ci: no docker instead install python deps

in favor of new build all

.ci/Jenkinsfile-compile

@@ -46,6 +46,8 @@ pipeline {
                      "ark_cannode_default",
                      "ark_fmu-v6x_bootloader",
                      "ark_fmu-v6x_default",
+                     "ark_pi6x_bootloader",
+                     "ark_pi6x_default",
                      "atl_mantis-edu_default",
                      "av_x-v1_default",
                      "bitcraze_crazyflie21_default",

.devcontainer/devcontainer.json

@@ -15,6 +15,7 @@
 	"extensions": [
 		"chiehyu.vscode-astyle",
 		"dan-c-underwood.arm",
+		"editorconfig.editorconfig",
 		"fredericbonnet.cmake-test-adapter",
 		"github.vscode-pull-request-github",
 		"marus25.cortex-debug",

.editorconfig

@@ -1,7 +1,7 @@
 root = true
 
 [*]
-insert_final_newline = false
+insert_final_newline = true
 
 [{*.{c,cpp,cc,h,hpp},CMakeLists.txt,Kconfig}]
 indent_style = tab
@@ -9,6 +9,6 @@ tab_width = 8
 # Not in the official standard, but supported by many editors
 max_line_length = 120
 
-[*.yaml]
+[*.yaml, *.yml]
 indent_style = space
 indent_size = 2

.github/workflows/build_all_targets.yml

@@ -0,0 +1,89 @@
+name: Build all targets
+
+on:
+  push:
+    branches:
+    - 'mrpollo/ci_runner_groups'
+
+jobs:
+  group_targets:
+    runs-on: [runs-on,runner=2cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}"]
+    # container:
+    #   image: px4io/px4-dev-base-focal:2021-09-08
+      # options: --user 1001
+    outputs:
+      matrix: ${{ steps.set-matrix.outputs.matrix }}
+      timestamp: ${{ steps.set-timestamp.outputs.timestamp }}
+    steps:
+    - uses: actions/checkout@v4
+      #   token: ${{ secrets.ACCESS_TOKEN }}
+    - name: Install Python dependencies
+      uses: py-actions/py-dependency-install@v4
+      with:
+        path: "./Tools/setup/requirements.txt"
+    - id: set-matrix
+      run: echo "::set-output name=matrix::$(./Tools/generate_board_targets_json.py --group)"
+    # - name: debug groups
+    #   run: |
+    #       echo "::group::DebugTargets"
+    #       ./Tools/generate_board_targets_json.py --group --verbose
+    #       echo "::endgroup::"
+    - id: set-timestamp
+      run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")"
+
+  setup:
+    name: ${{ matrix.group }}
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}"]
+    needs: group_targets
+    strategy:
+      # matrix: ${{ fromJson(needs.group_targets.outputs.matrix) }}
+      matrix:
+        include:
+          - group: 'nuttx-px4'
+            targets: 'px4_fmu-v5x_default,px4_fmu-v6x_default'
+            container: 'px4io/px4-dev-nuttx-focal:2022-08-12'
+            arch: 'nuttx'
+    container:
+      image: ${{ matrix.container }}
+      # options: --user 1001
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: true
+        #   token: ${{ secrets.ACCESS_TOKEN }}
+      - name: debug permissions
+        run: |
+          echo "::group::DebugPermissions"
+          echo $UID
+          echo $PATH
+          echo "::endgroup::"
+      - name: ccache setup keys
+        uses: actions/cache@v4
+        with:
+          path: ~/.ccache
+          key: ${{ matrix.arch }}-ccache-${{ needs.group_targets.outputs.timestamp }}
+          restore-keys: ${{ matrix.arch }}-ccache-${{ needs.group_targets.outputs.timestamp }}
+
+      - name: setup ccache
+        run: |
+            mkdir -p ~/.ccache
+            echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+            echo "compression = true" >> ~/.ccache/ccache.conf
+            echo "compression_level = 6" >> ~/.ccache/ccache.conf
+            echo "max_size = 120M" >> ~/.ccache/ccache.conf
+            echo "hash_dir = false" >> ~/.ccache/ccache.conf
+            ccache -s
+            ccache -z
+
+      - name: Debug with tmate session
+        uses: mxschmitt/action-tmate@v3
+        with:
+          detached: true
+          # sudo: false
+
+      - name: build target group
+        run: |
+            ./Tools/ci_build_all_runner.sh ${{matrix.targets}}
+
+      - name: ccache post-run
+        run: ccache -s

.github/workflows/checks.yml

@@ -16,6 +16,7 @@ jobs:
       matrix:
         check: [
           "check_format",
+          "check_newlines",
           "tests",
           "tests_coverage",
           "px4_fmu-v2_default stack_check",
@@ -23,6 +24,7 @@ jobs:
           "shellcheck_all",
           "NO_NINJA_BUILD=1 px4_fmu-v5_default",
           "NO_NINJA_BUILD=1 px4_sitl_default",
+          "px4_sitl_allyes",
           "airframe_metadata",
           "module_documentation",
           "parameters_metadata",

.github/workflows/compile_linux.yml

@@ -1,58 +0,0 @@
-name: Compile Linux Targets
-
-on:
-  push:
-    branches:
-    - 'main'
-    - 'stable'
-    - 'beta'
-    - 'release/*'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-armhf:2023-06-26
-    strategy:
-      matrix:
-        config: [
-          beaglebone_blue_default,
-          emlid_navio2_default,
-          px4_raspberrypi_default,
-          scumaker_pilotpi_default,
-          ]
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-    - name: ownership workaround
-      run: git config --system --add safe.directory '*'
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: ${{matrix.config}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: make ${{matrix.config}}
-      run: make ${{matrix.config}}
-    - name: ccache post-run
-      run: ccache -s

.github/workflows/compile_linux_arm64.yml

@@ -1,54 +0,0 @@
-name: Compile Linux ARM64 Targets
-
-on:
-  push:
-    branches:
-    - 'main'
-    - 'stable'
-    - 'beta'
-    - 'release/*'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-aarch64:2022-08-12
-    strategy:
-      matrix:
-        config: [
-          scumaker_pilotpi_arm64,
-          ]
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: ${{matrix.config}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: make ${{matrix.config}}
-      run: make ${{matrix.config}}
-    - name: ccache post-run
-      run: ccache -s

.github/workflows/compile_nuttx.yml

@@ -1,135 +0,0 @@
-name: Compile Nuttx Targets
-
-on:
-  push:
-    branches:
-    - 'main'
-    - 'stable'
-    - 'beta'
-    - 'release/*'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2022-08-12
-    strategy:
-      fail-fast: false
-      matrix:
-        config: [
-          airmind_mindpx-v2,
-          ark_can-flow,
-          ark_can-gps,
-          ark_can-rtk-gps,
-          ark_cannode,
-          ark_fmu-v6x,
-          ark_septentrio-gps,
-          atl_mantis-edu,
-          av_x-v1,
-          bitcraze_crazyflie,
-          bitcraze_crazyflie21,
-          cuav_can-gps-v1,
-          cuav_nora,
-          cuav_x7pro,
-          cubepilot_cubeorange,
-          cubepilot_cubeorangeplus,
-          cubepilot_cubeyellow,
-          diatone_mamba-f405-mk2,
-          freefly_can-rtk-gps,
-          holybro_can-gps-v1,
-          holybro_durandal-v1,
-          holybro_kakutef7,
-          holybro_kakuteh7,
-          holybro_pix32v5,
-          matek_gnss-m9n-f4,
-          matek_h743,
-          matek_h743-mini,
-          matek_h743-slim,
-          modalai_fc-v1,
-          modalai_fc-v2,
-          mro_ctrl-zero-classic,
-          mro_ctrl-zero-f7,
-          mro_ctrl-zero-f7-oem,
-          mro_ctrl-zero-h7,
-          mro_ctrl-zero-h7-oem,
-          mro_pixracerpro,
-          mro_x21,
-          mro_x21-777,
-          nxp_fmuk66-e,
-          nxp_fmuk66-v3,
-          nxp_mr-canhubk3,
-          nxp_ucans32k146,
-          omnibus_f4sd,
-          px4_fmu-v2,
-          px4_fmu-v3,
-          px4_fmu-v4,
-          px4_fmu-v4pro,
-          px4_fmu-v5,
-          px4_fmu-v5x,
-          px4_fmu-v6c,
-          px4_fmu-v6u,
-          px4_fmu-v6x,
-          px4_fmu-v6xrt,
-          raspberrypi_pico,
-          sky-drones_smartap-airlink,
-          spracing_h7extreme,
-          uvify_core,
-          siyi_n7
-          ]
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: ${{matrix.config}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 120M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: make all_variants_${{matrix.config}}
-      run: make all_variants_${{matrix.config}}
-      timeout-minutes: 45
-    - name: make ${{matrix.config}} bloaty_compileunits
-      run: make ${{matrix.config}} bloaty_compileunits || true
-    - name: make ${{matrix.config}} bloaty_inlines
-      run: make ${{matrix.config}} bloaty_inlines || true
-    - name: make ${{matrix.config}} bloaty_segments
-      run: make ${{matrix.config}} bloaty_segments || true
-    - name: make ${{matrix.config}} bloaty_symbols
-      run: make ${{matrix.config}} bloaty_symbols || true
-    - name: make ${{matrix.config}} bloaty_templates
-      run: make ${{matrix.config}} bloaty_templates || true
-    - name: make ${{matrix.config}} bloaty_ram
-      run: make ${{matrix.config}} bloaty_ram || true
-    - name: make ${{matrix.config}} bloaty_compare_master
-      run: make ${{matrix.config}} bloaty_compare_master || true
-    - name: ccache post-run
-      run: ccache -s
-
-    - name: Upload px4 package
-      uses: actions/upload-artifact@v2
-      with:
-        name: px4_package_${{matrix.config}}
-        path: |
-          build/**/*.px4
-          build/**/*.bin

.github/workflows/deploy_all.yml

@@ -54,4 +54,3 @@ jobs:
         AWS_REGION: 'us-west-1'
         SOURCE_DIR: 'build/${{ matrix.target }}/_metadata/'
         DEST_DIR: 'Firmware/${{ env.version }}/${{ matrix.target }}/'
-

.github/workflows/mavros_mission_tests.yml

@@ -11,6 +11,8 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
+    env:
+      ACTIONS_ALLOW_USE_UNSECURE_NODE_VERSION: true
     strategy:
       fail-fast: false
       matrix:

.github/workflows/mavros_offboard_tests.yml

@@ -11,6 +11,8 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
+    env:
+      ACTIONS_ALLOW_USE_UNSECURE_NODE_VERSION: true
     strategy:
       fail-fast: false
       matrix:

.gitmodules

@@ -71,7 +71,7 @@
 [submodule "src/modules/zenoh/zenoh-pico"]
 	path = src/modules/zenoh/zenoh-pico
 	url = https://github.com/px4/zenoh-pico
-	branch = pr-zubf-werror-fix
+	branch = dev/1.0.0-px4
 [submodule "src/lib/heatshrink/heatshrink"]
 	path = src/lib/heatshrink/heatshrink
 	url = https://github.com/PX4/heatshrink.git

.vscode/cmake-kits.json

@@ -2,4 +2,4 @@
 	{
 		"name": "PX4 detect"
 	}
-]
+]

.vscode/cmake-variants.yaml

@@ -151,16 +151,16 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: ark_can-rtk-gps_canbootloader
-    ark_septentrio_gps_default:
-      short: ark_septentrio_gps_default
+    ark_septentrio-gps_default:
+      short: ark_septentrio-gps_default
       buildType: MinSizeRel
       settings:
-        CONFIG: ark_septentrio_gps_default
-    ark_septentrio_gps_canbootloader:
-      short: ark_septentrio_gps_canbootloader
+        CONFIG: ark_septentrio-gps_default
+    ark_septentrio-gps_canbootloader:
+      short: ark_septentrio-gps_canbootloader
       buildType: MinSizeRel
       settings:
-        CONFIG: ark_septentrio_gps_canbootloader
+        CONFIG: ark_septentrio-gps_canbootloader
     ark_cannode_default:
       short: ark_cannode_default
       buildType: MinSizeRel
@@ -181,6 +181,16 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: ark_fmu-v6x_default
+    ark_pi6x_bootloader:
+      short: ark_pi6x_bootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_pi6x_bootloader
+    ark_pi6x_default:
+      short: ark_pi6x_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_pi6x_default
     atl_mantis-edu_default:
       short: atl_mantis-edu
       buildType: MinSizeRel

.vscode/extensions.json

@@ -4,6 +4,7 @@
     "recommendations": [
         "chiehyu.vscode-astyle",
         "dan-c-underwood.arm",
+        "editorconfig.editorconfig",
         "fredericbonnet.cmake-test-adapter",
         "github.vscode-pull-request-github",
         "marus25.cortex-debug",

.vscode/settings.json

@@ -15,6 +15,7 @@
         "cmake.buildDirectory": "${workspaceFolder}/build/${variant:CONFIG}",
         "cmake.configureOnOpen": true,
         "cmake.ctest.parallelJobs": 1,
+        "cmake.options.statusBarVisibility": "compact",
         "cmake.skipConfigureIfCachePresent": true,
         "cmakeExplorer.buildDir": "${workspaceFolder}/build/px4_sitl_test",
         "cmakeExplorer.parallelJobs": 1,

CMakeLists.txt

@@ -1,6 +1,6 @@
 ############################################################################
 #
-# Copyright (c) 2017 - 2022 PX4 Development Team. All rights reserved.
+# Copyright (c) 2017 - 2024 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
@@ -132,7 +132,9 @@ list(GET VERSION_LIST 2 PX4_VERSION_PATCH)
 string(REPLACE "-" ";" PX4_VERSION_PATCH ${PX4_VERSION_PATCH})
 list(GET PX4_VERSION_PATCH 0 PX4_VERSION_PATCH)
 
-message(STATUS "PX4 version: ${PX4_GIT_TAG} (${PX4_VERSION_MAJOR}.${PX4_VERSION_MINOR}.${PX4_VERSION_PATCH})")
+# # Capture only the hash part after 'g'
+string(REGEX MATCH "g([a-f0-9]+)$" GIT_HASH "${PX4_GIT_TAG}")
+set(PX4_GIT_HASH ${CMAKE_MATCH_1})
 
 define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES
                  BRIEF_DOCS "PX4 module libs"
@@ -485,7 +487,7 @@ include(package)
 
 # install python requirements using configured python
 add_custom_target(install_python_requirements
-	COMMAND ${PYTHON_EXECUTABLE} -m pip install --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
+	COMMAND ${PYTHON_EXECUTABLE} -m pip install --break-system-packages --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
 	DEPENDS ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
 	USES_TERMINAL
 )

Jenkinsfile

@@ -171,9 +171,9 @@ pipeline {
               sh('cp airframes.md PX4-user_guide/en/airframes/airframe_reference.md')
               sh('cp parameters.md PX4-user_guide/en/advanced_config/parameter_reference.md')
               sh('cp -R modules/*.md PX4-user_guide/en/modules/')
-              sh('cp -R graph_*.json PX4-user_guide/.vuepress/public/en/middleware/')
+              sh('cp -R graph_*.json PX4-user_guide/public/middleware/')  // vitepress
               sh('cp -R msg_docs/*.md PX4-user_guide/en/msg_docs/')
-              sh('cp -R failsafe_sim/* PX4-user_guide/.vuepress/public/en/config/failsafe')
+              sh('cp -R failsafe_sim/* PX4-user_guide/public/config/failsafe')  // vitepress
               sh('cd PX4-user_guide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
               sh('cd PX4-user_guide; git push origin main || true')
               sh('rm -rf PX4-user_guide')

Kconfig

@@ -185,6 +185,17 @@ menu "Serial ports"
         string "EXT2 tty port"
 endmenu
 
+menu "File paths"
+
+    config BOARD_ROOT_PATH
+        string "PX4 Root file path"
+        default "/fs/microsd"
+
+    config BOARD_PARAM_FILE
+        string "Parameter file"
+        default "/fs/mtd_params"
+endmenu
+
 menu "drivers"
 source "src/drivers/Kconfig"
 endmenu

Makefile

@@ -1,6 +1,6 @@
 ############################################################################
 #
-# Copyright (c) 2015 - 2020 PX4 Development Team. All rights reserved.
+# Copyright (c) 2015 - 2024 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
@@ -323,7 +323,32 @@ px4io_update:
 	cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
 	git status
 
-bootloaders_update: ark_fmu-v6x_bootloader cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader holybro_kakuteh7_bootloader matek_h743_bootloader matek_h743-mini_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-classic_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6c_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader
+bootloaders_update: \
+	ark_fmu-v6x_bootloader \
+	ark_pi6x_bootloader \
+	cuav_nora_bootloader \
+	cuav_x7pro_bootloader \
+	cubepilot_cubeorange_bootloader \
+	cubepilot_cubeorangeplus_bootloader \
+	hkust_nxt-dual_bootloader \
+	hkust_nxt-v1_bootloader \
+	holybro_durandal-v1_bootloader \
+	holybro_kakuteh7_bootloader \
+	holybro_kakuteh7mini_bootloader \
+	holybro_kakuteh7v2_bootloader \
+	matek_h743_bootloader \
+	matek_h743-mini_bootloader \
+	matek_h743-slim_bootloader \
+	modalai_fc-v2_bootloader \
+	mro_ctrl-zero-classic_bootloader \
+	mro_ctrl-zero-h7_bootloader \
+	mro_ctrl-zero-h7-oem_bootloader \
+	mro_pixracerpro_bootloader \
+	px4_fmu-v6c_bootloader \
+	px4_fmu-v6u_bootloader \
+	px4_fmu-v6x_bootloader \
+	px4_fmu-v6xrt_bootloader \
+	siyi_n7_bootloader
 	git status
 
 .PHONY: coverity_scan
@@ -354,9 +379,9 @@ doxygen:
 	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/doxygen
 	@touch "$(SRC_DIR)"/build/doxygen/Documentation/.nojekyll
 
-# Astyle
+# Style
 # --------------------------------------------------------------------
-.PHONY: check_format format
+.PHONY: check_format format check_newlines
 
 check_format:
 	$(call colorecho,'Checking formatting with astyle')
@@ -367,6 +392,10 @@ format:
 	$(call colorecho,'Formatting with astyle')
 	@"$(SRC_DIR)"/Tools/astyle/check_code_style_all.sh --fix
 
+check_newlines:
+	$(call colorecho,'Checking for missing or duplicate newlines at the end of files')
+	@"$(SRC_DIR)"/Tools/astyle/check_newlines.sh
+
 # Testing
 # --------------------------------------------------------------------
 .PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard tests_avoidance

ROMFS/CMakeLists.txt

@@ -120,6 +120,7 @@ add_custom_command(
 		${romfs_gen_root_dir}/init.d/rc.serial
 		${romfs_gen_root_dir}/init.d/rc.autostart
 		${romfs_gen_root_dir}/init.d/rc.autostart.post
+		${romfs_gen_root_dir}/init.d/rc.filepaths
 		${romfs_copy_stamp}
 	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/*
 	COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file}
@@ -131,6 +132,9 @@ add_custom_command(
 		--rc-dir ${romfs_gen_root_dir}/init.d
 		--serial-ports ${board_serial_ports} ${added_arguments}
 		--config-files ${module_config_files} #--verbose
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/filepaths/generate_config.py
+		--rc-dir ${romfs_gen_root_dir}/init.d
+		--params-file ${CONFIG_BOARD_PARAM_FILE}
 	COMMAND ${CMAKE_COMMAND} -E touch ${romfs_copy_stamp}
 	WORKING_DIRECTORY ${romfs_gen_root_dir}
 	DEPENDS ${romfs_tar_file}
@@ -320,6 +324,7 @@ add_custom_target(romfs_gen_files_target
 	DEPENDS
 		${romfs_copy_stamp}
 		${romfs_gen_root_dir}/init.d/rc.serial
+		${romfs_gen_root_dir}/init.d/rc.filepaths
 		romfs_extras.stamp
 	)
 

ROMFS/cannode/init.d/rcS

@@ -21,25 +21,14 @@ set R /
 #
 ver all
 
-if mft query -q -k MTD -s MTD_PARAMETERS -v /fs/mtd_params
-then
-	set PARAM_FILE /fs/mtd_params
-fi
-
-if mft query -q -k MTD -s MTD_PARAMETERS -v /dev/eeeprom0
-then
-	set PARAM_FILE /dev/eeeprom0
-fi
-
-if mft query -q -k MTD -s MTD_PARAMETERS -v /mnt/qspi/params
-then
-	set PARAM_FILE /mnt/qspi/params
-fi
+# Load param file location from kconfig
+. ${R}etc/init.d/rc.filepaths
 
 #
 # Load parameters.
 #
 param select $PARAM_FILE
+
 if ! param load
 then
 	param reset_all

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

@@ -29,4 +29,3 @@ param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
-

ROMFS/px4fmu_common/init.d-posix/airframes/10018_gazebo-classic_iris_foggy_lidar

@@ -30,4 +30,3 @@ param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
 
 param set-default EKF2_RNG_A_HMAX 10
-

ROMFS/px4fmu_common/init.d-posix/airframes/10019_gazebo-classic_omnicopter

@@ -94,4 +94,3 @@ param set-default CA_METHOD 0
 # disable attitude failure detection
 param set-default FD_FAIL_P 0
 param set-default FD_FAIL_R 0
-

ROMFS/px4fmu_common/init.d-posix/airframes/10030_gazebo-classic_px4vision

@@ -12,4 +12,3 @@ param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
-

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

@@ -24,8 +24,6 @@ param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
 param set-default CBRK_IO_SAFETY 22027
 
-param set-default BAT_N_CELLS 3
-
 param set-default SIH_T_MAX 6
 param set-default SIH_MASS 0.3
 param set-default SIH_IXX 0.00402

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

@@ -33,8 +33,6 @@ param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
 param set-default CBRK_IO_SAFETY 22027
 
-param set-default BAT_N_CELLS 3
-
 param set-default SIH_T_MAX 2
 param set-default SIH_Q_MAX 0.0165
 param set-default SIH_MASS 0.2

ROMFS/px4fmu_common/init.d-posix/airframes/1012_gazebo-classic_iris_rplidar

@@ -30,4 +30,3 @@ param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
 
 param set-default LPE_FUSION 242
-

ROMFS/px4fmu_common/init.d-posix/airframes/1013_gazebo-classic_iris_vision

@@ -18,4 +18,3 @@ param set-default LPE_FUSION 132
 
 # AEQ: External heading set to use vision input
 param set-default ATT_EXT_HDG_M 1
-

ROMFS/px4fmu_common/init.d-posix/airframes/1021_gazebo-classic_uuv_hippocampus

@@ -41,4 +41,3 @@ param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
-

ROMFS/px4fmu_common/init.d-posix/airframes/1022_gazebo-classic_uuv_bluerov2_heavy

@@ -61,4 +61,3 @@ 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
-

ROMFS/px4fmu_common/init.d-posix/airframes/1030_gazebo-classic_plane

@@ -68,5 +68,3 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
-
-

ROMFS/px4fmu_common/init.d-posix/airframes/1031_gazebo-classic_plane_cam

@@ -39,7 +39,6 @@ param set-default FW_T_SINK_MIN 2.2
 
 param set-default FW_W_EN 1
 
-param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 30
 
 param set-default NAV_ACC_RAD 15

ROMFS/px4fmu_common/init.d-posix/airframes/1032_gazebo-classic_plane_catapult

@@ -41,7 +41,6 @@ param set-default FW_T_SINK_MIN 2.2
 
 param set-default FW_W_EN 1
 
-param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 30
 
 param set-default NAV_ACC_RAD 15
@@ -71,4 +70,3 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
-

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

@@ -24,7 +24,6 @@ param set-default FW_RR_P 0.085
 param set-default FW_W_EN 1
 
 param set-default MIS_TAKEOFF_ALT 20
-param set-default MIS_DIST_1WP 2500
 
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
@@ -56,4 +55,3 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
-

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

@@ -24,7 +24,6 @@ param set-default FW_RR_P 0.085
 param set-default FW_W_EN 1
 
 param set-default MIS_TAKEOFF_ALT 20
-param set-default MIS_DIST_1WP 2500
 
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2

ROMFS/px4fmu_common/init.d-posix/airframes/1035_gazebo-classic_techpod

@@ -54,4 +54,3 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
-

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

@@ -24,7 +24,6 @@ param set-default FW_RR_P 0.085
 param set-default FW_W_EN 1
 
 param set-default MIS_TAKEOFF_ALT 20
-param set-default MIS_DIST_1WP 2500
 
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
@@ -56,4 +55,3 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
-

ROMFS/px4fmu_common/init.d-posix/airframes/1037_gazebo-classic_believer

@@ -62,4 +62,3 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
-

ROMFS/px4fmu_common/init.d-posix/airframes/1038_gazebo-classic_glider

@@ -39,7 +39,6 @@ param set-default FW_T_SINK_MIN 2.2
 
 param set-default FW_W_EN 1
 
-param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 30
 
 param set-default NAV_ACC_RAD 15

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

@@ -23,9 +23,7 @@ param set-default FW_RR_P 0.085
 
 param set-default FW_W_EN 1
 
-param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 20
-param set-default MIS_DIST_1WP 2500
 
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2

ROMFS/px4fmu_common/init.d-posix/airframes/1040_gazebo-classic_standard_vtol

@@ -78,4 +78,3 @@ param set-default VT_FWD_THRUST_EN 4
 param set-default VT_FWD_THRUST_SC 1
 param set-default VT_F_TRANS_THR 0.75
 param set-default VT_TYPE 2
-

ROMFS/px4fmu_common/init.d-posix/airframes/1041_gazebo-classic_tailsitter

@@ -75,4 +75,3 @@ param set-default VT_F_TRANS_DUR 1.5
 param set-default VT_TYPE 0
 
 param set-default WV_EN 0
-

ROMFS/px4fmu_common/init.d-posix/airframes/1043_gazebo-classic_standard_vtol_drop

@@ -88,4 +88,3 @@ param set-default PWM_MAIN_FUNC11 422
 param set-default RC_MAP_AUX1 8
 param set-default RC_MAP_AUX2 9
 param set-default RC_MAP_AUX3 10
-

ROMFS/px4fmu_common/init.d-posix/airframes/1044_gazebo-classic_plane_lidar

@@ -39,7 +39,6 @@ param set-default FW_T_SINK_MIN 2.2
 
 param set-default FW_W_EN 1
 
-param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 30
 
 param set-default NAV_ACC_RAD 15

ROMFS/px4fmu_common/init.d-posix/airframes/1060_gazebo-classic_rover

@@ -31,4 +31,3 @@ 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
-

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

@@ -38,4 +38,3 @@ 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
-

ROMFS/px4fmu_common/init.d-posix/airframes/1070_gazebo-classic_boat

@@ -41,4 +41,3 @@ param set-default CA_R_REV 3
 
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
-

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

@@ -64,4 +64,3 @@ param set-default PWM_MAIN_FUNC4 203
 param set-default PWM_MAIN_FUNC5 407
 param set-default PWM_MAIN_FUNC6 408
 param set-default PWM_MAIN_FUNC7 409
-

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

@@ -69,4 +69,3 @@ param set-default PWM_MAIN_FUNC4 203
 param set-default PWM_MAIN_FUNC5 407
 param set-default PWM_MAIN_FUNC6 408
 param set-default PWM_MAIN_FUNC7 409
-

ROMFS/px4fmu_common/init.d-posix/airframes/2507_gazebo-classic_cloudship

@@ -36,4 +36,3 @@ param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 201
 param set-default PWM_MAIN_FUNC4 103
-

ROMFS/px4fmu_common/init.d-posix/airframes/4001_gz_x500

@@ -52,3 +52,4 @@ param set-default SIM_GZ_EC_MAX3 1000
 param set-default SIM_GZ_EC_MAX4 1000
 
 param set-default MPC_THR_HOVER 0.60
+param set-default NAV_DLL_ACT 2

ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol

@@ -101,8 +101,9 @@ param set-default MPC_XY_VEL_I_ACC 4
 param set-default MPC_XY_VEL_D_ACC 0.1
 
 param set-default NAV_ACC_RAD 5
+param set-default NAV_DLL_ACT 2
 
 param set-default VT_FWD_THRUST_EN 4
-param set-default VT_F_TRANS_THR 0.75
+param set-default VT_F_TRANS_THR 0.3
 param set-default VT_TYPE 2
 param set-default FD_ESCS_EN 0

ROMFS/px4fmu_common/init.d-posix/airframes/4006_gz_px4vision

@@ -132,3 +132,5 @@ param set-default SIM_GZ_EC_MAX1 1100
 param set-default SIM_GZ_EC_MAX2 1100
 param set-default SIM_GZ_EC_MAX3 1100
 param set-default SIM_GZ_EC_MAX4 1100
+
+param set-default NAV_DLL_ACT 2

ROMFS/px4fmu_common/init.d-posix/airframes/4012_gz_rover_ackermann

@@ -0,0 +1,49 @@
+#!/bin/sh
+# @name Rover Ackermann
+# @type Rover
+# @class Rover
+
+. ${R}etc/init.d/rc.rover_ackermann_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=rover}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover_ackermann}
+
+param set-default SIM_GZ_EN 1 # Gazebo bridge
+
+# Rover parameters
+param set-default NAV_ACC_RAD 0.5
+param set-default RA_ACC_RAD_GAIN 2
+param set-default RA_ACC_RAD_MAX 3
+param set-default RA_MAX_ACCEL 1.5
+param set-default RA_MAX_JERK 15
+param set-default RA_MAX_SPEED 3
+param set-default RA_MAX_STR_ANG 0.5236
+param set-default RA_MAX_STR_RATE 360
+param set-default RA_MISS_VEL_DEF 3
+param set-default RA_MISS_VEL_GAIN 5
+param set-default RA_MISS_VEL_MIN 1
+param set-default RA_SPEED_I 0.01
+param set-default RA_SPEED_P 2
+param set-default RA_WHEEL_BASE 0.321
+
+# Pure Pursuit parameters
+param set-default PP_LOOKAHD_GAIN 1
+param set-default PP_LOOKAHD_MAX 10
+param set-default PP_LOOKAHD_MIN 1
+
+# Simulated sensors
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 0
+param set-default SENS_EN_MAGSIM 1
+param set-default SENS_EN_ARSPDSIM 0
+
+# Wheels
+param set-default SIM_GZ_WH_FUNC1 101
+param set-default SIM_GZ_WH_MIN1 0
+param set-default SIM_GZ_WH_MAX1 200
+param set-default SIM_GZ_WH_DIS1 100
+
+# Steering
+param set-default SIM_GZ_SV_FUNC1 201
+param set-default SIM_GZ_SV_REV 1

ROMFS/px4fmu_common/init.d-posix/airframes/4013_gz_x500_lidar

@@ -0,0 +1,10 @@
+#!/bin/sh
+#
+# @name Gazebo x500 lidar
+#
+# @type Quadrotor
+#
+
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_lidar}
+
+. ${R}etc/init.d-posix/airframes/4001_gz_x500

ROMFS/px4fmu_common/init.d-posix/airframes/6011_gazebo-classic_typhoon_h480

@@ -63,4 +63,3 @@ param set-default PWM_MAIN_FUNC9 422
 # Landing gear
 param set-default PWM_MAIN_FUNC10 400
 param set-default PWM_MAIN_FUNC11 400
-

ROMFS/px4fmu_common/init.d-posix/airframes/8011_gz_omnicopter

@@ -119,4 +119,3 @@ param set-default CA_METHOD 0
 # disable attitude failure detection
 param set-default FD_FAIL_P 0
 param set-default FD_FAIL_R 0
-

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

@@ -83,6 +83,8 @@ px4_add_romfs_files(
 	4009_gz_r1_rover
 	4010_gz_x500_mono_cam
 	4011_gz_lawnmower
+	4012_gz_rover_ackermann
+	4013_gz_x500_lidar
 
 	6011_gazebo-classic_typhoon_h480
 	6011_gazebo-classic_typhoon_h480.post

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

@@ -15,6 +15,9 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"
 	if [ -n "${PX4_HOME_LON}" ]; then
 		param set SIH_LOC_LON0 ${PX4_HOME_LON}
 	fi
+	if [ -n "${PX4_HOME_ALT}" ]; then
+		param set SIH_LOC_H0 ${PX4_HOME_ALT}
+	fi
 
 	if simulator_sih start; then
 

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -157,6 +157,7 @@ param set-default CBRK_SUPPLY_CHK 894281
 
 # disable check, no CPU load reported on posix yet
 param set-default COM_CPU_MAX -1
+param set-default COM_RAM_MAX -1
 
 # Don't require RC calibration and configuration
 param set-default COM_RC_IN_MODE 1
@@ -182,10 +183,6 @@ 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 2
 
-# Allow to override SYS_MC_EST_GROUP via env
-if [ -n "$SYS_MC_EST_GROUP" ]; then
-	param set SYS_MC_EST_GROUP $SYS_MC_EST_GROUP
-fi
 
 # Adapt timeout parameters if simulation runs faster or slower than realtime.
 if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
@@ -256,6 +253,23 @@ manual_control start
 sensors start
 commander start
 
+#
+# state estimator selection
+if param compare -s EKF2_EN 1
+then
+	ekf2 start &
+fi
+
+if param compare -s LPE_EN 1
+then
+	local_position_estimator start
+fi
+
+if param compare -s ATT_EN 1
+then
+	attitude_estimator_q start
+fi
+
 if ! pwm_out_sim start -m sim
 then
 	tune_control play error
@@ -330,7 +344,7 @@ fi
 [ -e "$autostart_file".post ] && . "$autostart_file".post
 
 # Run script to start logging
-if param compare SYS_MC_EST_GROUP 2
+if param compare -s EKF2_EN 1
 then
 	set LOGGER_ARGS "-p ekf2_timestamps"
 else

ROMFS/px4fmu_common/init.d/CMakeLists.txt

@@ -44,6 +44,7 @@ px4_add_romfs_files(
 	# TODO
 	rc.balloon_apps
 	rc.balloon_defaults
+	rc.sysinit
 )
 
 if(CONFIG_MODULES_AIRSHIP_ATT_CONTROL)
@@ -84,6 +85,13 @@ if(CONFIG_MODULES_DIFFERENTIAL_DRIVE)
 	)
 endif()
 
+if(CONFIG_MODULES_ROVER_ACKERMANN)
+	px4_add_romfs_files(
+		rc.rover_ackermann_apps
+		rc.rover_ackermann_defaults
+	)
+endif()
+
 if(CONFIG_MODULES_UUV_ATT_CONTROL)
 	px4_add_romfs_files(
 		rc.uuv_apps

ROMFS/px4fmu_common/init.d/airframes/11001_hexa_cox

@@ -44,4 +44,3 @@ param set-default CA_ROTOR4_KM -0.05
 param set-default CA_ROTOR5_PX 0.25
 param set-default CA_ROTOR5_PY -0.433
 param set-default CA_ROTOR5_PZ 0.05
-

ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil

@@ -44,8 +44,6 @@ param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
 param set-default CBRK_IO_SAFETY 22027
 
-param set-default BAT_N_CELLS 3
-
 param set SIH_T_MAX 6
 param set SIH_MASS 0.3
 param set SIH_IXX 0.00402

ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil

@@ -62,8 +62,6 @@ param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
 param set-default CBRK_IO_SAFETY 22027
 
-param set-default BAT_N_CELLS 3
-
 param set SIH_T_MAX 2.0
 param set SIH_Q_MAX 0.0165
 param set SIH_MASS 0.2

ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad

@@ -66,7 +66,6 @@ param set-default MC_PITCHRATE_I 0.05
 param set-default MC_YAWRATE_MAX 20
 param set-default MC_AIRMODE 1
 
-param set-default MIS_DIST_1WP 100
 param set-default MIS_TAKEOFF_ALT 15
 
 param set-default MPC_XY_P 0.8

ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark

@@ -119,5 +119,3 @@ param set-default PWM_MAIN_TIM0 50
 param set-default PWM_MAIN_DIS1 1500
 param set-default PWM_MAIN_DIS2 1500
 param set-default PWM_MAIN_DIS4 1500
-
-

ROMFS/px4fmu_common/init.d/airframes/14001_generic_mc_with_tilt

@@ -32,4 +32,3 @@ param set-default CA_SV_TL0_MAXA 45
 param set-default CA_SV_TL0_MINA -45
 param set-default CA_SV_TL0_TD 90
 param set-default CA_SV_TL_COUNT 1
-

ROMFS/px4fmu_common/init.d/airframes/16001_helicopter

@@ -24,5 +24,3 @@ param set-default MC_PITCHRATE_D 0
 param set-default MC_PITCHRATE_FF 0.1
 
 param set-default CA_AIRFRAME 10
-
-

ROMFS/px4fmu_common/init.d/airframes/18001_TF-B1

@@ -23,4 +23,3 @@ param set-default MAV_0_MODE 1
 param set-default MAV_0_CONFIG 102
 param set-default GPS_UBX_DYNMODEL 8
 param set-default SER_TEL2_BAUD 9600
-

ROMFS/px4fmu_common/init.d/airframes/2106_albatross

@@ -72,5 +72,3 @@ param set-default PWM_MAIN_DIS5 1000
 param set-default PWM_MAIN_DIS6 1500
 param set-default PWM_MAIN_DIS7 1500
 param set-default PWM_MAIN_DIS8 1500
-
-

ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox

@@ -66,4 +66,3 @@ param set-default CA_ROTOR11_PX -0.344
 param set-default CA_ROTOR11_PY -0.25
 param set-default CA_ROTOR11_PZ -0.05
 param set-default CA_ROTOR11_KM -0.05
-

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

@@ -38,4 +38,3 @@ param set-default CA_SV_CS_COUNT 1
 param set-default CA_SV_CS0_TRQ_P 1
 
 param set-default CA_R_REV 7
-

ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames

@@ -6,6 +6,7 @@
 # @class Copter
 #
 # @board px4_fmu-v2 exclude
+# @board px4_fmu-v5x exclude
 # @board bitcraze_crazyflie exclude
 #
 # @maintainer Iain Galloway <iain.galloway@nxp.com>

ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu

@@ -7,6 +7,10 @@
 #
 # @maintainer
 # @board px4_fmu-v2 exclude
+# @board cuav_x7pro exclude
+# @board px4_fmu-v4pro exclude
+# @board px4_fmu-v5x exclude
+# @board px4_fmu-v6x exclude
 #
 
 . ${R}etc/init.d/rc.mc_defaults
@@ -36,7 +40,6 @@ param set-default COM_RC_LOSS_T 3
 
 
 # ekf2
-param set-default EKF2_TERR_MASK 1
 param set-default EKF2_BARO_NOISE 2
 
 param set-default EKF2_BCOEF_X 31.5

ROMFS/px4fmu_common/init.d/airframes/4071_ifo

@@ -12,6 +12,7 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
+# @board px4_fmu-v6x exclude
 # @board bitcraze_crazyflie exclude
 # @board cuav_x7pro exclude
 #

ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s

@@ -10,6 +10,7 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
+# @board px4_fmu-v6x exclude
 # @board bitcraze_crazyflie exclude
 # @board cuav_x7pro exclude
 #

ROMFS/px4fmu_common/init.d/airframes/4500_clover4

@@ -8,6 +8,7 @@
 # @maintainer Oleg Kalachev <okalachev@gmail.com>
 #
 # @board px4_fmu-v2 exclude
+# @board px4_fmu-v4pro exclude
 # @board bitcraze_crazyflie exclude
 #
 

ROMFS/px4fmu_common/init.d/airframes/4601_droneblocks_dexi_5

@@ -0,0 +1,80 @@
+#!/bin/sh
+#
+# @name Droneblocks DEXI 5
+#
+# @type Quadrotor x
+# @class Copter
+#
+# @maintainer Dennis Baldwin <db@droneblocks.io>
+# @maintainer Alex klimaj <alex@arkelectron.com>
+#
+# @board px4_fmu-v2 exclude
+# @board px4_fmu-v3 exclude
+# @board px4_fmu-v4 exclude
+# @board px4_fmu-v4pro exclude
+# @board px4_fmu-v5 exclude
+# @board px4_fmu-v5x exclude
+# @board px4_fmu-v6x exclude
+# @board bitcraze_crazyflie exclude
+# @board diatone_mamba-f405-mk2 exclude
+# @board ark_fmu-v6x exclude
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+param set-default BAT1_CAPACITY 4000
+param set-default BAT1_N_CELLS 6
+param set-default BAT1_V_EMPTY 3.3
+param set-default BAT_AVRG_CURRENT 13
+
+# Square quadrotor X PX4 numbering
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.0762
+param set-default CA_ROTOR0_PY 0.09525
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.0762
+param set-default CA_ROTOR1_PY -0.09525
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.0762
+param set-default CA_ROTOR2_PY -0.09525
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.0762
+param set-default CA_ROTOR3_PY 0.09525
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default EKF2_MIN_RNG 0.01
+param set-default EKF2_OF_POS_X 0.043
+param set-default EKF2_OF_POS_Y 0.011
+param set-default EKF2_OF_QMIN_GND 1
+param set-default EKF2_RNG_POS_X 0.043
+param set-default EKF2_RNG_POS_Y 0.0
+
+param set-default IMU_GYRO_DNF_EN 2
+
+param set-default MC_PITCHRATE_D 0.0013
+param set-default MC_PITCHRATE_I 0.185
+param set-default MC_PITCHRATE_P 0.105
+param set-default MC_PITCH_P 7.5
+param set-default MC_ROLLRATE_D 0.0010
+param set-default MC_ROLLRATE_I 0.165
+param set-default MC_ROLLRATE_P 0.095
+param set-default MC_ROLL_P 7.5
+param set-default MC_YAWRATE_I 0.35
+param set-default MC_YAWRATE_P 0.13
+
+param set-default MPC_THR_HOVER 0.22
+param set-default MPC_THR_MAX 0.5
+param set-default MPC_THR_MIN 0.025
+param set-default MPC_VEL_MANUAL 5.0
+param set-default MPC_XY_VEL_MAX 8.0
+
+param set-default RC_CRSF_PRT_CFG 300
+param set-default RC_CRSF_TEL_EN 1
+
+param set-default RTL_RETURN_ALT 15
+
+param set-default SENS_FLOW_MINHGT 0.0
+
+param set-default SER_TEL2_BAUD 3000000
+
+param set-default UXRCE_DDS_CFG 102

ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21

@@ -13,11 +13,12 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
+# @board px4_fmu-v6x exclude
 # @board diatone_mamba-f405-mk2 exclude
 #
 . ${R}etc/init.d/rc.mc_defaults
 
-param set-default SYS_MC_EST_GROUP 2
+
 param set-default SYS_HAS_MAG 0
 param set-default EKF2_OF_CTRL 1
 param set-default EKF2_GPS_CTRL 0

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

@@ -48,5 +48,3 @@ 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
-
-

ROMFS/px4fmu_common/init.d/airframes/50010_ackermann_rover_generic

@@ -0,0 +1,12 @@
+#!/bin/sh
+#
+# @name Generic ackermann rover
+#
+# @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/60000_uuv_generic

@@ -42,4 +42,3 @@ param set-default CA_ROTOR3_KM 0
 param set-default CA_ROTOR3_PX 0
 param set-default CA_ROTOR3_PY -0.3
 param set-default CA_ROTOR3_PZ 0.3
-

ROMFS/px4fmu_common/init.d/airframes/6001_hexa_x

@@ -31,5 +31,3 @@ param set-default CA_ROTOR4_PY 0.25
 param set-default CA_ROTOR5_PX -0.43
 param set-default CA_ROTOR5_PY -0.25
 param set-default CA_ROTOR5_KM -0.05
-
-

ROMFS/px4fmu_common/init.d/airframes/6002_draco_r

@@ -123,4 +123,3 @@ param set-default PWM_MAIN_FUNC6 106
 param set-default PWM_MAIN_TIM0 -1
 param set-default PWM_MAIN_TIM1 -1
 param set-default PWM_MAIN_TIM2 -1
-

ROMFS/px4fmu_common/init.d/airframes/7001_hexa_+

@@ -31,5 +31,3 @@ param set-default CA_ROTOR4_PY -0.43
 param set-default CA_ROTOR5_PX -0.25
 param set-default CA_ROTOR5_PY 0.43
 param set-default CA_ROTOR5_KM -0.05
-
-

ROMFS/px4fmu_common/init.d/airframes/8001_octo_x

@@ -36,5 +36,3 @@ param set-default CA_ROTOR6_PY -0.46
 param set-default CA_ROTOR7_KM -0.05
 param set-default CA_ROTOR7_PX -0.19
 param set-default CA_ROTOR7_PY 0.46
-
-

ROMFS/px4fmu_common/init.d/airframes/9001_octo_+

@@ -36,4 +36,3 @@ param set-default CA_ROTOR6_PY -0.5
 param set-default CA_ROTOR7_KM -0.05
 param set-default CA_ROTOR7_PX 0
 param set-default CA_ROTOR7_PY 0.5
-

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

@@ -69,6 +69,7 @@ if(CONFIG_MODULES_MC_RATE_CONTROL)
 		4071_ifo
 		4073_ifo-s
 		4500_clover4
+		4601_droneblocks_dexi_5
 		4901_crazyflie21
 
 		# [5000, 5999] Quadrotor +
@@ -148,6 +149,12 @@ if(CONFIG_MODULES_DIFFERENTIAL_DRIVE)
 	)
 endif()
 
+if(CONFIG_MODULES_ROVER_ACKERMANN)
+	px4_add_romfs_files(
+		50010_ackermann_rover_generic
+	)
+endif()
+
 if(CONFIG_MODULES_UUV_ATT_CONTROL)
 	px4_add_romfs_files(
 		# [60000, 61000] (Unmanned) Underwater Robots

ROMFS/px4fmu_common/init.d/rc.airship_apps

@@ -5,49 +5,6 @@
 # NOTE: Script variables are declared/initialized/unset in the rcS script.
 #
 
-###############################################################################
-#                       Begin Estimator Group Selection                       #
-###############################################################################
-
-#
-# LPE
-#
-if param compare SYS_MC_EST_GROUP 1
-then
-	#
-	# Try to start LPE. If it fails, start EKF2 as a default.
-	# Unfortunately we do not build it on px4_fmu-v2 due to a limited flash.
-	#
-	if attitude_estimator_q start
-	then
-		echo "WARN [init] Estimator LPE unsupported, EKF2 recommended."
-		local_position_estimator start
-	else
-		echo "ERROR [init] Estimator LPE not available. Using EKF2"
-		param set SYS_MC_EST_GROUP 2
-		param save
-		reboot
-	fi
-else
-	#
-	# Q estimator (attitude estimation only)
-	#
-	if param compare SYS_MC_EST_GROUP 3
-	then
-		attitude_estimator_q start
-	else
-		#
-		# EKF2
-		#
-		param set SYS_MC_EST_GROUP 2
-		ekf2 start &
-	fi
-fi
-
-###############################################################################
-#                        End Estimator Group Selection                        #
-###############################################################################
-
 #
 # Start Control Allocator
 #

ROMFS/px4fmu_common/init.d/rc.balloon_apps

@@ -4,39 +4,3 @@
 #
 # NOTE: Script variables are declared/initialized/unset in the rcS script.
 #
-
-#
-# Start the attitude and position estimator.
-#
-
-if param compare SYS_MC_EST_GROUP 1
-then
-	#
-	# Try to start LPE. If it fails, start EKF2 as a default.
-	# Unfortunately we do not build it on px4_fmu-v2 due to a limited flash.
-	#
-	if attitude_estimator_q start
-	then
-		echo "WARN [init] Estimator LPE unsupported, EKF2 recommended."
-		local_position_estimator start
-	else
-		echo "ERROR [init] Estimator LPE not available. Using EKF2"
-		param set SYS_MC_EST_GROUP 2
-		param save
-		reboot
-	fi
-else
-	#
-	# Q estimator (attitude estimation only)
-	#
-	if param compare SYS_MC_EST_GROUP 3
-	then
-		attitude_estimator_q start
-	else
-		#
-		# EKF2
-		#
-		param set SYS_MC_EST_GROUP 2
-		ekf2 start &
-	fi
-fi

ROMFS/px4fmu_common/init.d/rc.balloon_defaults

@@ -13,4 +13,6 @@ param set-default MAV_TYPE 8
 #
 # Default parameters for balloon UAVs.
 #
-param set-default SYS_MC_EST_GROUP 1
+param set-default LPE_EN 1
+param set-default ATT_EN 1
+param set-default EKF2_EN 0

ROMFS/px4fmu_common/init.d/rc.fw_apps

@@ -5,11 +5,6 @@
 # NOTE: Script variables are declared/initialized/unset in the rcS script.
 #
 
-#
-# Start the attitude and position estimator.
-#
-ekf2 start &
-
 #
 # Start Control Allocator
 #

ROMFS/px4fmu_common/init.d/rc.mc_apps

@@ -5,49 +5,6 @@
 # NOTE: Script variables are declared/initialized/unset in the rcS script.
 #
 
-###############################################################################
-#                       Begin Estimator Group Selection                       #
-###############################################################################
-
-#
-# LPE
-#
-if param compare SYS_MC_EST_GROUP 1
-then
-	#
-	# Try to start LPE. If it fails, start EKF2 as a default.
-	# Unfortunately we do not build it on px4_fmu-v2 due to a limited flash.
-	#
-	if attitude_estimator_q start
-	then
-		echo "WARN [init] Estimator LPE unsupported, EKF2 recommended."
-		local_position_estimator start
-	else
-		echo "ERROR [init] Estimator LPE not available. Using EKF2"
-		param set SYS_MC_EST_GROUP 2
-		param save
-		reboot
-	fi
-else
-	#
-	# Q estimator (attitude estimation only)
-	#
-	if param compare SYS_MC_EST_GROUP 3
-	then
-		attitude_estimator_q start
-	else
-		#
-		# EKF2
-		#
-		param set SYS_MC_EST_GROUP 2
-		ekf2 start &
-	fi
-fi
-
-###############################################################################
-#                        End Estimator Group Selection                        #
-###############################################################################
-
 #
 # Start Control Allocator
 #

ROMFS/px4fmu_common/init.d/rc.rover_ackermann_apps

@@ -0,0 +1,8 @@
+#!/bin/sh
+# Standard apps for a ackermann drive rover.
+
+# Start rover ackermann drive controller.
+rover_ackermann start
+
+# Start Land Detector.
+land_detector start rover

ROMFS/px4fmu_common/init.d/rc.rover_ackermann_defaults

@@ -0,0 +1,13 @@
+#!/bin/sh
+# Ackermann rover parameters.
+
+set VEHICLE_TYPE rover_ackermann
+param set-default MAV_TYPE 10 # MAV_TYPE_GROUND_ROVER
+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 flying
+param set-default EKF2_GBIAS_INIT 0.01
+param set-default EKF2_ANGERR_INIT 0.01
+param set-default NAV_ACC_RAD 0.5 # Waypoint acceptance radius
+param set-default NAV_RCL_ACT 6 # Disarm on manual control loss
+param set-default COM_FAIL_ACT_T 1 # Delay before failsafe after rc loss

ROMFS/px4fmu_common/init.d/rc.rover_apps

@@ -5,11 +5,6 @@
 # NOTE: Script variables are declared/initialized/unset in the rcS script.
 #
 
-#
-# Start the attitude and position estimator.
-#
-ekf2 start &
-
 #
 # Start Control Allocator
 #

ROMFS/px4fmu_common/init.d/rc.rover_differential_apps

@@ -1,9 +1,6 @@
 #!/bin/sh
 # Standard apps for a differential drive rover.
 
-# Start the attitude and position estimator.
-ekf2 start &
-
 # Start rover differential drive controller.
 differential_drive start
 

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -138,6 +138,12 @@ then
 	adis16507 -S start
 fi
 
+# SCH16T spi external IMU
+if param compare -s SENS_EN_SCH16T 1
+then
+	sch16t -S start
+fi
+
 # Eagle Tree airspeed sensor external I2C
 if param compare -s SENS_EN_ETSASPD 1
 then