uavcan: cleanup reset CLI and document

2026-06-10 11:40:04 +08:00 · 2023-01-31 14:30:48 -05:00
696 changed files with 9505 additions and 17836 deletions
@@ -62,8 +62,6 @@ pipeline {
                     "holybro_durandal-v1_default",
                     "holybro_kakutef7_default",
                     "holybro_kakuteh7_default",
-                     "holybro_kakuteh7v2_default",
-                     "holybro_kakuteh7mini_default",
                     "holybro_pix32v5_default",
                     "matek_gnss-m9n-f4_canbootloader",
                     "matek_gnss-m9n-f4_default",
@@ -110,8 +108,6 @@ pipeline {
                     "raspberrypi_pico_default",
                     "sky-drones_smartap-airlink_default",
                     "spracing_h7extreme_default",
-                     "thepeach_k1_default",
-                     "thepeach_r1_default",
                     "uvify_core_default"
            ],
            image: docker_images.nuttx,
@@ -30,7 +30,6 @@ jobs:
          cuav_nora,
          cuav_x7pro,
          cubepilot_cubeorange,
-          cubepilot_cubeorangeplus,
          cubepilot_cubeyellow,
          diatone_mamba-f405-mk2,
          freefly_can-rtk-gps,
@@ -180,7 +180,7 @@ CONFIG:
      short: cubepilot_cubeorange
      buildType: MinSizeRel
      settings:
-        CONFIG: cubepilot_cubeorange_test
+        CONFIG: cubepilot_orange_test
    emlid_navio2_default:
      short: emlid_navio2
      buildType: MinSizeRel
@@ -2,6 +2,7 @@
        "astyle.astylerc": "${workspaceFolder}/Tools/astyle/astylerc",
        "astyle.c.enable": true,
        "astyle.cpp.enable": true,
+        "breadcrumbs.enabled": true,
        "C_Cpp.autoAddFileAssociations": false,
        "C_Cpp.clang_format_fallbackStyle": "none",
        "C_Cpp.default.browse.limitSymbolsToIncludedHeaders": true,
@@ -19,6 +20,7 @@
        "cmakeExplorer.buildDir": "${workspaceFolder}/build/px4_sitl_test",
        "cmakeExplorer.parallelJobs": 1,
        "cmakeExplorer.suiteDelimiter": "-",
+        "cortex-debug.enableTelemetry": false,
        "cSpell.allowCompoundWords": true,
        "cSpell.diagnosticLevel": "Hint",
        "cSpell.showStatus": false,
@@ -29,6 +31,7 @@
        ],
        "debug.toolBarLocation": "docked",
        "editor.defaultFormatter": "chiehyu.vscode-astyle",
+        "editor.dragAndDrop": false,
        "editor.insertSpaces": false,
        "editor.minimap.maxColumn": 120,
        "editor.minimap.renderCharacters": false,
@@ -124,7 +127,12 @@
                "${workspaceFolder}/build": true
        },
        "search.showLineNumbers": true,
-        "terminal.integrated.scrollback": 15000,
+        "telemetry.enableTelemetry": false,
+        "terminal.integrated.scrollback": 5000,
+        "window.title": "${dirty} ${activeEditorMedium}${separator}${rootName}",
+        "workbench.editor.highlightModifiedTabs": true,
+        "workbench.enableExperiments": false,
+        "workbench.settings.enableNaturalLanguageSearch": false,
        "yaml.schemas": {
                "${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml"
        }
@@ -170,7 +170,7 @@
            ]
        },
        {
-            "label": "gazebo",
+            "label": "ign gazebo",
            "type": "shell",
            "options": {
                "cwd": "${workspaceFolder}",
@@ -178,7 +178,7 @@
                    "IGN_GAZEBO_RESOURCE_PATH": "${workspaceFolder}/Tools/simulation/gz/models",
                }
            },
-            "command": "gz sim -v 4 -r ${workspaceFolder}/Tools/simulation/gz/worlds/${input:gzWorld}.sdf",
+            "command": "ign gazebo -v 4 -r ${workspaceFolder}/Tools/simulation/gz/worlds/${input:gzWorld}.sdf",
            "isBackground": true,
            "presentation": {
                "echo": true,
@@ -191,7 +191,7 @@
                "close": false
            },
            "problemMatcher": [],
-            "dependsOn":["gazebo kill"]
+            "dependsOn":["ign gazebo kill"]
        },
        {
            "label": "gazebo-classic kill",
@@ -211,9 +211,9 @@
            "dependsOn":["px4_sitl_cleanup"]
        },
        {
-            "label": "gazebo kill",
+            "label": "ign gazebo kill",
            "type": "shell",
-            "command": "pkill -9 -f 'gz sim' || true",
+            "command": "pkill -9 -f 'ign gazebo' || true",
            "presentation": {
                "echo": true,
                "reveal": "never",
@@ -44,88 +44,81 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://docs.px4.io/main/en/con

 ## Maintenance Team

-Note: This is the source of truth for the active maintainers of PX4 ecosystem.
+  * Project: Founder
+    * [Lorenz Meier](https://github.com/LorenzMeier)
+  * Architecture
+    * [Daniel Agar](https://github.com/dagar)
+  * [Dev Call](https://github.com/PX4/PX4-Autopilot/labels/devcall)
+    * [Ramon Roche](https://github.com/mrpollo)
+  * Communication Architecture
+    * [Beat Kueng](https://github.com/bkueng)
+    * [Julian Oes](https://github.com/JulianOes)
+  * UI in QGroundControl
+    * [Gus Grubba](https://github.com/dogmaphobic)
+  * [Multicopter Flight Control](https://github.com/PX4/PX4-Autopilot/labels/multicopter)
+    * [Mathieu Bresciani](https://github.com/bresch)
+  * [Multicopter Software Architecture](https://github.com/PX4/PX4-Autopilot/labels/multicopter)
+    * [Matthias Grob](https://github.com/MaEtUgR)
+  * [VTOL Flight Control](https://github.com/PX4/PX4-Autopilot/labels/vtol)
+    * [Roman Bapst](https://github.com/RomanBapst)
+  * [Fixed Wing Flight Control](https://github.com/PX4/PX4-Autopilot/labels/fixedwing)
+    * [Roman Bapst](https://github.com/RomanBapst)
+  * OS / NuttX
+    * [David Sidrane](https://github.com/davids5)
+  * Driver Architecture
+    * [Daniel Agar](https://github.com/dagar)
+  * Commander Architecture
+    * [Julian Oes](https://github.com/julianoes)
+  * [UAVCAN](https://github.com/PX4/PX4-Autopilot/labels/uavcan)
+    * [Daniel Agar](https://github.com/dagar)
+  * [State Estimation](https://github.com/PX4/PX4-Autopilot/issues?q=is%3Aopen+is%3Aissue+label%3A%22state+estimation%22)
+    * [Paul Riseborough](https://github.com/priseborough)
+  * Vision based navigation and Obstacle Avoidance
+    * [Markus Achtelik](https://github.com/markusachtelik)
+  * DDS/ROS2 Interface
+    * [Nuno Marques](https://github.com/TSC21)

-| Sector | Maintainer |
-|---|---|
-| Founder | [Lorenz Meier](https://github.com/LorenzMeier) |
-| Architecture | [Daniel Agar](https://github.com/dagar) / [Beat Küng](https://github.com/bkueng)|
-| State Estimation | [Mathieu Bresciani](https://github.com/bresch) / [Paul Riseborough](https://github.com/priseborough) |
-| OS/NuttX | [David Sidrane](https://github.com/davids5) |
-| Drivers | [Daniel Agar](https://github.com/dagar) |
-| Simulation | [Jaeyoung Lim](https://github.com/Jaeyoung-Lim) |
-| ROS2 | [Beniamino Pozzan](https://github.com/beniaminopozzan) |
-| Community QnA Call | [Ramon Roche](https://github.com/mrpollo) |
-| [Documentation](https://docs.px4.io/main/en/) | [Hamish Willee](https://github.com/hamishwillee) |
-
-| Vehicle Type | Maintainer |
-|---|---|
-| Multirotor | [Matthias Grob](https://github.com/MaEtUgR) |
-| Fixed Wing | [Thomas Stastny](https://github.com/tstastny) |
-| Hybrid VTOL | [Silvan Fuhrer](https://github.com/sfuhrer) |
-| Boat | x |
-| Rover | x |
-
-See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/PX4-Autopilot/graphs/contributors) (Github). However it may be not up to date.
+See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/PX4-Autopilot/graphs/contributors) (Github).

 ## Supported Hardware

-Pixhawk standard boards and proprietary boards are shown below (discontinued boards aren't listed).
-
-For the most up to date information, please visit [PX4 user Guide > Autopilot Hardware](https://docs.px4.io/main/en/flight_controller/).
+This repository contains code supporting Pixhawk standard boards (best supported, best tested, recommended choice) and proprietary boards.

 ### Pixhawk Standard Boards
+  * FMUv6X and FMUv6U (STM32H7, 2021)
+    * Various vendors will provide FMUv6X and FMUv6U based designs Q3/2021
+  * FMUv5 and FMUv5X (STM32F7, 2019/20)
+    * [Pixhawk 4 (FMUv5)](https://docs.px4.io/main/en/flight_controller/pixhawk4.html)
+    * [Pixhawk 4 mini (FMUv5)](https://docs.px4.io/main/en/flight_controller/pixhawk4_mini.html)
+    * [CUAV V5+ (FMUv5)](https://docs.px4.io/main/en/flight_controller/cuav_v5_plus.html)
+    * [CUAV V5 nano (FMUv5)](https://docs.px4.io/main/en/flight_controller/cuav_v5_nano.html)
+    * [Auterion Skynode (FMUv5X)](https://docs.auterion.com/skynode)
+  * FMUv4 (STM32F4, 2015)
+    * [Pixracer](https://docs.px4.io/main/en/flight_controller/pixracer.html)
+    * [Pixhawk 3 Pro](https://docs.px4.io/main/en/flight_controller/pixhawk3_pro.html)
+  * FMUv3 (STM32F4, 2014)
+    * [Pixhawk 2](https://docs.px4.io/main/en/flight_controller/pixhawk-2.html)
+    * [Pixhawk Mini](https://docs.px4.io/main/en/flight_controller/pixhawk_mini.html)
+    * [CUAV Pixhack v3](https://docs.px4.io/main/en/flight_controller/pixhack_v3.html)
+  * FMUv2 (STM32F4, 2013)
+    * [Pixhawk](https://docs.px4.io/main/en/flight_controller/pixhawk.html)
+    * [Pixfalcon](https://docs.px4.io/main/en/flight_controller/pixfalcon.html)

-These boards fully comply with Pixhawk Standard, and are maintained by the PX4-Autopilot maintainers and Dronecode team
+### Manufacturer and Community supported
+  * [Holybro Durandal](https://docs.px4.io/main/en/flight_controller/durandal.html)
+  * [Hex Cube Orange](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orange.html)
+  * [Hex Cube Yellow](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_yellow.html)
+  * [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
+  * [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
+  * [Bitcraze Crazyflie 2.0](https://docs.px4.io/main/en/complete_vehicles/crazyflie2.html)
+  * [Omnibus F4 SD](https://docs.px4.io/main/en/flight_controller/omnibus_f4_sd.html)
+  * [Holybro Kakute F7](https://docs.px4.io/main/en/flight_controller/kakutef7.html)
+  * [Raspberry PI with Navio 2](https://docs.px4.io/main/en/flight_controller/raspberry_pi_navio2.html)

-* FMUv6X and FMUv6C
-  * [CUAV Pixahwk V6X (FMUv6X)](https://docs.px4.io/main/en/flight_controller/cuav_pixhawk_v6x.html)
-  * [Holybro Pixhawk 6X (FMUv6X)](https://docs.px4.io/main/en/flight_controller/pixhawk6x.html)
-  * [Holybro Pixhawk 6C (FMUv6C)](https://docs.px4.io/main/en/flight_controller/pixhawk6c.html)
-  * [Holybro Pix32 v6 (FMUv6C)](https://docs.px4.io/main/en/flight_controller/holybro_pix32_v6.html)
-* FMUv5 and FMUv5X (STM32F7, 2019/20)
-  * [Pixhawk 4 (FMUv5)](https://docs.px4.io/main/en/flight_controller/pixhawk4.html)
-  * [Pixhawk 4 mini (FMUv5)](https://docs.px4.io/main/en/flight_controller/pixhawk4_mini.html)
-  * [CUAV V5+ (FMUv5)](https://docs.px4.io/main/en/flight_controller/cuav_v5_plus.html)
-  * [CUAV V5 nano (FMUv5)](https://docs.px4.io/main/en/flight_controller/cuav_v5_nano.html)
-  * [Auterion Skynode (FMUv5X)](https://docs.auterion.com/avionics/skynode)
-* FMUv4 (STM32F4, 2015)
-  * [Pixracer](https://docs.px4.io/main/en/flight_controller/pixracer.html)
-  * [Pixhawk 3 Pro](https://docs.px4.io/main/en/flight_controller/pixhawk3_pro.html)
-* FMUv3 (STM32F4, 2014)
-  * [Pixhawk 2](https://docs.px4.io/main/en/flight_controller/pixhawk-2.html)
-  * [Pixhawk Mini](https://docs.px4.io/main/en/flight_controller/pixhawk_mini.html)
-  * [CUAV Pixhack v3](https://docs.px4.io/main/en/flight_controller/pixhack_v3.html)
-* FMUv2 (STM32F4, 2013)
-  * [Pixhawk](https://docs.px4.io/main/en/flight_controller/pixhawk.html)
-
-### Manufacturer supported
-
-These boards are maintained to be compatible with PX4-Autopilot by the Manufacturers.
-
-* [ARK Electronics ARKV6X](https://docs.px4.io/main/en/flight_controller/arkv6x.html)
-* [Hex Cube Orange](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orange.html)
-* [Hex Cube Yellow](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_yellow.html)
-* [Holybro Durandal](https://docs.px4.io/main/en/flight_controller/durandal.html)
-* [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
-* [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
-* [Holybro Kakute F7](https://docs.px4.io/main/en/flight_controller/kakutef7.html)
-
-### Community supported
-
-These boards don't fully comply industry standards, and thus is solely maintained by the PX4 publc community members.
-
-### Experimental
-
-These boards are nor maintained by PX4 team nor Manufacturer, and is not guaranteed to be compatible with up to date PX4 releases.
-
-* [Raspberry PI with Navio 2](https://docs.px4.io/main/en/flight_controller/raspberry_pi_navio2.html)
-* [Bitcraze Crazyflie 2.0](https://docs.px4.io/main/en/complete_vehicles/crazyflie2.html)
+Additional information about supported hardware can be found in [PX4 user Guide > Autopilot Hardware](https://docs.px4.io/main/en/flight_controller/).

 ## Project Roadmap

-**Note: Outdated**
-
 A high level project roadmap is available [here](https://github.com/orgs/PX4/projects/25).

 ## Project Governance
@@ -79,7 +79,7 @@ get_property(romfs_cmake_files GLOBAL PROPERTY PX4_ROMFS_CMAKE_FILES)
 get_property(romfs_copy_files GLOBAL PROPERTY PX4_ROMFS_FILES)
 get_property(module_config_files GLOBAL PROPERTY PX4_MODULE_CONFIG_FILES)
 file(GLOB jinja_templates ${PX4_SOURCE_DIR}/Tools/serial/*.jinja)
-if(px4_constrained_flash_build)
+if (px4_constrained_flash_build)
 	set(added_arguments --constrained-flash)
 endif()
 if(PX4_ETHERNET)
@@ -137,6 +137,11 @@ add_custom_command(
 	COMMENT "ROMFS: copying, generating airframes"
 	)

+if(EXISTS ${PX4_BOARD_DIR}/extras/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin)
+	set(BOARD_FIRMWARE_BIN "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
+	configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in ${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade @ONLY)
+endif()
+
 # copy extras into ROMFS
 set(extras_dependencies)

@@ -203,24 +208,6 @@ endforeach()
 set(OPTIONAL_BOARD_EXTRAS)
 file(GLOB OPTIONAL_BOARD_EXTRAS ${PX4_BOARD_DIR}/extras/*)

-# bootloader (optional)
-#  - if systemcmds/bl_update included and board bootloader available then generate rc.board_bootloader_upgrade and copy bootloader binary
-#  - otherwise remove bootloader binary from extras in final ROMFS
-foreach(board_extra_file ${OPTIONAL_BOARD_EXTRAS})
-	file(RELATIVE_PATH extra_file_base_name ${PX4_BOARD_DIR}/extras/ ${board_extra_file})
-	if(${extra_file_base_name} MATCHES "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
-		if(CONFIG_SYSTEMCMDS_BL_UPDATE)
-			# generate rc.board_bootloader_upgrade
-			set(BOARD_FIRMWARE_BIN "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
-			configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in ${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade @ONLY)
-		else()
-			# remove bootloader from extras
-			list(REMOVE_ITEM OPTIONAL_BOARD_EXTRAS ${board_extra_file})
-		endif()
-
-	endif()
-endforeach()
-
 foreach(board_extra_file ${OPTIONAL_BOARD_EXTRAS})

 	if(EXISTS "${board_extra_file}")
@@ -51,7 +51,7 @@ fi
 set BOARD_ARCH_RC_DEFAULTS ${R}etc/init.d/rc.board_arch_defaults
 if [ -f $BOARD_ARCH_RC_DEFAULTS ]
 then
-	px4log "Board architecture defaults: ${BOARD_ARCH_RC_DEFAULTS}"
+	echo "Board architecture defaults: ${BOARD_ARCH_RC_DEFAULTS}"
 	. $BOARD_ARCH_RC_DEFAULTS
 fi
 unset BOARD_ARCH_RC_DEFAULTS
@@ -62,7 +62,7 @@ unset BOARD_ARCH_RC_DEFAULTS
 set BOARD_RC_DEFAULTS ${R}etc/init.d/rc.board_defaults
 if [ -f $BOARD_RC_DEFAULTS ]
 then
-	px4log "Board defaults: ${BOARD_RC_DEFAULTS}"
+	echo "Board defaults: ${BOARD_RC_DEFAULTS}"
 	. $BOARD_RC_DEFAULTS
 fi
 unset BOARD_RC_DEFAULTS
@@ -79,7 +79,7 @@ rgbled_ncp5623c start -X -q
 set BOARD_RC_SENSORS ${R}etc/init.d/rc.board_sensors
 if [ -f $BOARD_RC_SENSORS ]
 then
-	px4log "Board sensors: ${BOARD_RC_SENSORS}"
+	echo "Board sensors: ${BOARD_RC_SENSORS}"
 	. $BOARD_RC_SENSORS
 fi
 unset BOARD_RC_SENSORS
@@ -1,8 +0,0 @@
-#!/bin/sh
-
-px4log_tail &
-
-#
-# Print full system version.
-#
-ver all
@@ -31,8 +31,6 @@
 #
 ############################################################################

-px4_add_romfs_files(.nshrc)
-
 add_subdirectory(init.d)
 # TODO: make this configurable from the board config, or better combine
 if("${PX4_BOARD}" MATCHES "sitl")
@@ -12,10 +12,6 @@
 PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=quadx}

-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 1
-param set-default SENS_EN_MAGSIM 1
-
 # disable some checks to allow to fly:
 # - with usb
 param set-default CBRK_USB_CHK 197848
@@ -11,11 +11,6 @@
 PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=airplane}

-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 1
-param set-default SENS_EN_MAGSIM 1
-param set-default SENS_EN_ARSPDSIM 1
-
 # disable some checks to allow to fly:
 # - with usb
 param set-default CBRK_USB_CHK 197848
@@ -11,10 +11,6 @@
 PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=xvert}

-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 1
-param set-default SENS_EN_MAGSIM 1
-
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_TYPE 0
 param set-default VT_FW_DIFTHR_EN 1
@@ -53,7 +49,7 @@ param set-default CA_AIRFRAME 4

 param set-default CA_ROTOR_COUNT 2
 param set-default CA_ROTOR0_PX 0
-param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR0_PY 2
 param set-default CA_ROTOR0_KM 0.05
 param set-default CA_ROTOR1_PX 0
 param set-default CA_ROTOR1_PY -1
@@ -5,12 +5,12 @@
 # @type Quadrotor Wide
 #

-. ${R}etc/init.d-posix/airframes/10016_gazebo-classic_iris
+. ${R}etc/init.d-posix/airframes/10016_iris

-# EKF2: Vision position and heading, no GPS
+# EKF2: Vision position and heading
+param set-default EKF2_AID_MASK 24
 param set-default EKF2_EV_DELAY 5
 param set-default EKF2_EV_CTRL 15
-param set-default EKF2_HGT_REF 3
 param set-default EKF2_GPS_CTRL 0

 # LPE: Vision + baro
@@ -10,7 +10,7 @@ param set-default EKF2_MAG_YAWLIM 0

 param set-default FW_LND_ANG 8

-param set-default NPFG_PERIOD 12
+param set-default FW_L1_PERIOD 12

 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.5
@@ -11,7 +11,7 @@ param set-default EKF2_MAG_YAWLIM 0
 param set-default FW_LND_AIRSPD_SC 1
 param set-default FW_LND_ANG 8

-param set-default NPFG_PERIOD 12
+param set-default FW_L1_PERIOD 12

 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.5
@@ -11,7 +11,7 @@ param set-default EKF2_MAG_YAWLIM 0
 param set-default FW_LND_AIRSPD_SC 1
 param set-default FW_LND_ANG 8

-param set-default NPFG_PERIOD 12
+param set-default FW_L1_PERIOD 12

 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.5
@@ -10,7 +10,7 @@ param set-default FW_LND_FL_PMIN 9.5
 param set-default FW_LND_FL_PMAX 20
 param set-default FW_LND_FLALT 5

-param set-default NPFG_PERIOD 25
+param set-default FW_L1_PERIOD 25

 param set-default FW_PR_FF 0.40
 param set-default FW_PR_I 0.05
@@ -10,7 +10,7 @@ param set-default FW_LND_FL_PMIN 9.5
 param set-default FW_LND_FL_PMAX 20
 param set-default FW_LND_FLALT 5

-param set-default NPFG_PERIOD 25
+param set-default FW_L1_PERIOD 25

 param set-default FW_PR_FF 0.40
 param set-default FW_PR_I 0.05
@@ -10,6 +10,8 @@ param set-default EKF2_MAG_YAWLIM 0

 param set-default FW_LND_ANG 8

+param set-default FW_L1_PERIOD 15
+
 param set-default FW_P_TC 0.5
 param set-default FW_PR_FF 0.40
 param set-default FW_PR_I 0.05
@@ -20,7 +22,7 @@ param set-default FW_RR_FF 0.20
 param set-default FW_RR_I 0.02
 param set-default FW_RR_P 0.22

-param set-default NPFG_PERIOD 12
+param set-default FW_L1_PERIOD 12

 param set-default FW_W_EN 1

@@ -10,7 +10,7 @@ param set-default FW_LND_FL_PMIN 9.5
 param set-default FW_LND_FL_PMAX 20
 param set-default FW_LND_FLALT 5

-param set-default NPFG_PERIOD 25
+param set-default FW_L1_PERIOD 25

 param set-default FW_PR_FF 0.40
 param set-default FW_PR_I 0.05
@@ -10,7 +10,7 @@ param set-default EKF2_MAG_YAWLIM 0

 param set-default FW_LND_ANG 8

-param set-default NPFG_PERIOD 12
+param set-default FW_L1_PERIOD 12

 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.2
@@ -11,7 +11,7 @@ param set-default EKF2_MAG_YAWLIM 0
 param set-default FW_LND_AIRSPD_SC 1
 param set-default FW_LND_ANG 8

-param set-default NPFG_PERIOD 12
+param set-default FW_L1_PERIOD 12

 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.5
@@ -11,7 +11,7 @@ param set-default FW_LND_FL_PMIN 9.5
 param set-default FW_LND_FL_PMAX 20
 param set-default FW_LND_FLALT 5

-param set-default NPFG_PERIOD 25
+param set-default FW_L1_PERIOD 25

 param set-default FW_PR_FF 0.40
 param set-default FW_PR_I 0.05
@@ -11,7 +11,7 @@ param set-default EKF2_MAG_YAWLIM 0
 param set-default FW_LND_ANG 8
 param set-default FW_THR_LND_MAX 0

-param set-default NPFG_PERIOD 12
+param set-default FW_L1_PERIOD 12

 param set-default FW_MAN_P_MAX 30

@@ -47,7 +47,7 @@ param set-default PWM_MAIN_FUNC6 201
 param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203

-param set-default NPFG_PERIOD 12
+param set-default FW_L1_PERIOD 12
 param set-default FW_PR_FF 0.2
 param set-default FW_PR_P 0.9
 param set-default FW_PSP_OFF 2
@@ -13,7 +13,7 @@ param set-default CA_AIRFRAME 4

 param set-default CA_ROTOR_COUNT 4
 param set-default CA_ROTOR0_PX 1
-param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR0_PY 2
 param set-default CA_ROTOR0_KM 0.05
 param set-default CA_ROTOR1_PX -1
 param set-default CA_ROTOR1_PY -1
@@ -42,7 +42,7 @@ param set-default PWM_MAIN_FUNC6 201
 param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_REV 96 # invert both elevons

-param set-default NPFG_PERIOD 12
+param set-default FW_L1_PERIOD 12
 param set-default FW_PR_I 0.2
 param set-default FW_PR_P 0.2
 param set-default FW_PSP_OFF 2
@@ -46,7 +46,7 @@ param set-default PWM_MAIN_FUNC7 201
 param set-default PWM_MAIN_FUNC8 202
 param set-default PWM_MAIN_FUNC9 203

-param set-default NPFG_PERIOD 12
+param set-default FW_L1_PERIOD 12
 param set-default FW_PR_FF 0.2
 param set-default FW_PR_P 0.9
 param set-default FW_PSP_OFF 2
@@ -47,7 +47,7 @@ param set-default PWM_MAIN_FUNC6 201
 param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203

-param set-default NPFG_PERIOD 12
+param set-default FW_L1_PERIOD 12
 param set-default FW_PR_FF 0.2
 param set-default FW_PR_P 0.9
 param set-default FW_PSP_OFF 2
@@ -11,7 +11,7 @@ param set-default EKF2_MAG_YAWLIM 0
 param set-default FW_LND_AIRSPD_SC 1
 param set-default FW_LND_ANG 8

-param set-default NPFG_PERIOD 12
+param set-default FW_L1_PERIOD 12

 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.5
@@ -13,10 +13,6 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500}

 param set-default SIM_GZ_EN 1

-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
-
 param set-default CA_AIRFRAME 0
 param set-default CA_ROTOR_COUNT 4

@@ -13,10 +13,6 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_depth}

 param set-default SIM_GZ_EN 1

-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
-
 param set-default CA_AIRFRAME 0
 param set-default CA_ROTOR_COUNT 4

@@ -10,17 +10,12 @@ PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
 PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=rc_cessna}

-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
-param set-default SENS_EN_ARSPDSIM 1
-
 param set-default EKF2_MAG_ACCLIM 0
 param set-default EKF2_MAG_YAWLIM 0

 param set-default FW_LND_ANG 8

-param set-default NPFG_PERIOD 12
+param set-default FW_L1_PERIOD 12

 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.5
@@ -59,8 +54,6 @@ param set-default RWTO_TKOFF 1

 param set-default CA_AIRFRAME 1

-param set-default COM_PREARM_MODE 2
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -1,109 +0,0 @@
-#!/bin/sh
-#
-# @name Standard VTOL
-#
-# @type Standard VTOL
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=standard_vtol}
-
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
-param set-default SENS_EN_ARSPDSIM 1
-
-# TODO: Enable motor failure detection when the
-# VTOL no longer reports 0A for all ESCs in SITL
-param set-default FD_ACT_EN 0
-param set-default FD_ACT_MOT_TOUT 500
-
-param set-default CA_AIRFRAME 2
-
-param set-default COM_PREARM_MODE 2
-
-param set-default CA_ROTOR_COUNT 5
-param set-default CA_ROTOR0_PX 0.1515
-param set-default CA_ROTOR0_PY 0.245
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.1515
-param set-default CA_ROTOR1_PY -0.1875
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.1515
-param set-default CA_ROTOR2_PY -0.245
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.1515
-param set-default CA_ROTOR3_PY 0.1875
-param set-default CA_ROTOR3_KM -0.05
-param set-default CA_ROTOR4_AX 1.0
-param set-default CA_ROTOR4_AZ 0.0
-param set-default CA_ROTOR4_PX 0.2
-
-param set-default SIM_GZ_EC_FUNC1 101
-param set-default SIM_GZ_EC_MIN1 10
-param set-default SIM_GZ_EC_MAX1 1500
-param set-default SIM_GZ_EC_FUNC2 102
-param set-default SIM_GZ_EC_MIN2 10
-param set-default SIM_GZ_EC_MAX2 1500
-param set-default SIM_GZ_EC_FUNC3 103
-param set-default SIM_GZ_EC_MIN3 10
-param set-default SIM_GZ_EC_MAX3 1500
-param set-default SIM_GZ_EC_FUNC4 104
-param set-default SIM_GZ_EC_MIN4 10
-param set-default SIM_GZ_EC_MAX4 1500
-
-param set-default SIM_GZ_EC_FUNC5 105
-param set-default SIM_GZ_EC_MIN5 0
-param set-default SIM_GZ_EC_MAX5 3500
-
-param set-default SIM_GZ_SV_FUNC1 201
-param set-default SIM_GZ_SV_FUNC2 202
-param set-default SIM_GZ_SV_FUNC3 203
-
-param set-default COM_RC_IN_MODE 1
-param set-default ASPD_PRIMARY 1
-
-param set-default CA_SV_CS_COUNT 3
-param set-default CA_SV_CS0_TYPE 1
-param set-default CA_SV_CS0_TRQ_R -0.5
-param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS1_TRQ_R 0.5
-param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS2_TRQ_P 1.0
-
-param set-default FW_L1_PERIOD 12
-param set-default FW_PR_FF 0.2
-param set-default FW_PR_P 0.9
-param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MIN -15
-param set-default FW_RR_FF 0.1
-param set-default FW_RR_P 0.3
-param set-default FW_THR_TRIM 0.25
-param set-default FW_THR_MAX 0.6
-param set-default FW_THR_MIN 0.05
-param set-default FW_T_CLMB_MAX 8
-param set-default FW_T_SINK_MAX 2.7
-param set-default FW_T_SINK_MIN 2.2
-
-param set-default MC_AIRMODE 1
-param set-default MC_ROLLRATE_P 0.3
-param set-default MC_YAW_P 1.6
-
-param set-default MIS_TAKEOFF_ALT 10
-
-param set-default MPC_ACC_HOR_MAX 2
-param set-default MPC_XY_P 0.8
-param set-default MPC_XY_VEL_P_ACC 3
-param set-default MPC_XY_VEL_I_ACC 4
-param set-default MPC_XY_VEL_D_ACC 0.1
-
-param set-default NAV_ACC_RAD 5
-
-param set-default VT_FWD_THRUST_EN 4
-param set-default VT_F_TRANS_THR 0.75
-param set-default VT_B_TRANS_DUR 8
-param set-default VT_TYPE 2
-param set-default FD_ESCS_EN 0
@@ -1,12 +0,0 @@
-#!/bin/sh
-#
-# @name Gazebo x500 vision
-#
-# @type Quadrotor
-#
-
-. ${R}etc/init.d-posix/airframes/4001_gz_x500
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_vision}
@@ -1,6 +1,8 @@

 mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 -p

+# shellcheck disable=SC2154
+mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local
 # shellcheck disable=SC2154
 mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_offboard_port_local
 mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_offboard_port_local
@@ -73,8 +73,6 @@ px4_add_romfs_files(
 	4001_gz_x500
 	4002_gz_x500_depth
 	4003_gz_rc_cessna
-	4004_gz_standard_vtol
-	4005_gz_x500_vision

 	6011_gazebo-classic_typhoon_h480
 	6011_gazebo-classic_typhoon_h480.post
@@ -6,33 +6,16 @@ param set-default IMU_INTEG_RATE 250

 if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0" ]; then

-	px4log "INFO  [init] SIH simulator"
-
-	if [ -n "${PX4_HOME_LAT}" ]; then
-		param set SIH_LOC_LAT0 ${PX4_HOME_LAT}
-	fi
-
-	if [ -n "${PX4_HOME_LON}" ]; then
-		param set SIH_LOC_LON0 ${PX4_HOME_LON}
-	fi
+	echo "INFO  [init] SIH simulator"

 	if simulator_sih start; then

-		if param compare -s SENS_EN_BAROSIM 1
-		then
-			sensor_baro_sim start
-		fi
-		if param compare -s SENS_EN_GPSSIM 1
-		then
-			sensor_gps_sim start
-		fi
-		if param compare -s SENS_EN_MAGSIM 1
-		then
-			sensor_mag_sim start
-		fi
+		sensor_baro_sim start
+		sensor_gps_sim start
+		sensor_mag_sim start

 	else
-		px4log "ERROR [init] simulator_sih failed to start"
+		echo "ERROR [init] simulator_sih failed to start"
 		exit 1
 	fi

@@ -54,7 +37,7 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
 		gz_command="gz"
 		gz_sub_command="sim"
 	else
-		px4log "ERROR [init] Gazebo gz please install gz-garden"
+		echo "ERROR [init] Gazebo gz please install gz-garden"
 		exit 1
 	fi

@@ -64,7 +47,7 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
 	# shellcheck disable=SC2153
 	if [ -z "${gz_world}" ] && [ -n "${PX4_GZ_WORLDS}" ] && [ -n "${PX4_GZ_WORLD}" ]; then

-		px4log "INFO  [init] starting gazebo with world: ${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf"
+		echo "INFO  [init] starting gazebo with world: ${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf"

 		${gz_command} ${gz_sub_command} --verbose=1 -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &

@@ -74,7 +57,7 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
 		fi

 	else
-		px4log "INFO  [init] gazebo already running world: ${gz_world}"
+		echo "INFO  [init] gazebo already running world: ${gz_world}"
 		PX4_GZ_WORLD=${gz_world}
 	fi

@@ -85,34 +68,21 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
 		if [ -n "${PX4_GZ_MODEL_POSE}" ]; then
 			# Clean potential input line formatting.
 			model_pose="$( echo "${PX4_GZ_MODEL_POSE}" | sed -e 's/^[ \t]*//; s/[ \t]*$//; s/,/ /g; s/  / /g; s/ /,/g' )"
-			px4log "INFO  [init] PX4_GZ_MODEL_POSE set, spawning at: ${model_pose}"
+			echo "INFO  [init] PX4_GZ_MODEL_POSE set, spawning at: ${model_pose}"

 		else
-			px4log "WARN  [init] PX4_GZ_MODEL_POSE not set, spawning at origin."
+			echo "WARN  [init] PX4_GZ_MODEL_POSE not set, spawning at origin."
 			model_pose="0,0,0,0,0,0"
 		fi

 		# start gz bridge with pose arg.
 		if gz_bridge start -p "${model_pose}" -m "${PX4_GZ_MODEL}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
-			if param compare -s SENS_EN_BAROSIM 1
-			then
-				sensor_baro_sim start
-			fi
-			if param compare -s SENS_EN_GPSSIM 1
-			then
-				sensor_gps_sim start
-			fi
-			if param compare -s SENS_EN_MAGSIM 1
-			then
-				sensor_mag_sim start
-			fi
-			if param compare -s SENS_EN_ARSPDSIM 1
-			then
-				sensor_airspeed_sim start
-			fi
+			sensor_baro_sim start
+			sensor_gps_sim start
+			sensor_mag_sim start

 		else
-			px4log "ERROR [init] gz_bridge failed to start"
+			echo "ERROR [init] gz_bridge failed to start"
 			exit 1
 		fi

@@ -120,63 +90,37 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
 		# model name specificed, gz_bridge will attach to existing model

 		if gz_bridge start -n "${PX4_GZ_MODEL_NAME}" -w "${PX4_GZ_WORLD}"; then
-			if param compare -s SENS_EN_BAROSIM 1
-			then
-				sensor_baro_sim start
-			fi
-			if param compare -s SENS_EN_GPSSIM 1
-			then
-				sensor_gps_sim start
-			fi
-			if param compare -s SENS_EN_MAGSIM 1
-			then
-				sensor_mag_sim start
-			fi
-			if param compare -s SENS_EN_ARSPDSIM 1
-			then
-				sensor_airspeed_sim start
-			fi
+			sensor_baro_sim start
+			sensor_gps_sim start
+			sensor_mag_sim start

 		else
-			px4log "ERROR [init] gz_bridge failed to start"
+			echo "ERROR [init] gz_bridge failed to start"
 			exit 1
 		fi

 	elif [ -n "${PX4_SIM_MODEL}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ] && [ -z "${PX4_GZ_MODEL}" ]; then

-		px4log "WARN  [init] PX4_GZ_MODEL_NAME or PX4_GZ_MODEL not set using PX4_SIM_MODEL."
+		echo "WARN  [init] PX4_GZ_MODEL_NAME or PX4_GZ_MODEL not set using PX4_SIM_MODEL."

 		if gz_bridge start -m "${PX4_SIM_MODEL#*gz_}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
-			if param compare -s SENS_EN_BAROSIM 1
-			then
-				sensor_baro_sim start
-			fi
-			if param compare -s SENS_EN_GPSSIM 1
-			then
-				sensor_gps_sim start
-			fi
-			if param compare -s SENS_EN_MAGSIM 1
-			then
-				sensor_mag_sim start
-			fi
-			if param compare -s SENS_EN_ARSPDSIM 1
-			then
-				sensor_airspeed_sim start
-			fi
+			sensor_baro_sim start
+			sensor_gps_sim start
+			sensor_mag_sim start

 		else
-			px4log "ERROR [init] gz_bridge failed to start"
+			echo "ERROR [init] gz_bridge failed to start"
 			exit 1
 		fi

 	else
-		px4log "ERROR [init] failed to pass only PX4_GZ_MODEL_NAME or PX4_GZ_MODEL"
+		echo "ERROR [init] failed to pass only PX4_GZ_MODEL_NAME or PX4_GZ_MODEL"
 		exit 1
 	fi

 elif [ "$PX4_SIM_MODEL" = "jmavsim_iris" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "10017" ]; then

-	px4log "INFO  [init] jMAVSim simulator"
+	echo "INFO  [init] jMAVSim simulator"

 	if jps | grep -i jmavsim; then
 		kill "$(jps | grep -i jmavsim | awk '{print $1}')" || true
@@ -198,15 +142,15 @@ else
 	if [ -z "${PX4_SIM_HOSTNAME}" ]; then

 		if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
-			px4log "INFO  [init] PX4_SIM_HOSTNAME: localhost"
+			echo "INFO  [init] PX4_SIM_HOSTNAME: localhost"
 			simulator_mavlink start -c $simulator_tcp_port
 		else
-			px4log "INFO  [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOST_ADDR}"
+			echo "INFO  [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOST_ADDR}"
 			simulator_mavlink start -t "${PX4_SIM_HOST_ADDR}" "${simulator_tcp_port}"
 		fi

 	else
-		px4log "INFO  [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOSTNAME}"
+		echo "INFO  [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOSTNAME}"
 		simulator_mavlink start -h "${PX4_SIM_HOSTNAME}" "${simulator_tcp_port}"
 	fi

@@ -4,12 +4,12 @@

 # shellcheck disable=SC2154
 if [ ! -f ${replay} ]; then
-	px4log "Invalid replay log file ${replay}"
+	echo "Invalid replay log file ${replay}"
 	exit 1
 fi

 if [ ! -f replay_params.txt ]; then
-	px4log "Creating $(pwd)/replay_params.txt"
+	echo "Creating $(pwd)/replay_params.txt"
 	ulog_params -i "${replay}" -l ' ' | grep -e '^EKF2' > replay_params.txt
 fi

@@ -13,8 +13,6 @@ set +e
 #search path for sourcing px4-rc.*
 PATH="$PATH:${R}etc/init.d-posix"

-px4log_tail &
-
 #
 # Main SITL startup script
 #
@@ -42,7 +40,7 @@ then

 elif [ -n "$PX4_SYS_AUTOSTART" ]
 then
-	px4log "env SYS_AUTOSTART: ${PX4_SYS_AUTOSTART}"
+	echo "env SYS_AUTOSTART: ${PX4_SYS_AUTOSTART}"
 	SYS_AUTOSTART=${PX4_SYS_AUTOSTART}

 elif [ "$PX4_SIM_MODEL" = "none" ] || [ -z $PX4_SIM_MODEL ]
@@ -57,11 +55,11 @@ then
 	# shellcheck disable=SC2012
 	REQUESTED_AUTOSTART=$(ls "${R}etc/init.d-posix/airframes" | sed -n 's/^\([0-9][0-9]*\)_'${PX4_SIM_MODEL}'$/\1/p')
 	if [ -z "$REQUESTED_AUTOSTART" ]; then
-		px4log "ERROR [init] Unknown model $PX4_SIM_MODEL (not found by name on ${R}etc/init.d-posix/airframes)"
+		echo "ERROR [init] Unknown model $PX4_SIM_MODEL (not found by name on ${R}etc/init.d-posix/airframes)"
 		exit 1
 	else
 		SYS_AUTOSTART=$REQUESTED_AUTOSTART
-		px4log "INFO  [init] found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
+		echo "INFO  [init] found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
 	fi
 fi

@@ -74,7 +72,7 @@ if [ -f $PARAM_FILE ]; then

 	if ! param import
 	then
-		px4log "ERROR [init] param import failed"
+		echo "ERROR [init] param import failed"

 		bsondump $PARAM_FILE

@@ -84,7 +82,7 @@ if [ -f $PARAM_FILE ]; then
 		# try importing from backup file
 		if [ -f $PARAM_BACKUP_FILE ]
 		then
-			px4log "[init] importing from parameter backup"
+			echo "[init] importing from parameter backup"

 			# dump current backup file contents for comparison
 			bsondump $PARAM_BACKUP_FILE
@@ -99,7 +97,7 @@ if [ -f $PARAM_FILE ]; then
 	fi

 elif [ -f $PARAM_BACKUP_FILE ]; then
-	px4log "ERROR [init] primary param file $PARAM_FILE unavailable, using backup $PARAM_BACKUP_FILE"
+	echo "ERROR [init] primary param file $PARAM_FILE unavailable, using backup $PARAM_BACKUP_FILE"
 	param import $PARAM_BACKUP_FILE
 fi

@@ -186,26 +184,23 @@ param set-default SDLOG_DIRS_MAX 7
 param set-default TRIG_INTERFACE 3

 param set-default SYS_FAILURE_EN 1
-# Enable low-battery actions by default for (automated) testing. Battery sim
-# does not go below 50% by default, but failure injection can trigger failsafes.
-param set-default COM_LOW_BAT_ACT 2

 # Adapt timeout parameters if simulation runs faster or slower than realtime.
 if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
 	COM_DL_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 10" | bc)
-	px4log "COM_DL_LOSS_T set to $COM_DL_LOSS_T_LONGER"
+	echo "COM_DL_LOSS_T set to $COM_DL_LOSS_T_LONGER"
 	param set COM_DL_LOSS_T $COM_DL_LOSS_T_LONGER

 	COM_RC_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 0.5" | bc)
-	px4log "COM_RC_LOSS_T set to $COM_RC_LOSS_T_LONGER"
+	echo "COM_RC_LOSS_T set to $COM_RC_LOSS_T_LONGER"
 	param set COM_RC_LOSS_T $COM_RC_LOSS_T_LONGER

 	COM_OF_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 0.5" | bc)
-	px4log "COM_OF_LOSS_T set to $COM_OF_LOSS_T_LONGER"
+	echo "COM_OF_LOSS_T set to $COM_OF_LOSS_T_LONGER"
 	param set COM_OF_LOSS_T $COM_OF_LOSS_T_LONGER

 	COM_OBC_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 5.0" | bc)
-	px4log "COM_OBC_LOSS_T set to $COM_OBC_LOSS_T_LONGER"
+	echo "COM_OBC_LOSS_T set to $COM_OBC_LOSS_T_LONGER"
 	param set COM_OBC_LOSS_T $COM_OBC_LOSS_T_LONGER
 fi

@@ -231,7 +226,7 @@ then

 elif [ ! -e "$autostart_file" ] && [ "$SYS_AUTOSTART" -ne "0" ]
 then
-	px4log "Error: no autostart file found ($autostart_file)"
+	echo "Error: no autostart file found ($autostart_file)"
 	exit 1
 fi

@@ -36,7 +36,6 @@ add_subdirectory(airframes)
 px4_add_romfs_files(
 	rc.airship_apps
 	rc.airship_defaults
-	rc.autostart_ext
 	rc.balloon_apps
 	rc.balloon_defaults
 	rc.boat_defaults
@@ -46,7 +45,6 @@ px4_add_romfs_files(
 	rc.logging
 	rc.mc_apps
 	rc.mc_defaults
-	rc.sysinit
 	rcS
 	rc.sensors
 	rc.thermal_cal
@@ -38,7 +38,7 @@ param set-default EKF2_GPS_P_GATE 10
 param set-default EKF2_GPS_V_GATE 10

 param set-default FW_ARSP_MODE 1
-param set-default NPFG_PERIOD 25
+param set-default FW_L1_PERIOD 25
 param set-default FW_PR_FF 0.7
 param set-default FW_PR_I 0.18
 param set-default FW_PR_P 0.15
@@ -122,12 +122,16 @@ param set-default VT_TRANS_MIN_TM 15
 param set-default VT_B_TRANS_DUR 8
 param set-default VT_FWD_THRUST_SC 4
 param set-default VT_F_TRANS_DUR 1
+param set-default VT_B_REV_OUT 0.5
 param set-default VT_B_TRANS_THR 0.7
 param set-default VT_TRANS_TIMEOUT 22
 param set-default VT_F_TRANS_RAMP 4

 param set-default COM_RC_OVERRIDE 0

+
+
+
 param set-default CA_AIRFRAME 2

 param set-default CA_ROTOR_COUNT 5
@@ -30,7 +30,7 @@ param set-default BAT1_N_CELLS 6
 param set-default FW_AIRSPD_MAX 30
 param set-default FW_AIRSPD_MIN 19
 param set-default FW_AIRSPD_TRIM 23
-param set-default FW_PN_R_SLEW_MAX 40
+param set-default FW_L1_R_SLEW_MAX 40
 param set-default FW_PSP_OFF 3
 param set-default FW_P_LIM_MAX 18
 param set-default FW_P_LIM_MIN -25
@@ -54,6 +54,14 @@ param set-default CBRK_AIRSPD_CHK 162128
 # Differential drive acts like ackermann steering with a maximum turn angle of 180 degrees, or pi radians
 param set-default GND_MAX_ANG 3.1415

+param set-default RBCLW_BAUD 8
+param set-default RBCLW_COUNTS_REV 1200
+param set-default RBCLW_ADDRESS 128
+# 104 corresponds to Telem 4
+param set-default RBCLW_SER_CFG 104
+# Start this driver after setting parameters, because the driver uses some of those parameters.
+# roboclaw start /dev/ttyS3
+
 # Set geometry & output configration
 param set-default CA_AIRFRAME 6
 param set-default CA_R_REV 3
@@ -20,10 +20,10 @@ then
 	#
 	if attitude_estimator_q start
 	then
-		px4log "WARN [init] Estimator LPE unsupported, EKF2 recommended."
+		echo "WARN [init] Estimator LPE unsupported, EKF2 recommended."
 		local_position_estimator start
 	else
-		px4log "ERROR [init] Estimator LPE not available. Using EKF2"
+		echo "ERROR [init] Estimator LPE not available. Using EKF2"
 		param set SYS_MC_EST_GROUP 2
 		param save
 		reboot
@@ -7,5 +7,5 @@ if [ -e ${SDCARD_EXT_PATH}/rc.autostart ]
 then
 	. ${SDCARD_EXT_PATH}/rc.autostart
 else
-	px4log "Error: ${SDCARD_EXT_PATH}/rc.autostart does not exist"
+	echo "Error: ${SDCARD_EXT_PATH}/rc.autostart does not exist"
 fi
@@ -17,10 +17,10 @@ then
 	#
 	if attitude_estimator_q start
 	then
-		px4log "WARN [init] Estimator LPE unsupported, EKF2 recommended."
+		echo "WARN [init] Estimator LPE unsupported, EKF2 recommended."
 		local_position_estimator start
 	else
-		px4log "ERROR [init] Estimator LPE not available. Using EKF2"
+		echo "ERROR [init] Estimator LPE not available. Using EKF2"
 		param set SYS_MC_EST_GROUP 2
 		param save
 		reboot
@@ -20,7 +20,7 @@ control_allocator start
 #
 fw_rate_control start
 fw_att_control start
-fw_path_navigation start
+fw_pos_control_l1 start
 airspeed_selector start

 #
@@ -14,13 +14,9 @@ param set-default MAV_TYPE 1
 # Default parameters for fixed wing UAVs.
 #
 param set-default COM_POS_FS_DELAY 5
-
-# there is a 2.5 factor applied on the _FS thresholds if for invalidation
-param set-default COM_POS_FS_EPH 50
+param set-default COM_POS_FS_EPH 15
+param set-default COM_POS_FS_EPV 30
 param set-default COM_VEL_FS_EVH 5
-
-param set-default COM_POS_LOW_EPH 50
-
 # Disable preflight disarm to not interfere with external launching
 param set-default COM_DISARM_PRFLT -1

@@ -20,10 +20,10 @@ then
 	#
 	if attitude_estimator_q start
 	then
-		px4log "WARN [init] Estimator LPE unsupported, EKF2 recommended."
+		echo "WARN [init] Estimator LPE unsupported, EKF2 recommended."
 		local_position_estimator start
 	else
-		px4log "ERROR [init] Estimator LPE not available. Using EKF2"
+		echo "ERROR [init] Estimator LPE not available. Using EKF2"
 		param set SYS_MC_EST_GROUP 2
 		param save
 		reboot
@@ -1,3 +0,0 @@
-#!/bin/sh
-# Un comment and use set +e to ignore and set -e to enable 'exit on error control'
-set +e
@@ -66,6 +66,6 @@ fi
 #
 if [ $VEHICLE_TYPE = none ]
 then
-	px4log "No autostart ID found"
+	echo "No autostart ID found"
 	ekf2 start &
 fi
@@ -37,7 +37,7 @@ fi

 fw_rate_control start vtol
 fw_att_control start vtol
-fw_path_navigation start vtol
+fw_pos_control_l1 start vtol
 fw_autotune_attitude_control start vtol

 # Start Land Detector
@@ -10,11 +10,6 @@ set VEHICLE_TYPE vtol
 # MAV_TYPE_VTOL_FIXEDROTOR 22
 param set-default MAV_TYPE 22

-# there is a 2.5 factor applied on COM_POS_FS_EPH if for invalidation
-param set-default COM_POS_FS_EPH 50
-
-param set-default COM_POS_LOW_EPH 50
-
 param set-default MIS_TAKEOFF_ALT 20
 param set-default MIS_YAW_TMT 10

@@ -36,6 +36,11 @@ set SDCARD_FORMAT no
 set STARTUP_TUNE 1
 set VEHICLE_TYPE none

+#
+# Print full system version.
+#
+ver all
+
 #
 # Try to mount the microSD card.
 #
@@ -45,7 +50,7 @@ then
 	then
 		if [ -f "/fs/microsd/.format" ]
 		then
-			px4log "INFO [init] format /dev/mmcsd0 requested (/fs/microsd/.format)"
+			echo "INFO [init] format /dev/mmcsd0 requested (/fs/microsd/.format)"
 			set SDCARD_FORMAT yes
 			rm /fs/microsd/.format
 			umount /fs/microsd
@@ -57,22 +62,22 @@ then

 	if [ $SDCARD_AVAILABLE = no -o $SDCARD_FORMAT = yes ]
 	then
-		px4log "INFO [init] formatting /dev/mmcsd0"
+		echo "INFO [init] formatting /dev/mmcsd0"
 		set STARTUP_TUNE 15 # tune 15 = SD_ERROR (overridden to SD_INIT if format + mount succeeds)

 		if mkfatfs -F 32 /dev/mmcsd0
 		then
-			px4log "INFO [init] card formatted"
+			echo "INFO [init] card formatted"

 			if mount -t vfat /dev/mmcsd0 /fs/microsd
 			then
 				set SDCARD_AVAILABLE yes
 				set STARTUP_TUNE 14 # tune 14 = SD_INIT
 			else
-				px4log "ERROR [init] card mount failed"
+				echo "ERROR [init] card mount failed"
 			fi
 		else
-			px4log "ERROR [init] format failed"
+			echo "ERROR [init] format failed"
 		fi
 	fi

@@ -122,7 +127,7 @@ else
 	param select $PARAM_FILE
 	if ! param import
 	then
-		px4log "ERROR [init] param import failed"
+		echo "ERROR [init] param import failed"
 		set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE

 		bsondump $PARAM_FILE
@@ -135,7 +140,7 @@ else
 			# try importing from backup file
 			if [ -f $PARAM_BACKUP_FILE ]
 			then
-				px4log "[init] importing from parameter backup"
+				echo "[init] importing from parameter backup"

 				# dump current backup file contents for comparison
 				bsondump $PARAM_BACKUP_FILE
@@ -177,7 +182,7 @@ else
 	set BOARD_ARCH_RC_DEFAULTS ${R}etc/init.d/rc.board_arch_defaults
 	if [ -f $BOARD_ARCH_RC_DEFAULTS ]
 	then
-		px4log "Board architecture defaults: ${BOARD_ARCH_RC_DEFAULTS}"
+		echo "Board architecture defaults: ${BOARD_ARCH_RC_DEFAULTS}"
 		. $BOARD_ARCH_RC_DEFAULTS
 	fi
 	unset BOARD_ARCH_RC_DEFAULTS
@@ -188,7 +193,7 @@ else
 	set BOARD_RC_DEFAULTS ${R}etc/init.d/rc.board_defaults
 	if [ -f $BOARD_RC_DEFAULTS ]
 	then
-		px4log "Board defaults: ${BOARD_RC_DEFAULTS}"
+		echo "Board defaults: ${BOARD_RC_DEFAULTS}"
 		. $BOARD_RC_DEFAULTS
 	fi
 	unset BOARD_RC_DEFAULTS
@@ -206,7 +211,7 @@ else
 			then
 				set AUTOSTART_PATH etc/init.d/rc.autostart_ext
 			else
-				px4log "ERROR [init] SD card not mounted - trying to load airframe from ROMFS"
+				echo "ERROR [init] SD card not mounted - trying to load airframe from ROMFS"
 			fi
 		fi
 		. ${R}$AUTOSTART_PATH
@@ -255,7 +260,7 @@ else
 	#
 	if [ -f $FCONFIG ]
 	then
-		px4log "Custom: ${FCONFIG}"
+		echo "Custom: ${FCONFIG}"
 		. $FCONFIG
 	fi

@@ -290,7 +295,7 @@ else

 		if ! px4io start
 		then
-			px4log "PX4IO start failed"
+			echo "PX4IO start failed"
 			set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
 		fi
 	fi
@@ -355,7 +360,7 @@ else
 		set BOARD_RC_SENSORS ${R}etc/init.d/rc.board_sensors
 		if [ -f $BOARD_RC_SENSORS ]
 		then
-			px4log "Board sensors: ${BOARD_RC_SENSORS}"
+			echo "Board sensors: ${BOARD_RC_SENSORS}"
 			. $BOARD_RC_SENSORS
 		fi
 		unset BOARD_RC_SENSORS
@@ -396,7 +401,7 @@ else
 	set BOARD_RC_MAVLINK ${R}etc/init.d/rc.board_mavlink
 	if [ -f $BOARD_RC_MAVLINK ]
 	then
-		px4log "Board mavlink: ${BOARD_RC_MAVLINK}"
+		echo "Board mavlink: ${BOARD_RC_MAVLINK}"
 		. $BOARD_RC_MAVLINK
 	fi
 	unset BOARD_RC_MAVLINK
@@ -471,7 +476,7 @@ else
 	set BOARD_RC_EXTRAS ${R}etc/init.d/rc.board_extras
 	if [ -f $BOARD_RC_EXTRAS ]
 	then
-		px4log "Board extras: ${BOARD_RC_EXTRAS}"
+		echo "Board extras: ${BOARD_RC_EXTRAS}"
 		. $BOARD_RC_EXTRAS
 	fi
 	unset BOARD_RC_EXTRAS
@@ -481,7 +486,7 @@ else
 	#
 	if [ -f $FEXTRAS ]
 	then
-		px4log "Addons script: ${FEXTRAS}"
+		echo "Addons script: ${FEXTRAS}"
 		. $FEXTRAS
 	fi

@@ -19,11 +19,11 @@ fi
 mount -t vfat /dev/mmcsd0 /fs/microsd
 if [ $? = 0 ]
 then
-	px4log "[i] card mounted at /fs/microsd"
+	echo "[i] card mounted at /fs/microsd"
 	# Start playing the startup tune
 	tune_control play -t 1 # tune 1 = STARTUP
 else
-	px4log "[i] no microSD card found"
+	echo "[i] no microSD card found"
 	tune_control play error
 fi

@@ -43,9 +43,9 @@ fi
 param select $PARAM_FILE
 if param load
 then
-	px4log "[param] Loaded: $PARAM_FILE"
+	echo "[param] Loaded: $PARAM_FILE"
 else
-	px4log "[param] FAILED loading $PARAM_FILE"
+	echo "[param] FAILED loading $PARAM_FILE"
 fi

 #
@@ -53,7 +53,7 @@ fi
 #
 if [ -f $BOARD_RC ]
 then
-	px4log "Board init: ${BOARD_RC}"
+	echo "Board init: ${BOARD_RC}"
 	. $BOARD_RC
 fi

@@ -64,24 +64,24 @@ fi

 if px4io checkcrc $io_file
 then
-	px4log "PX4IO CRC OK"
+	echo "PX4IO CRC OK"
 else
-	px4log "PX4IO CRC failure"
+	echo "PX4IO CRC failure"
 	tune_control play -t 16 # tune 16 = PROG_PX4IO
 	if px4io update $io_file
 	then
 		if px4io start
 		then
-			px4log "PX4IO restart OK"
+			echo "PX4IO restart OK"
 			tune_control play-t 17 # tune 17 = PROG_PX4IO_OK
 		else
-			px4log "PX4IO restart failed"
+			echo "PX4IO restart failed"
 			tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
 			set unit_test_failure 1
 			set unit_test_failure_list "${unit_test_failure_list} px4io_flash"
 		fi
 	else
-		px4log "PX4IO update failed"
+		echo "PX4IO update failed"
 		tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
 		set unit_test_failure 1
 		set unit_test_failure_list "${unit_test_failure_list} px4io_flash"
@@ -90,7 +90,7 @@ fi

 if px4io start
 then
-	px4log "PX4IO OK"
+	echo "PX4IO OK"
 else
 	set unit_test_failure 1
 	set unit_test_failure_list "${unit_test_failure_list} px4io_start"
@@ -117,11 +117,11 @@ ver all
 if tests all
 then
 	echo
-	px4log "All Unit Tests PASSED"
+	echo "All Unit Tests PASSED"
 	led_control on -c green
 else
 	echo
-	px4log "Some Unit Tests FAILED"
+	echo "Some Unit Tests FAILED"
 	led_control on -c red
 fi

@@ -25,7 +25,7 @@ if __name__ == "__main__":
    if not os.path.isdir(output_dir):
        os.mkdir(output_dir)

-    msg_path = os.path.join(os.path.dirname(os.path.realpath(__file__)),"../../msg")
+    msg_path = os.path.join(os.path.dirname(os.path.realpath(__file__)),"..")
    msg_files = get_msgs_list(msg_path)
    msg_files.sort()

@@ -164,8 +164,7 @@ for field_type, field_name, field_size, padding in fields:
 	print('\tmemcpy(&topic.{0}, buf.iterator, sizeof(topic.{0}));'.format(field_name))

 	if field_type == 'uint64' and (field_name == 'timestamp' or field_name == 'timestamp_sample'):
-		print('\tif (topic.{0} == 0) topic.{0} = hrt_absolute_time();'.format(field_name, field_name))
-		print('\telse topic.{0} = math::min(topic.{0} - time_offset, hrt_absolute_time());'.format(field_name, field_name))
+		print('\ttopic.{0} -= time_offset;'.format(field_name))

 	print('\tbuf.iterator += sizeof(topic.{:});'.format(field_name))
 	print('\tbuf.offset += sizeof(topic.{:});'.format(field_name))
@@ -77,11 +77,11 @@ class RCOutput():
        result += "\n"
        result += "if [ ${AIRFRAME} != none ]\n"
        result += "then\n"
-        result += "\tpx4log \"Loading airframe: /etc/init.d/airframes/${AIRFRAME}\"\n"
+        result += "\techo \"Loading airframe: /etc/init.d/airframes/${AIRFRAME}\"\n"
        result += "\t. /etc/init.d/airframes/${AIRFRAME}\n"
        if not post_start:
            result += "else\n"
-            result += "\tpx4log \"ERROR [init] No file matches SYS_AUTOSTART value found in : /etc/init.d/airframes\"\n"
+            result += "\techo \"ERROR [init] No file matches SYS_AUTOSTART value found in : /etc/init.d/airframes\"\n"
            # Reset the configuration
            result += "\tparam set SYS_AUTOSTART 0\n"
            result += "\ttone_alarm ${TUNE_ERR}\n"
@@ -102,7 +102,7 @@ class ModuleDocumentation(object):
    def _handle_usage_param_int(self, args):
        assert(len(args) == 6) # option_char, default_val, min_val, max_val, description, is_optional
        option_char = self._get_option_char(args[0])
-        default_val = self._get_int(args[1])
+        default_val = int(args[1], 0)
        description = self._get_string(args[4])
        if self._is_bool_true(args[5]):
            self._usage_string += "     [-%s <val>]  %s\n" % (option_char, description)
@@ -214,9 +214,6 @@ class ModuleDocumentation(object):
            f = f[:-1]
        return float(f)

-    def _get_int(self, argument):
-        return int(eval(argument))
-
    def _is_string(self, argument):
        return len(argument) > 0 and argument[0] == '"'

@@ -310,8 +307,6 @@ class SourceParser(object):
            r'//.*?$|/\*.*?\*/|\'(?:\\.|[^\\\'])*\'|"(?:\\.|[^\\"])*"',
            re.DOTALL | re.MULTILINE)

-        self._define_pattern = re.compile(r'#define\s+(\w+?)[^\S\r\n]+(.+?)\s*?\n')
-
    def Parse(self, scope, contents):
        """
        Incrementally parse program contents and append all found documentations
@@ -321,9 +316,6 @@ class SourceParser(object):
        # remove comments from source
        contents = self._comment_remover(contents)

-        # replace preprocessor defines defined in file directly
-        contents = self._define_replacer(contents)
-
        extracted_function_calls = [] # list of tuples: (FUNC_NAME, list(ARGS))

        start_index = 0
@@ -387,15 +379,6 @@ class SourceParser(object):
                return s
        return re.sub(self._comment_remove_pattern, replacer, text)

-    def _define_replacer(self, text):
-        """ check for C preprocesor #define in text and replace with argument"""
-        text = re.sub(r"\\\s*?\n"," ",text)
-        define_iter = self._define_pattern.finditer(text)
-        for define_pattern in define_iter:
-            text = re.sub(r"\b" +re.escape(str(define_pattern.groups()[0])) + r"\b", re.escape(str(define_pattern.groups()[1])), text)
-        return text
-
-
    def _do_consistency_check(self, contents, scope, module_doc):
        """
        check the documentation for consistency with the code (arguments to
@@ -69,7 +69,7 @@ def main():
            file_path = os.path.join(root, file)

            # delete hidden files
-            if file.startswith(".") and not ".nshrc" in file:
+            if file.startswith("."):
                os.remove(file_path)
                continue

@@ -14,7 +14,7 @@ set i {{ command.instance }}
 . $PRT_F
 if [ $SERIAL_DEV != none ]; then
 {% if not constrained_flash -%}
-	px4log "Starting {{ command.label }} on $SERIAL_DEV"
+	echo "Starting {{ command.label }} on $SERIAL_DEV"
 {% endif -%}
 	{{ command.command }}
 fi
@@ -11,7 +11,7 @@ if param compare "$PRT" {{ serial_device.index }}; then
 		set PRT_{{ serial_device.tag }}_ 1
 {% if not constrained_flash -%}
 	else
-		px4log "Conflicting config for {{ serial_device.device }}"
+		echo "Conflicting config for {{ serial_device.device }}"
 {% endif -%}
 	fi
 fi
@@ -84,7 +84,6 @@ sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends i
 	gdb \
 	git \
 	lcov \
-	libfuse2 \
 	libxml2-dev \
 	libxml2-utils \
 	make \
@@ -183,7 +182,6 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 			echo "${NUTTX_GCC_VERSION} path already set.";
 		else
 			echo $exportline >> $HOME/.profile;
-			source $HOME/.profile; # Allows to directly build NuttX targets in the same terminal
 		fi
 	fi
 fi
@@ -219,34 +217,22 @@ if [[ $INSTALL_SIM == "true" ]]; then
 	# Set Java 11 as default
 	sudo update-alternatives --set java $(update-alternatives --list java | grep "java-$java_version")

-	# Gazebo / Gazebo classic installation
-	if [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
-		echo "Gazebo (Garden) will be installed"
-		echo "Earlier versions will be removed"
-		# Add Gazebo binary repository
-		sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
-		echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
-		sudo apt-get update -y --quiet
-
-		# Install Gazebo
-		gazebo_packages="gz-garden"
+	# Install Gazebo classic
+	if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
+		gazebo_version=9
+		gazebo_packages="gazebo$gazebo_version libgazebo$gazebo_version-dev"
+	elif [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
+		gazebo_packages="gazebo libgazebo-dev"
 	else
-		sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
-		wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
-		# Update list, since new gazebo-stable.list has been added
-		sudo apt-get update -y --quiet
-
-		# Install Gazebo classic
-		if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
-			gazebo_classic_version=9
-			gazebo_packages="gazebo$gazebo_classic_version libgazebo$gazebo_classic_version-dev"
-		else
-			# default and Ubuntu 20.04
-			gazebo_classic_version=11
-			gazebo_packages="gazebo$gazebo_classic_version libgazebo$gazebo_classic_version-dev"
-		fi
+		# default and Ubuntu 20.04
+		gazebo_version=11
+		gazebo_packages="gazebo$gazebo_version libgazebo$gazebo_version-dev"
 	fi

+	sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
+	wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
+	# Update list, since new gazebo-stable.list has been added
+	sudo apt-get update -y --quiet
 	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 		dmidecode \
 		$gazebo_packages \
@@ -269,6 +255,16 @@ if [[ $INSTALL_SIM == "true" ]]; then
 		echo "export SVGA_VGPU10=0" >> ~/.profile
 	fi

+	# Install Gazebo
+	if [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
+		sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
+		wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
+		# Update list, since new gazebo-stable.list has been added
+		sudo apt-get update -y --quiet
+		sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
+			ignition-fortress \
+			;
+	fi
 fi

 if [[ $INSTALL_NUTTX == "true" ]]; then
@@ -84,18 +84,6 @@
        <always_on>1</always_on>
        <update_rate>250</update_rate>
      </sensor>
-      <sensor name="air_pressure_sensor" type="air_pressure">
-        <always_on>1</always_on>
-        <update_rate>50</update_rate>
-        <air_pressure>
-          <pressure>
-            <noise type="gaussian">
-              <mean>0</mean>
-              <stddev>0.01</stddev>
-            </noise>
-          </pressure>
-        </air_pressure>
-      </sensor>
    </link>
    <link name="airspeed">
      <pose>0 0 0 0 0 0</pose>
@@ -209,6 +197,7 @@
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>
    <link name="left_elevon">
@@ -637,6 +626,7 @@
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="RightWheelJoint" type="revolute">
@@ -653,6 +643,7 @@
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="CenterWheelJoint" type="revolute">
@@ -669,6 +660,7 @@
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>
    <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
@@ -693,7 +685,6 @@
      filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
      <joint_name>servo_0</joint_name>
      <sub_topic>servo_0</sub_topic>
-      <p_gain>10.0</p_gain>
    </plugin>
    <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
      <a0>0.05984281113</a0>
@@ -717,7 +708,6 @@
      filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
      <joint_name>servo_1</joint_name>
      <sub_topic>servo_1</sub_topic>
-      <p_gain>10.0</p_gain>
    </plugin>
    <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
      <a0>0.05984281113</a0>
@@ -777,7 +767,6 @@
      filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
      <joint_name>servo_2</joint_name>
      <sub_topic>servo_2</sub_topic>
-      <p_gain>10.0</p_gain>
    </plugin>
    <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
      <a0>0.0</a0>
@@ -800,10 +789,8 @@
    <plugin
      filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
      <joint_name>rudder_joint</joint_name>
-      <sub_topic>servo_3</sub_topic>
-      <p_gain>10.0</p_gain>
    </plugin>
-    <plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
+    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
      <jointName>rotor_puller_joint</jointName>
      <linkName>rotor_puller</linkName>
      <turningDirection>cw</turningDirection>
@@ -1,15 +0,0 @@
-<?xml version="1.0"?>
-<model>
-  <name>Standard VTOL</name>
-  <version>1.0</version>
-  <sdf version='1.10'>model.sdf</sdf>
-
-  <author>
-   <name>Roman Bapst</name>
-   <email>roman@px4.io</email>
-  </author>
-
-  <description>
-    This is a model of a standard VTOL quad plane.
-  </description>
-</model>
@@ -1,755 +0,0 @@
-<?xml version="1.0"?>
-<!-- DO NOT EDIT: Generated from standard_vtol.sdf.jinja -->
-<sdf version='1.10'>
-  <model name='standard_vtol'>
-    <pose>0 0 0.246 0 0 0</pose>
-    <link name='base_link'>
-      <pose>0 0 0 0 0 0</pose>
-      <inertial>
-        <pose>0 0 0 0 0 0</pose>
-        <mass>5</mass>
-        <inertia>
-          <ixx>0.477708333333</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.341666666667</iyy>
-          <iyz>0</iyz>
-          <izz>0.811041666667</izz>
-        </inertia>
-      </inertial>
-      <collision name='base_link_collision'>
-        <pose>0 0 -0.07 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.55 2.144 0.05</size>
-          </box>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>100000</kp>
-              <kd>1.0</kd>
-              <max_vel>0.1</max_vel>
-              <min_depth>0.001</min_depth>
-            </ode>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-      <visual name='base_link_visual'>
-        <pose>0.53 -1.072 -0.1 1.5707963268 0 3.1415926536</pose>
-        <geometry>
-          <mesh>
-            <scale>0.001 0.001 0.001</scale>
-            <uri>model://standard_vtol/meshes/x8_wing.dae</uri>
-          </mesh>
-        </geometry>
-        <material>
-          <ambient>.175 .175 .175 1.0</ambient>
-          <diffuse>.175 .175 .175 1.0</diffuse>
-        </material>
-      </visual>
-      <visual name='left_motor_column'>
-        <pose>0 0.35 0.01 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.74 0.03 0.03</size>
-          </box>
-        </geometry>
-        <material>
-          <ambient>.175 .175 .175 1.0</ambient>
-          <diffuse>.175 .175 .175 1.0</diffuse>
-        </material>
-      </visual>
-      <visual name='right_motor_column'>
-        <pose>0 -0.35 0.01 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.74 0.03 0.03</size>
-          </box>
-        </geometry>
-        <material>
-          <ambient>.175 .175 .175 1.0</ambient>
-          <diffuse>.175 .175 .175 1.0</diffuse>
-        </material>
-      </visual>
-      <visual name='m0'>
-        <pose>-0.35 0.35 0.045 0 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.035</length>
-            <radius>0.02</radius>
-          </cylinder>
-        </geometry>
-        <material>
-          <ambient>.175 .175 .175 1.0</ambient>
-          <diffuse>.175 .175 .175 1.0</diffuse>
-        </material>
-      </visual>
-      <visual name='m1'>
-        <pose>-0.35 -0.35 0.045 0 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.035</length>
-            <radius>0.02</radius>
-          </cylinder>
-        </geometry>
-        <material>
-          <ambient>.175 .175 .175 1.0</ambient>
-          <diffuse>.175 .175 .175 1.0</diffuse>
-        </material>
-      </visual>
-      <visual name='m2'>
-        <pose>0.35 -0.35 0.045 0 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.035</length>
-            <radius>0.02</radius>
-          </cylinder>
-        </geometry>
-        <material>
-          <ambient>.175 .175 .175 1.0</ambient>
-          <diffuse>.175 .175 .175 1.0</diffuse>
-        </material>
-      </visual>
-      <visual name='m3'>
-        <pose>0.35 0.35 0.045 0 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.035</length>
-            <radius>0.02</radius>
-          </cylinder>
-        </geometry>
-        <material>
-          <ambient>.175 .175 .175 1.0</ambient>
-          <diffuse>.175 .175 .175 1.0</diffuse>
-        </material>
-      </visual>
-      <gravity>1</gravity>
-      <velocity_decay/>
-      <self_collide>0</self_collide>
-      <sensor name="imu_sensor" type="imu">
-        <always_on>1</always_on>
-        <update_rate>250</update_rate>
-      </sensor>
-      <sensor name="air_pressure_sensor" type="air_pressure">
-        <always_on>1</always_on>
-        <update_rate>50</update_rate>
-        <air_pressure>
-          <pressure>
-            <noise type="gaussian">
-              <mean>0</mean>
-              <stddev>0.01</stddev>
-            </noise>
-          </pressure>
-        </air_pressure>
-      </sensor>
-    </link>
-    <link name='rotor_0'>
-      <pose>0.35 -0.35 0.07 0 0 0</pose>
-      <inertial>
-        <pose>0 0 0 0 0 0</pose>
-        <mass>0.005</mass>
-        <inertia>
-          <ixx>9.75e-07</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000166704</iyy>
-          <iyz>0</iyz>
-          <izz>0.000167604</izz>
-        </inertia>
-      </inertial>
-      <collision name='rotor_0_collision'>
-        <pose>0 0 0 0 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.005</length>
-            <radius>0.1</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode/>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-      <visual name='rotor_0_visual'>
-        <pose>0 0 0 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>model://standard_vtol/meshes/iris_prop_ccw.dae</uri>
-          </mesh>
-        </geometry>
-        <material>
-          <ambient>0 0 1 1.0</ambient>
-          <diffuse>0 0 1 1.0</diffuse>
-        </material>
-      </visual>
-      <gravity>1</gravity>
-      <velocity_decay/>
-      <self_collide>0</self_collide>
-    </link>
-    <joint name='rotor_0_joint' type='revolute'>
-      <child>rotor_0</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 0 1</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-      </axis>
-    </joint>
-    <link name='rotor_1'>
-      <pose>-0.35 0.35 0.07 0 0 0</pose>
-      <inertial>
-        <pose>0 0 0 0 0 0</pose>
-        <mass>0.005</mass>
-        <inertia>
-          <ixx>9.75e-07</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000166704</iyy>
-          <iyz>0</iyz>
-          <izz>0.000167604</izz>
-        </inertia>
-      </inertial>
-      <collision name='rotor_1_collision'>
-        <pose>0 0 0 0 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.005</length>
-            <radius>0.1</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode/>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-      <visual name='rotor_1_visual'>
-        <pose>0 0 0 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>model://standard_vtol/meshes/iris_prop_ccw.dae</uri>
-          </mesh>
-        </geometry>
-        <material>
-          <ambient>0 0 1 1.0</ambient>
-          <diffuse>0 0 1 1.0</diffuse>
-        </material>
-      </visual>
-      <gravity>1</gravity>
-      <velocity_decay/>
-      <self_collide>0</self_collide>
-    </link>
-    <joint name='rotor_1_joint' type='revolute'>
-      <child>rotor_1</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 0 1</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-      </axis>
-    </joint>
-    <link name='rotor_2'>
-      <pose>0.35 0.35 0.07 0 0 0</pose>
-      <inertial>
-        <pose>0 0 0 0 0 0</pose>
-        <mass>0.005</mass>
-        <inertia>
-          <ixx>9.75e-07</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000166704</iyy>
-          <iyz>0</iyz>
-          <izz>0.000167604</izz>
-        </inertia>
-      </inertial>
-      <collision name='rotor_2_collision'>
-        <pose>0 0 0 0 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.005</length>
-            <radius>0.1</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode/>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-      <visual name='rotor_2_visual'>
-        <pose>0 0 0 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>model://standard_vtol/meshes/iris_prop_ccw.dae</uri>
-          </mesh>
-        </geometry>
-        <material>
-          <ambient>0 0 1 1.0</ambient>
-          <diffuse>0 0 1 1.0</diffuse>
-        </material>
-      </visual>
-      <gravity>1</gravity>
-      <velocity_decay/>
-      <self_collide>0</self_collide>
-    </link>
-    <joint name='rotor_2_joint' type='revolute'>
-      <child>rotor_2</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 0 1</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-      </axis>
-    </joint>
-    <link name='rotor_3'>
-      <pose>-0.35 -0.35 0.07 0 0 0</pose>
-      <inertial>
-        <pose>0 0 0 0 0 0</pose>
-        <mass>0.005</mass>
-        <inertia>
-          <ixx>9.75e-07</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000166704</iyy>
-          <iyz>0</iyz>
-          <izz>0.000167604</izz>
-        </inertia>
-      </inertial>
-      <collision name='rotor_3_collision'>
-        <pose>0 0 0 0 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.005</length>
-            <radius>0.1</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode/>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-      <visual name='rotor_3_visual'>
-        <pose>0 0 0 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>model://standard_vtol/meshes/iris_prop_ccw.dae</uri>
-          </mesh>
-        </geometry>
-        <material>
-          <ambient>0 0 1 1.0</ambient>
-          <diffuse>0 0 1 1.0</diffuse>
-        </material>
-      </visual>
-      <gravity>1</gravity>
-      <velocity_decay/>
-      <self_collide>0</self_collide>
-    </link>
-    <joint name='rotor_3_joint' type='revolute'>
-      <child>rotor_3</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 0 1</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-      </axis>
-    </joint>
-
-    <link name='rotor_puller'>
-      <pose>-0.22 0 0.0 0 1.57 0</pose>
-      <inertial>
-        <pose>0 0 0 0 0 0</pose>
-        <mass>0.005</mass>
-        <inertia>
-          <ixx>9.75e-07</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000166704</iyy>
-          <iyz>0</iyz>
-          <izz>0.000167604</izz>
-        </inertia>
-      </inertial>
-      <collision name='rotor_puller_collision'>
-        <pose>0.0 0 -0.04 0 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.005</length>
-            <radius>0.06</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode/>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-      <visual name='rotor_puller_visual'>
-        <pose>0 0 -0.04 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <scale>0.8 0.8 0.8</scale>
-            <uri>model://standard_vtol/meshes/iris_prop_ccw.dae</uri>
-          </mesh>
-        </geometry>
-        <material>
-          <ambient>0 0 1 1.0</ambient>
-          <diffuse>0 0 1 1.0</diffuse>
-        </material>
-      </visual>
-      <gravity>1</gravity>
-      <velocity_decay/>
-      <self_collide>0</self_collide>
-    </link>
-    <joint name='rotor_puller_joint' type='revolute'>
-      <pose>0.0 0 0.0 0 -1.57 0</pose>
-      <child>rotor_puller</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>1 0 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-      </axis>
-    </joint>
-
-    <link name="left_elevon">
-      <inertial>
-        <mass>0.00000001</mass>
-        <inertia>
-          <ixx>0.000001</ixx>
-          <ixy>0.0</ixy>
-          <iyy>0.000001</iyy>
-          <ixz>0.0</ixz>
-          <iyz>0.0</iyz>
-          <izz>0.000001</izz>
-        </inertia>
-        <pose>0 0.3 0 0.00 0 0.0</pose>
-      </inertial>
-      <visual name='left_elevon_visual'>
-        <pose>-0.105 0.004 -0.034 1.5707963268 0 3.1415926536</pose>
-        <geometry>
-          <mesh>
-            <scale>0.001 0.001 0.001</scale>
-            <uri>model://standard_vtol/meshes/x8_elevon_left.dae</uri>
-          </mesh>
-        </geometry>
-        <material>
-          <ambient>0 0 1 1.0</ambient>
-          <diffuse>0 0 1 1.0</diffuse>
-        </material>
-      </visual>
-    </link>
-    <link name="right_elevon">
-      <inertial>
-        <mass>0.00000001</mass>
-        <inertia>
-          <ixx>0.000001</ixx>
-          <ixy>0.0</ixy>
-          <iyy>0.000001</iyy>
-          <ixz>0.0</ixz>
-          <iyz>0.0</iyz>
-          <izz>0.000001</izz>
-        </inertia>
-        <pose>0 -0.6 0 0.00 0 0.0</pose>
-      </inertial>
-      <visual name='right_elevon_visual'>
-        <pose>0.281 -1.032 -0.034 1.5707963268 0 3.1415926536</pose>
-        <geometry>
-          <mesh>
-            <scale>0.001 0.001 0.001</scale>
-            <uri>model://standard_vtol/meshes/x8_elevon_right.dae</uri>
-          </mesh>
-        </geometry>
-        <material>
-          <ambient>0 0 1 1.0</ambient>
-          <diffuse>0 0 1 1.0</diffuse>
-        </material>
-      </visual>
-    </link>
-    <link name="elevator">
-      <inertial>
-        <mass>0.00000001</mass>
-        <inertia>
-          <ixx>0.000001</ixx>
-          <ixy>0.0</ixy>
-          <iyy>0.000001</iyy>
-          <ixz>0.0</ixz>
-          <iyz>0.0</iyz>
-          <izz>0.000001</izz>
-        </inertia>
-        <pose> -0.5 0 0 0.00 0 0.0</pose>
-      </inertial>
-    </link>
-    <joint name='servo_0' type='revolute'>
-      <parent>base_link</parent>
-      <child>left_elevon</child>
-      <pose>-0.18 0.6 -0.005 0 0 0.265</pose>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-0.53</lower>
-          <upper>0.53</upper>
-        </limit>
-        <dynamics>
-          <damping>1.000</damping>
-        </dynamics>
-      </axis>
-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-        </ode>
-      </physics>
-    </joint>
-    <joint name='servo_1' type='revolute'>
-      <parent>base_link</parent>
-      <child>right_elevon</child>
-      <pose>-0.18 -0.6 -0.005 0 0 -0.265</pose>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-0.53</lower>
-          <upper>0.53</upper>
-        </limit>
-        <dynamics>
-          <damping>1.000</damping>
-        </dynamics>
-      </axis>
-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-        </ode>
-      </physics>
-    </joint>
-    <joint name='servo_2' type='revolute'>
-      <parent>base_link</parent>
-      <child>elevator</child>
-      <pose> -0.5 0 0 0 0 0</pose>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <!-- -30/+30 deg. -->
-          <lower>-0.53</lower>
-          <upper>0.53</upper>
-        </limit>
-        <dynamics>
-          <damping>1.000</damping>
-        </dynamics>
-      </axis>
-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-        </ode>
-      </physics>
-    </joint>
-    <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
-      <a0>0.05984281113</a0>
-      <cla>4.752798721</cla>
-      <cda>0.6417112299</cda>
-      <cma>0.0</cma>
-      <alpha_stall>0.3391428111</alpha_stall>
-      <cla_stall>-3.85</cla_stall>
-      <cda_stall>-0.9233984055</cda_stall>
-      <cma_stall>0</cma_stall>
-      <cp>-0.05 0.3 0.05</cp>
-      <area>0.50</area>
-      <air_density>1.2041</air_density>
-      <forward>1 0 0</forward>
-      <upward>0 0 1</upward>
-      <link_name>base_link</link_name>
-      <control_joint_name>servo_0</control_joint_name>
-      <control_joint_rad_to_cl>-1.0</control_joint_rad_to_cl>
-    </plugin>
-    <plugin
-      filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
-      <joint_name>servo_0</joint_name>
-      <sub_topic>servo_0</sub_topic>
-    </plugin>
-    <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
-      <a0>0.05984281113</a0>
-      <cla>4.752798721</cla>
-      <cda>0.6417112299</cda>
-      <cma>0.0</cma>
-      <alpha_stall>0.3391428111</alpha_stall>
-      <cla_stall>-3.85</cla_stall>
-      <cda_stall>-0.9233984055</cda_stall>
-      <cma_stall>0</cma_stall>
-      <cp>-0.05 -0.3 0.05</cp>
-      <area>0.50</area>
-      <air_density>1.2041</air_density>
-      <forward>1 0 0</forward>
-      <upward>0 0 1</upward>
-      <link_name>base_link</link_name>
-      <control_joint_name>servo_1</control_joint_name>
-      <control_joint_rad_to_cl>-1.0</control_joint_rad_to_cl>
-    </plugin>
-    <plugin
-      filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
-      <joint_name>servo_1</joint_name>
-      <sub_topic>servo_1</sub_topic>
-    </plugin>
-    <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
-      <a0>-0.2</a0>
-      <cla>4.752798721</cla>
-      <cda>0.6417112299</cda>
-      <cma>0.0</cma>
-      <alpha_stall>0.3391428111</alpha_stall>
-      <cla_stall>-3.85</cla_stall>
-      <cda_stall>-0.9233984055</cda_stall>
-      <cma_stall>0</cma_stall>
-      <cp>-0.5 0 0</cp>
-      <area>0.01</area>
-      <air_density>1.2041</air_density>
-      <forward>1 0 0</forward>
-      <upward>0 0 1</upward>
-      <link_name>base_link</link_name>
-      <control_joint_name>servo_2</control_joint_name>
-          <control_joint_name>servo_2</control_joint_name>
-      <control_joint_rad_to_cl>-12.0</control_joint_rad_to_cl>
-    </plugin>
-    <plugin
-      filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
-      <joint_name>servo_2</joint_name>
-      <sub_topic>servo_2</sub_topic>
-    </plugin>
-    <plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
-      <jointName>rotor_0_joint</jointName>
-      <linkName>rotor_0</linkName>
-      <turningDirection>ccw</turningDirection>
-      <timeConstantUp>0.0125</timeConstantUp>
-      <timeConstantDown>0.025</timeConstantDown>
-      <maxRotVelocity>1500</maxRotVelocity>
-      <motorConstant>2e-05</motorConstant>
-      <momentConstant>0.06</momentConstant>
-      <commandSubTopic>command/motor_speed</commandSubTopic>
-      <motorNumber>0</motorNumber>
-      <rotorDragCoefficient>0.000106428</rotorDragCoefficient>
-      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-      <rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim>
-      <motorType>velocity</motorType>
-    </plugin>
-    <plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
-      <jointName>rotor_1_joint</jointName>
-      <linkName>rotor_1</linkName>
-      <turningDirection>ccw</turningDirection>
-      <timeConstantUp>0.0125</timeConstantUp>
-      <timeConstantDown>0.025</timeConstantDown>
-      <maxRotVelocity>1500</maxRotVelocity>
-      <motorConstant>2e-05</motorConstant>
-      <momentConstant>0.06</momentConstant>
-      <commandSubTopic>command/motor_speed</commandSubTopic>
-      <motorNumber>1</motorNumber>
-      <rotorDragCoefficient>0.000106428</rotorDragCoefficient>
-      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-      <rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim>
-      <motorType>velocity</motorType>
-    </plugin>
-    <plugin
-      filename="gz-sim-multicopter-motor-model-system"
-      name="gz::sim::systems::MulticopterMotorModel">
-      <jointName>rotor_2_joint</jointName>
-      <linkName>rotor_2</linkName>
-      <turningDirection>cw</turningDirection>
-      <timeConstantUp>0.0125</timeConstantUp>
-      <timeConstantDown>0.025</timeConstantDown>
-      <maxRotVelocity>1500</maxRotVelocity>
-      <motorConstant>2e-05</motorConstant>
-      <momentConstant>0.06</momentConstant>
-      <commandSubTopic>command/motor_speed</commandSubTopic>
-      <motorNumber>2</motorNumber>
-      <rotorDragCoefficient>0.000106428</rotorDragCoefficient>
-      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-      <rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim>
-      <motorType>velocity</motorType>
-    </plugin>
-    <plugin
-      filename="gz-sim-multicopter-motor-model-system"
-      name="gz::sim::systems::MulticopterMotorModel">
-      <jointName>rotor_3_joint</jointName>
-      <linkName>rotor_3</linkName>
-      <turningDirection>cw</turningDirection>
-      <timeConstantUp>0.0125</timeConstantUp>
-      <timeConstantDown>0.025</timeConstantDown>
-      <maxRotVelocity>1500</maxRotVelocity>
-      <motorConstant>2e-05</motorConstant>
-      <momentConstant>0.06</momentConstant>
-      <commandSubTopic>command/motor_speed</commandSubTopic>
-      <motorNumber>3</motorNumber>
-      <rotorDragCoefficient>0.000106428</rotorDragCoefficient>
-      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-      <rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim>
-      <motorType>velocity</motorType>
-    </plugin>
-    <plugin
-      filename="gz-sim-multicopter-motor-model-system"
-      name="gz::sim::systems::MulticopterMotorModel">
-      <jointName>rotor_puller_joint</jointName>
-      <linkName>rotor_puller</linkName>
-      <turningDirection>cw</turningDirection>
-      <timeConstantUp>0.0125</timeConstantUp>
-      <timeConstantDown>0.025</timeConstantDown>
-      <maxRotVelocity>3500</maxRotVelocity>
-      <motorConstant>8.54858e-06</motorConstant>
-      <momentConstant>0.01</momentConstant>
-      <commandSubTopic>command/motor_speed</commandSubTopic>
-      <motorNumber>4</motorNumber>
-      <rotorDragCoefficient>0.000106428</rotorDragCoefficient>
-      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-      <rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim>
-      <motorType>velocity</motorType>
-    </plugin>
-    <static>0</static>
-  </model>
-</sdf>
@@ -215,18 +215,6 @@
          </friction>
        </surface>
      </collision>
-      <sensor name="air_pressure_sensor" type="air_pressure">
-        <always_on>1</always_on>
-        <update_rate>50</update_rate>
-        <air_pressure>
-          <pressure>
-            <noise type="gaussian">
-              <mean>0</mean>
-              <stddev>0.01</stddev>
-            </noise>
-          </pressure>
-        </air_pressure>
-      </sensor>
      <sensor name="imu_sensor" type="imu">
        <always_on>1</always_on>
        <update_rate>250</update_rate>
@@ -302,6 +290,7 @@
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>
    <link name="rotor_1">
@@ -374,6 +363,7 @@
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>
    <link name="rotor_2">
@@ -446,6 +436,7 @@
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>
    <link name="rotor_3">
@@ -518,9 +509,10 @@
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>
-   <plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
+   <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
      <jointName>rotor_0_joint</jointName>
      <linkName>rotor_0</linkName>
      <turningDirection>ccw</turningDirection>
@@ -1,11 +0,0 @@
-<?xml version="1.0"?>
-<model>
-  <name>x500-vision</name>
-  <version>1.0</version>
-  <sdf version="1.9">model.sdf</sdf>
-  <author>
-    <name>Jaeyoung Lim</name>
-    <email>jalim@ethz.ch</email>
-  </author>
-  <description>Model of the X500 with a odometry/external vision input.</description>
-</model>
@@ -1,13 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<sdf version='1.9'>
-  <model name='x500-vision'>
-    <include merge='true'>
-      <uri>x500</uri>
-    </include>
-      <plugin
-        filename="gz-sim-odometry-publisher-system"
-        name="gz::sim::systems::OdometryPublisher">
-        <dimensions>3</dimensions>
-      </plugin>
-  </model>
-</sdf>
@@ -5,22 +5,21 @@
      <real_time_factor>1.0</real_time_factor>
      <real_time_update_rate>250</real_time_update_rate>
    </physics>
-    <plugin name='gz::sim::systems::Physics' filename='gz-sim-physics-system'/>
-    <plugin name='gz::sim::systems::UserCommands' filename='gz-sim-user-commands-system'/>
-    <plugin name='gz::sim::systems::SceneBroadcaster' filename='gz-sim-scene-broadcaster-system'/>
-    <plugin name='gz::sim::systems::Contact' filename='gz-sim-contact-system'/>
-    <plugin name='gz::sim::systems::Imu' filename='gz-sim-imu-system'/>
-    <plugin name='gz::sim::systems::AirPressure' filename='gz-sim-air-pressure-system'/>
-    <plugin name='gz::sim::systems::Sensors' filename='gz-sim-sensors-system'>
+    <plugin name='ignition::gazebo::systems::Physics' filename='ignition-gazebo-physics-system'/>
+    <plugin name='ignition::gazebo::systems::UserCommands' filename='ignition-gazebo-user-commands-system'/>
+    <plugin name='ignition::gazebo::systems::SceneBroadcaster' filename='ignition-gazebo-scene-broadcaster-system'/>
+    <plugin name='ignition::gazebo::systems::Contact' filename='ignition-gazebo-contact-system'/>
+    <plugin name='ignition::gazebo::systems::Imu' filename='ignition-gazebo-imu-system'/>
+    <plugin name='ignition::gazebo::systems::Sensors' filename='ignition-gazebo-sensors-system'>
      <render_engine>ogre2</render_engine>
    </plugin>
    <gui fullscreen='false'>
      <plugin name='3D View' filename='GzScene3D'>
-        <gz-gui>
+        <ignition-gui>
          <title>3D View</title>
          <property type='bool' key='showTitleBar'>0</property>
          <property type='string' key='state'>docked</property>
-        </gz-gui>
+        </ignition-gui>
        <engine>ogre2</engine>
        <scene>scene</scene>
        <ambient_light>0.5984631152222222 0.5984631152222222 0.5984631152222222</ambient_light>
@@ -28,7 +27,7 @@
        <camera_pose>-6 0 6 0 0.5 0</camera_pose>
      </plugin>
      <plugin name='World control' filename='WorldControl'>
-        <gz-gui>
+        <ignition-gui>
          <title>World control</title>
          <property type='bool' key='showTitleBar'>0</property>
          <property type='bool' key='resizable'>0</property>
@@ -40,13 +39,13 @@
            <line own='left' target='left'/>
            <line own='bottom' target='bottom'/>
          </anchors>
-        </gz-gui>
+        </ignition-gui>
        <play_pause>1</play_pause>
        <step>1</step>
        <start_paused>1</start_paused>
      </plugin>
      <plugin name='World stats' filename='WorldStats'>
-        <gz-gui>
+        <ignition-gui>
          <title>World stats</title>
          <property type='bool' key='showTitleBar'>0</property>
          <property type='bool' key='resizable'>0</property>
@@ -58,7 +57,7 @@
            <line own='right' target='right'/>
            <line own='bottom' target='bottom'/>
          </anchors>
-        </gz-gui>
+        </ignition-gui>
        <sim_time>1</sim_time>
        <real_time>1</real_time>
        <real_time_factor>1</real_time_factor>
@@ -110,6 +110,10 @@ class PubSub(object):

            log.debug("          ####:{}:  {}, {}".format( self._name, route_group, topic_group))

+            # # TODO: handle this case... but not sure where, yet
+            # if match == 'ORB_ID_VEHICLE_ATTITUDE_CONTROLS': # special case
+            #     match = orb_id+orb_id_vehicle_attitude_controls_topic
+
            # match has the form: '[ORB_ID(]<topic_name>'
            if route_group:
                if route_group == 'ORB_ID':
@@ -228,6 +232,9 @@ class Graph(object):

        self._topic_blacklist = set(kwargs.get('topic_blacklist',set()))

+        self._orb_id_vehicle_attitude_controls_topic = 'actuator_controls_0'
+        self._orb_id_vehicle_attitude_controls_re = re.compile(r'\#define\s+ORB_ID_VEHICLE_ATTITUDE_CONTROLS\s+([^,)]+)')
+
        self._warnings = [] # list of all ambiguous scan sites

        self._current_scope = [] # stack with current module (they can be nested)
@@ -503,7 +510,18 @@ class Graph(object):
                elif current_scope.name == 'uorb_tests': # skip this
                    return
                elif current_scope.name == 'uorb':
-                    return # skip this
+
+                    # search and validate the ORB_ID_VEHICLE_ATTITUDE_CONTROLS define
+                    matches = self._orb_id_vehicle_attitude_controls_re.findall(content)
+                    for match in matches:
+                        if match != 'ORB_ID('+self._orb_id_vehicle_attitude_controls_topic:
+                            # if we land here, you need to change _orb_id_vehicle_attitude_controls_topic
+                            raise Exception(
+                                'The extracted define for ORB_ID_VEHICLE_ATTITUDE_CONTROLS '
+                                'is '+match+' but expected ORB_ID('+
+                                self._orb_id_vehicle_attitude_controls_topic)
+
+                    return # skip uorb module for the rest

            line_number = 0
            for full_line in content.splitlines():
@@ -46,7 +46,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -86,8 +86,6 @@ CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_PX4LOG=y
-CONFIG_SYSTEMCMDS_PX4LOG_TAIL=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_REFLECT=y
 CONFIG_SYSTEMCMDS_SD_BENCH=y
@@ -132,7 +132,6 @@ CONFIG_NSH_MAXARGUMENTS=15
 CONFIG_NSH_NESTDEPTH=8
 CONFIG_NSH_QUOTE=y
 CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSRC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
 CONFIG_NSH_VARS=y
@@ -13,8 +13,6 @@ CONFIG_DRIVERS_OPTICAL_FLOW_PAA3905=y
 CONFIG_DRIVERS_OPTICAL_FLOW_PAW3902=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
-CONFIG_UAVCANNODE_FLOW_MEASUREMENT=y
-CONFIG_UAVCANNODE_RANGE_SENSOR_MEASUREMENT=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_SENSORS=y
 # CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
@@ -24,8 +22,6 @@ CONFIG_MODULES_SENSORS=y
 # CONFIG_SENSORS_VEHICLE_MAGNETOMETER is not set
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_PX4LOG=y
-CONFIG_SYSTEMCMDS_PX4LOG_TAIL=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
@@ -107,7 +107,6 @@ CONFIG_NSH_MAXARGUMENTS=15
 CONFIG_NSH_NESTDEPTH=8
 CONFIG_NSH_QUOTE=y
 CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSRC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
 CONFIG_NSH_VARS=y
@@ -13,13 +13,6 @@ CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
-CONFIG_UAVCANNODE_BEEP_COMMAND=y
-CONFIG_UAVCANNODE_GNSS_FIX=y
-CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
-CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
-CONFIG_UAVCANNODE_SAFETY_BUTTON=y
-CONFIG_UAVCANNODE_STATIC_PRESSURE=y
-CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_SENSORS=y
@@ -28,8 +21,6 @@ CONFIG_MODULES_SENSORS=y
 # CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_PX4LOG=y
-CONFIG_SYSTEMCMDS_PX4LOG_TAIL=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
@@ -109,7 +109,6 @@ CONFIG_NSH_MAXARGUMENTS=15
 CONFIG_NSH_NESTDEPTH=8
 CONFIG_NSH_QUOTE=y
 CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSRC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
 CONFIG_NSH_VARS=y
@@ -13,14 +13,6 @@ CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
-CONFIG_UAVCANNODE_BEEP_COMMAND=y
-CONFIG_UAVCANNODE_GNSS_FIX=y
-CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
-CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
-CONFIG_UAVCANNODE_RTK_DATA=y
-CONFIG_UAVCANNODE_SAFETY_BUTTON=y
-CONFIG_UAVCANNODE_STATIC_PRESSURE=y
-CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_SENSORS=y
@@ -29,8 +21,6 @@ CONFIG_MODULES_SENSORS=y
 # CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_PX4LOG=y
-CONFIG_SYSTEMCMDS_PX4LOG_TAIL=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
@@ -109,7 +109,6 @@ CONFIG_NSH_MAXARGUMENTS=15
 CONFIG_NSH_NESTDEPTH=8
 CONFIG_NSH_QUOTE=y
 CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSRC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
 CONFIG_NSH_VARS=y
@@ -9,7 +9,6 @@ CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_BOOTLOADERS=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
-CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_COMMON_HYGROMETERS=y
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
@@ -18,34 +17,14 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
-CONFIG_UAVCANNODE_ARMING_STATUS=y
-CONFIG_UAVCANNODE_BEEP_COMMAND=y
-CONFIG_UAVCANNODE_ESC_RAW_COMMAND=y
-CONFIG_UAVCANNODE_ESC_STATUS=y
-CONFIG_UAVCANNODE_FLOW_MEASUREMENT=y
-CONFIG_UAVCANNODE_GNSS_FIX=y
-CONFIG_UAVCANNODE_HYGROMETER_MEASUREMENT=y
-CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
-CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
-CONFIG_UAVCANNODE_RANGE_SENSOR_MEASUREMENT=y
-CONFIG_UAVCANNODE_RAW_AIR_DATA=y
-CONFIG_UAVCANNODE_RTK_DATA=y
-CONFIG_UAVCANNODE_SERVO_ARRAY_COMMAND=y
-CONFIG_UAVCANNODE_STATIC_PRESSURE=y
-CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
-CONFIG_MODULES_SENSORS=y
-CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_PX4LOG=y
-CONFIG_SYSTEMCMDS_PX4LOG_TAIL=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
@@ -2,7 +2,6 @@
 #
 # board specific defaults
 #------------------------------------------------------------------------------
-
 pwm_out start

-dshot start
+control_allocator start
@@ -109,7 +109,6 @@ CONFIG_NSH_MAXARGUMENTS=15
 CONFIG_NSH_NESTDEPTH=8
 CONFIG_NSH_QUOTE=y
 CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSRC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
 CONFIG_NSH_VARS=y
@@ -43,7 +43,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -67,6 +67,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
@@ -78,8 +79,6 @@ CONFIG_SYSTEMCMDS_NETMAN=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_PX4LOG=y
-CONFIG_SYSTEMCMDS_PX4LOG_TAIL=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_SD_BENCH=y
 CONFIG_SYSTEMCMDS_SD_STRESS=y
@@ -379,7 +379,7 @@

 #define GPIO_UART5_RX    GPIO_UART5_RX_3    /* PD2  */
 #define GPIO_UART5_TX    GPIO_UART5_TX_3    /* PC12 */
-// GPIO_UART5_RTS  No remap                 /* PC8  */
+// GPIO_UART5_RTS   no remap                /* PC8  */
 // GPIO_UART5_CTS  No remap                 /* PC9  */

 #define GPIO_USART6_RX   GPIO_USART6_RX_1   /* PC7 */
@@ -387,8 +387,8 @@

 #define GPIO_UART7_RX    GPIO_UART7_RX_4    /* PF6  */
 #define GPIO_UART7_TX    GPIO_UART7_TX_3    /* PE8  */
-#define GPIO_UART7_RTS   (GPIO_UART7_RTS_2 | GPIO_PULLDOWN)   /* PF8  */
-#define GPIO_UART7_CTS   (GPIO_UART7_CTS_1 | GPIO_PULLDOWN)   /* PE10 */
+#define GPIO_UART7_RTS   GPIO_UART7_RTS_2   /* PF8  */
+#define GPIO_UART7_CTS   GPIO_UART7_CTS_1   /* PE10 */

 #define GPIO_UART8_RX    GPIO_UART8_RX_1    /* PE0 */
 #define GPIO_UART8_TX    GPIO_UART8_TX_1    /* PE1 */
@@ -178,7 +178,6 @@ CONFIG_NSH_MAXARGUMENTS=15
 CONFIG_NSH_NESTDEPTH=8
 CONFIG_NSH_QUOTE=y
 CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSRC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
 CONFIG_NSH_TELNET=y
@@ -489,6 +489,7 @@
 		GPIO_SPIX_SYNC                    \
 	}

+#define BOARD_ENABLE_CONSOLE_BUFFER

 #define PX4_I2C_BUS_MTD      4,5

@@ -40,8 +40,6 @@ CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_PX4LOG=y
-CONFIG_SYSTEMCMDS_PX4LOG_TAIL=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_SHUTDOWN=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
@@ -138,7 +138,6 @@ CONFIG_NSH_MAXARGUMENTS=15
 CONFIG_NSH_NESTDEPTH=8
 CONFIG_NSH_QUOTE=y
 CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSRC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
 CONFIG_NSH_VARS=y
@@ -191,6 +191,7 @@
 		GPIO_OTGFS_VBUS                   \
 	}

+#define BOARD_ENABLE_CONSOLE_BUFFER

 #define BOARD_NUM_IO_TIMERS 1

@@ -43,7 +43,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -83,8 +83,6 @@ CONFIG_SYSTEMCMDS_NETMAN=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_PX4LOG=y
-CONFIG_SYSTEMCMDS_PX4LOG_TAIL=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_REFLECT=y
 CONFIG_SYSTEMCMDS_SD_BENCH=y
@@ -167,7 +167,6 @@ CONFIG_NSH_MAXARGUMENTS=15
 CONFIG_NSH_NESTDEPTH=8
 CONFIG_NSH_QUOTE=y
 CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSRC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
 CONFIG_NSH_TELNET=y
@@ -146,6 +146,7 @@
 		GPIO_CAN1_TX,                     \
 	}

+#define BOARD_ENABLE_CONSOLE_BUFFER

 #define BOARD_NUM_IO_TIMERS 6

@@ -31,7 +31,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -66,8 +66,6 @@ CONFIG_SYSTEMCMDS_DYN=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_PX4LOG=y
-CONFIG_SYSTEMCMDS_PX4LOG_TAIL=y
 CONFIG_SYSTEMCMDS_SD_BENCH=y
 CONFIG_SYSTEMCMDS_SHUTDOWN=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
--- a/Show More
+++ b/Show More