cmake: git check submodules updates

Update Tools/gazebo_sitl_multiple_run.sh
Co-authored-by: JaeyoungLim <jalim@ethz.ch>
2026-05-30 08:30:04 +08:00 · 2021-10-01 14:51:23 -04:00 · 2021-10-01 16:09:32 +02:00 · 2021-10-01 16:09:32 +02:00 · 2021-10-01 10:58:25 +02:00 · 2021-09-29 23:55:00 -04:00
513 changed files with 17335 additions and 14829 deletions
@@ -9,10 +9,10 @@ pipeline {
        script {
          def build_nodes = [:]
          def docker_images = [
-            armhf: "px4io/px4-dev-armhf:2021-05-04",
-            arm64: "px4io/px4-dev-aarch64:2021-05-04",
-            base: "px4io/px4-dev-base-bionic:2021-05-04",
-            nuttx: "px4io/px4-dev-nuttx-focal:2021-05-04",
+            armhf: "px4io/px4-dev-armhf:2021-09-08",
+            arm64: "px4io/px4-dev-aarch64:2021-09-08",
+            base: "px4io/px4-dev-base-bionic:2021-09-08",
+            nuttx: "px4io/px4-dev-nuttx-focal:2021-09-08",
          ]

          def armhf_builds = [
@@ -127,7 +127,7 @@ pipeline {
    // TODO: actually upload artifacts to S3
    // stage('S3 Upload') {
    //   agent {
-    //     docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
+    //     docker { image 'px4io/px4-dev-base-focal:2021-09-08' }
    //   }
    //   options {
    //         skipDefaultCheckout()
@@ -12,7 +12,7 @@ pipeline {
            stage("build cubepilot_cubeorange_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -63,7 +63,7 @@ pipeline {
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
                    checkStatus()
                    quickCalibrate()
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
                  }
                }
                stage("print topics") {
@@ -71,7 +71,11 @@ pipeline {
                    printTopics()
                  }
                }
-
+              }
+              post {
+                always {
+                    resetBoard()
+                }
              }
            } // stage test
          }
@@ -82,7 +86,7 @@ pipeline {
            stage("build cuav_x7pro_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -139,7 +143,11 @@ pipeline {
                    printTopics()
                  }
                }
-
+              }
+              post {
+                always {
+                    resetBoard()
+                }
              }
            } // stage test
          }
@@ -150,7 +158,7 @@ pipeline {
            stage("build px4_fmu-v3_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -199,8 +207,7 @@ pipeline {
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
                    checkStatus()
                    quickCalibrate()
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener px4io_status"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
                  }
                }
                stage("print topics") {
@@ -208,7 +215,11 @@ pipeline {
                    printTopics()
                  }
                }
-
+              }
+              post {
+                always {
+                    resetBoard()
+                }
              }
            } // stage test
          }
@@ -219,7 +230,7 @@ pipeline {
            stage("build px4_fmu-v4_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -275,7 +286,11 @@ pipeline {
                    printTopics()
                  }
                }
-
+              }
+              post {
+                always {
+                    resetBoard()
+                }
              }
            } // stage test
          }
@@ -286,7 +301,7 @@ pipeline {
            stage("build px4_fmu-v4pro_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -335,7 +350,7 @@ pipeline {
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
                    checkStatus()
                    quickCalibrate()
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
                  }
                }
                stage("print topics") {
@@ -343,7 +358,11 @@ pipeline {
                    printTopics()
                  }
                }
-
+              }
+              post {
+                always {
+                    resetBoard()
+                }
              }
            } // stage test
          }
@@ -354,7 +373,7 @@ pipeline {
            stage("build px4_fmu-v5_debug") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -392,14 +411,14 @@ pipeline {
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save" || true'
                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_bootloader.elf'
                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600 || true'
                  }
                }
                stage("tests") {
                  steps {
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests" || true'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
                  }
                }
@@ -411,6 +430,7 @@ pipeline {
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true'       // limit cpu usage
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true'       // limit cpu usage
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SDLOG_MODE -1" || true'        // limit cpu usage
                    checkStatus()
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
                  }
@@ -420,7 +440,11 @@ pipeline {
                    printTopics()
                  }
                }
-
+              }
+              post {
+                always {
+                    resetBoard()
+                }
              }
            } // stage test
          }
@@ -431,7 +455,7 @@ pipeline {
            stage("build px4_fmu-v5_optimized") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -488,7 +512,11 @@ pipeline {
                    printTopics()
                  }
                }
-
+              }
+              post {
+                always {
+                    resetBoard()
+                }
              }
            } // stage test
          }
@@ -499,7 +527,7 @@ pipeline {
            stage("build px4_fmu-v5_stackcheck") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -544,7 +572,7 @@ pipeline {
                  steps {
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests" || true'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
                  }
                }
@@ -556,6 +584,7 @@ pipeline {
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true'       // limit cpu usage
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true'       // limit cpu usage
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SDLOG_MODE -1" || true'        // limit cpu usage
                    checkStatus()
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
                  }
@@ -565,7 +594,11 @@ pipeline {
                    printTopics()
                  }
                }
-
+              }
+              post {
+                always {
+                    resetBoard()
+                }
              }
            } // stage test
          }
@@ -576,7 +609,7 @@ pipeline {
            stage("build px4_fmu-v5_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -633,7 +666,11 @@ pipeline {
                    printTopics()
                  }
                }
-
+              }
+              post {
+                always {
+                    resetBoard()
+                }
              }
            } // stage test
          }
@@ -644,7 +681,7 @@ pipeline {
        //     stage("build modalai_fc-v1_test") {
        //       agent {
        //         docker {
-        //           image 'px4io/px4-dev-nuttx-focal:2021-05-04'
+        //           image 'px4io/px4-dev-nuttx-focal:2021-09-08'
        //           args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
        //         }
        //       }
@@ -711,7 +748,7 @@ pipeline {
            stage("build nxp_fmuk66-v3_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -756,6 +793,7 @@ pipeline {
                  steps {
                    // configure
                    resetParameters()
+                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_RATEMAX" --value "400"'
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"'    // generic quadcopter
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
                    checkStatus()
@@ -767,7 +805,11 @@ pipeline {
                    printTopics()
                  }
                }
-
+              }
+              post {
+                always {
+                    resetBoard()
+                }
              }
            } // stage test
          }
@@ -783,7 +825,7 @@ pipeline {
  }
  options {
    buildDiscarder(logRotator(numToKeepStr: '30', artifactDaysToKeepStr: '60'))
-    timeout(time: 120, unit: 'MINUTES')
+    timeout(time: 180, unit: 'MINUTES')
    skipDefaultCheckout()
  }
 }
@@ -800,12 +842,13 @@ void quickCalibrate() {
 void checkStatus() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'

  // run logger
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sleep 1"' // sleep before continuing
  // status commands
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/meminfo"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/uptime"'
@@ -817,8 +860,9 @@ void checkStatus() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "free"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gps status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload; top once; listener cpuload"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger status" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /bin"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /dev"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /etc"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /obj"'
@@ -827,7 +871,7 @@ void checkStatus() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf latency"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf"'
@@ -835,7 +879,6 @@ void checkStatus() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm info -d /dev/pwm_output0"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm info -d /dev/pwm_output1" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm_out status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -r 2"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uavcan status" || true'
@@ -844,7 +887,7 @@ void checkStatus() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ver all"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
  // stop logger
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off" || true'
 }

 void resetParameters() {
@@ -856,18 +899,21 @@ void resetParameters() {
 void runTests() {
  resetParameters()

+  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_CAL_EN" --value "0" || true' // disable during testing
+  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_FFT_EN" --value "0" || true' // disable during testing
+
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply

  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'

-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander_tests"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander_tests" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "controllib_test"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "lightware_laser_test"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink_tests" || true' // TODO
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'

  sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'

@@ -877,7 +923,24 @@ void runTests() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd rwtest"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd erase"'

+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u"'
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors stop"' // ignore irrelevant sensor timeouts during microbenchmarks
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "microbench all"'
+
+  // test rebooting multiple times
+  resetParameters()
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
 }

 void printTopics() {
@@ -885,91 +948,127 @@ void printTopics() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a"'

-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_armed"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_0"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_1"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_2"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_3"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_outputs"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener adc_report"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener airspeed_validated"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener airspeed_wind"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener battery_status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener commander_state"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener distance_sensor"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener ekf2_timestamps"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener ekf_gps_drift"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener esc_status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_attitude"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_baro_bias"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_event_flags"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_global_position"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovation_test_ratios"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovation_variances"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovations"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_local_position"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_odometry"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_optical_flow_vel"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_selector_status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_sensor_bias"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_states"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_status_flags"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_wind"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener event"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener input_rc"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener led_control"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener log_message"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener logger_status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener manual_control_setpoint"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener mavlink_log"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener mission"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener multirotor_motor_limits"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener optical_flow"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener parameter_update"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener position_controller_landing_status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener position_setpoint_triplet"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener radio_status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener rate_ctrl_status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener safety"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel_fifo"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_baro"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_combined"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro_fft"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro_fifo"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_mag"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_preflight_mag"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_selection"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensors_status_imu"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener system_power"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener task_stack_info"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener telemetry_status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener test_motor"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener trajectory_setpoint"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener tune_control"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_acceleration"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_air_data"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_acceleration"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_velocity"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude_setpoint"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_command"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_command_ack"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_control_mode"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_global_position"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu_status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_land_detected"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_local_position"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_local_position_setpoint"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_magnetometer"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_odometry"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_rates_setpoint"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_status_flags"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vtol_vehicle_status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener yaw_estimator_status"'
+  // these are for casually inspecting the system, output failure doesn't matter
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_armed" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_0" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_1" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_2" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_3" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_outputs" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener adc_report" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener airspeed_validated" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener airspeed_wind" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener battery_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener commander_state" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener distance_sensor" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener ekf2_timestamps" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener ekf_gps_drift" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener esc_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_attitude" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_baro_bias" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_event_flags" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_global_position" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovation_test_ratios" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovation_variances" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovations" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_local_position" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_odometry" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_optical_flow_vel" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_selector_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_sensor_bias" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_states" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_status_flags" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_wind" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener event" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener heater_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener input_rc" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener led_control" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener log_message" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener logger_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener manual_control_setpoint" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener mavlink_log" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener mission" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener multirotor_motor_limits" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener optical_flow" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener parameter_update" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener position_controller_landing_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener position_setpoint_triplet" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener radio_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener rate_ctrl_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener safety" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel_fifo" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_baro" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_combined" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro_fft" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro_fifo" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_mag" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_preflight_mag" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_selection" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensors_status_imu" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener system_power" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener task_stack_info" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener telemetry_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener test_motor" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener trajectory_setpoint" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener tune_control" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_acceleration" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_air_data" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_acceleration" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_velocity" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude_setpoint" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_command" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_command_ack" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_control_mode" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_global_position" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_land_detected" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_local_position" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_local_position_setpoint" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_magnetometer" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_odometry" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_rates_setpoint" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_status_flags" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vtol_vehicle_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener yaw_estimator_status" || true'
+}
+
+void resetBoard() {
+  resetParameters()
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 0" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true'       // limit cpu usage
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true'       // limit cpu usage
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SDLOG_MODE -1" || true'        // limit cpu usage
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
+
+  // check SD card
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc/fs" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/usage" || true'
+  // format
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dataman stop" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "umount /fs/microsd" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mkfatfs -F 32 /dev/mmcsd0" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once" || true'
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount -t vfat /dev/mmcsd0 /fs/microsd" || true'
+  // check SD card
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc/fs" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/usage" || true'
 }
@@ -2,7 +2,7 @@
 // https://github.com/microsoft/vscode-dev-containers/tree/v0.134.0/containers/cpp
 {
 	"name": "px4-dev-nuttx",
-	"image": "px4io/px4-dev-nuttx-focal:2021-05-04",
+	"image": "px4io/px4-dev-nuttx-focal:2021-09-08",

 	"runArgs": [ "--cap-add=SYS_PTRACE", "--security-opt", "seccomp=unconfined" ],

@@ -29,7 +29,7 @@ jobs:
          "parameters_metadata",
        ]
    container:
-      image: px4io/px4-dev-nuttx-focal:2021-05-04
+      image: px4io/px4-dev-nuttx-focal:2021-09-08
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-clang:2021-05-04
+    container: px4io/px4-dev-clang:2021-09-08
    steps:
    - uses: actions/checkout@v1
      with:
@@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-armhf:2021-05-04
+    container: px4io/px4-dev-armhf:2021-09-08
    strategy:
      matrix:
        config: [
@@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-aarch64:2021-05-04
+    container: px4io/px4-dev-aarch64:2021-09-08
    strategy:
      matrix:
        config: [
@@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-05-04
+    container: px4io/px4-dev-nuttx-focal:2021-09-08
    strategy:
      matrix:
        config: [
@@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-05-04
+    container: px4io/px4-dev-nuttx-focal:2021-09-08
    strategy:
      matrix:
        config: [
@@ -23,7 +23,7 @@ jobs:
    needs: enumerate_targets
    strategy:
      matrix: ${{fromJson(needs.enumerate_targets.outputs.matrix)}}
-    container: px4io/px4-dev-${{ matrix.container }}:2021-05-04
+    container: px4io/px4-dev-${{ matrix.container }}:2021-09-08
    steps:
    - uses: actions/checkout@v1
      with:
@@ -5,7 +5,7 @@ on: pull_request
 jobs:
  unit_tests:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-05-04
+    container: px4io/px4-dev-base-focal:2021-09-08
    steps:
    - uses: actions/checkout@v2.3.1
      with:
@@ -5,7 +5,7 @@ on: push
 jobs:
  unit_tests:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-05-04
+    container: px4io/px4-dev-base-focal:2021-09-08
    env:
      GIT_COMMITTER_EMAIL: bot@px4.io
      GIT_COMMITTER_NAME: PX4BuildBot
@@ -25,7 +25,7 @@ jobs:
          #- {vehicle: "tiltrotor",     mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}

    container:
-      image: px4io/px4-dev-ros-melodic:2021-05-04
+      image: px4io/px4-dev-ros-melodic:2021-09-08
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -20,7 +20,7 @@ jobs:
          #- {test_file: "mavros_posix_tests_offboard_rpyrt_ctl.test", vehicle: "iris", build_type: "RelWithDebInfo"}

    container:
-      image: px4io/px4-dev-ros-melodic:2021-05-04
+      image: px4io/px4-dev-ros-melodic:2021-09-08
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -11,7 +11,7 @@ jobs:

  airframe:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-05-04
+    container: px4io/px4-dev-base-focal:2021-09-08
    steps:
    - uses: actions/checkout@v1
      with:
@@ -37,7 +37,7 @@ jobs:

  module:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-05-04
+    container: px4io/px4-dev-base-focal:2021-09-08
    steps:
    - uses: actions/checkout@v1
      with:
@@ -52,7 +52,7 @@ jobs:

  parameter:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-05-04
+    container: px4io/px4-dev-base-focal:2021-09-08
    steps:
    - uses: actions/checkout@v1
      with:
@@ -76,7 +76,7 @@ jobs:

  events:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-05-04
+    container: px4io/px4-dev-base-focal:2021-09-08
    steps:
    - uses: actions/checkout@v1
      with:
@@ -103,7 +103,7 @@ jobs:

  uorb_graph:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-05-04
+    container: px4io/px4-dev-nuttx-focal:2021-09-08
    steps:
    - uses: actions/checkout@v1
      with:
@@ -118,7 +118,7 @@ jobs:

  micrortps_agent:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-05-04
+    container: px4io/px4-dev-base-focal:2021-09-08
    steps:
    - uses: actions/checkout@v1
      with:
@@ -132,7 +132,7 @@ jobs:

  ROS_msgs:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-05-04
+    container: px4io/px4-dev-base-focal:2021-09-08
    steps:
    - uses: actions/checkout@v1
      with:
@@ -145,7 +145,7 @@ jobs:

  ROS2_bridge:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-05-04
+    container: px4io/px4-dev-base-focal:2021-09-08
    steps:
    - uses: actions/checkout@v1
      with:
@@ -21,7 +21,7 @@ jobs:
          - {latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage",         model: "standard_vtol" } # Zurich

    container:
-      image: px4io/px4-dev-simulation-focal:2021-05-04
+      image: px4io/px4-dev-simulation-focal:2021-09-08
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -66,3 +66,11 @@
 [submodule "Tools/simulation-ignition"]
 	path = Tools/simulation-ignition
 	url = https://github.com/Auterion/px4-simulation-ignition.git
+[submodule "src/lib/crypto/libtomcrypt"]
+	path = src/lib/crypto/libtomcrypt
+	url = https://github.com/PX4/libtomcrypt.git
+	branch = px4
+[submodule "src/lib/crypto/libtommath"]
+	path = src/lib/crypto/libtommath
+	url = https://github.com/PX4/libtommath.git
+	branch = px4
@@ -31,7 +31,6 @@
                "esc"
        ],
        "debug.toolBarLocation": "docked",
-        "editor.acceptSuggestionOnEnter": "off",
        "editor.defaultFormatter": "chiehyu.vscode-astyle",
        "editor.dragAndDrop": false,
        "editor.insertSpaces": false,
@@ -110,14 +110,22 @@ include(px4_parse_function_args)
 #=============================================================================
 # git
 #
+find_package(Git QUIET)
 include(px4_git)

+# sync submodules
 execute_process(
-	COMMAND git describe --exclude ext/* --always --tags
-	OUTPUT_VARIABLE PX4_GIT_TAG
-	OUTPUT_STRIP_TRAILING_WHITESPACE
-	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
-	)
+        COMMAND ${GIT_EXECUTABLE} submodule sync --recursive --quiet
+        OUTPUT_VARIABLE GIT_SUBMODULE_SYNC
+        WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+)
+
+execute_process(
+        COMMAND ${GIT_EXECUTABLE} describe --exclude ext/* --always --tags
+        OUTPUT_VARIABLE PX4_GIT_TAG
+        OUTPUT_STRIP_TRAILING_WHITESPACE
+        WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+)
 message(STATUS "PX4 version: ${PX4_GIT_TAG}")

 define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES
@@ -481,6 +481,7 @@ submodulesupdate:
 	@git submodule update --quiet --init --recursive --jobs 4 || true
 	@git submodule sync --recursive
 	@git submodule update --init --recursive --jobs 4
+	@git fetch --all --tags --recurse-submodules=yes --jobs=4

 gazeboclean:
 	@rm -rf ~/.gazebo/*
@@ -15,10 +15,6 @@ set +e
 #
 #------------------------------------------------------------------------------
 set R /
-#
-# Mount the procfs.
-#
-mount -t procfs /proc

 #
 # Start CDC/ACM serial driver.
@@ -21,8 +21,6 @@ then
 fi

 # initialize script variables
-set AUX_MODE                    none
-set AUX_BANK2			none
 set IO_PRESENT                  no
 set MAV_TYPE                    none
 set MIXER                       none
@@ -122,8 +120,6 @@ then

 	param set SENS_BOARD_X_OFF 0.000001
 	param set SENS_DPRES_OFF 0.001
-
-	param set SYS_RESTART_TYPE 2
 fi

 param set-default BAT1_N_CELLS 4
@@ -42,7 +42,6 @@ px4_add_romfs_files(
 	rc.fw_apps
 	rc.fw_defaults
 	rc.interface
-	rc.io
 	rc.logging
 	rc.mc_apps
 	rc.mc_defaults
@@ -56,7 +56,6 @@ param set-default RTL_DESCEND_ALT 10
 param set-default RTL_RETURN_ALT 30

 param set-default SDLOG_DIRS_MAX 7
-param set-default SYS_RESTART_TYPE 2

 param set-default VT_F_TRANS_THR 0.75
 param set-default VT_MOT_ID 1234
@@ -19,6 +19,7 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 # @board bitcraze_crazyflie exclude
+# @board px4_fmu-v2 exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -23,6 +23,7 @@
 # @maintainer William Peale <develop707@gmail.com>
 #
 # @board bitcraze_crazyflie exclude
+# @board px4_fmu-v2 exclude
 #

 set VEHICLE_TYPE mc
@@ -6,6 +6,7 @@
 # @class Copter
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
+# @board px4_fmu-v2 exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -48,7 +48,6 @@ param set-default CBRK_IO_SAFETY    22027
 param set-default CBRK_SUPPLY_CHK   894281

 # RC configuration
-param set-default RC_MAP_MODE_SW    5
 param set-default RC_MAP_PITCH      2
 param set-default RC_MAP_ROLL       1
 param set-default RC_MAP_THROTTLE   3
@@ -20,6 +20,7 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 # @board bitcraze_crazyflie exclude
+# @board px4_fmu-v2 exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -17,6 +17,10 @@ set OUTPUT_DEV none
 set OUTPUT_AUX_DEV /dev/pwm_output1
 set OUTPUT_EXTRA_DEV /dev/pwm_output0

+# set these before starting the modules
+param set PWM_AUX_OUT ${PWM_AUX_OUT}
+param set PWM_MAIN_OUT ${PWM_OUT}
+
 #
 # If mount (gimbal) control is enabled and output mode is AUX, set the aux
 # mixer to mount (override the airframe-specific MIXER_AUX setting).
@@ -29,12 +33,6 @@ then
        fi
 fi

-# USE_IO is set to 'no' for all boards w/o px4io driver or SYS_USE_IO disabled
-if [ $USE_IO = no -a $AUX_BANK2 = none ]
-then
-	set AUX_MODE none
-fi
-
 #
 # Set the default output mode if none was set.
 #
@@ -76,15 +74,6 @@ then
 		fi
 	fi

-	if [ $OUTPUT_MODE = $OUTPUT_CMD ]
-	then
-		if ! $OUTPUT_CMD mode_$FMU_MODE
-		then
-			echo "$OUTPUT_CMD start failed"
-			tune_control play error
-		fi
-	fi
-
 	if [ $OUTPUT_MODE = uavcan_esc ]
 	then
 		if param compare UAVCAN_ENABLE 0
@@ -93,19 +82,24 @@ then
 		fi
 	fi

-	if [ $OUTPUT_MODE = io ]
-	then
-		. ${R}etc/init.d/rc.io
-	fi
-
 	#
-	# Start IO for RC input if needed.
+	# Start IO for PWM output or RC input if needed.
 	#
 	if [ $IO_PRESENT = yes ]
 	then
-		if [ $OUTPUT_MODE != io ]
+		if ! px4io start
 		then
-			. ${R}etc/init.d/rc.io
+			echo "PX4IO start failed"
+			tune_control play -t 18 # PROG_PX4IO_ERR
+		fi
+	fi
+
+	if [ $OUTPUT_MODE = $OUTPUT_CMD -o $OUTPUT_MODE = io ]
+	then
+		if ! $OUTPUT_CMD start
+		then
+			echo "$OUTPUT_CMD start failed"
+			tune_control play error
 		fi
 	fi
 fi
@@ -161,7 +155,7 @@ else
 	fi
 fi

-if [ $MIXER_AUX != none -a $AUX_MODE != none ]
+if [ $MIXER_AUX != none ]
 then
 	#
 	# Load aux mixer.
@@ -179,34 +173,26 @@ then

 	if [ $MIXER_AUX_FILE != none ]
 	then
-		# Start the output module
-		if $OUTPUT_CMD mode_${AUX_MODE}
+		# Append aux mixer to main device.
+		if param greater SYS_HITL 0
 		then
-			# Append aux mixer to main device.
-			if param greater SYS_HITL 0
+			if mixer append ${OUTPUT_DEV} ${MIXER_AUX_FILE}
 			then
-				if mixer append ${OUTPUT_DEV} ${MIXER_AUX_FILE}
-				then
-					echo "INFO  [init] Mixer: ${MIXER_AUX_FILE} appended to ${OUTPUT_DEV}"
-				else
-					echo "ERROR  [init] Failed appending mixer: ${MIXER_AUX_FILE}"
-				fi
-			fi
-			if [ -e $OUTPUT_AUX_DEV -a $OUTPUT_MODE != hil ]
-			then
-				if mixer load ${OUTPUT_AUX_DEV} ${MIXER_AUX_FILE}
-				then
-					echo "INFO  [init] Mixer: ${MIXER_AUX_FILE} on ${OUTPUT_AUX_DEV}"
-				else
-					echo "ERROR  [init] Failed loading mixer: ${MIXER_AUX_FILE}"
-				fi
+				echo "INFO  [init] Mixer: ${MIXER_AUX_FILE} appended to ${OUTPUT_DEV}"
 			else
-				echo "INFO  [init] setting PWM_AUX_OUT none"
-				set PWM_AUX_OUT none
+				echo "ERROR  [init] Failed appending mixer: ${MIXER_AUX_FILE}"
+			fi
+		fi
+		if [ -e $OUTPUT_AUX_DEV -a $OUTPUT_MODE != hil ]
+		then
+			if mixer load ${OUTPUT_AUX_DEV} ${MIXER_AUX_FILE}
+			then
+				echo "INFO  [init] Mixer: ${MIXER_AUX_FILE} on ${OUTPUT_AUX_DEV}"
+			else
+				echo "ERROR  [init] Failed loading mixer: ${MIXER_AUX_FILE}"
 			fi
 		else
-			echo "ERROR: Could not start: pwm_out mode_pwm"
-			tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
+			echo "INFO  [init] setting PWM_AUX_OUT none"
 			set PWM_AUX_OUT none
 		fi

@@ -226,38 +212,6 @@ then
 	fi
 fi

-param set PWM_AUX_OUT ${PWM_AUX_OUT}
-
-if [ $MIXER_AUX != none -a $AUX_MODE = none -a -e $OUTPUT_AUX_DEV ]
-then
-	#
-	# Load aux mixer.
-	#
-	if [ -f ${SDCARD_MIXERS_PATH}/${MIXER_AUX}.aux.mix ]
-	then
-		set MIXER_AUX_FILE ${SDCARD_MIXERS_PATH}/${MIXER_AUX}.aux.mix
-	else
-
-		if [ -f /etc/mixers/${MIXER_AUX}.aux.mix ]
-		then
-			set MIXER_AUX_FILE /etc/mixers/${MIXER_AUX}.aux.mix
-		fi
-	fi
-
-	if mixer load ${OUTPUT_AUX_DEV} ${MIXER_AUX_FILE}
-	then
-		echo "INFO  [init] Mixer: ${MIXER_AUX_FILE} on ${OUTPUT_AUX_DEV}"
-
-		# Set PWM_AUX output frequency.
-		if [ $PWM_AUX_RATE != none ]
-		then
-			pwm rate -c ${PWM_AUX_OUT} -r ${PWM_AUX_RATE} -d ${OUTPUT_AUX_DEV}
-		fi
-	else
-		echo "ERROR  [init] Failed loading mixer: ${MIXER_AUX_FILE}"
-	fi
-fi
-
 if [ $OUTPUT_MODE = pwm_out -o $OUTPUT_MODE = io ]
 then
 	if [ $PWM_OUT != none ]
@@ -270,8 +224,6 @@ then
 	fi
 fi

-param set PWM_MAIN_OUT ${PWM_OUT}
-
 if [ $EXTRA_MIXER_MODE != none ]
 then

@@ -1,23 +0,0 @@
-#!/bin/sh
-#
-# PX4IO interface init script.
-#
-
-# If $OUTPUT_MODE indicated Hardware-int-the-loop simulation, px4io should not publish actuator_outputs,
-# instead, pwm_out_sim will publish that uORB
-if [ $OUTPUT_MODE = hil ]
-then
-    set HIL_ARG $OUTPUT_MODE
-fi
-
-if [ $IO_PRESENT = yes ]
-then
-	if px4io start $HIL_ARG
-	then
-		# Allow PX4IO to recover from midair restarts.
-		px4io recovery
-	else
-		echo "PX4IO start failed"
-		tune_control play -t 18 # PROG_PX4IO_ERR
-	fi
-fi
@@ -13,6 +13,8 @@ param set-default MIS_YAW_TMT 10
 param set-default EKF2_ARSP_THR 10
 param set-default EKF2_FUSE_BETA 1

+param set-default HTE_VXY_THR 2.0
+
 param set-default MIS_DIST_WPS 5000

 param set-default MPC_ACC_HOR_MAX 2
@@ -22,10 +22,8 @@ set +e
 #
 set R /
 set AUTOCNF no
-set AUX_MODE pwm
 set FCONFIG /fs/microsd/etc/config.txt
 set FEXTRAS /fs/microsd/etc/extras.txt
-set FMU_MODE pwm
 set FRC /fs/microsd/etc/rc.txt
 set IOFW "/etc/extras/px4_io-v2_default.bin"
 set IO_PRESENT no
@@ -51,11 +49,6 @@ set STARTUP_TUNE 1
 set USE_IO no
 set VEHICLE_TYPE none

-#
-# Mount the procfs.
-#
-mount -t procfs /proc
-
 #
 # Start CDC/ACM serial driver.
 #
@@ -69,8 +62,43 @@ ver all
 #
 # Try to mount the microSD card.
 #
+set SDCARD_AVAILABLE no
 # REBOOTWORK this needs to start after the flight control loop.
 if mount -t vfat /dev/mmcsd0 /fs/microsd
+then
+	set PX4_INIT_TEST_FILE "/fs/microsd/.px4_init_test_file"
+	date >> $PX4_INIT_TEST_FILE
+
+	if [ -f $PX4_INIT_TEST_FILE ]
+	then
+		cat $PX4_INIT_TEST_FILE
+		rm $PX4_INIT_TEST_FILE
+
+		if [ ! -f $PX4_INIT_TEST_FILE ]
+		then
+			set SDCARD_AVAILABLE yes
+		fi
+	fi
+fi
+
+if [ $SDCARD_AVAILABLE = no ]
+then
+	set STARTUP_TUNE 14 # tune 14 = SD_INIT
+	if mkfatfs -F 32 /dev/mmcsd0
+	then
+		if mount -t vfat /dev/mmcsd0 /fs/microsd
+		then
+			set SDCARD_AVAILABLE yes
+			echo "INFO [init] card formatted"
+
+		else
+			set STARTUP_TUNE 15 # tune 15 = SD_ERROR
+			echo "ERROR [init] format failed"
+		fi
+	fi
+fi
+
+if [ $SDCARD_AVAILABLE = yes ]
 then
 	if hardfault_log check
 	then
@@ -81,20 +109,8 @@ then
 			hardfault_log reset
 		fi
 	fi
-else
-	# tune SD_INIT
-	set STARTUP_TUNE 14 # tune 14 = SD_INIT
-	if mkfatfs /dev/mmcsd0
-	then
-		if mount -t vfat /dev/mmcsd0 /fs/microsd
-		then
-			echo "INFO [init] card formatted"
-		else
-			set STARTUP_TUNE 15 # tune 15 = SD_ERROR
-			echo "ERROR [init] format failed"
-		fi
-	fi
 fi
+unset SDCARD_AVAILABLE

 #
 # Look for an init script on the microSD card.
@@ -358,52 +374,9 @@ else
 		commander start
 	fi

-	# Sensors on the PWM interface bank.
-	if param compare -s SENS_EN_LL40LS 1
-	then
-		# Clear pins 5 and 6.
-		set FMU_MODE pwm4
-		set AUX_MODE pwm4
-	fi
-
-
-	# Check if ATS is enabled
-	if param compare FD_EXT_ATS_EN 1
-	then
-		# Clear pins 5 and 6.
-		set FMU_MODE pwm4
-		set AUX_MODE pwm4
-	fi

 	if param greater -s TRIG_MODE 0
 	then
-		if param compare TRIG_PINS_EX 0
-		then
-			# We ONLY support trigger on pins 5+6 or 7+8 when simultanously using AUX for actuator output.
-			if param compare TRIG_PINS 56
-			then
-				# clear pins 5 and 6
-				set FMU_MODE pwm4
-				set AUX_MODE pwm4
-			else
-				if param compare TRIG_PINS 78
-				then
-					# clear pins 7 and 8
-					set FMU_MODE pwm6
-					set AUX_MODE pwm6
-				else
-					set FMU_MODE none
-					set AUX_MODE none
-				fi
-			fi
-		else
-			if param compare TRIG_PINS_EX 12288
-			then
-				set FMU_MODE pwm12
-				set AUX_MODE pwm12
-			fi
-		fi
-
 		camera_trigger start
 		camera_feedback start
 	fi
@@ -431,14 +404,7 @@ else
 		rc_input start $RC_INPUT_ARGS
 	fi

-	#
-	# Configure vehicle type specific parameters.
-	# Note: rc.vehicle_setup is the entry point for rc.interface,
-	#       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
-	#
-	. ${R}etc/init.d/rc.vehicle_setup
-
-	# Camera capture driver
+	# Camera capture driver (before pwm_out)
 	if param greater -s CAM_CAP_FBACK 0
 	then
 		if camera_capture start
@@ -447,6 +413,13 @@ else
 		fi
 	fi

+	#
+	# Configure vehicle type specific parameters.
+	# Note: rc.vehicle_setup is the entry point for rc.interface,
+	#       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
+	#
+	. ${R}etc/init.d/rc.vehicle_setup
+
 	#
 	# Start the navigator.
 	#
@@ -546,10 +519,8 @@ fi
 #
 unset R
 unset AUTOCNF
-unset AUX_MODE
 unset FCONFIG
 unset FEXTRAS
-unset FMU_MODE
 unset FRC
 unset IO_PRESENT
 unset IOFW
@@ -1,5 +1,6 @@
 Aileron/rudder/elevator/throttle mixer for PX4FMU
 ==================================================
+# @board px4_fmu-v2 exclude

 Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
 (roll), 1 (pitch) and 3 (thrust).
@@ -1,5 +1,6 @@
 TF-G2 autogyro mixer
 ==================================================
+# @board px4_fmu-v2 exclude

 Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
 (roll), 1 (pitch) and 3 (thrust).
@@ -1,5 +1,6 @@
 Viper Delta-wing mixer
 =================================
+# @board px4_fmu-v2 exclude

 Designed for Viper.

@@ -1,4 +1,5 @@
 # CruiseAder Claire Main Multirotor mixer for PX4FMU
+# @board px4_fmu-v2 exclude

 #

@@ -1,5 +1,6 @@
 Delta-wing mixer for PX4FMU
 ===========================
+# @board px4_fmu-v2 exclude

 This file defines mixers suitable for controlling a delta wing aircraft using
 PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
@@ -1,4 +1,5 @@
 # Direct mixer
+# @board px4_fmu-v2 exclude

 A: 0
 A: 1
@@ -1,3 +1,4 @@
 # Octo coaxial with wide arms
+# @board px4_fmu-v2 exclude

 R: 8cw
@@ -1,5 +1,6 @@
 Delta-wing VTOL mixer
 =====================
+# @board px4_fmu-v2 exclude

 This file defines mixers suitable for controlling a delta wing VTOL aircraft using
 PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
@@ -1,5 +1,6 @@
 Tailsitter duo mixer
 ============================
+# @board px4_fmu-v2 exclude

 This file defines a mixer for a generic duo tailsitter VTOL (eg TBS Caipirinha tailsitter edition). This vehicle
 has two motors in total, one attached to each wing. It also has two elevons which
@@ -70,14 +70,6 @@ then
 	set io_file /etc/extras/px4_io-v2_default.bin
 fi

-if px4io start
-then
-	echo "PX4IO OK"
-else
-	set unit_test_failure 1
-	set unit_test_failure_list "${unit_test_failure_list} px4io_start"
-fi
-
 if px4io checkcrc $io_file
 then
 	echo "PX4IO CRC OK"
@@ -104,6 +96,15 @@ else
 	fi
 fi

+if px4io start
+then
+	echo "PX4IO OK"
+else
+	set unit_test_failure 1
+	set unit_test_failure_list "${unit_test_failure_list} px4io_start"
+fi
+
+
 #
 # The presence of this file suggests we're running a mount stress test
 #
@@ -30,8 +30,11 @@ def print_line(line):
    if "FAILED" in line:
        line = line.replace("FAILED", f"{COLOR_RED}FAILED{COLOR_RESET}", 1)

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

 def monitor_firmware_upload(port, baudrate):
    ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=1, xonxoff=True, rtscts=False, dsrdtr=False)
@@ -40,16 +43,21 @@ def monitor_firmware_upload(port, baudrate):
    timeout_start = time.time()
    timeout_newline = time.time()

+    return_code = 0
+
    while True:
        serial_line = ser.readline().decode("ascii", errors='ignore')

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

        if "NuttShell (NSH)" in serial_line:
-            sys.exit(0)
+            sys.exit(return_code)
        elif "nsh>" in serial_line:
-            sys.exit(0)
+            sys.exit(return_code)

        if time.time() > timeout_start + timeout:
            print("Error, timeout")
@@ -35,7 +35,7 @@ def do_param_set_cmd(port, baudrate, param_name, param_value):
    ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.1, xonxoff=True, rtscts=False, dsrdtr=False)

    timeout_start = time.time()
-    timeout = 10  # 10 seconds
+    timeout = 30  # 30 seconds

    # wait for nsh prompt
    while True:
@@ -30,14 +30,18 @@ def print_line(line):
    if "FAILED" in line:
        line = line.replace("FAILED", f"{COLOR_RED}FAILED{COLOR_RESET}", 1)

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

 def do_nsh_cmd(port, baudrate, cmd):
-    ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.1, xonxoff=True, rtscts=False, dsrdtr=False)
+    ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.2, xonxoff=True, rtscts=False, dsrdtr=False)

    timeout_start = time.time()
-    timeout = 10  # 10 seconds
+    timeout = 30  # 30 seconds

    # wait for nsh prompt
    while True:
@@ -66,7 +70,7 @@ def do_nsh_cmd(port, baudrate, cmd):
    success_cmd = "cmd succeeded!"

    # wait for command echo
-    serial_cmd = '{0}; echo "{1}"\r\n'.format(cmd, success_cmd)
+    serial_cmd = '{0}; echo "{1}"; echo "{2}";\r\n'.format(cmd, success_cmd, success_cmd)
    ser.write(serial_cmd.encode("ascii"))
    ser.flush()
    while True:
@@ -90,13 +94,19 @@ def do_nsh_cmd(port, baudrate, cmd):
    timeout_start = time.time()
    timeout = 180 # 3 minutes

+    return_code = 0
+
    while True:
        serial_line = ser.readline().decode("ascii", errors='ignore')

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

            if "nsh>" in serial_line:
@@ -32,14 +32,17 @@ def print_line(line):
    if "FAILED" in line:
        line = line.replace("FAILED", f"{COLOR_RED}FAILED{COLOR_RESET}", 1)

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

 def do_test(port, baudrate, test_name):
    ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.2, xonxoff=True, rtscts=False, dsrdtr=False)

    timeout_start = time.time()
-    timeout = 10  # 10 seconds
+    timeout = 30  # 30 seconds

    # wait for nsh prompt
    while True:
@@ -139,9 +142,6 @@ class TestHardwareMethods(unittest.TestCase):
    def test_bson(self):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bson"))

-    def test_conv(self):
-        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "conv"))
-
    def test_dataman(self):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "dataman"))

@@ -24,4 +24,7 @@ exec find boards msg src platforms test \
    -path src/modules/micrortps_bridge/micro-CDR -prune -o \
    -path src/modules/micrortps_bridge/microRTPS_client -prune -o \
    -path test/mavsdk_tests/catch2 -prune -o \
+    -path src/lib/crypto/monocypher -prune -o \
+    -path src/lib/crypto/libtomcrypt -prune -o \
+    -path src/lib/crypto/libtommath -prune -o \
    -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) | grep $PATTERN
@@ -1,85 +0,0 @@
-#!/usr/bin/env bash
-
-function check_git_submodule {
-
-# The .git exists in a submodule if init and update have been done.
-if [[ -f $1"/.git" || -d $1"/.git" ]]; then
-
-	# always update within CI environment or configuring withing VSCode CMake where you can't interact
-	if [ "$CI" == "true" ] || [ -n "${VSCODE_PID+set}" ]; then
-		git submodule --quiet sync --recursive -- $1
-		git submodule --quiet update --init --recursive --jobs=8 -- $1  || true
-		git submodule --quiet update --init --recursive --jobs=8 -- $1
-		exit 0
-	fi
-
-	SUBMODULE_STATUS=$(git submodule summary "$1")
-	STATUSRETVAL=$(echo $SUBMODULE_STATUS | grep -A20 -i "$1")
-	if ! [[ -z "$STATUSRETVAL" ]]; then
-		echo -e "\033[31mChecked $1 submodule, ACTION REQUIRED:\033[0m"
-		echo ""
-		echo -e "Different commits:"
-		echo -e "$SUBMODULE_STATUS"
-		echo ""
-		echo ""
-		echo -e " *******************************************************************************"
-		echo -e " *   \033[31mIF YOU DID NOT CHANGE THIS FILE (OR YOU DON'T KNOW WHAT A SUBMODULE IS):\033[0m  *"
-		echo -e " *   \033[31mHit 'u' and <ENTER> to update ALL submodules and resolve this.\033[0m            *"
-		echo -e " *   (performs \033[94mgit submodule sync --recursive\033[0m                                  *"
-		echo -e " *    and \033[94mgit submodule update --init --recursive\033[0m )                            *"
-		echo -e " *******************************************************************************"
-		echo ""
-		echo ""
-		echo -e "   Only for EXPERTS:"
-		echo -e "   $1 submodule is not in the recommended version."
-		echo -e "   Hit 'y' and <ENTER> to continue the build with this version. Hit <ENTER> to resolve manually."
-		echo -e "   Use \033[94mgit add $1 && git commit -m 'Updated $1'\033[0m to choose this version (careful!)"
-		echo ""
-		read user_cmd
-		if [ "$user_cmd" == "y" ]; then
-			echo "Continuing build with manually overridden submodule.."
-		elif [ "$user_cmd" == "u" ]; then
-			git submodule sync --recursive -- $1
-			git submodule update --init --recursive -- $1 || true
-			git submodule update --init --recursive --force -- $1
-			echo "Submodule fixed, continuing build.."
-		else
-			echo "Build aborted."
-			exit 1
-		fi
-	fi
-else
-	git submodule --quiet sync --recursive --quiet -- $1
-	git submodule --quiet update --init --recursive -- $1  || true
-	git submodule --quiet update --init --recursive -- $1
-fi
-
-}
-
-# If called with a path then respect $GIT_SUBMODULES_ARE_EVIL but do normal processing
-if [ "$#" != "0" ]; then
-	# called with a path then process only that path but respect $GIT_SUBMODULES_ARE_EVIL
-	[ -n "$GIT_SUBMODULES_ARE_EVIL" ] && {
-		# GIT_SUBMODULES_ARE_EVIL is set, meaning user doesn't want submodules updated
-		exit 0
-	}
-
-	check_git_submodule $1
-
-else
-
-	[ -n "$GIT_SUBMODULES_ARE_EVIL" ] && {
-		# GIT_SUBMODULES_ARE_EVIL is set, meaning user doesn't want submodules updated
-		echo "GIT_SUBMODULES_ARE_EVIL is defined - Skipping All submodule checking!"
-		exit 0
-	}
-
-	submodules=$(git submodule status | awk '{ print $2 }')
-	for i in $submodules;
-	do
-		check_git_submodule $i
-	done
-
-fi
-
-exit 0
@@ -0,0 +1,62 @@
+#!/usr/bin/env python3
+
+from Crypto.PublicKey import RSA
+from Crypto.Cipher import PKCS1_OAEP
+from Crypto.Cipher import ChaCha20
+from Crypto.Hash import SHA256
+import binascii
+import argparse
+#from pathlib import Path
+import sys
+
+if __name__ == "__main__":
+
+    parser = argparse.ArgumentParser(description="""CLI tool to decrypt an ulog file\n""")
+    parser.add_argument("ulog_file", help=".ulog file", nargs='?', default=None)
+    parser.add_argument("ulog_key", help=".ulogk, encrypted key", nargs='?', default=None)
+    parser.add_argument("rsa_key", help=".pem format key for decrypting the ulog key", nargs='?', default=None)
+
+    args = parser.parse_args()
+
+    # Only generate a key pair, don't sign
+    if not args.ulog_file or not args.ulog_key or not args.rsa_key:
+        print('Need all arguments, the encrypted ulog file, the key and the key decryption key')
+        sys.exit(1);
+
+    # Read the private RSA key to decrypt the cahcha key
+    with open(args.rsa_key, 'rb') as f:
+        r = RSA.importKey(f.read(), passphrase='')
+
+    # Read the encrypted xchacha key and the nonce
+    with open(args.ulog_key, 'rb') as f:
+        ulog_key_header = f.read(22)
+
+        # Parse the header
+        try:
+            # magic
+            if not ulog_key_header.startswith(bytearray("ULogKey".encode())):
+                raise Exception()
+            # version
+            if ulog_key_header[7] != 1:
+                raise Exception()
+            # expected key exchange algorithm (RSA_OAEP)
+            if ulog_key_header[16] != 4:
+                raise Exception()
+            key_size = ulog_key_header[19] << 8 | ulog_key_header[18];
+            nonce_size = ulog_key_header[21] << 8 | ulog_key_header[20];
+            ulog_key_cipher = f.read(key_size)
+            nonce = f.read(nonce_size)
+        except:
+            print("Keyfile format error")
+            sys.exit(1);
+
+    # Decrypt the xchacha key
+    cipher_rsa = PKCS1_OAEP.new(r,SHA256)
+    ulog_key = cipher_rsa.decrypt(ulog_key_cipher)
+    #print(binascii.hexlify(ulog_key))
+
+    # Read and decrypt the .ulgc
+    cipher = ChaCha20.new(key=ulog_key, nonce=nonce)
+    with open(args.ulog_file, 'rb') as f:
+        with open(args.ulog_file.rstrip(args.ulog_file[-1]), 'wb') as out:
+            out.write(cipher.decrypt(f.read()))
@@ -4,16 +4,16 @@ if [ -z ${PX4_DOCKER_REPO+x} ]; then
 	echo "guessing PX4_DOCKER_REPO based on input";
 	if [[ $@ =~ .*px4_fmu.* ]]; then
 		# nuttx-px4fmu-v{1,2,3,4,5}
-		PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-05-04"
+		PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-09-08"
 	elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]]; then
 		# beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_pilotpi_default
-		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-02-04"
+		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-08-18"
 	elif [[ $@ =~ .*pilotpi.arm64 ]]; then
 		# scumaker_pilotpi_arm64
 		PX4_DOCKER_REPO="px4io/px4-dev-aarch64:latest"
 	elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*bebop.* ]]; then
 		# posix_rpi_cross, posix_bebop_default
-		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-02-04"
+		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-08-18"
 	elif [[ $@ =~ .*clang.* ]] || [[ $@ =~ .*scan-build.* ]]; then
 		# clang tools
 		PX4_DOCKER_REPO="px4io/px4-dev-clang:2021-02-04"
@@ -27,7 +27,7 @@ fi

 # otherwise default to nuttx
 if [ -z ${PX4_DOCKER_REPO+x} ]; then
-	PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-05-04"
+	PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-09-08"
 fi

 # docker hygiene
@@ -126,7 +126,8 @@ else

 		m=0
 		while [ $m -lt ${target_number} ]; do
-			spawn_model ${target_vehicle} $n $target_x $target_y
+			export PX4_SIM_MODEL=${target_vehicle}${LABEL}
+			spawn_model ${target_vehicle}${LABEL} $n $target_x $target_y
 			m=$(($m + 1))
 			n=$(($n + 1))
 		done
@@ -221,7 +221,8 @@ class SourceParser(object):
                            else:
                                raise Exception("Could not extract event ID from {:}".format(args_split[0]))
                            event.name = event_name
-                            event.message = args_split[2][1:-1]
+                            # unescape \x, to treat the string the same as the C++ compiler
+                            event.message = args_split[2][1:-1].encode("utf-8").decode('unicode_escape')
                    elif call in ['reporter.healthFailure', 'reporter.armingCheckFailure']:
                        assert len(args_split) == num_args + 5, \
                            "Unexpected Number of arguments for: {:}, {:}".format(args_split, num_args)
@@ -682,7 +682,28 @@ class uploader(object):

        return True

-    def send_reboot(self):
+    def send_protocol_splitter_format(self, data):
+        # Header Structure:
+        #      bits:   1 2 3 4 5 6 7 8
+        # header[0] - |     Magic     | (='S')
+        # header[1] - |T|   LenH      | (T - 0: mavlink; 1: rtps)
+        # header[2] - |     LenL      |
+        # header[3] - |   Checksum    |
+
+        MAGIC = 83
+
+        len_bytes = len(data).to_bytes(2, "big")
+        LEN_H = len_bytes[0] & 127
+        LEN_L = len_bytes[1] & 255
+        CHECKSUM = MAGIC ^ LEN_H ^ LEN_L
+
+        header_ints = [MAGIC, LEN_H, LEN_L, CHECKSUM]
+        header_bytes = struct.pack("{}B".format(len(header_ints)), *header_ints)
+
+        self.__send(header_bytes)
+        self.__send(data)
+
+    def send_reboot(self, use_protocol_splitter_format=False):
        if (not self.__next_baud_flightstack()):
            return False

@@ -693,15 +714,19 @@ class uploader(object):
            print("If the board does not respond, unplug and re-plug the USB connector.", file=sys.stderr)

        try:
+            send_fct = self.__send
+            if use_protocol_splitter_format:
+                send_fct = self.send_protocol_splitter_format
+
            # try MAVLINK command first
            self.port.flush()
-            self.__send(uploader.MAVLINK_REBOOT_ID1)
-            self.__send(uploader.MAVLINK_REBOOT_ID0)
+            send_fct(uploader.MAVLINK_REBOOT_ID1)
+            send_fct(uploader.MAVLINK_REBOOT_ID0)
            # then try reboot via NSH
-            self.__send(uploader.NSH_INIT)
-            self.__send(uploader.NSH_REBOOT_BL)
-            self.__send(uploader.NSH_INIT)
-            self.__send(uploader.NSH_REBOOT)
+            send_fct(uploader.NSH_INIT)
+            send_fct(uploader.NSH_REBOOT_BL)
+            send_fct(uploader.NSH_INIT)
+            send_fct(uploader.NSH_REBOOT)
            self.port.flush()
            self.port.baudrate = self.baudrate_bootloader
        except Exception:
@@ -726,9 +751,13 @@ def main():
    parser.add_argument('--baud-flightstack', action="store", default="57600", help="Comma-separated list of baud rate of the serial port (default is 57600) when communicating with flight stack (Mavlink or NSH), only required for true serial ports.")
    parser.add_argument('--force', action='store_true', default=False, help='Override board type check, or silicon errata checks and continue loading')
    parser.add_argument('--boot-delay', type=int, default=None, help='minimum boot delay to store in flash')
+    parser.add_argument('--use-protocol-splitter-format', action='store_true', help='use protocol splitter format for reboot')
    parser.add_argument('firmware', action="store", help="Firmware file to be uploaded")
    args = parser.parse_args()

+    if args.use_protocol_splitter_format:
+        print("Using protocol splitter format to reboot pixhawk!")
+
    # warn people about ModemManager which interferes badly with Pixhawk
    if os.path.exists("/usr/sbin/ModemManager"):
        print("==========================================================================================================")
@@ -830,7 +859,7 @@ def main():

                    except Exception:

-                        if not up.send_reboot():
+                        if not up.send_reboot(args.use_protocol_splitter_format):
                            break

                        # wait for the reboot, without we might run into Serial I/O Error 5
@@ -138,6 +138,12 @@ serial_ports = {
        "default_baudrate": 1, # set default to an unusable value to detect that this serial port has not been configured
        },

+    # Pixhawk Payload Bus
+    "PPB": {
+        "label": "Pixhawk Payload Bus",
+        "index": 401,
+        "default_baudrate": 57600,
+        },

    }

@@ -1,5 +1,7 @@
 #! /usr/bin/env bash

+set -e
+
 ## Bash script to setup PX4 development environment on Ubuntu LTS (20.04, 18.04, 16.04).
 ## Can also be used in docker.
 ##
@@ -193,7 +195,7 @@ if [[ $INSTALL_SIM == "true" ]]; then
 		java_version=11
 		gazebo_version=9
 	elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
-		java_version=14
+		java_version=13
 		gazebo_version=11
 	else
 		java_version=14
@@ -186,8 +186,13 @@ elif [ "$program" == "gazebo" ] && [ ! -n "$no_sim" ]; then
 	fi
 elif [ "$program" == "ignition" ] && [ -z "$no_sim" ]; then
 	echo "Ignition Gazebo"
+	if [[ -n "$HEADLESS" ]]; then
+		ignition_headless="-s"
+	else
+		ignition_headless=""
+	fi
 	source "$src_path/Tools/setup_ignition.bash" "${src_path}" "${build_path}"
-	ign gazebo -r "${src_path}/Tools/simulation-ignition/worlds/ignition.world"&
+	ign gazebo ${verbose} ${ignition_headless} -r "${src_path}/Tools/simulation-ignition/worlds/${model}.world"&
 elif [ "$program" == "flightgear" ] && [ -z "$no_sim" ]; then
 	echo "FG setup"
 	cd "${src_path}/Tools/flightgear_bridge/"
@@ -0,0 +1,27 @@
+-----BEGIN RSA PRIVATE KEY-----
+MIIEowIBAAKCAQEAz6O47E+sN+Yb+h6zkukagzYtJ6ZKq344b5N6H2CDg6z9LmG/
+GRAfOeNstsz1hXyyOCcUQ9f+vKHofTN0k+fWKy95h1mwY5Vc509gRsmpD96pNp4+
+NLp3GFDjawOTqsfyLQ7zKwU0YKT3qeI3o20n2KNxnGuyXt0SK3Ph2530wwzWBR2s
+pNxpKvV8MCR7K4AbeuxodxKXKrLl0v9BHfUGpLZHpfoFfvChuK3eXK4si06tr6xt
+RmLh6f6hxcn0SNKAK+WpPsH8mN4DqayGt7UZ5XVqY4M/J3pe+PFtstI2ocDSX5Oc
+kOg+yonXytDH6I9Lt2CSXjZDcCM2+7WlBprAywIDAQABAoIBAGZE1nUV/NX/cXIt
+IvdN9q//xBfOUOLMpVFXSwQfTkdRsdXhcPUQOsERYd9bbeZUd5cusE2GGkKgYFki
+Od4LhzH4DRx8MWOrEnofX2UeODXHzoJHSI5B9Ry14n034shv+Lj2rxBWXOjo987l
+y8+jmMecIP4REWal7igWyHyZ/Q7/5UCCCH5HaA4jgMhMdrD3zdxrlPhrW/egjfKF
+Q+444qG5HzUqh7tOBxvf9Yu9FujHC9NxKDNXZZ3WBpwVQIVPCxexb4b8FBZ4syCH
+iPbSgyw91CVfMvpWCYqDe7ubw4QDLHzDIiyKFtvHmIOgPo74y8fi1YYZ+3dy5mpa
+UNdC11kCgYEA3whbNd71AVcSykRZ23AxDcjtUoiFXlpzSFes0QBGrmi2WTc04r8d
+5Zr1E8oohc/zPJnUnCh93BAAu+HJsg4wKCqOWu5qR3NWcFp4/4voG9hsg1hgWD8Z
+6fMMjoZRezSxadyeeaDStnfSkYyE2J8DPpkK5mjFG9IbrylGfApzDf0CgYEA7lTi
+j2NQ+HNMlp/oOtsRZHkQtHYutv5SltG4E4DlwDHyA2ZLR2xB+D2ce5VdPQvfHu8F
+ioMquDLeJbOPeikwko+RmpbmCsODjLueZHBmGwAfkuE0A5TZUwTi+W6iYbrXLK6E
+TgNMaS4AGeBbioo6cdnMnYp9jdm63zvefet6oGcCgYAwr4BJmCvfaQR/BsCeuDTd
+D3lOxOJoIFJ9/jWJQggr1kvH2dc/j/yUvGi3My/5VdWA6wuQMv6WZR/j43vF1HcK
+rY95pgWpJzI9QGKdVgsK2QmG+mm9mbisaxPYoNV0kaIQu8oUPtkAX9OlVglByCRL
+K9lHRqOQWSMV72qldRp8eQKBgHVCJkXN42SZtbDV8/ghGCmKtwFStCEsd43kmOBf
+pqos6JlrltYJGVv9VCQplLoYQSqDBwLjDf2aaVm7QngkE9XH9SdN3tik4PA4zvEz
+q8jVArPNQT4R2erSmKmIGTRkLMG7CzUmwk1taHdSvzcmUyL4uYc5QBSubxat6gWh
+a85AoGBAKgfnjjVoAWWvqEDLpfGPmE8lW+RaS7i5ff6QsSBx7uTEnHq6RNHuVnN
+et4pR87yIENeG8jMBiDCj8AGDtUNt9Ps9vWCPrf9HSOYoBUk+gZagU/9N+RBpuCM
+egoxtxIHM7HI+XIer+ZnZpVpgr+EoCaL7avx6k/susLQb7tqSBt1
+-----END RSA PRIVATE KEY-----
@@ -0,0 +1,38 @@
+
+0x30, 0x82, 0x1, 0x22, 0x30, 0xd, 0x6, 0x9, 
+0x2a, 0x86, 0x48, 0x86, 0xf7, 0xd, 0x1, 0x1, 
+0x1, 0x5, 0x0, 0x3, 0x82, 0x1, 0xf, 0x0, 
+0x30, 0x82, 0x1, 0xa, 0x2, 0x82, 0x1, 0x1, 
+0x0, 0xcf, 0xa3, 0xb8, 0xec, 0x4f, 0xac, 0x37, 
+0xe6, 0x1b, 0xfa, 0x1e, 0xb3, 0x92, 0xe9, 0x1a, 
+0x83, 0x36, 0x2d, 0x27, 0xa6, 0x4a, 0xab, 0x7e, 
+0x38, 0x6f, 0x93, 0x7a, 0x1f, 0x60, 0x83, 0x83, 
+0xac, 0xfd, 0x2e, 0x61, 0xbf, 0x19, 0x10, 0x1f, 
+0x39, 0xe3, 0x6c, 0xb6, 0xcc, 0xf5, 0x85, 0x7c, 
+0xb2, 0x38, 0x27, 0x14, 0x43, 0xd7, 0xfe, 0xbc, 
+0xa1, 0xe8, 0x7d, 0x33, 0x74, 0x93, 0xe7, 0xd6, 
+0x2b, 0x2f, 0x79, 0x87, 0x59, 0xb0, 0x63, 0x95, 
+0x5c, 0xe7, 0x4f, 0x60, 0x46, 0xc9, 0xa9, 0xf, 
+0xde, 0xa9, 0x36, 0x9e, 0x3e, 0x34, 0xba, 0x77, 
+0x18, 0x50, 0xe3, 0x6b, 0x3, 0x93, 0xaa, 0xc7, 
+0xf2, 0x2d, 0xe, 0xf3, 0x2b, 0x5, 0x34, 0x60, 
+0xa4, 0xf7, 0xa9, 0xe2, 0x37, 0xa3, 0x6d, 0x27, 
+0xd8, 0xa3, 0x71, 0x9c, 0x6b, 0xb2, 0x5e, 0xdd, 
+0x12, 0x2b, 0x73, 0xe1, 0xdb, 0x9d, 0xf4, 0xc3, 
+0xc, 0xd6, 0x5, 0x1d, 0xac, 0xa4, 0xdc, 0x69, 
+0x2a, 0xf5, 0x7c, 0x30, 0x24, 0x7b, 0x2b, 0x80, 
+0x1b, 0x7a, 0xec, 0x68, 0x77, 0x12, 0x97, 0x2a, 
+0xb2, 0xe5, 0xd2, 0xff, 0x41, 0x1d, 0xf5, 0x6, 
+0xa4, 0xb6, 0x47, 0xa5, 0xfa, 0x5, 0x7e, 0xf0, 
+0xa1, 0xb8, 0xad, 0xde, 0x5c, 0xae, 0x2c, 0x8b, 
+0x4e, 0xad, 0xaf, 0xac, 0x6d, 0x46, 0x62, 0xe1, 
+0xe9, 0xfe, 0xa1, 0xc5, 0xc9, 0xf4, 0x48, 0xd2, 
+0x80, 0x2b, 0xe5, 0xa9, 0x3e, 0xc1, 0xfc, 0x98, 
+0xde, 0x3, 0xa9, 0xac, 0x86, 0xb7, 0xb5, 0x19, 
+0xe5, 0x75, 0x6a, 0x63, 0x83, 0x3f, 0x27, 0x7a, 
+0x5e, 0xf8, 0xf1, 0x6d, 0xb2, 0xd2, 0x36, 0xa1, 
+0xc0, 0xd2, 0x5f, 0x93, 0x9c, 0x90, 0xe8, 0x3e, 
+0xca, 0x89, 0xd7, 0xca, 0xd0, 0xc7, 0xe8, 0x8f, 
+0x4b, 0xb7, 0x60, 0x92, 0x5e, 0x36, 0x43, 0x70, 
+0x23, 0x36, 0xfb, 0xb5, 0xa5, 0x6, 0x9a, 0xc0, 
+0xcb, 0x2, 0x3, 0x1, 0x0, 0x1, 
@@ -19,6 +19,7 @@
 # CONFIG_NSH_DISABLE_GET is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
+# CONFIG_NSH_DISABLE_MKFATFS is not set
 # CONFIG_NSH_DISABLE_SEMICOLON is not set
 # CONFIG_NSH_DISABLE_TIME is not set
 # CONFIG_STM32_CCMEXCLUDE is not set
@@ -95,7 +95,6 @@
 /* AUX PWMs
 */
 #define DIRECT_PWM_OUTPUT_CHANNELS	8
-#define DIRECT_INPUT_TIMER_CHANNELS	8

 /* USB OTG FS
 *
@@ -153,7 +152,6 @@
 #define BOARD_ADC_PERIPH_5V_OC  (0)
 #define BOARD_ADC_HIPOWER_5V_OC (0)

-#define BOARD_HAS_PWM	DIRECT_PWM_OUTPUT_CHANNELS

 /* This board provides a DMA pool and APIs */
 #define BOARD_DMA_ALLOC_POOL_SIZE 5120
@@ -15,6 +15,7 @@
 # CONFIG_NSH_DISABLE_GET is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
+# CONFIG_NSH_DISABLE_MKFATFS is not set
 # CONFIG_NSH_DISABLE_SEMICOLON is not set
 # CONFIG_NSH_DISABLE_TIME is not set
 # CONFIG_STM32_DMACAPABLE is not set
@@ -1,5 +1,7 @@
 include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)

+add_definitions(-DCONSTRAINED_FLASH_NO_HELP="https://docs.px4.io/master/en/modules/modules_main.html")
+
 px4_add_board(
 	PLATFORM nuttx
 	TOOLCHAIN arm-none-eabi
@@ -22,10 +24,10 @@ px4_add_board(
 		#load_mon
 		#sensors
 	SYSTEMCMDS
-		i2cdetect
-		led_control
+		#i2cdetect
+		#led_control
 		param
-		perf
+		#perf
 		reboot
 		top
 		topic_listener
@@ -15,6 +15,7 @@
 # CONFIG_NSH_DISABLE_GET is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
+# CONFIG_NSH_DISABLE_MKFATFS is not set
 # CONFIG_NSH_DISABLE_SEMICOLON is not set
 # CONFIG_NSH_DISABLE_TIME is not set
 # CONFIG_STM32_DMACAPABLE is not set
@@ -7,7 +7,6 @@ px4_add_board(
 	DRIVERS
 		adc/board_adc
 		barometer/maiertek/mpc2520
-		camera_capture
 		gps
 		#heater
 		imu/invensense/icm20602
@@ -20,6 +20,7 @@
 # CONFIG_NSH_DISABLE_GET is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
+# CONFIG_NSH_DISABLE_MKFATFS is not set
 # CONFIG_NSH_DISABLE_SEMICOLON is not set
 # CONFIG_NSH_DISABLE_TIME is not set
 CONFIG_ARCH="arm"
@@ -101,7 +101,6 @@
 /* PWM
 */
 #define DIRECT_PWM_OUTPUT_CHANNELS  9
-#define DIRECT_INPUT_TIMER_CHANNELS  9

 #define BOARD_CAPTURE_GPIO /* PD14 */  (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN14)

@@ -139,7 +138,6 @@
 #define BOARD_ADC_PERIPH_5V_OC  (!px4_arch_gpioread(GPIO_nVDD_5V_PERIPH_OC))
 #define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_nVDD_5V_HIPOWER_OC))

-#define BOARD_HAS_PWM	DIRECT_PWM_OUTPUT_CHANNELS

 /* This board provides a DMA pool and APIs */
 #define BOARD_DMA_ALLOC_POOL_SIZE 5120
@@ -16,7 +16,6 @@ px4_add_board(
 		#barometer # all available barometer drivers
 		barometer/bmp280
 		batt_smbus
-		camera_capture
 		camera_trigger
 		differential_pressure # all available differential pressure drivers
 		distance_sensor # all available distance sensor drivers
@@ -18,6 +18,7 @@
 # CONFIG_NSH_DISABLE_GET is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
+# CONFIG_NSH_DISABLE_MKFATFS is not set
 # CONFIG_NSH_DISABLE_SEMICOLON is not set
 # CONFIG_NSH_DISABLE_TIME is not set
 # CONFIG_SPI_CALLBACK is not set
@@ -153,7 +153,6 @@
 #define HRT_TIMER		8	/* use timer8 for the HRT */
 #define HRT_TIMER_CHANNEL	1	/* use capture/compare channel */

-#define BOARD_HAS_PWM	DIRECT_PWM_OUTPUT_CHANNELS

 #define BOARD_ENABLE_CONSOLE_BUFFER
 #define BOARD_CONSOLE_BUFFER_SIZE (1024*3)
@@ -53,7 +53,6 @@
 #include <fcntl.h>
 #include <mqueue.h>

-#include <drivers/drv_rc_input.h>
 #include <drivers/drv_board_led.h>

 #include <systemlib/err.h>
@@ -96,7 +95,7 @@ Syslink::Syslink() :
 	_fd(0),
 	_queue(2, sizeof(syslink_message_t)),
 	_writebuffer(16, sizeof(crtp_message_t)),
-	_rssi(RC_INPUT_RSSI_MAX),
+	_rssi(input_rc_s::RSSI_MAX),
 	_bstate(BAT_DISCHARGING)
 {
 	px4_sem_init(&memory_sem, 0, 0);
@@ -17,6 +17,7 @@
 # CONFIG_NSH_DISABLE_GET is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
+# CONFIG_NSH_DISABLE_MKFATFS is not set
 # CONFIG_NSH_DISABLE_SEMICOLON is not set
 # CONFIG_NSH_DISABLE_TIME is not set
 # CONFIG_SPI_CALLBACK is not set
@@ -154,7 +154,6 @@
 #define HRT_TIMER		8	/* use timer8 for the HRT */
 #define HRT_TIMER_CHANNEL	1	/* use capture/compare channel */

-#define BOARD_HAS_PWM	DIRECT_PWM_OUTPUT_CHANNELS

 #define BOARD_ENABLE_CONSOLE_BUFFER
 #define BOARD_CONSOLE_BUFFER_SIZE (1024*3)
@@ -15,6 +15,7 @@
 # CONFIG_NSH_DISABLE_GET is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
+# CONFIG_NSH_DISABLE_MKFATFS is not set
 # CONFIG_NSH_DISABLE_SEMICOLON is not set
 # CONFIG_NSH_DISABLE_TIME is not set
 # CONFIG_STM32_DMACAPABLE is not set
@@ -100,7 +100,7 @@ px4_add_board(
 		led_control
 		mft
 		mixer
-		motor_ramp
+		#motor_ramp
 		motor_test
 		mtd
 		nshterm
@@ -108,9 +108,9 @@ px4_add_board(
 		perf
 		pwm
 		reboot
-		reflect
-		sd_bench
-		serial_test
+		#reflect
+		#sd_bench
+		#serial_test
 		system_time
 		top
 		topic_listener
@@ -19,6 +19,7 @@
 # CONFIG_NSH_DISABLE_GET is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
+# CONFIG_NSH_DISABLE_MKFATFS is not set
 # CONFIG_NSH_DISABLE_SEMICOLON is not set
 # CONFIG_NSH_DISABLE_TIME is not set
 CONFIG_ARCH="arm"
@@ -199,7 +199,6 @@
 /* This board provides the board_on_reset interface */
 #define BOARD_HAS_ON_RESET 1

-#define BOARD_HAS_PWM  DIRECT_PWM_OUTPUT_CHANNELS

 #define BOARD_ENABLE_CONSOLE_BUFFER

@@ -60,6 +60,8 @@
 #include <px4_platform/gpio.h>
 #include <px4_platform/board_dma_alloc.h>

+#include <mpu.h>
+
 __BEGIN_DECLS
 extern void led_init(void);
 extern void led_on(int led);
@@ -127,6 +129,16 @@ __EXPORT void board_on_reset(int status)
 ************************************************************************************/
 __EXPORT void stm32_boardinitialize(void)
 {
+	// clear all existing MPU configuration from bootloader
+	for (int region = 0; region < CONFIG_ARM_MPU_NREGIONS; region++) {
+		putreg32(region, MPU_RNR);
+		putreg32(0, MPU_RBAR);
+		putreg32(0, MPU_RASR);
+
+		// save
+		putreg32(0, MPU_CTRL);
+	}
+
 	/* Reset PWM first thing */
 	board_on_reset(-1);

@@ -101,7 +101,7 @@ px4_add_board(
 		mft
 		microbench
 		mixer
-		motor_ramp
+		#motor_ramp
 		motor_test
 		mtd
 		nshterm
@@ -109,10 +109,10 @@ px4_add_board(
 		perf
 		pwm
 		reboot
-		reflect
+		#reflect
 		sd_bench
 		serial_test
-		system_time
+		#system_time
 		tests # tests and test runner
 		top
 		topic_listener
@@ -101,7 +101,7 @@ px4_add_board(
 		led_control
 		mft
 		mixer
-		motor_ramp
+		#motor_ramp
 		motor_test
 		mtd
 		nshterm
@@ -109,10 +109,10 @@ px4_add_board(
 		perf
 		pwm
 		reboot
-		reflect
+		#reflect
 		sd_bench
-		serial_test
-		system_time
+		#serial_test
+		#system_time
 		top
 		topic_listener
 		tune_control
@@ -15,6 +15,8 @@ param set-default BAT2_A_PER_V 24
 # Enable IMU thermal control
 param set-default SENS_EN_THERMAL 1

+param set-default SENS_TEMP_ID 6946850
+
 # Set Camera trigger pins to 13/14
 param set-default TRIG_PINS_EX 12288

@@ -19,6 +19,7 @@
 # CONFIG_NSH_DISABLE_GET is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
+# CONFIG_NSH_DISABLE_MKFATFS is not set
 # CONFIG_NSH_DISABLE_SEMICOLON is not set
 # CONFIG_NSH_DISABLE_TIME is not set
 CONFIG_ARCH="arm"
@@ -199,7 +199,6 @@
 /* This board provides the board_on_reset interface */
 #define BOARD_HAS_ON_RESET 1

-#define BOARD_HAS_PWM  DIRECT_PWM_OUTPUT_CHANNELS

 #define BOARD_ENABLE_CONSOLE_BUFFER

@@ -60,6 +60,8 @@
 #include <px4_platform/gpio.h>
 #include <px4_platform/board_dma_alloc.h>

+#include <mpu.h>
+
 __BEGIN_DECLS
 extern void led_init(void);
 extern void led_on(int led);
@@ -127,6 +129,16 @@ __EXPORT void board_on_reset(int status)
 ************************************************************************************/
 __EXPORT void stm32_boardinitialize(void)
 {
+	// clear all existing MPU configuration from bootloader
+	for (int region = 0; region < CONFIG_ARM_MPU_NREGIONS; region++) {
+		putreg32(region, MPU_RNR);
+		putreg32(0, MPU_RBAR);
+		putreg32(0, MPU_RASR);
+
+		// save
+		putreg32(0, MPU_CTRL);
+	}
+
 	/* Reset PWM first thing */
 	board_on_reset(-1);

@@ -102,7 +102,7 @@ px4_add_board(
 		mft
 		microbench
 		mixer
-		motor_ramp
+		#motor_ramp
 		motor_test
 		mtd
 		nshterm
@@ -110,10 +110,10 @@ px4_add_board(
 		perf
 		pwm
 		reboot
-		reflect
+		#reflect
 		sd_bench
 		serial_test
-		system_time
+		#system_time
 		tests # tests and test runner
 		top
 		topic_listener
@@ -12,7 +12,7 @@ px4_add_board(
 		TEL2:/dev/ttyS1
 		GPS1:/dev/ttyS2
 		# PX4IO:/dev/ttyS3
-		TEL3:/dev/ttyS4
+		# TEL3:/dev/ttyS4  # connected to ADS-B receiver
 		GPS2:/dev/ttyS5
 	DRIVERS
 		adc/ads1115
@@ -12,4 +12,6 @@ param set-default BAT2_A_PER_V 17
 # Disable IMU thermal control
 param set-default SENS_EN_THERMAL 0

+param set-default -s SENS_TEMP_ID 2621474
+
 set IOFW "/etc/extras/cubepilot_io-v2_default.bin"
@@ -5,3 +5,9 @@

 # Start MAVLink on the USB port
 mavlink start -d /dev/ttyACM0
+
+# Start ADS-B receiver mavlink connection if console not present
+if [ ! -e /dev/console ]
+then
+	mavlink start -d /dev/ttyS4 -b 57600 -m minimal
+fi
@@ -20,6 +20,7 @@
 # CONFIG_NSH_DISABLE_GET is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
+# CONFIG_NSH_DISABLE_MKFATFS is not set
 # CONFIG_NSH_DISABLE_SEMICOLON is not set
 # CONFIG_NSH_DISABLE_TIME is not set
 CONFIG_ARCH="arm"
@@ -71,6 +72,7 @@ CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
+CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_FS_PROCFS_REGISTER=y
 CONFIG_FS_ROMFS=y
 CONFIG_GRAN=y
@@ -83,7 +85,6 @@ CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
-CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
@@ -19,6 +19,7 @@
 # CONFIG_NSH_DISABLE_GET is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
+# CONFIG_NSH_DISABLE_MKFATFS is not set
 # CONFIG_NSH_DISABLE_SEMICOLON is not set
 # CONFIG_NSH_DISABLE_TIME is not set
 CONFIG_ARCH="arm"
@@ -70,6 +71,7 @@ CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
+CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_FS_PROCFS_REGISTER=y
 CONFIG_FS_ROMFS=y
 CONFIG_GRAN=y
@@ -82,7 +84,6 @@ CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
-CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
@@ -62,7 +62,7 @@
 #define GPIO_nLED_AMBER        /* PE12 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN12)

 #define BOARD_HAS_CONTROL_STATUS_LEDS      1
-#define BOARD_ARMED_STATE_LED  LED_AMBER
+#define BOARD_ARMED_LED  LED_AMBER

 /* ADC channels */
 #define PX4_ADC_GPIO  \
@@ -148,7 +148,6 @@

 #define BOARD_HAS_STATIC_MANIFEST 1

-#define BOARD_HAS_PWM  DIRECT_PWM_OUTPUT_CHANNELS

 #define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5};

@@ -60,6 +60,8 @@
 #include <px4_platform/gpio.h>
 #include <px4_platform/board_dma_alloc.h>

+#include <mpu.h>
+
 __BEGIN_DECLS
 extern void led_init(void);
 extern void led_on(int led);
@@ -118,6 +120,16 @@ __EXPORT void board_on_reset(int status)
 ************************************************************************************/
 __EXPORT void stm32_boardinitialize(void)
 {
+	// clear all existing MPU configuration from bootloader
+	for (int region = 0; region < CONFIG_ARM_MPU_NREGIONS; region++) {
+		putreg32(region, MPU_RNR);
+		putreg32(0, MPU_RBAR);
+		putreg32(0, MPU_RASR);
+
+		// save
+		putreg32(0, MPU_CTRL);
+	}
+
 	/* Reset PWM first thing */
 	board_on_reset(-1);

@@ -44,9 +44,9 @@ px4_add_board(
 		pwm_out_sim
 		pwm_out
 		px4io
-		roboclaw
+		#roboclaw
 		rpm
-		smart_battery/batmon
+		#smart_battery/batmon
 		telemetry # all available telemetry drivers
 		test_ppm
 		tone_alarm
@@ -99,7 +99,7 @@ px4_add_board(
 		mft
 		microbench
 		mixer
-		motor_ramp
+		#motor_ramp
 		motor_test
 		mtd
 		nshterm
@@ -107,10 +107,10 @@ px4_add_board(
 		perf
 		pwm
 		reboot
-		reflect
+		#reflect
 		sd_bench
 		#serial_test
-		system_time
+		#system_time
 		tests # tests and test runner
 		top
 		topic_listener
@@ -21,6 +21,7 @@
 # CONFIG_NSH_DISABLE_GET is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
+# CONFIG_NSH_DISABLE_MKFATFS is not set
 # CONFIG_NSH_DISABLE_SEMICOLON is not set
 # CONFIG_NSH_DISABLE_TIME is not set
 CONFIG_ARCH="arm"
@@ -20,6 +20,7 @@
 # CONFIG_NSH_DISABLE_GET is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
+# CONFIG_NSH_DISABLE_MKFATFS is not set
 # CONFIG_NSH_DISABLE_SEMICOLON is not set
 # CONFIG_NSH_DISABLE_TIME is not set
 CONFIG_ARCH="arm"
@@ -62,7 +62,7 @@
 #define GPIO_nLED_AMBER        /* PE12 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN12)

 #define BOARD_HAS_CONTROL_STATUS_LEDS      1
-#define BOARD_ARMED_STATE_LED  LED_AMBER
+#define BOARD_ARMED_LED  LED_AMBER

 /* ADC channels */
 #define PX4_ADC_GPIO  \
@@ -143,7 +143,6 @@

 #define BOARD_HAS_STATIC_MANIFEST 1

-#define BOARD_HAS_PWM  DIRECT_PWM_OUTPUT_CHANNELS

 #define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5};

--- a/Show More
+++ b/Show More