$(LCOBUG) \
-		-o coverage/lcov.info
+	@lcov --directory build/px4_sitl_test --base-directory build/px4_sitl_test --gcov-tool gcov --capture -o coverage/lcov.info
 
 
 rostest: px4_sitl_default

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

@@ -46,22 +46,3 @@ param set-default PWM_MAIN_FUNC3 203
 param set-default PWM_MAIN_FUNC4 101
 
 param set-default EKF2_GPS_DELAY 0
-
-# Rate controllers
-param set-default FW_RR_P 0.0500
-param set-default FW_RR_I 2.0000
-param set-default FW_RR_D 0.0000
-param set-default FW_RR_FF 0.0000
-param set-default FW_RR_IMAX 1.0000
-
-param set-default FW_PR_P 0.0800
-param set-default FW_PR_I 2.5000
-param set-default FW_PR_D 0.0000
-param set-default FW_PR_FF 0.0000
-param set-default FW_PR_IMAX 1.0000
-
-param set-default FW_YR_P 0.0500
-param set-default FW_YR_I 3.0000
-param set-default FW_YR_D 0.0000
-param set-default FW_YR_FF 0.0000
-param set-default FW_YR_IMAX 1.0000

ROMFS/px4fmu_common/init.d-posix/airframes/4009_gz_r1_rover

@@ -39,7 +39,7 @@ param set-default RO_YAW_P 5
 param set-default RO_SPEED_LIM 2
 param set-default RO_SPEED_I 0.01
 param set-default RO_SPEED_P 0.1
-param set-default RO_SPEED_RED 1
+param set-defatul RO_SPEED_RED 1
 
 # Pure Pursuit parameters
 param set-default PP_LOOKAHD_GAIN 1

ROMFS/px4fmu_common/init.d-posix/airframes/50000_gz_rover_differential

@@ -1,56 +0,0 @@
-#!/bin/sh
-# @name Generic Differential Rover
-# @type Rover
-# @class Rover
-
-. ${R}etc/init.d/rc.rover_differential_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=rover}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover_differential}
-
-param set-default SIM_GZ_EN 1 # Gazebo bridge
-
-param set-default NAV_ACC_RAD 0.5
-
-# Differential Parameters
-param set-default RD_WHEEL_TRACK 0.6
-param set-default RD_TRANS_DRV_TRN 0.785398
-param set-default RD_TRANS_TRN_DRV 0.174533
-
-# 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 250
-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 4
-param set-default RO_DECEL_LIM 6
-param set-default RO_JERK_LIM 10
-param set-default RO_MAX_THR_SPEED 2
-param set-default RO_SPEED_LIM 1.8
-param set-default RO_SPEED_I 0.01
-param set-default RO_SPEED_P 0.01
-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
-
-# Actuator mapping
-param set-default SIM_GZ_WH_FUNC1 101 # right wheel
-param set-default SIM_GZ_WH_MIN1 80
-param set-default SIM_GZ_WH_MAX1 120
-param set-default SIM_GZ_WH_DIS1 100
-
-param set-default SIM_GZ_WH_FUNC2 102 # left wheel
-param set-default SIM_GZ_WH_MIN2 80
-param set-default SIM_GZ_WH_MAX2 120
-param set-default SIM_GZ_WH_DIS2 100

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

@@ -114,8 +114,6 @@ px4_add_romfs_files(
 	17001_flightgear_tf-g1
 	17002_flightgear_tf-g2
 
-	50000_gz_rover_differential
-
 	71002_gz_spacecraft_2d
 
 	# [22000, 22999] Reserve for custom models

ROMFS/px4fmu_common/init.d/airframes/50000_generic_rover_differential

@@ -5,5 +5,8 @@
 # @type Rover
 # @class Rover
 #
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
 
 . ${R}etc/init.d/rc.rover_differential_defaults

ROMFS/px4fmu_common/init.d/airframes/50001_aion_robotics_r1_rover

@@ -7,6 +7,9 @@
 # @type Rover
 # @class Rover
 #
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
 
 . ${R}etc/init.d/rc.rover_differential_defaults
 

ROMFS/px4fmu_common/init.d/airframes/51000_generic_rover_ackermann

@@ -5,5 +5,8 @@
 # @type Rover
 # @class Rover
 #
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
 
 . ${R}etc/init.d/rc.rover_ackermann_defaults

ROMFS/px4fmu_common/init.d/airframes/51001_axial_scx10_2_trail_honcho

@@ -7,6 +7,9 @@
 # @type Rover
 # @class Rover
 #
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
 
 . ${R}etc/init.d/rc.rover_ackermann_defaults
 

ROMFS/px4fmu_common/init.d/airframes/52000_generic_rover_mecanum

@@ -5,5 +5,8 @@
 # @type Rover
 # @class Rover
 #
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
 
 . ${R}etc/init.d/rc.rover_mecanum_defaults

ROMFS/px4fmu_common/init.d/rc.fw_apps

@@ -13,8 +13,8 @@ control_allocator start
 #
 # Start attitude controller.
 #
-fw_dyn_soar_control start
 fw_rate_control start
+fw_indi_pos_control start
 fw_att_control start
 fw_mode_manager start
 fw_lat_lon_control start

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -234,7 +234,6 @@ then
 		lis3mdl -X -q -a 0x1c start
 	fi
 	qmc5883l -X -q start
-	qmc5883p -X -q start
 	rm3100 -X -q start
 
 	# start last (wait for possible icm20948 passthrough mode)

ROMFS/px4fmu_common/init.d/rcS

@@ -224,7 +224,7 @@ else
 		# Look for airframe in ROMFS
 		. ${R}etc/init.d/rc.autostart
 
-		if [ ${VEHICLE_TYPE} = none ]
+		if [ ${VEHICLE_TYPE} == none ]
 		then
 			# Use external startup file
 			if [ $STORAGE_AVAILABLE = yes ]
@@ -235,7 +235,7 @@ else
 			fi
 		fi
 
-		if [ ${VEHICLE_TYPE} = none ]
+		if [ ${VEHICLE_TYPE} == none ]
 		then
 			echo "ERROR [init] No airframe file found for SYS_AUTOSTART value"
 			param set SYS_AUTOSTART 0

Tools/astyle/check_newlines.sh

@@ -3,14 +3,14 @@
 return_value=0
 
 # Check if there are files checked in that don't end in a newline (POSIX requirement)
-git grep --cached -Il '' -- ':!docs/public/' ':!docs/ko/' ':!docs/uk/' ':!docs/zh/' | xargs -L1 bash -c 'if test "$(tail -c 1 "$0")"; then echo "No new line at end of $0"; exit 1; fi'
+git grep --cached -Il '' -- ':!docs/*' | xargs -L1 bash -c 'if test "$(tail -c 1 "$0")"; then echo "No new line at end of $0"; exit 1; fi'
 
 if [ $? -ne 0 ]; then
 	return_value=1
 fi
 
 # Check if there are files checked in that have duplicate newlines at the end (fail trailing whitespace checks)
-git grep --cached -Il '' -- ':!docs/public/' ':!docs/ko/' ':!docs/uk/' ':!docs/zh/' | xargs -L1 bash -c 'if tail -c 2 "$0" | ( read x && read y && [ x"$x" = x ] && [ x"$y" = x ]); then echo "Multiple newlines at the end of $0"; exit 1; fi'
+git grep --cached -Il '' -- ':!docs/*' | xargs -L1 bash -c 'if tail -c 2 "$0" | ( read x && read y && [ x"$x" = x ] && [ x"$y" = x ]); then echo "Multiple newlines at the end of $0"; exit 1; fi'
 
 if [ $? -ne 0 ]; then
 	return_value=1

Tools/serial/rc.serial_port.jinja

@@ -5,7 +5,7 @@
 set SERIAL_DEV none
 {% for serial_device in serial_devices -%}
 if param compare "$PRT" {{ serial_device.index }}; then
-	if [ "$PRT_{{ serial_device.tag }}_" = "" ]; then
+	if [ "x$PRT_{{ serial_device.tag }}_" = "x" ]; then
 		set SERIAL_DEV {{ serial_device.device }}
 		set BAUD_PARAM SER_{{ serial_device.tag }}_BAUD
 		set PRT_{{ serial_device.tag }}_ 1

boards/diatone/mamba-f405-mk2/default.px4board

@@ -14,7 +14,6 @@ CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_MAGNETOMETER_AKM_AK8963=y
 CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
 CONFIG_DRIVERS_PWM_OUT=y

boards/diatone/mamba-f405-mk2/init/rc.board_sensors

@@ -5,16 +5,14 @@
 
 board_adc start
 
-if ! mpu6000 -R 6 -s start; then
+if ! mpu6000 -R 6 -s start
+then
 	# some boards such as the Hobbywing XRotor F4 G2 use the ICM-20602
-	if ! icm20602 -s -R 6 start; then
-		# The ICM-42688-P is used on the Diatone Mamba F405 MK2 v2
-		icm42688p -s -R 4 start
-	fi
+	icm20602 -s -R 6 start
 fi
 
 if ! hmc5883 -T -X start
-then
+then	
 	if mpu9250_i2c -X -b 2 -a 0x68 -R 28 start; then
 		sleep 1 # wait for mpu9250 to be configured with bypass enabled
 		ak8963 -X -b 2 -R 30 start # -R 34

boards/diatone/mamba-f405-mk2/src/spi.cpp

@@ -39,7 +39,6 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI1, {
 		initSPIDevice(DRV_IMU_DEVTYPE_MPU6000, SPI::CS{GPIO::PortA, GPIO::Pin4}),
 		initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortA, GPIO::Pin4}),
-		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortA, GPIO::Pin4}),
 	}),
 	initSPIBus(SPI::Bus::SPI2, {
 		initSPIDevice(DRV_OSD_DEVTYPE_ATXXXX, SPI::CS{GPIO::PortB, GPIO::Pin12}),

boards/holybro/kakuteh7-wing/default.px4board

@@ -6,7 +6,6 @@ CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS5"
 CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
-CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP280=y
 CONFIG_DRIVERS_BAROMETER_GOERTEK_SPA06=y
@@ -63,6 +62,7 @@ CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
+CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y

boards/holybro/kakuteh7dualimu/default.px4board

@@ -6,7 +6,6 @@ CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS5"
-CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y
@@ -31,6 +30,7 @@ CONFIG_DRIVERS_UAVCAN=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=6
 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
@@ -70,17 +70,22 @@ CONFIG_MODULES_NAVIGATOR=y
 CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
-# CONFIG_MODULES_TEMPERATURE_COMPENSATION is not set
+CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
+CONFIG_SYSTEMCMDS_DUMPFILE=y
+CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
+CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_REBOOT=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

boards/holybro/kakuteh7dualimu/firmware.prototype

@@ -7,7 +7,7 @@
     "summary": "KAKUTEH7",
     "version": "0.1",
     "image_size": 0,
-    "image_maxsize": 1703936,
+    "image_maxsize": 1835008,
     "git_identity": "",
     "board_revision": 0
 }

boards/holybro/kakuteh7dualimu/nuttx-config/scripts/script.ld

@@ -110,7 +110,7 @@
 MEMORY
 {
 	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
-	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1664K /* params in last two sectors */
+	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1792K /* params in last sector */
 
 	DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
 	DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH =   64K

boards/holybro/kakuteh7dualimu/src/hw_config.h

@@ -72,7 +72,7 @@
 #define BOARD_TYPE                     5409
 #define BOARD_FLASH_SECTORS            (14)
 #define BOARD_FLASH_SIZE               (16 * 128 * 1024)
-#define APP_RESERVATION_SIZE           (2 * 128 * 1024)
+#define APP_RESERVATION_SIZE           (1 * 128 * 1024)
 
 #define OSC_FREQ                       8
 

boards/holybro/kakuteh7dualimu/src/led.c

@@ -48,11 +48,6 @@
  * of leds for system indication at will and there is no
  * separate switch, we need to build independent of the
  * CONFIG_ARCH_LEDS configuration switch.
- *
- * KakuteH7 DualIMU LED configuration:
- * - Red LED (PE9): TRIP LED, active high
- * - Blue LED (PC2): Status LED, active low
- * - Green LED: Hardware controlled, always on when powered (no software control)
  */
 __BEGIN_DECLS
 extern void led_init(void);
@@ -61,28 +56,11 @@ extern void led_off(int led);
 extern void led_toggle(int led);
 __END_DECLS
 
-#ifdef CONFIG_ARCH_LEDS
-static bool nuttx_owns_leds = true;
-//                                B  R  S  G
-//                                0  1  2  3
-static const uint8_t xlatpx4[] = {1, 0, 4, 2};
-#  define xlat(p) xlatpx4[(p)]
-static uint32_t g_ledmap[] = {
-	GPIO_LED_RED,                       // Indexed by BOARD_LED_RED
-	GPIO_nLED_BLUE,                     // Indexed by BOARD_LED_BLUE
-};
 
-static bool g_led_inverted[] = {
-	false, // LED_RED is active high
-	true,  // LED_BLUE is active low
-};
-
-#else
-
-#  define xlat(p) (p)
+#define xlat(p) (p)
 static uint32_t g_ledmap[] = {
 	GPIO_nLED_BLUE,                     // Indexed by LED_BLUE
-	GPIO_LED_RED,                       // Indexed by LED_RED
+	GPIO_LED_RED,                      // Indexed by LED_RED
 };
 
 static bool g_led_inverted[] = {
@@ -90,7 +68,6 @@ static bool g_led_inverted[] = {
 	false, // LED_RED is active high
 };
 
-#endif
 
 __EXPORT void led_init(void)
 {

boards/px4/fmu-v2/rover.px4board

@@ -1,17 +1,15 @@
-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
+CONFIG_DRIVERS_CAMERA_CAPTURE=y
+CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_OPTICAL_FLOW_PX4FLOW=y
+CONFIG_MODULES_CAMERA_FEEDBACK=y
+CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_ROVER_POS_CONTROL=y
+CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_USB_CONNECTED=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y

boards/px4/fmu-v3/rover.px4board

@@ -1,17 +0,0 @@
-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

boards/px4/fmu-v4/rover.px4board

@@ -1,17 +0,0 @@
-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

boards/px4/fmu-v4pro/rover.px4board

@@ -1,17 +0,0 @@
-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

boards/px4/fmu-v5/rover.px4board

@@ -1,17 +1,23 @@
+CONFIG_DRIVERS_IRLOCK=n
 CONFIG_MODULES_AIRSPEED_SELECTOR=n
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=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_LANDING_TARGET_ESTIMATOR=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_UUV_ATT_CONTROL=n
+CONFIG_MODULES_UUV_POS_CONTROL=n
 CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_DRIVERS_ROBOCLAW=y
+# CONFIG_EKF2_WIND is not set
 CONFIG_MODULES_ROVER_ACKERMANN=y
 CONFIG_MODULES_ROVER_DIFFERENTIAL=y
 CONFIG_MODULES_ROVER_MECANUM=y

boards/px4/fmu-v5x/rover.px4board

@@ -1,3 +1,4 @@
+CONFIG_DRIVERS_IRLOCK=n
 CONFIG_MODULES_AIRSPEED_SELECTOR=n
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
 CONFIG_MODULES_FW_ATT_CONTROL=n
@@ -5,6 +6,7 @@ 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_LANDING_TARGET_ESTIMATOR=n
 CONFIG_MODULES_MC_ATT_CONTROL=n
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
@@ -12,6 +14,7 @@ CONFIG_MODULES_MC_POS_CONTROL=n
 CONFIG_MODULES_MC_RATE_CONTROL=n
 CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_DRIVERS_ROBOCLAW=y
+# CONFIG_EKF2_WIND is not set
 CONFIG_MODULES_ROVER_ACKERMANN=y
 CONFIG_MODULES_ROVER_DIFFERENTIAL=y
 CONFIG_MODULES_ROVER_MECANUM=y

boards/px4/fmu-v6c/rover.px4board

@@ -5,6 +5,7 @@ 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_LANDING_TARGET_ESTIMATOR=n
 CONFIG_MODULES_MC_ATT_CONTROL=n
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
@@ -12,6 +13,7 @@ CONFIG_MODULES_MC_POS_CONTROL=n
 CONFIG_MODULES_MC_RATE_CONTROL=n
 CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_DRIVERS_ROBOCLAW=y
+# CONFIG_EKF2_WIND is not set
 CONFIG_MODULES_ROVER_ACKERMANN=y
 CONFIG_MODULES_ROVER_DIFFERENTIAL=y
 CONFIG_MODULES_ROVER_MECANUM=y

boards/px4/fmu-v6u/rover.px4board

@@ -5,6 +5,7 @@ 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_LANDING_TARGET_ESTIMATOR=n
 CONFIG_MODULES_MC_ATT_CONTROL=n
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
@@ -12,6 +13,7 @@ CONFIG_MODULES_MC_POS_CONTROL=n
 CONFIG_MODULES_MC_RATE_CONTROL=n
 CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_DRIVERS_ROBOCLAW=y
+# CONFIG_EKF2_WIND is not set
 CONFIG_MODULES_ROVER_ACKERMANN=y
 CONFIG_MODULES_ROVER_DIFFERENTIAL=y
 CONFIG_MODULES_ROVER_MECANUM=y

boards/px4/fmu-v6x/rover.px4board

@@ -5,6 +5,7 @@ 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_LANDING_TARGET_ESTIMATOR=n
 CONFIG_MODULES_MC_ATT_CONTROL=n
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
@@ -12,6 +13,7 @@ CONFIG_MODULES_MC_POS_CONTROL=n
 CONFIG_MODULES_MC_RATE_CONTROL=n
 CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_DRIVERS_ROBOCLAW=y
+# CONFIG_EKF2_WIND is not set
 CONFIG_MODULES_ROVER_ACKERMANN=y
 CONFIG_MODULES_ROVER_DIFFERENTIAL=y
 CONFIG_MODULES_ROVER_MECANUM=y

boards/px4/fmu-v6xrt/rover.px4board

@@ -1,3 +1,4 @@
+CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_SF45_SERIAL=n
 CONFIG_MODULES_AIRSPEED_SELECTOR=n
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
 CONFIG_MODULES_FW_ATT_CONTROL=n
@@ -5,14 +6,16 @@ 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_LANDING_TARGET_ESTIMATOR=n
+CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=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_DISTANCE_SENSOR_LIGHTWARE_SF45_SERIAL=n
 CONFIG_DRIVERS_ROBOCLAW=y
+# CONFIG_EKF2_WIND is not set
 CONFIG_MODULES_ROVER_ACKERMANN=y
 CONFIG_MODULES_ROVER_DIFFERENTIAL=y
 CONFIG_MODULES_ROVER_MECANUM=y

boards/px4/sitl/default.px4board

@@ -17,13 +17,13 @@ CONFIG_MODULES_EKF2=y
 CONFIG_EKF2_VERBOSE_STATUS=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
-CONFIG_MODULES_FW_DYN_SOAR_CONTROL=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_FIGURE_OF_EIGHT=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
+CONFIG_MODULES_FW_INDI_POS_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y

boards/zeroone/x6/default.px4board

@@ -20,9 +20,6 @@ CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_HEATER=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=y
-CONFIG_DRIVERS_IMU_INVENSENSE_IIM42653=y
-CONFIG_DRIVERS_IMU_MURATA_SCH16T=y
-CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
 CONFIG_COMMON_INS=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y

boards/zeroone/x6/init/rc.board_defaults

@@ -27,6 +27,3 @@ else
 fi
 
 safety_button start
-
-# pwm voltage 3.3V/5V switch
-pwm_voltage_apply start

boards/zeroone/x6/init/rc.board_sensors

@@ -43,7 +43,6 @@ then
 	set INA_CONFIGURED yes
 fi
 
-
 if param compare SENS_EN_INA238 1
 then
 	# Start Digital power monitors
@@ -56,35 +55,96 @@ then
 	set INA_CONFIGURED yes
 fi
 
-
-if ver hwtypecmp ZeroOneX6000
+#Start Auterion Power Module selector for zeroone boards
+if ver hwbasecmp 009 010 011
 then
-        # Internal SPI bus icm45686 with SPIX
-	icm45686 -b 2 -s -R 6 start       //X6 & X6 air
-
-	bmi088 -A -R 4 -s start           //X6
-	bmi088 -G -R 4 -s start           //X6
-
-	# Internal SPI bus icm45686 with SPIX
-	icm45686 -b 1 -s -R 8 start       //X6 & X6 air
+	pm_selector_auterion start
+else
+	if [ $INA_CONFIGURED = no ]
+	then
+		# INA226, INA228, INA238 auto-start
+		i2c_launcher start -b 1
+		if [ $HAVE_PM2 = yes ]
+		then
+			i2c_launcher start -b 2
+		fi
+	fi
 fi
 
-
-if ver hwtypecmp ZeroOneX6001             //X6  PRO
+# Keep nesting shallow
+if ver hwtypecmp V6X006 V6X008
 then
-	# Internal SPI bus IIM42653 with SPIX
-	iim42653 -b 2 -s -R 6 start
+	if ver hwtypecmp V6X006
+	then
+		# Internal SPI bus ICM45686
+		adis16470 -s -R 0 start
+		iim42652 -s -R 6 start
+		icm45686 -s -R 10 start
+	else
+		# Internal SPI bus 3x ICM45686
+		icm45686 -b 3 -s -R 0 start
+		icm45686 -b 2 -s -R 0 start
+		icm45686 -b 1 -s -R 10 start
+	fi
+else
+	if ver hwtypecmp V6X004
+	then
+		# Internal SPI bus ICM20649
+		icm20649 -s -R 6 start
+	else
+		# Internal SPI BMI088
+		if ver hwbasecmp 009 010 011
+		then
+			bmi088 -A -R 6 -s start
+			bmi088 -G -R 6 -s start
+		else
+			if ver hwtypecmp V6X010
+			then
+				bmi088 -A -R 0 -s start
+				bmi088 -G -R 0 -s start
+			else
+				bmi088 -A -R 4 -s start
+				bmi088 -G -R 4 -s start
+			fi
+		fi
+	fi
 
-	bmi088 -A -R 4 -s start
-	bmi088 -G -R 4 -s start
+	# Internal SPI bus ICM42688p
+	if ver hwbasecmp 009 010 011
+	then
+		icm42688p -R 12 -s start
+	else
+		if ver hwtypecmp V6X010
+		then
+			icm42688p -R 14 -s start
+		else
+			icm45686 -b 1 -s -R 8 start        //ZeroOne
+		fi
+	fi
 
-	# Internal SPI bus IIM42653 with SPIX
-	iim42653 -b 1 -s -R 8 start
+	if ver hwtypecmp V6X003 V6X004
+	then
+		# Internal SPI bus ICM-42670-P (hard-mounted)
+		icm42670p -R 10 -s start
+	else
+		if ver hwbasecmp 009 010 011
+		then
+			icm20602 -R 6 -s start
+		else
+			# Internal SPI bus ICM-20649 (hard-mounted)
+			icm45686 -b 2 -s -R 6 start        //ZeroOne
+		fi
+	fi
 fi
-
-
 rm3100 -I -b 4 start
 # Internal magnetometer on I2c
+# if ver hwtypecmp V6X001
+# then
+# 	rm3100 -I -b 4 start
+# else
+# 	# Internal magnetometer on I2C
+# 	bmm150 -I -R 0 start
+# 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
@@ -96,9 +156,24 @@ ist8310 start -I -a 0x0E -R 12
 if param compare SENS_INT_BARO_EN 1
 then
 	icp201xx -I -a 0x64 start
+	# if ver hwtypecmp V6X001 V6X006 V6X008
+	# then
+	# 	icp201xx -I -a 0x64 start
+	# else
+	# 	bmp388 -I -a 0x77 start
+	# fi
 fi
 icp201xx -X start
 #external baro
+# if ver hwtypecmp V6X001
+# then
+# 	icp201xx -X start
+# else
+# 	bmp388 -X start
+# fi
+
+# Baro on I2C3
+ms5611 -X start
 
 unset INA_CONFIGURED
 unset HAVE_PM2

boards/zeroone/x6/src/board_config.h

@@ -215,11 +215,10 @@
 #define GPIO_HW_VER_SENSE      /* PH3 */  GPIO_ADC3_INP14
 #define HW_INFO_INIT_PREFIX    "ZeroOneX6"
 
-#define BOARD_NUM_SPI_CFG_HW_VERSIONS 3
+#define BOARD_NUM_SPI_CFG_HW_VERSIONS 2
 //                 Base/FMUM
-#define ZeroOneX6_0     HW_FMUM_ID(0x0)   // ZeroOneX6,
-#define ZeroOneX6_1     HW_FMUM_ID(0x1)   // ZeroOneX6 Pro,
-#define ZeroOneX6_2     HW_FMUM_ID(0x2)   // reserved
+#define ZeroOneX6_0     HW_FMUM_ID(0x0)   // ZeroOneX6,     Sensor Set  Rev 0
+#define ZeroOneX6_1     HW_FMUM_ID(0x1)   // ZeroOneX6,     Sensor Set  Rev 1
 
 #define UAVCAN_NUM_IFACES_RUNTIME  1
 
@@ -245,10 +244,6 @@
  */
 #define DIRECT_PWM_OUTPUT_CHANNELS   9
 
-/* PWM Power */
-#define GPIO_PWM_VOLT_SEL               /* PD15  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN6)
-#define PWM_5V_VOLT_SEL(on_true)        px4_arch_gpiowrite(GPIO_PWM_VOLT_SEL, (on_true))
-
 /* Power supply control and monitoring GPIOs */
 
 #define GPIO_nPOWER_IN_A                /* PG1  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN1)
@@ -462,8 +457,7 @@
 		GPIO_nSAFETY_SWITCH_LED_OUT_INIT, \
 		GPIO_SAFETY_SWITCH_IN,            \
 		GPIO_PG6,                         \
-		GPIO_nARMED_INIT,                 \
-		GPIO_PWM_VOLT_SEL                \
+		GPIO_nARMED_INIT                  \
 	}
 
 #define BOARD_ENABLE_CONSOLE_BUFFER

boards/zeroone/x6/src/spi.cpp

@@ -47,6 +47,10 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 			initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin8}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}),
 			initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
 		}, {GPIO::PortE, GPIO::Pin7}),
+		//  initSPIBus(SPI::Bus::SPI4, {
+		//    // no devices
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+		//  }, {GPIO::PortG, GPIO::Pin8}),
 		initSPIBus(SPI::Bus::SPI5, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
 		}),
@@ -56,36 +60,21 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}),
 	}),
 
-	initSPIFmumID(ZeroOneX6_1, {            // X6 Pro
+	initSPIFmumID(ZeroOneX6_1, {            // Placeholder
 		initSPIBus(SPI::Bus::SPI1, {
-			initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
+			initSPIDevice(DRV_IMU_DEVTYPE_ICM45686, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
 		}, {GPIO::PortI, GPIO::Pin11}),
 		initSPIBus(SPI::Bus::SPI2, {
-			initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
+			initSPIDevice(DRV_IMU_DEVTYPE_ICM45686, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
 		}, {GPIO::PortF, GPIO::Pin4}),
 		initSPIBus(SPI::Bus::SPI3, {
 			initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin8}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}),
-			initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
-		}, {GPIO::PortE, GPIO::Pin7}),
-		initSPIBus(SPI::Bus::SPI5, {
-			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
-		}),
-		initSPIBusExternal(SPI::Bus::SPI6, {
-			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
-			initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
-		}),
-	}),
-
-	initSPIFmumID(ZeroOneX6_2, {             // reserved
-		initSPIBus(SPI::Bus::SPI1, {
-			initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
-		}, {GPIO::PortI, GPIO::Pin11}),
-		initSPIBus(SPI::Bus::SPI2, {
-			initSPIDevice(DRV_IMU_DEVTYPE_SCH16T, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
-		}, {GPIO::PortF, GPIO::Pin4}),
-		initSPIBus(SPI::Bus::SPI3, {
-			initSPIDevice(DRV_IMU_DEVTYPE_SCH16T, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
+			initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin4}),
 		}, {GPIO::PortE, GPIO::Pin7}),
+		//  initSPIBus(SPI::Bus::SPI4, {
+		//    // no devices
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+		//  }, {GPIO::PortG, GPIO::Pin8}),
 		initSPIBus(SPI::Bus::SPI5, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
 		}),

cmake/coverage.cmake

@@ -36,20 +36,6 @@ find_program(GENHTML_PATH genhtml)
 
 message(STATUS "Building for code coverage")
 
-if (CMAKE_BUILD_TYPE STREQUAL Coverage)
-	# Coverage instrumentation plus atomic updates
-	set(COVERAGE_FLAGS
-		--coverage
-		-fprofile-update=atomic
-	)
-
-	# Apply to every compile and link invocation
-	add_compile_options(${COVERAGE_FLAGS})
-	add_link_options(${COVERAGE_FLAGS})
-
-	message(STATUS "Coverage instrumentation enabled with flags: ${COVERAGE_FLAGS}")
-endif()
-
 # add code coverage build type
 if (("${CMAKE_CXX_COMPILER_ID}" MATCHES "Clang") OR ("${CMAKE_CXX_COMPILER_ID}" MATCHES "AppleClang"))
 	set(CMAKE_C_FLAGS_COVERAGE "--coverage -ftest-coverage -fdiagnostics-absolute-paths -O0 -fprofile-arcs -fno-inline-functions"

cmake/doxygen.cmake

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2019 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -31,16 +31,31 @@
 #
 ############################################################################
 
-px4_add_module(
-	MODULE drivers__magnetometer__qmc5883p
-	MAIN qmc5883p
-	COMPILE_FLAGS
-	SRCS
-		QMC5883P.cpp
-		QMC5883P.hpp
-		qmc5883p_main.cpp
-		QST_QMC5883P_registers.hpp
-	DEPENDS
-		drivers_magnetometer
-		px4_work_queue
-	)
+# Doxygen
+
+option(BUILD_DOXYGEN "Build doxygen documentation" OFF)
+
+if (BUILD_DOXYGEN)
+	find_package(Doxygen)
+	if (DOXYGEN_FOUND)
+	    # set input and output files
+	    set(DOXYGEN_IN ${CMAKE_SOURCE_DIR}/Documentation/Doxyfile.in)
+	    set(DOXYGEN_OUT ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile)
+
+	    # request to configure the file
+	    configure_file(${DOXYGEN_IN} ${DOXYGEN_OUT} @ONLY)
+
+	    # note the option ALL which allows to build the docs together with the application
+	    add_custom_target(doxygen ALL
+	        COMMAND ${DOXYGEN_EXECUTABLE} ${DOXYGEN_OUT}
+	        WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
+			COMMENT "Generating documentation with Doxygen"
+			DEPENDS uorb_msgs parameters
+			VERBATIM
+			USES_TERMINAL
+			)
+
+	else()
+		message("Doxygen needs to be installed to generate documentation")
+	endif()
+endif()

docs/.gitignore

@@ -18,4 +18,4 @@ yarn-error.log
 
 
 # Generated alternative _summary.md
-# **/*/_summary.md
+# **/*/_summary.md

docs/.vitepress/theme/components/Redirect.vue

@@ -16,4 +16,4 @@
             document.location.replace(this.to);
         }
     }
-</script>
+</script>

docs/.vitepress/theme/style.css

@@ -159,4 +159,4 @@
 
  .vp-doc img {
   display: inline; /* block by default set by vitepress */
-}
+}

docs/CNAME

@@ -1 +1 @@
-docs.px4.io
+docs.px4.io

docs/_link_checker_sc/ignore_errors.json

@@ -1011,4 +1011,4 @@
     },
     "hideReason": "intended"
   }
-]
+]

docs/_link_checker_sc/ignorefile.json

@@ -1 +1 @@
-["en/_sidebar.md"]
+["en/_sidebar.md"]

docs/assets/airframes/types/Airship.svg

@@ -219,4 +219,4 @@
      d="M 113.51898,180.06889 V 245.764 l 2.6517,-0.0192 v -65.67586 z"
      id="path4768"
      inkscape:connector-curvature="0"
-     sodipodi:nodetypes="ccccc" /></svg>
+     sodipodi:nodetypes="ccccc" /></svg>

docs/assets/airframes/types/Autogyro.svg

@@ -141,4 +141,4 @@
    style="opacity:1;fill:#4ec3e8;fill-opacity:1;stroke:none;stroke-width:0.11511399;stroke-linejoin:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
    d=""
    id="path969"
-   inkscape:connector-curvature="0" /></svg>
+   inkscape:connector-curvature="0" /></svg>

docs/assets/airframes/types/Balloon.svg

@@ -81,4 +81,4 @@
      d="m 54.341679,213.74572 c 2.37161,-3.60386 6.9481,-8.19494 7.64935,-9.88687 0.74741,1.64004 4.52647,6.50033 6.82427,9.88687"
      id="path848"
      inkscape:connector-curvature="0"
-     sodipodi:nodetypes="ccc" /></svg>
+     sodipodi:nodetypes="ccc" /></svg>

docs/assets/airframes/types/DodecaRotorXCoaxial.svg

@@ -768,4 +768,4 @@
      id="text7995"><path
        d="m 13.413827,163.09012 q 0.266666,-8.16667 7.8,-8.2 4.033334,0 6.166667,2.66666 1.400001,1.83334 1.400001,4.26667 -0.03333,4.4 -5.000001,7.13334 l -3.333333,1.8 q -3.100001,1.66666 -3.900001,3.53333 -0.266666,0.6 -0.366666,1.33333 h 12.433334 v 2.9 H 12.880493 q 0.233334,-4.26666 1.900001,-6.5 1.433333,-1.86666 4.733333,-3.73333 l 3.066667,-1.73333 q 3.166667,-1.86667 3.2,-4.66667 0,-2.4 -2,-3.7 -1.166667,-0.73334 -2.666667,-0.73334 -4.366667,0 -4.766667,5.43334 0,0.1 0,0.2 z"
        style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:33.33333588px;font-family:FreeSans;-inkscape-font-specification:FreeSans;fill:#ffffff;fill-opacity:1"
-       id="path4482" /></g></svg>
+       id="path4482" /></g></svg>

docs/assets/airframes/types/Helicopter.svg

@@ -142,4 +142,4 @@
      id="text7999"><path
        d="m 81.956066,73.258968 h -8.31978 v -3.33851 q 5.405207,-0.688899 6.994974,-1.90772 1.589767,-1.165829 2.702603,-4.928277 0.105985,-0.317953 0.211969,-0.635907 h 3.073549 v 37.571486 h -4.663315 z"
        style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:52.99222565px;font-family:FreeSans;-inkscape-font-specification:FreeSans;fill:#ffffff;fill-opacity:1;stroke-width:1.58976662px"
-       id="path10409" /></g></svg>
+       id="path10409" /></g></svg>

docs/assets/airframes/types/HexaRotorPlus.svg

@@ -437,4 +437,4 @@
      id="text14502"><path
        d="m 168.38719,13.98896 h -5.23333 v -2.100001 q 3.4,-0.433333 4.4,-1.2 1,-0.733333 1.7,-3.0999999 0.0667,-0.2 0.13333,-0.4 h 1.93334 V 30.822294 h -2.93334 z"
        style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:33.33333588px;font-family:FreeSans;-inkscape-font-specification:FreeSans;fill:#ffffff;fill-opacity:1"
-       id="path19510" /></g></svg>
+       id="path19510" /></g></svg>

docs/assets/airframes/types/HexaRotorX.svg

@@ -437,4 +437,4 @@
      id="text7995"><path
        d="m 13.412346,163.07466 q 0.266666,-8.16667 7.8,-8.2 4.033334,0 6.166667,2.66667 1.400001,1.83333 1.400001,4.26666 -0.03333,4.4 -5.000001,7.13334 l -3.333333,1.8 q -3.100001,1.66667 -3.900001,3.53333 -0.266666,0.6 -0.366666,1.33334 h 12.433334 v 2.9 H 12.879012 q 0.233334,-4.26667 1.9,-6.5 1.433334,-1.86667 4.733334,-3.73334 l 3.066667,-1.73333 q 3.166667,-1.86667 3.2,-4.66667 0,-2.4 -2,-3.7 -1.166667,-0.73333 -2.666667,-0.73333 -4.366667,0 -4.766667,5.43333 0,0.1 0,0.2 z"
        style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:33.33333588px;font-family:FreeSans;-inkscape-font-specification:FreeSans;fill:#ffffff;fill-opacity:1"
-       id="path21558" /></g></svg>
+       id="path21558" /></g></svg>

docs/assets/airframes/types/OctoRotorPlus.svg

@@ -517,4 +517,4 @@
      id="text23152"><path
        d="m 314.42237,352.32882 h -9.96667 v -3.1 l 10.73334,-14.86667 h 2.16666 v 15.33333 h 3.5 v 2.63334 h -3.5 v 5.66666 h -2.93333 z m 0,-2.63334 v -10.33333 l -7.4,10.33333 z"
        style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:33.33333588px;font-family:FreeSans;-inkscape-font-specification:FreeSans;fill:#ffffff;fill-opacity:1"
-       id="path23179" /></g></svg>
+       id="path23179" /></g></svg>

docs/assets/airframes/types/OctoRotorX.svg

@@ -587,4 +587,4 @@
      id="text26711"><path
        d="m 340.12534,283.78889 q 4.03334,1.96667 4.06667,5.90001 0,3.73333 -2.86667,5.76666 -2.1,1.53334 -5.06666,1.53334 -4.13334,0 -6.36667,-2.73334 -1.56667,-1.93333 -1.56667,-4.6 0.0333,-3.93333 4.03334,-5.86667 -2.4,-1.5 -2.93334,-3.1 -0.26666,-0.76666 -0.26666,-1.8 0,-3.3 2.7,-5.06666 1.86666,-1.23334 4.4,-1.23334 3.86666,0 5.83333,2.53334 1.26667,1.63333 1.26667,3.76666 0,2.26667 -1.5,3.63334 -0.66667,0.63333 -1.73334,1.26666 z m -3.86666,-8.6 q -2.7,0 -3.7,1.96667 -0.4,0.8 -0.4,1.76667 0,2.33333 2.03333,3.26666 0.93333,0.43334 2.06667,0.43334 2.66666,0 3.66666,-1.9 0.43334,-0.8 0.43334,-1.76667 0,-2.5 -2.16667,-3.4 -0.86667,-0.36667 -1.93333,-0.36667 z m 0,9.9 q -2.96667,0 -4.26667,2.13334 -0.66667,1.1 -0.66667,2.5 0,2.73333 2.2,4 1.16667,0.66667 2.66667,0.66667 3.03333,0 4.33333,-2.16667 0.66667,-1.1 0.66667,-2.5 0,-2.73334 -2.23333,-4 -1.2,-0.63334 -2.7,-0.63334 z"
        style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:33.33333588px;font-family:FreeSans;-inkscape-font-specification:FreeSans;fill:#ffffff;fill-opacity:1"
-       id="path26744" /></g></svg>
+       id="path26744" /></g></svg>

docs/assets/airframes/types/OctoRotorXCoaxial.svg

@@ -515,4 +515,4 @@
      id="text17133"><path
        d="m 249.49387,294.29852 v 2.47091 q -6.74491,8.98209 -8.9487,18.03096 -0.40069,1.56936 -0.66781,3.17211 h -3.13872 q 1.66953,-7.27916 4.77486,-12.98897 1.86988,-3.40585 4.94182,-7.78003 h -12.78863 v -2.90498 z"
        style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:33.39067459px;font-family:FreeSans;-inkscape-font-specification:FreeSans;fill:#ffffff;fill-opacity:1;stroke-width:1.00172007px"
-       id="path17150" /></g></svg>
+       id="path17150" /></g></svg>

docs/assets/airframes/types/QuadRotorH.svg

@@ -295,4 +295,4 @@
      id="text7991-1"><path
        d="m 46.495037,331.13554 q 0.257652,-7.89058 7.536318,-7.92279 3.896985,0 5.958201,2.57652 1.352672,1.77135 1.352672,4.12243 -0.03221,4.25126 -4.830973,6.89219 l -3.220649,1.73915 q -2.995204,1.61032 -3.768159,3.41389 -0.257652,0.57971 -0.354272,1.28826 h 12.013021 v 2.80196 H 45.979733 q 0.225445,-4.12243 1.83577,-6.28027 1.384879,-1.80356 4.573321,-3.60712 l 2.962997,-1.67474 q 3.059617,-1.80356 3.091823,-4.50891 0,-2.31887 -1.932389,-3.57492 -1.127227,-0.70854 -2.576519,-0.70854 -4.21905,0 -4.605528,5.24966 0,0.0966 0,0.19323 z"
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-       id="path4610" /></g></svg>
+       id="path4610" /></g></svg>

docs/assets/airframes/types/QuadRotorPlus.svg

@@ -285,4 +285,4 @@
      id="text8003"><path
        d="m 187.48118,356.35381 h -9.96667 v -3.1 l 10.73333,-14.86667 h 2.16667 v 15.33334 h 3.5 v 2.63333 h -3.5 v 5.66667 h -2.93333 z m 0,-2.63333 v -10.33334 l -7.4,10.33334 z"
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-       id="path8729" /></g></svg>
+       id="path8729" /></g></svg>

docs/assets/airframes/types/VTOLTiltRotor.svg

@@ -383,4 +383,4 @@
      id="text35807"><path
        d="m 216.68527,341.75754 q -3.80654,0 -4.40757,3.67297 -0.0668,0.63442 -0.10017,1.40241 h -2.93838 q 0.13356,-7.01204 6.34422,-7.61307 0.53426,-0.0334 1.06851,-0.0334 4.67469,0 6.41101,3.13873 0.80137,1.46919 0.80137,3.37246 -0.0334,3.60619 -3.30568,4.90843 3.10534,1.0685 3.77315,3.60619 0.23374,0.90155 0.23374,2.03683 0,4.10705 -3.13873,6.11049 -2.03683,1.26885 -4.87504,1.26885 -6.54457,0 -7.64646,-6.14389 -0.10017,-0.73459 -0.16695,-1.50258 h 2.93838 q 0.26712,4.40757 3.77314,4.94182 0.56764,0.10018 1.20207,0.10018 3.47263,0 4.54113,-2.63787 0.3673,-0.96833 0.3673,-2.10361 -0.0668,-4.27401 -4.90843,-4.3074 l -1.23546,0.0334 h -0.3673 v -2.5043 q 3.77315,-0.0668 4.90843,-1.10189 0.90155,-0.86816 0.90155,-2.60447 0,-2.83821 -2.33735,-3.73976 -0.83476,-0.30051 -1.83648,-0.30051 z"
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-       id="path35828" /></g></svg>
+       id="path35828" /></g></svg>

docs/assets/airframes/types/Y6B.svg

@@ -386,4 +386,4 @@
      id="text35807"><path
        d="m 172.36484,326.83692 h -9.98381 v -3.10533 l 10.7518,-14.89224 h 2.17039 v 15.35971 h 3.50602 v 2.63786 h -3.50602 v 5.67642 h -2.93838 z m 0,-2.63786 v -10.35111 l -7.41273,10.35111 z"
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-       id="path38394" /></g></svg>
+       id="path38394" /></g></svg>

docs/assets/airframes/types/YPlus.svg

@@ -244,4 +244,4 @@
      sodipodi:argument="-17.855951"
      sodipodi:t0="0.99130303"
      d="m 223.94673,38.425681 c -3.13084,3.863564 -7.10954,7.019918 -11.58403,9.189766"
-     transform="rotate(-64.14705,272.849,-49.763793)" /></svg>
+     transform="rotate(-64.14705,272.849,-49.763793)" /></svg>

docs/assets/diagrams/mc_control_arch_tikz.tex

@@ -31,16 +31,16 @@
     %===================================================================================
     % TIKZ PX4 CONTROLLERS
     %===================================================================================
-
+    
     \begin{figure}[h]
       \centering
-
+    
       % Define distances
       \def\blockheight{7em}
       \def\largeblockheight{1.45*\blockheight}
       \def\blockwidth{3.9em}
       \def\nodesep{1.15*\blockwidth}
-
+    
       \footnotesize
       \begin{tikzpicture}[>={Stealth[inset=0pt,length=3pt,angle'=60,round]},
           simple_block/.style = {draw, fill=light_blue, text centered, inner sep=0pt, text width=\blockwidth, minimum height=\blockheight},
@@ -50,82 +50,82 @@
       ]
         \hspace{-1.05cm}
         %===================================================================================
-
+        
         % Reference
         \node (ref) [] {};
-
+        
         % Position controller
         \path (ref.east)+(0.85*\nodesep,0) node (pos_ctrl) [simple_block] {Position Control};
         \path (pos_ctrl.north)+(0,0) node (pos_ctrl_text) [no_border_block, anchor=south] {\textbf{P}};
         \path (pos_ctrl.south)+(0.65*\nodesep, -0.075*\blockheight) node (pos_ctrl_freq_text) [no_border_block, anchor=north] {50 Hz};
-
+        
         % Velocity controller
         \path (pos_ctrl.east)+(0.85*\nodesep,0) node (vel_ctrl) [simple_block] {Velocity Control};
         \path (vel_ctrl.north)+(0,0) node (vel_ctrl_text) [no_border_block, anchor=south] {\textbf{PID}};
-
+        
         % Acceleration to Attitude
         \path (vel_ctrl.north east)+(1.1*\nodesep,0) node (force_2_att) [larger_block, text width=5.6em] {Acceleration and Yaw to Attitude};
-
+      
         % Inertial Frame
         \node[fit=(pos_ctrl) (vel_ctrl)] (inertial) [frame_block] {};
         \path (inertial.south)+(0,0) node (inertial_text) [no_border_block, anchor=north] {Inertial Frame};
-
+        
         % Angle controller
         \path (force_2_att.north east)+(0.95*\nodesep,0) node (angle_ctrl) [simple_block, anchor=north] {Angle Control};
         \path (angle_ctrl.north)+(0,0) node (angle_ctrl_text) [no_border_block, anchor=south] {\textbf{P}};
         \path (angle_ctrl.south)+(0, -0.075*\blockheight) node (angle_ctrl_freq_text) [no_border_block, anchor=north] {250 Hz};
-
+        
         % Angular Rate controller
         \path (angle_ctrl.east)+(0.9*\nodesep,0) node (ang_vel_ctrl) [simple_block] {Angular Rate Control};
         \path (ang_vel_ctrl.north)+(0,0) node (ang_vel_ctrl_text) [no_border_block, anchor=south] {\textbf{PID}};
         \path (ang_vel_ctrl.south)+(0, -0.075*\blockheight) node (ang_vel_ctrl_freq_text) [no_border_block, anchor=north] {1 kHz};
-
+        
         % Mixer
         \path (ang_vel_ctrl.north east)+(\nodesep,0) node (mixer) [larger_block, text width=3em] {Mixer};
-
+        
         % Body Frame
         \node[fit=(angle_ctrl) (ang_vel_ctrl)] (body) [frame_block] {};
         \path (body.south)+(0,0) node (body_text) [no_border_block, anchor=north] {Body Frame};
-
+        
         \path (mixer.east)+(0.5*\nodesep,0) node (cmd) [] {};
-
+        
         %===================================================================================
-
+        
         \path[draw,->] (ref.east) -- node[anchor=south, pos=0.05, align=left] {$\bm{X}_\text{sp}$} (pos_ctrl.west);
-
+        
         \path[draw,->] (pos_ctrl.east) -- node[anchor=south] {$\bm{V}_\text{sp}$} (vel_ctrl.west);
-
+        
         \path[draw,->] (vel_ctrl.east) -- node[anchor=south, pos=0.65] {$\bm{A}_\text{sp}$} (vel_ctrl.east -| force_2_att.west);
         \path[draw,->] ([yshift=-0.25*\largeblockheight]force_2_att.west -| ref.east) -- node[anchor=south, pos=0] {$\psi_\text{sp}$} ([yshift=-0.25*\largeblockheight]force_2_att.west);
-
+        
         \path[draw,->] (force_2_att.east |- angle_ctrl.west) -- node[anchor=south, pos=0.4] {$\bm{q}_\text{sp}$} (angle_ctrl.west);
         \path[draw,->] ([yshift=-0.25*\largeblockheight]force_2_att.east) -- node[text centered, inner sep=2pt, anchor=south, pos=0.915] {$\delta_{T_\text{sp}}$} ([yshift=-0.25*\largeblockheight]mixer.west);
-
+        
         \path[draw,->] (angle_ctrl.east) -- node[anchor=south] {$\bm{\Omega}_\text{sp}$} (ang_vel_ctrl.west);
-
+        
         \path[draw,->] ([yshift=0.25*\blockheight]ang_vel_ctrl.east) -- node[text centered, inner sep=2pt, anchor=south, pos=0.6] {$\delta_{A_\text{sp}}$} ([yshift=0.25*\blockheight]ang_vel_ctrl.east -| mixer.west);
         \path[draw,->] (ang_vel_ctrl.east) -- node[text centered, inner sep=2pt, anchor=south, pos=0.6] {$\delta_{E_\text{sp}}$} (ang_vel_ctrl.east -| mixer.west);
         \path[draw,->] ([yshift=-0.25*\blockheight]ang_vel_ctrl.east) -- node[text centered, inner sep=2pt, anchor=south, pos=0.6] {$\delta_{R_\text{sp}}$} ([yshift=-0.25*\blockheight]ang_vel_ctrl.east -| mixer.west);
-
+        
         \path[draw,->] (mixer.east) -- node[text centered, inner sep=5pt, anchor=south] {$\bm{T}_\text{sp}$} (cmd.west);
-
+      
       \end{tikzpicture}
     \end{figure}
-
+    
     \clearpage
-
+    
     %===================================================================================
     % TIKZ ANGULAR RATE CONTROL
     %===================================================================================
-
+    
     \begin{figure}[ht]
       \centering
-
+    
       % Define distances
       \def\blockheight{2.2em}
       \def\blockwidth{2.2em}
       \def\nodesep{1.5*\blockwidth}
-
+    
       \begin{tikzpicture}[>={Stealth[inset=0pt,length=3pt,angle'=60,round]},
         simple_block/.style = {draw, fill=light_blue, text centered, inner sep=0pt, minimum width=\blockwidth, minimum height=\blockheight},
         frame_block/.style = {draw, text centered, inner ysep=1.25em, inner xsep=1.25em, dashed},
@@ -138,7 +138,7 @@
             node at (sum.east) [port, left=1pt] {$#4$}
           }
         },
-        sat_block/.style = {draw, minimum width=\blockwidth, minimum height=\blockheight, path picture =
+        sat_block/.style = {draw, minimum width=\blockwidth, minimum height=\blockheight, path picture = 
           {
           % Get the width and height of the path picture node
           \pgfpointdiff{\pgfpointanchor{path picture bounding box}{north east}}%
@@ -149,11 +149,11 @@
           \tikzset{x=\x*.4, y=\y*.4}
           %
           % Draw annotation
-          \draw (-1,0) -- (1,0) (0,-1) -- (0,1);
+          \draw (-1,0) -- (1,0) (0,-1) -- (0,1); 
           \draw (-1,-.6) -- (-.6,-.6) -- (.6,.6) -- (1,.6);
           }
         },
-        sat_block_int/.style = {draw, minimum width=\blockwidth, minimum height=\blockheight, path picture =
+        sat_block_int/.style = {draw, minimum width=\blockwidth, minimum height=\blockheight, path picture = 
           {
           % Get the width and height of the path picture node
           \pgfpointdiff{\pgfpointanchor{path picture bounding box}{north east}}%
@@ -170,7 +170,7 @@
       ]
         %===================================================================================
         \node[text centered] (ref) {};
-
+    
         % Controller
         \path(ref)+(\nodesep,0) node (ref_sum) [sum={}{+}{-}{}] {};
         \path(ref_sum)+(\nodesep,0) node (ctrl_k) [simple_block] {$K$};
@@ -184,12 +184,12 @@
         \path(ctrl_i_gain)+(\nodesep,0) node (ctrl_sum) [sum={+}{+}{-}{}] {};
         \path(ctrl_sum)+(\nodesep,0) node (sat_ctrl) [sat_block] {};
         \path(sat_ctrl.east)+(0.675*\nodesep,0) node (ctrl) [] {};
-
+    
         \path(ref_sum.south |- ctrl_d_filt.west)+(-\nodesep,0) node(output) [] {};
-
+    
         %===================================================================================
         \path[draw,->] (ref.east) -- node[anchor=south, pos=0] {$\Omega_\text{sp}$} (ref_sum.west);
-
+    
         \path[draw,->] (ref_sum.east) -- (ctrl_k.west);
         \path[draw,->] (ctrl_k.east) -- (ctrl_i.west);
         \path[draw,->] (output.east) |- node[anchor=south, pos=0] {$\Omega$} (ctrl_kd.west);
@@ -204,31 +204,31 @@
         \path[draw,->] (ctrl_p_gain.east) -| (ctrl_sum.north);
         \path[draw,->] (ctrl_sum.east) -- (sat_ctrl.west);
         \path[draw,->] (sat_ctrl.east) -- node[anchor=south] {$\delta_\text{sp}$} (ctrl.west);
-
+      
       \end{tikzpicture}
-
+    
     \end{figure}
-
+    
     \clearpage
-
+    
     %===================================================================================
     % TIKZ ANGLE CONTROL
     %===================================================================================
-
+    
     \begin{figure}[ht]
       \centering
       \footnotesize
-
+    
       % Define distances
       \def\blockheight{3em}
       \def\blockwidth{3em}
       \def\nodesep{2*\blockwidth}
-
+    
       \begin{tikzpicture}[>={Stealth[inset=0pt,length=3pt,angle'=60,round]},
         simple_block/.style = {draw, fill=light_blue, text centered, inner sep=0pt, minimum width=\blockwidth, minimum height=\blockheight},
         text_block/.style = {draw, fill=light_blue, text centered, inner sep=0pt, text width=2*\blockwidth, minimum height=\blockheight},
         frame_block/.style = {draw, text centered, inner ysep=1.25em, inner xsep=1.25em, dashed},
-        sat_block/.style = {draw, minimum width=\blockwidth, minimum height=\blockheight, path picture =
+        sat_block/.style = {draw, minimum width=\blockwidth, minimum height=\blockheight, path picture = 
             {
             % Get the width and height of the path picture node
             \pgfpointdiff{\pgfpointanchor{path picture bounding box}{north east}}%
@@ -239,17 +239,17 @@
             \tikzset{x=\x*.4, y=\y*.4}
             %
             % Draw annotation
-            \draw (-1,0) -- (1,0) (0,-1) -- (0,1);
+            \draw (-1,0) -- (1,0) (0,-1) -- (0,1); 
             \draw (-1,-.6) -- (-.6,-.6) -- (.6,.6) -- (1,.6);
             }
         },
         gain/.style = {draw, fill=light_blue, inner sep=0pt, isosceles triangle, minimum height=\blockheight, isosceles triangle apex angle=60},
       ]
         \hspace{-0.7cm}
-
+    
         %===============================================================================
         \node[text centered, yshift=0.25*\blockheight] (ref) {};
-
+    
         % Controller
         \path(ref)+(0.75*\nodesep,-0.25*\blockheight) node (err_quat) [text_block] {Error quaternion};
         \path(err_quat)+(1.5*\nodesep,0) node (select_axis) [text_block] {Extract component};
@@ -259,7 +259,7 @@
         \path(mult)+(0.65*\nodesep, 0) node (p_gain) [gain] {\scriptsize $2 P$};
         \path(p_gain)+(0.75*\nodesep, 0) node (sat_ctrl) [sat_block] {};
         \path(sat_ctrl)+(0.75*\nodesep, 0) node (output) [] {};
-
+    
         %===============================================================================
         \path[draw,->] (ref.east) -- node[text centered, anchor=south, pos=0.1] {$\bm{q}_\text{sp}$} ([yshift=0.25*\blockheight]err_quat.west);
         \path[draw,->] ([yshift=-0.25*\blockheight]err_quat.west -| ref.east) -- node[text centered, anchor=north, pos=0.1] {$\bm{q}$} ([yshift=-0.25*\blockheight]err_quat.west);
@@ -272,23 +272,23 @@
         \path[draw,->] (p_gain.east) -- (sat_ctrl.west);
         \path[draw,->] (sat_ctrl.east) -- node[text centered, anchor=south] {$\Omega_\text{sp}$} (output.west);
       \end{tikzpicture}
-
+    
     \end{figure}
-
+    
     \clearpage
 
     %===================================================================================
     % TIKZ VELOCITY CONTROL
     %===================================================================================
-
+    
     \begin{figure}[ht]
       \centering
-
+    
       % Define distances
       \def\blockheight{2.2em}
       \def\blockwidth{2.2em}
       \def\nodesep{1.5*\blockwidth}
-
+    
       \begin{tikzpicture}[>={Stealth[inset=0pt,length=3pt,angle'=60,round]},
         simple_block/.style = {draw, fill=light_blue, text centered, inner sep=0pt, minimum width=\blockwidth, minimum height=\blockheight},
         frame_block/.style = {draw, text centered, inner ysep=1.25em, inner xsep=1.25em, dashed},
@@ -301,7 +301,7 @@
             node at (sum.east) [port, left=1pt] {$#4$}
           }
         },
-        sat_block/.style = {draw, minimum width=\blockwidth, minimum height=\blockheight, path picture =
+        sat_block/.style = {draw, minimum width=\blockwidth, minimum height=\blockheight, path picture = 
           {
           % Get the width and height of the path picture node
           \pgfpointdiff{\pgfpointanchor{path picture bounding box}{north east}}%
@@ -312,11 +312,11 @@
           \tikzset{x=\x*.4, y=\y*.4}
           %
           % Draw annotation
-          \draw (-1,0) -- (1,0) (0,-1) -- (0,1);
+          \draw (-1,0) -- (1,0) (0,-1) -- (0,1); 
           \draw (-1,-.6) -- (-.6,-.6) -- (.6,.6) -- (1,.6);
           }
         },
-        sat_block_int/.style = {draw, minimum width=\blockwidth, minimum height=\blockheight, path picture =
+        sat_block_int/.style = {draw, minimum width=\blockwidth, minimum height=\blockheight, path picture = 
           {
           % Get the width and height of the path picture node
           \pgfpointdiff{\pgfpointanchor{path picture bounding box}{north east}}%
@@ -333,7 +333,7 @@
       ]
         %===================================================================================
         \node[text centered] (ref) {};
-
+    
         % Controller
         \path(ref)+(\nodesep,0) node (ref_sum) [sum={}{+}{-}{}] {};
         \path(ref_sum)+(2*\nodesep,0) node (ctrl_i) [simple_block] {$\int$};
@@ -345,12 +345,12 @@
         \path(ctrl_i_gain)+(\nodesep,0) node (ctrl_sum) [sum={+}{+}{-}{}] {};
         \path(ctrl_sum)+(\nodesep,0) node (sat_ctrl) [sat_block] {};
         \path(sat_ctrl.east)+(0.675*\nodesep,0) node (ctrl) [] {};
-
+    
         \path(ref_sum.south |- ctrl_d_filt.west)+(-\nodesep,0) node(output) [] {};
-
+    
         %===================================================================================
         \path[draw,->] (ref.east) -- node[anchor=south, pos=0] {$V_\text{sp}$} (ref_sum.west);
-
+    
         \path[draw,->] (ref_sum.east) -- (ctrl_i.west);
         \path[draw,->] (output.east) |- node[anchor=south, pos=0] {$V$} (ctrl_d_filt.west);
         \path[draw,->] (output.east -| ref_sum.south) -- (ref_sum.south);
@@ -363,25 +363,25 @@
         \path[draw,->] (ctrl_p_gain.east) -| (ctrl_sum.north);
         \path[draw,->] (ctrl_sum.east) -- (sat_ctrl.west);
         \path[draw,->] (sat_ctrl.east) -- node[anchor=south] {$A_\text{sp}$} (ctrl.west);
-
+      
       \end{tikzpicture}
-
+    
     \end{figure}
-
+    
     \clearpage
 
     %===================================================================================
     % TIKZ POSITION CONTROL
     %===================================================================================
-
+    
     \begin{figure}[h]
       \centering
-
+    
       % Define distances
       \def\blockheight{2.2em}
       \def\blockwidth{2.2em}
       \def\nodesep{2*\blockwidth}
-
+    
       \begin{tikzpicture}[>={Stealth[inset=0pt,length=3pt,angle'=60,round]},
         simple_block/.style = {draw, fill=light_blue, text centered, inner sep=0pt, minimum width=\blockwidth, minimum height=\blockheight},
         frame_block/.style = {draw, text centered, inner ysep=1.25em, inner xsep=1.25em, dashed},
@@ -394,7 +394,7 @@
             node at (sum.east) [port, left=1pt] {$#4$}
           }
         },
-        sat_block/.style = {draw, minimum width=\blockwidth, minimum height=\blockheight, path picture =
+        sat_block/.style = {draw, minimum width=\blockwidth, minimum height=\blockheight, path picture = 
           {
           % Get the width and height of the path picture node
           \pgfpointdiff{\pgfpointanchor{path picture bounding box}{north east}}%
@@ -405,32 +405,32 @@
           \tikzset{x=\x*.4, y=\y*.4}
           %
           % Draw annotation
-          \draw (-1,0) -- (1,0) (0,-1) -- (0,1);
+          \draw (-1,0) -- (1,0) (0,-1) -- (0,1); 
           \draw (-1,-.6) -- (-.6,-.6) -- (.6,.6) -- (1,.6);
           }
         }
       ]
         %===============================================================================
         \node[text centered] (ref) {};
-
+    
         % Controller
         \path(ref)+(\nodesep,0) node (ref_sum) [sum={}{+}{-}{}] {};
         \path(ref_sum)+(\nodesep,0) node (ctrl_p_gain) [simple_block] {$P$};
         \path(ctrl_p_gain)+(\nodesep,0) node (sat_ctrl) [sat_block] {};
         \path(sat_ctrl.east)+(\nodesep,0) node (ctrl) [] {};
-
+    
         \path(ref_sum.south)+(-\nodesep,-1.5*\blockheight) node(output) [] {};
-
+    
         %===============================================================================
         \path[draw,->] (ref.east) -- node[anchor=south, pos=0] {$X_\text{sp}$} (ref_sum.west);
-
+    
         \path[draw,->] (output.east) -- node[anchor=south, pos=0] {$X$} (output.east -| ref_sum.south) -- (ref_sum.south);
         \path[draw,->] (ref_sum.east) -- (ctrl_p_gain.west);
         \path[draw,->] (ctrl_p_gain.east) -- (sat_ctrl.west);
         \path[draw,->] (sat_ctrl.east) -- node[anchor=south] {$V_\text{sp}$} (ctrl.west);
-
+      
       \end{tikzpicture}
-
+    
     \end{figure}
 
-\end{document}
+\end{document}