[RFC] control_allocator: custom configuration parameters

- some UAVCAN ESCs report negative RPM for reverse rotation
 - lower hard coded safety limit RPM limit to 10 Hz (600 RPM)
 - avoid disabling notch filters that weren't configured

.ci/Jenkinsfile-compile

@@ -38,6 +38,10 @@ pipeline {
                      "airmind_mindpx-v2_default",
                      "ark_can-flow_canbootloader",
                      "ark_can-flow_default",
+                     "ark_can-gps_canbootloader",
+                     "ark_can-gps_default",
+                     "ark_can-rtk-gps_canbootloader",
+                     "ark_can-rtk-gps_default",
                      "atl_mantis-edu_default",
                      "av_x-v1_default",
                      "bitcraze_crazyflie_default",
@@ -80,16 +84,10 @@ pipeline {
                      "px4_fmu-v2_multicopter",
                      "px4_fmu-v2_rover",
                      "px4_fmu-v3_default",
-                     "px4_fmu-v4_cannode",
                      "px4_fmu-v4_default",
                      "px4_fmu-v4pro_default",
-                     "px4_fmu-v5_ctrlalloc",
                      "px4_fmu-v5_debug",
                      "px4_fmu-v5_default",
-                     "px4_fmu-v5_fixedwing",
-                     "px4_fmu-v5_multicopter",
-                     "px4_fmu-v5_optimized",
-                     "px4_fmu-v5_rover",
                      "px4_fmu-v5_rtps",
                      "px4_fmu-v5_stackcheck",
                      "px4_fmu-v5_uavcanv0periph",

.ci/Jenkinsfile-hardware

@@ -13,19 +13,15 @@ pipeline {
               agent {
                 docker {
                   image 'px4io/px4-dev-nuttx-focal:2021-09-08'
-                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
               steps {
-                checkout scm
-                sh 'export'
-                sh 'make distclean'
-                sh 'ccache -s'
-                sh 'git fetch --tags'
+                checkoutSCM()
                 sh 'make cubepilot_cubeorange_test'
                 sh 'make cubepilot_cubeorange_test bootloader_elf'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'cubepilot_cubeorange_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'cubepilot_cubeorange_test'
               }
               post {
                 always {
@@ -74,6 +70,7 @@ pipeline {
               }
               post {
                 always {
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf || true'
                     resetBoard()
                 }
               }
@@ -87,19 +84,15 @@ pipeline {
               agent {
                 docker {
                   image 'px4io/px4-dev-nuttx-focal:2021-09-08'
-                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
               steps {
-                checkout scm
-                sh 'export'
-                sh 'make distclean'
-                sh 'ccache -s'
-                sh 'git fetch --tags'
+                checkoutSCM()
                 sh 'make cuav_x7pro_test'
                 sh 'make cuav_x7pro_test bootloader_elf'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'cuav_x7pro_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'cuav_x7pro_test'
               }
               post {
                 always {
@@ -146,6 +139,7 @@ pipeline {
               }
               post {
                 always {
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/cuav_x7pro_test/cuav_x7pro_test.elf || true'
                     resetBoard()
                 }
               }
@@ -159,19 +153,15 @@ pipeline {
               agent {
                 docker {
                   image 'px4io/px4-dev-nuttx-focal:2021-09-08'
-                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
               steps {
-                checkout scm
-                sh 'export'
-                sh 'make distclean'
-                sh 'ccache -s'
-                sh 'git fetch --tags'
+                checkoutSCM()
                 sh 'make px4_fmu-v3_test'
                 sh 'make px4_fmu-v3_test bootloader_elf'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v3_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v3_test'
               }
               post {
                 always {
@@ -218,6 +208,7 @@ pipeline {
               }
               post {
                 always {
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf || true'
                     resetBoard()
                 }
               }
@@ -231,19 +222,15 @@ pipeline {
               agent {
                 docker {
                   image 'px4io/px4-dev-nuttx-focal:2021-09-08'
-                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
               steps {
-                checkout scm
-                sh 'export'
-                sh 'make distclean'
-                sh 'ccache -s'
-                sh 'git fetch --tags'
+                checkoutSCM()
                 sh 'make px4_fmu-v4_test'
                 sh 'make px4_fmu-v4_test bootloader_elf'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v4_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v4_test'
               }
               post {
                 always {
@@ -289,6 +276,7 @@ pipeline {
               }
               post {
                 always {
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf || true'
                     resetBoard()
                 }
               }
@@ -302,19 +290,15 @@ pipeline {
               agent {
                 docker {
                   image 'px4io/px4-dev-nuttx-focal:2021-09-08'
-                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
               steps {
-                checkout scm
-                sh 'export'
-                sh 'make distclean'
-                sh 'ccache -s'
-                sh 'git fetch --tags'
+                checkoutSCM()
                 sh 'make px4_fmu-v4pro_test'
                 sh 'make px4_fmu-v4pro_test bootloader_elf'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v4pro_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v4pro_test'
               }
               post {
                 always {
@@ -361,6 +345,7 @@ pipeline {
               }
               post {
                 always {
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf || true'
                     resetBoard()
                 }
               }
@@ -374,19 +359,15 @@ pipeline {
               agent {
                 docker {
                   image 'px4io/px4-dev-nuttx-focal:2021-09-08'
-                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
               steps {
-                checkout scm
-                sh 'export'
-                sh 'make distclean'
-                sh 'ccache -s'
-                sh 'git fetch --tags'
+                checkoutSCM()
                 sh 'make px4_fmu-v5_debug'
                 sh 'make px4_fmu-v5_debug bootloader_elf'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_debug'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v5_debug'
               }
               post {
                 always {
@@ -418,6 +399,7 @@ pipeline {
                   steps {
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
+                    //sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
                   }
@@ -443,78 +425,7 @@ pipeline {
               }
               post {
                 always {
-                    resetBoard()
-                }
-              }
-            } // stage test
-          }
-        }
-
-        stage("px4_fmu-v5_optimized") {
-          stages {
-            stage("build px4_fmu-v5_optimized") {
-              agent {
-                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
-                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-                }
-              }
-              steps {
-                checkout scm
-                sh 'export'
-                sh 'make distclean'
-                sh 'ccache -s'
-                sh 'git fetch --tags'
-                sh 'make px4_fmu-v5_optimized'
-                sh 'make px4_fmu-v5_optimized bootloader_elf'
-                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_optimized'
-              }
-              post {
-                always {
-                    sh 'make distclean'
-                }
-              }
-            } // stage build
-            stage("hardware") {
-              agent {
-                label 'px4_fmu-v5'
-              }
-              stages {
-                stage("flash") {
-                  steps {
-                    sh 'export'
-                    sh 'find /dev/serial'
-                    unstash 'px4_fmu-v5_optimized'
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_optimized/px4_fmu-v5_bootloader.elf'
-                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_optimized/px4_fmu-v5_optimized.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
-                  }
-                }
-                stage("tests") {
-                  steps {
-                    runTests()
-                  }
-                }
-                stage("status") {
-                  steps {
-                    // configure
-                    resetParameters()
-                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"'    // generic quadcopter
-                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
-                    checkStatus()
-                    quickCalibrate()
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
-                  }
-                }
-                stage("print topics") {
-                  steps {
-                    printTopics()
-                  }
-                }
-              }
-              post {
-                always {
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf || true'
                     resetBoard()
                 }
               }
@@ -528,19 +439,15 @@ pipeline {
               agent {
                 docker {
                   image 'px4io/px4-dev-nuttx-focal:2021-09-08'
-                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
               steps {
-                checkout scm
-                sh 'export'
-                sh 'make distclean'
-                sh 'ccache -s'
-                sh 'git fetch --tags'
+                checkoutSCM()
                 sh 'make px4_fmu-v5_stackcheck'
                 sh 'make px4_fmu-v5_stackcheck bootloader_elf'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_stackcheck'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v5_stackcheck'
               }
               post {
                 always {
@@ -597,6 +504,7 @@ pipeline {
               }
               post {
                 always {
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf || true'
                     resetBoard()
                 }
               }
@@ -610,19 +518,15 @@ pipeline {
               agent {
                 docker {
                   image 'px4io/px4-dev-nuttx-focal:2021-09-08'
-                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
               steps {
-                checkout scm
-                sh 'export'
-                sh 'make distclean'
-                sh 'ccache -s'
-                sh 'git fetch --tags'
+                checkoutSCM()
                 sh 'make px4_fmu-v5_test'
                 sh 'make px4_fmu-v5_test bootloader_elf'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v5_test'
               }
               post {
                 always {
@@ -669,6 +573,7 @@ pipeline {
               }
               post {
                 always {
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf || true'
                     resetBoard()
                 }
               }
@@ -676,92 +581,21 @@ pipeline {
           }
         }
 
-        // stage("modalai_fc-v1_test") {
-        //   stages {
-        //     stage("build modalai_fc-v1_test") {
-        //       agent {
-        //         docker {
-        //           image 'px4io/px4-dev-nuttx-focal:2021-09-08'
-        //           args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-        //         }
-        //       }
-        //       steps {
-        //         checkout scm
-        //         sh 'export'
-        //         sh 'make distclean'
-        //         sh 'ccache -s'
-        //         sh 'git fetch --tags'
-        //         sh 'make modalai_fc-v1_test'
-        //         sh 'make modalai_fc-v1_test bootloader_elf'
-        //         sh 'ccache -s'
-        //         stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'modalai_fc-v1_test'
-        //       }
-        //       post {
-        //         always {
-        //             sh 'make distclean'
-        //         }
-        //       }
-        //     } // stage build
-        //     stage("hardware") {
-        //       agent {
-        //         label 'modalai_fc-v1'
-        //       }
-        //       stages {
-        //         stage("flash") {
-        //           steps {
-        //             sh 'export'
-        //             sh 'find /dev/serial'
-        //             unstash 'modalai_fc-v1_test'
-        //             sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_test/modalai_fc-v1_bootloader.elf'
-        //             // flash board and watch bootup
-        //             sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_test/modalai_fc-v1_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
-        //           }
-        //         }
-        //         stage("tests") {
-        //           steps {
-        //             runTests()
-        //           }
-        //         }
-        //         stage("status") {
-        //           steps {
-        //             // configure
-        //             resetParameters()
-        //             sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"'    // generic quadcopter
-        //             sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
-        //             checkStatus()
-        //             quickCalibrate()
-        //           }
-        //         }
-        //         stage("print topics") {
-        //           steps {
-        //             printTopics()
-        //           }
-        //         }
-
-        //       }
-        //     } // stage test
-        //   }
-        // }
-
         stage("nxp_fmuk66-v3_test") {
           stages {
             stage("build nxp_fmuk66-v3_test") {
               agent {
                 docker {
                   image 'px4io/px4-dev-nuttx-focal:2021-09-08'
-                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
               steps {
-                checkout scm
-                sh 'export'
-                sh 'make distclean'
-                sh 'ccache -s'
-                sh 'git fetch --tags'
+                checkoutSCM()
                 sh 'make nxp_fmuk66-v3_test'
                 //sh 'make nxp_fmuk66-v3_test bootloader_elf'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'nxp_fmuk66-v3_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'nxp_fmuk66-v3_test'
               }
               post {
                 always {
@@ -808,6 +642,7 @@ pipeline {
               }
               post {
                 always {
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf || true'
                     resetBoard()
                 }
               }
@@ -825,18 +660,42 @@ pipeline {
   }
   options {
     buildDiscarder(logRotator(numToKeepStr: '30', artifactDaysToKeepStr: '60'))
-    timeout(time: 120, unit: 'MINUTES')
+    timeout(time: 180, unit: 'MINUTES')
     skipDefaultCheckout()
   }
 }
 
-void quickCalibrate() {
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate accel quick; sleep 1; param show CAL_ACC*"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate gyro; sleep 1; param show CAL_GYRO*"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate level; sleep 1; param show SENS_BOARD*"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate mag quick; sleep 1; param show CAL_MAG*"'
+void checkoutSCM() {
+  retry(3) {
+    checkout scm
+    sh 'export'
+    sh 'make distclean'
+    sh 'git fetch --tags'
+    sh 'ccache -z'
+  }
+}
 
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gyro_calibration status; param show CAL_GYRO*"'
+void quickCalibrate() {
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_*"' // parameters before
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gyro_calibration status || true"'
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate accel quick"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_ACC*"'
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate gyro"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_GYRO*"'
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate level"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SENS*"'
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate mag quick"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_MAG*"'
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_*"' // parameters after
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
 }
 
 void checkStatus() {
@@ -867,8 +726,8 @@ void checkStatus() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /etc"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /obj"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status streams"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status streams" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show" || true'
@@ -899,6 +758,9 @@ void resetParameters() {
 void runTests() {
   resetParameters()
 
+  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_CAL_EN" --value "0" || true' // disable during testing
+  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_FFT_EN" --value "0" || true' // disable during testing
+
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
 
@@ -923,6 +785,9 @@ void runTests() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u"'
 
+  //sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander stop"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors stop"' // ignore irrelevant sensor timeouts during microbenchmarks
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "microbench all"'
 
@@ -1047,25 +912,25 @@ void resetBoard() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
 
   // check SD card
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc/fs"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/usage"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc/fs" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/usage" || true'
   // format
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dataman stop"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "umount /fs/microsd"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dataman stop" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "umount /fs/microsd" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mkfatfs -F 32 /dev/mmcsd0" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once" || true'
 
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount -t vfat /dev/mmcsd0 /fs/microsd"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount -t vfat /dev/mmcsd0 /fs/microsd" || true'
   // check SD card
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc/fs"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/usage"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc/fs" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/usage" || true'
 }

.clang-tidy

@@ -74,6 +74,7 @@ Checks:          '*,
                   -modernize-deprecated-headers,
                   -modernize-loop-convert,
                   -modernize-pass-by-value,
+                  -modernize-raw-string-literal,
                   -modernize-return-braced-init-list,
                   -modernize-use-auto,
                   -modernize-use-bool-literals,
@@ -81,6 +82,7 @@ Checks:          '*,
                   -modernize-use-equals-default,
                   -modernize-use-equals-delete,
                   -modernize-use-override,
+                  -modernize-use-trailing-return-type,
                   -modernize-use-using,
                   -performance-inefficient-string-concatenation,
                   -readability-avoid-const-params-in-decls,

.github/workflows/checks.yml

@@ -36,27 +36,6 @@ jobs:
       with:
         token: ${{ secrets.ACCESS_TOKEN }}
 
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: tests_${{matrix.ubuntu_release}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: tests_${{matrix.ubuntu_release}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 5" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
     - name: check environment
       run: |
           export

.github/workflows/clang-tidy.yml

@@ -17,30 +17,5 @@ jobs:
       with:
         token: ${{secrets.ACCESS_TOKEN}}
 
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: clang-tidy-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: clang-tidy-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 5" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
     - name: make clang-tidy-quiet
-      run: |
-        ccache -z
-        make clang-tidy-quiet
-        ccache -s
+      run: make clang-tidy-quiet

.github/workflows/compile_linux.yml

@@ -42,8 +42,9 @@ jobs:
           mkdir -p ~/.ccache
           echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
           echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 5" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
           echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
           ccache -s
           ccache -z
 

.github/workflows/compile_linux_arm64.yml

@@ -39,8 +39,9 @@ jobs:
           mkdir -p ~/.ccache
           echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
           echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 5" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
           echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
           ccache -s
           ccache -z
 

.github/workflows/compile_macos.yml

@@ -43,8 +43,9 @@ jobs:
           mkdir -p ~/.ccache
           echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
           echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 5" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 40M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
           ccache -s
           ccache -z
 

.github/workflows/compile_nuttx.yml

@@ -13,11 +13,13 @@ jobs:
     runs-on: ubuntu-latest
     container: px4io/px4-dev-nuttx-focal:2021-09-08
     strategy:
+      fail-fast: false
       matrix:
         config: [
           airmind_mindpx-v2,
           ark_can-flow,
           ark_can-gps,
+          ark_can-rtk-gps,
           atl_mantis-edu,
           av_x-v1,
           bitcraze_crazyflie,
@@ -79,13 +81,15 @@ jobs:
           mkdir -p ~/.ccache
           echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
           echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 5" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
           echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
           ccache -s
           ccache -z
 
     - name: make all_variants_${{matrix.config}}
       run: make all_variants_${{matrix.config}}
+      timeout-minutes: 45
     - name: make ${{matrix.config}} bloaty_compileunits
       run: make ${{matrix.config}} bloaty_compileunits || true
     - name: make ${{matrix.config}} bloaty_inlines
@@ -107,4 +111,6 @@ jobs:
       uses: actions/upload-artifact@v2
       with:
         name: px4_package_${{matrix.config}}
-        path: build/**/*.px4
+        path: |
+          build/**/*.px4
+          build/**/*.bin

.github/workflows/compile_nuttx_cannode.yml

@@ -1,63 +0,0 @@
-name: NuttX UAVCAN firmware
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-09-08
-    strategy:
-      matrix:
-        config: [
-          ark_can-flow_default,
-          ark_can-gps_default,
-          cuav_can-gps-v1_default,
-          freefly_can-rtk-gps_default,
-          holybro_can-gps-v1_default,
-          nxp_ucans32k146_default,
-          px4_fmu-v4_cannode
-          ]
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: ${{matrix.config}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 5" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: make ${{matrix.config}}
-      run: make ${{matrix.config}}
-
-    - name: ccache post-run
-      run: ccache -s
-
-    - name: Upload px4 package
-      uses: actions/upload-artifact@v2
-      with:
-        name: px4_cannode_${{matrix.config}}
-        path: build/${{matrix.config}}/*.uavcan.bin

.github/workflows/deploy_all.yml

@@ -10,6 +10,7 @@ on:
 jobs:
   enumerate_targets:
     runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2021-09-08
     outputs:
       matrix: ${{ steps.set-matrix.outputs.matrix }}
     steps:
@@ -29,32 +30,8 @@ jobs:
       with:
         token: ${{secrets.ACCESS_TOKEN}}
 
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: ${{matrix.target}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: ${{matrix.target}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 5" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
     - name: make ${{matrix.target}}
       run: make ${{matrix.target}}
-    - name: ccache post-run
-      run: ccache -s
 
     - name: parameter & events metadata
       run: |

.github/workflows/mavros_mission_tests.yml

@@ -49,8 +49,9 @@ jobs:
           mkdir -p ~/.ccache
           echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
           echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 5" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
           echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
           ccache -s
           ccache -z
 
@@ -78,6 +79,7 @@ jobs:
       run: |
         export
         ./test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=${{matrix.config.mission}} vehicle:=${{matrix.config.vehicle}}
+      timeout-minutes: 45
 
     - name: Look at core files
       if: failure()

.github/workflows/mavros_offboard_tests.yml

@@ -44,8 +44,9 @@ jobs:
           mkdir -p ~/.ccache
           echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
           echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 5" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
           echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
           ccache -s
           ccache -z
 
@@ -73,6 +74,7 @@ jobs:
       run: |
         export
         ./test/rostest_px4_run.sh ${{matrix.config.test_file}} vehicle:=${{matrix.config.vehicle}}
+      timeout-minutes: 45
 
     - name: Look at core files
       if: failure()

.github/workflows/sitl_tests.yml

@@ -50,8 +50,9 @@ jobs:
           mkdir -p ~/.ccache
           echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
           echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 5" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
           echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
           ccache -s
           ccache -z
 
@@ -96,6 +97,7 @@ jobs:
         PX4_HOME_ALT: ${{matrix.config.altitude}}
         PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
       run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json
+      timeout-minutes: 45
 
     - name: Look at core files
       if: failure()

.gitmodules

@@ -66,3 +66,11 @@
 [submodule "Tools/simulation-ignition"]
 	path = Tools/simulation-ignition
 	url = https://github.com/Auterion/px4-simulation-ignition.git
+[submodule "src/lib/crypto/libtomcrypt"]
+	path = src/lib/crypto/libtomcrypt
+	url = https://github.com/PX4/libtomcrypt.git
+	branch = px4
+[submodule "src/lib/crypto/libtommath"]
+	path = src/lib/crypto/libtommath
+	url = https://github.com/PX4/libtommath.git
+	branch = px4

.vscode/cmake-variants.yaml

@@ -6,6 +6,11 @@ CONFIG:
       buildType: RelWithDebInfo
       settings:
         CONFIG: px4_sitl_default
+    px4_sitl_rtps:
+      short: px4_sitl_rtps
+      buildType: RelWithDebInfo
+      settings:
+        CONFIG: px4_sitl_rtps
     px4_sitl_asan:
       short: px4_sitl (AddressSanitizer)
       buildType: AddressSanitizer
@@ -96,6 +101,21 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: ark_can-gps_canbootloader
+    ark_can-rtk-gps_default:
+      short: ark_can-rtk-gps_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_can-rtk-gps_default
+    ark_can-rtk-gps_debug:
+      short: ark_can-rtk-gps_debug
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_can-rtk-gps_debug
+    ark_can-rtk-gps_canbootloader:
+      short: ark_can-rtk-gps_canbootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_can-rtk-gps_canbootloader
     atl_mantis-edu_default:
       short: atl_mantis-edu
       buildType: MinSizeRel

CMakeLists.txt

@@ -143,12 +143,33 @@ set(CONFIG "px4_sitl_default" CACHE STRING "desired configuration")
 include(px4_add_module)
 set(config_module_list)
 
+# Find Python
+# If using catkin, Python 2 is found since it points
+# to the Python libs installed with the ROS distro
+if (NOT CATKIN_DEVEL_PREFIX)
+	find_package(PythonInterp 3)
+	# We have a custom error message to tell users how to install python3.
+	if (NOT PYTHONINTERP_FOUND)
+		message(FATAL_ERROR "Python 3 not found. Please install Python 3:\n"
+			"    Ubuntu: sudo apt install python3 python3-dev python3-pip\n"
+			"    macOS: brew install python")
+	endif()
+else()
+	find_package(PythonInterp REQUIRED)
+endif()
+
+option(PYTHON_COVERAGE "Python code coverage" OFF)
+if(PYTHON_COVERAGE)
+	message(STATUS "python coverage enabled")
+	set(PYTHON_EXECUTABLE coverage run -p)
+endif()
+
 include(px4_config)
-include(px4_add_board)
-include(${PX4_CONFIG_FILE})
+include(kconfig)
 message(STATUS "PX4 config: ${PX4_CONFIG}")
 message(STATUS "PX4 platform: ${PX4_PLATFORM}")
 
+
 if(${PX4_PLATFORM} STREQUAL "posix")
 	if(ENABLE_LOCKSTEP_SCHEDULER)
 		add_definitions(-DENABLE_LOCKSTEP_SCHEDULER)
@@ -283,27 +304,6 @@ if (CATKIN_DEVEL_PREFIX)
 	endif()
 endif()
 
-# Python
-# If using catkin, Python 2 is found since it points
-# to the Python libs installed with the ROS distro
-if (NOT CATKIN_DEVEL_PREFIX)
-	find_package(PythonInterp 3)
-	# We have a custom error message to tell users how to install python3.
-	if (NOT PYTHONINTERP_FOUND)
-		message(FATAL_ERROR "Python 3 not found. Please install Python 3:\n"
-			"    Ubuntu: sudo apt install python3 python3-dev python3-pip\n"
-			"    macOS: brew install python")
-	endif()
-else()
-	find_package(PythonInterp REQUIRED)
-endif()
-
-option(PYTHON_COVERAGE "Python code coverage" OFF)
-if(PYTHON_COVERAGE)
-	message(STATUS "python coverage enabled")
-	set(PYTHON_EXECUTABLE coverage run -p)
-endif()
-
 #=============================================================================
 # get chip and chip manufacturer
 #

Jenkinsfile

@@ -15,7 +15,7 @@ pipeline {
         // stage('Catkin build on ROS workspace') {
         //   agent {
         //     docker {
-        //       image 'px4io/px4-dev-ros-melodic:2021-05-04'
+        //       image 'px4io/px4-dev-ros-melodic:2021-08-18'
         //       args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
         //     }
         //   }
@@ -56,7 +56,7 @@ pipeline {
         stage('Colcon build on ROS2 workspace') {
           agent {
             docker {
-              image 'px4io/px4-dev-ros2-foxy:2021-05-04'
+              image 'px4io/px4-dev-ros2-foxy:2021-08-18'
               args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
             }
           }
@@ -85,7 +85,7 @@ pipeline {
 
         stage('Airframe') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
           }
           steps {
             sh 'make distclean'
@@ -105,7 +105,7 @@ pipeline {
 
         stage('Parameter') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
           }
           steps {
             sh 'make distclean'
@@ -125,7 +125,7 @@ pipeline {
 
         stage('Module') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
           }
           steps {
             sh 'make distclean'
@@ -145,7 +145,7 @@ pipeline {
 
         stage('msg file docs') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
           }
           steps {
             sh 'mkdir -p build/msg_docs; ./msg/tools/generate_msg_docs.py -d build/msg_docs'
@@ -164,7 +164,7 @@ pipeline {
         stage('uORB graphs') {
           agent {
             docker {
-              image 'px4io/px4-dev-nuttx-focal:2021-05-04'
+              image 'px4io/px4-dev-nuttx-focal:2021-08-18'
               args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
             }
           }
@@ -194,7 +194,7 @@ pipeline {
 
         stage('Userguide') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
           }
           steps {
             sh('export')
@@ -228,7 +228,7 @@ pipeline {
 
         stage('QGroundControl') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
           }
           steps {
             sh('export')
@@ -256,7 +256,7 @@ pipeline {
 
         stage('microRTPS agent') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
           }
           steps {
             sh('export')
@@ -286,7 +286,7 @@ pipeline {
 
         stage('PX4 ROS msgs') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
           }
           steps {
             sh('export')
@@ -315,7 +315,7 @@ pipeline {
 
         stage('PX4 ROS2 bridge') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
           }
           steps {
             sh('export')
@@ -358,7 +358,7 @@ pipeline {
 
         stage('S3') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
           }
           steps {
             sh('export')

Kconfig

@@ -0,0 +1,188 @@
+# PX4 Firmware Configuration
+
+
+mainmenu "PX4 Firmware Configuration"
+
+comment "Vendor: $(VENDOR)"
+comment "Model: $(MODEL)"
+comment "Label: $(LABEL)"
+
+menu "Toolchain"
+    choice
+        prompt "Platform"
+        default PLATFORM_NUTTX
+        config PLATFORM_NUTTX
+            bool "nuttx"
+        config PLATFORM_POSIX
+            bool "posix"
+        config PLATFORM_QURT
+            bool "qurt"
+    endchoice
+
+    config BOARD_PLATFORM
+        string
+        default "nuttx" if PLATFORM_NUTTX
+        default "posix" if PLATFORM_POSIX
+        default "qurt" if PLATFORM_QURT
+
+    config BOARD_LOCKSTEP
+        bool "Force enable lockstep"
+        depends on PLATFORM_POSIX
+        help
+            forces lockstep behaviour, despite REPLAY env variable
+
+    config BOARD_NOLOCKSTEP
+        bool "Force disable lockstep"
+        depends on PLATFORM_POSIX
+        help
+            forces nolockstep behaviour, despite REPLAY env variable
+
+    config BOARD_LINUX
+        bool "Linux OS"
+        depends on PLATFORM_POSIX
+        help
+            Board Platform is running the Linux operating system
+
+    config BOARD_TOOLCHAIN
+        string "Toolchain"
+        default ""
+
+    config BOARD_ARCHITECTURE
+        string "Architecture"
+        default ""
+
+    config BOARD_FULL_OPTIMIZATION
+        bool "Full optmization (O3)"
+        default n
+        help
+            Enables Cmake Release for -O3 optimization
+
+    config BOARD_ROMFSROOT
+        string "ROMFSROOT"
+        default "px4fmu_common"
+        help
+            relative path to the ROMFS root directory
+
+    config BOARD_BUILD_BOOTLOADER
+        bool "Enable bootloader"
+        help
+            flag to enable building and including the bootloader config
+
+    config BOARD_IO
+        string "IO board name"
+        help
+            name of IO board to be built and included in the ROMFS (requires a valid ROMFSROOT)
+
+    config BOARD_CONSTRAINED_FLASH
+        bool "Contrained flash"
+        help
+            flag to enable constrained flash options (eg limit init script status text)
+
+    config BOARD_NO_HELP
+        bool "No help"
+        help
+            optional condition flag to disable help text on constrained flash systems
+
+    config BOARD_CONSTRAINED_MEMORY
+        bool "Contrained memory"
+        help
+            flag to enable constrained memory options (eg limit maximum number of uORB publications)
+
+    config BOARD_EXTERNAL_METADATA
+        bool "External metadata"
+        help
+            flag to exclude metadata to reduce flash
+
+    config BOARD_LINKER_PREFIX
+        string "linker prefix"
+        help
+            optional to prefix on the Linker script.
+
+    config BOARD_COMPILE_DEFINITIONS
+        string "add custom compile definitions"
+        help
+            add custom compile defitions to this specific target
+endmenu #Toolchain
+
+config BOARD_TESTING
+    bool "Testing"
+    select SYSTEMCMDS_TESTS
+    help
+        flag to enable automatic inclusion of PX4 testing modules
+
+
+config BOARD_ETHERNET
+    bool "Ethernet"
+    help
+        flag to indicate that ethernet is enabled
+
+config BOARD_CRYPTO
+    string "Crypto"
+    help
+        Crypto implementation selection
+
+config BOARD_KEYSTORE
+    string "Keystore"
+    help
+        Keystore implememntation selection
+
+menu "Serial ports"
+
+    config BOARD_SERIAL_URT6
+        string "URT6 tty port"
+
+    config BOARD_SERIAL_GPS1
+        string "GPS1 tty port"
+
+    config BOARD_SERIAL_GPS2
+        string "GPS2 tty port"
+
+    config BOARD_SERIAL_GPS3
+        string "GPS3 tty port"
+
+    config BOARD_SERIAL_GPS4
+        string "GPS4 tty port"
+
+    config BOARD_SERIAL_GPS5
+        string "GPS5 tty port"
+
+    config BOARD_SERIAL_TEL1
+        string "TEL1 tty port"
+
+    config BOARD_SERIAL_TEL2
+        string "TEL2 tty port"
+
+    config BOARD_SERIAL_TEL3
+        string "TEL3 tty port"
+
+    config BOARD_SERIAL_TEL4
+        string "TEL4 tty port"
+
+    config BOARD_SERIAL_TEL5
+        string "TEL5 tty port"
+
+    config BOARD_SERIAL_RC
+        string "RC tty port"
+
+    config BOARD_SERIAL_WIFI
+        string "WIFI tty port"
+
+    config BOARD_SERIAL_PPB
+        string "PPB (Pixhawk Payload Bus) tty port"
+endmenu
+
+menu "drivers"
+source "src/drivers/Kconfig"
+endmenu
+
+menu "modules"
+source "src/modules/Kconfig"
+endmenu
+
+menu "systemcmds"
+source "src/systemcmds/Kconfig"
+endmenu
+
+menu "examples"
+source "src/examples/Kconfig"
+endmenu

Makefile

@@ -213,8 +213,8 @@ define colorecho
 +@echo -e '${COLOR_BLUE}${1} ${NO_COLOR}'
 endef
 
-# Get a list of all config targets boards/*/*.cmake
-ALL_CONFIG_TARGETS := $(shell find boards -maxdepth 3 -mindepth 3 -name '*.cmake' -print | sed -e 's|boards\/||' | sed -e 's|\.cmake||' | sed -e 's|\/|_|g' | sort)
+# Get a list of all config targets boards/*/*.px4board
+ALL_CONFIG_TARGETS := $(shell find boards -maxdepth 3 -mindepth 3 -name '*.px4board' -print | sed -e 's|boards\/||' | sed -e 's|\.px4board||' | sed -e 's|\/|_|g' | sort)
 
 # ADD CONFIGS HERE
 # --------------------------------------------------------------------
@@ -232,6 +232,9 @@ $(CONFIG_TARGETS_DEFAULT):
 all_config_targets: $(ALL_CONFIG_TARGETS)
 all_default_targets: $(CONFIG_TARGETS_DEFAULT)
 
+updateconfig:
+	@./Tools/kconfig/updateconfig.py
+
 # board reorganization deprecation warnings (2018-11-22)
 define deprecation_warning
 	$(warning $(1) has been deprecated and will be removed, please use $(2)!)
@@ -461,7 +464,7 @@ shellcheck_all:
 	@make px4_fmu-v5_default shellcheck
 
 validate_module_configs:
-	@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f -print0 | xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
+	@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f -not -path "$(SRC_DIR)/src/lib/mixer_module/*" -print0 | xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
 
 # Cleanup
 # --------------------------------------------------------------------

ROMFS/cannode/init.d/rcS

@@ -16,11 +16,6 @@ set +e
 #------------------------------------------------------------------------------
 set R /
 
-#
-# Start CDC/ACM serial driver.
-#
-sercon
-
 #
 # Print full system version.
 #

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

@@ -8,7 +8,8 @@
 #
 
 . ${R}etc/init.d/rc.mc_defaults
-. ${R}etc/init.d/rc.ctrlalloc
+
+param set-default SYS_CTRL_ALLOC 1
 
 param set-default MPC_USE_HTE 0
 
@@ -45,4 +46,10 @@ param set-default CA_MC_R3_PY 0.1875
 param set-default CA_MC_R3_CT 6.5
 param set-default CA_MC_R3_KM -0.05
 
-set MIXER direct
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+
+set MIXER skip
+set MIXER_AUX none

ROMFS/px4fmu_common/init.d-posix/airframes/10018_iris_foggy_lidar

@@ -7,6 +7,5 @@
 
 . ${R}etc/init.d-posix/airframes/10016_iris
 
-param set-default EKF2_RNG_AID 1
 param set-default EKF2_RNG_A_HMAX 10
 

ROMFS/px4fmu_common/init.d-posix/airframes/1020_uuv_generic

@@ -6,7 +6,6 @@
 . ${R}etc/init.d/rc.uuv_defaults
 
 #Set data link loss failsafe mode (0: disabled)
-param set-default NAV_DLL_ACT 0
 
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

ROMFS/px4fmu_common/init.d-posix/airframes/1021_uuv_hippocampus

@@ -6,7 +6,6 @@
 . ${R}etc/init.d/rc.uuv_defaults
 
 #Set data link loss failsafe mode (0: disabled)
-param set-default NAV_DLL_ACT 0
 
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

ROMFS/px4fmu_common/init.d-posix/airframes/1022_uuv_bluerov2_heavy

@@ -6,7 +6,6 @@
 . ${R}etc/init.d/rc.uuv_defaults
 
 #Set data link loss failsafe mode (0: disabled)
-param set-default NAV_DLL_ACT 0
 
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane

@@ -5,8 +5,6 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-param set-default EKF2_ARSP_THR 8
-param set-default EKF2_FUSE_BETA 1
 param set-default EKF2_MAG_ACCLIM 0
 param set-default EKF2_MAG_YAWLIM 0
 
@@ -18,7 +16,6 @@ param set-default FW_L1_PERIOD 12
 
 param set-default FW_MAN_P_MAX 30
 
-param set-default FW_PR_I 0.4
 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.2
 param set-default FW_PSP_OFF 2
@@ -46,7 +43,6 @@ param set-default MIS_TAKEOFF_ALT 30
 
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
-param set-default NAV_LOITER_RAD 50
 
 param set-default RWTO_TKOFF 1
 

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

@@ -5,9 +5,6 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-param set-default EKF2_ARSP_THR 8
-param set-default EKF2_FUSE_BETA 1
-
 param set-default FW_LND_AIRSPD_SC 1.1
 param set-default FW_LND_ANG 5
 param set-default FW_THR_LND_MAX 0
@@ -19,7 +16,6 @@ param set-default FW_LND_TLALT 15
 
 param set-default FW_L1_PERIOD 25
 
-param set-default FW_P_TC 0.4
 param set-default FW_PR_FF 0.40
 param set-default FW_PR_I 0.05
 param set-default FW_PR_P 0.05
@@ -38,7 +34,6 @@ param set-default MIS_DIST_WPS 10000
 
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
-param set-default NAV_LOITER_RAD 50
 
 param set-default RWTO_TKOFF 1
 

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

@@ -5,9 +5,6 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-param set-default EKF2_ARSP_THR 8
-param set-default EKF2_FUSE_BETA 1
-
 param set-default FW_LND_AIRSPD_SC 1.1
 param set-default FW_LND_ANG 5
 param set-default FW_THR_LND_MAX 0
@@ -19,7 +16,6 @@ param set-default FW_LND_TLALT 15
 
 param set-default FW_L1_PERIOD 25
 
-param set-default FW_P_TC 0.4
 param set-default FW_PR_FF 0.40
 param set-default FW_PR_I 0.05
 param set-default FW_PR_P 0.05
@@ -38,7 +34,6 @@ param set-default MIS_DIST_WPS 10000
 
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
-param set-default NAV_LOITER_RAD 50
 
 param set-default RWTO_TKOFF 1
 

ROMFS/px4fmu_common/init.d-posix/airframes/1035_techpod

@@ -5,8 +5,6 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-param set-default EKF2_ARSP_THR 8
-param set-default EKF2_FUSE_BETA 1
 param set-default EKF2_MAG_ACCLIM 0
 param set-default EKF2_MAG_YAWLIM 0
 
@@ -35,7 +33,6 @@ param set-default MIS_TAKEOFF_ALT 30
 
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
-param set-default NAV_LOITER_RAD 50
 
 param set-default RWTO_TKOFF 1
 

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

@@ -5,9 +5,6 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-param set-default EKF2_ARSP_THR 8
-param set-default EKF2_FUSE_BETA 1
-
 param set-default FW_LND_AIRSPD_SC 1.1
 param set-default FW_LND_ANG 5
 param set-default FW_THR_LND_MAX 0
@@ -19,7 +16,6 @@ param set-default FW_LND_TLALT 15
 
 param set-default FW_L1_PERIOD 25
 
-param set-default FW_P_TC 0.4
 param set-default FW_PR_FF 0.40
 param set-default FW_PR_I 0.05
 param set-default FW_PR_P 0.05
@@ -38,7 +34,6 @@ param set-default MIS_DIST_WPS 10000
 
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
-param set-default NAV_LOITER_RAD 50
 
 param set-default RWTO_TKOFF 1
 param set-default RWTO_MAX_PITCH 20

ROMFS/px4fmu_common/init.d-posix/airframes/1037_believer

@@ -5,8 +5,6 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-param set-default EKF2_ARSP_THR 8
-param set-default EKF2_FUSE_BETA 1
 param set-default EKF2_MAG_ACCLIM 0
 param set-default EKF2_MAG_YAWLIM 0
 
@@ -18,7 +16,6 @@ param set-default FW_L1_PERIOD 12
 
 param set-default FW_MAN_P_MAX 30
 
-param set-default FW_PR_I 0.4
 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.2
 param set-default FW_PSP_OFF 2
@@ -46,7 +43,6 @@ param set-default MIS_TAKEOFF_ALT 30
 
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
-param set-default NAV_LOITER_RAD 50
 
 param set-default RWTO_TKOFF 1
 

ROMFS/px4fmu_common/init.d-posix/airframes/1038_glider

@@ -0,0 +1,9 @@
+#!/bin/sh
+#
+# @name Plane SITL with catapult
+#
+
+. ${R}etc/init.d-posix/airframes/1030_plane
+
+param set-default FW_THR_CRUISE 0.0
+param set-default RWTO_TKOFF 0

ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol

@@ -10,7 +10,6 @@
 param set-default FW_L1_PERIOD 12
 param set-default FW_MAN_P_MAX 30
 param set-default FW_PR_FF 0.2
-param set-default FW_PR_I 0.4
 param set-default FW_PR_P 0.9
 param set-default FW_PSP_OFF 2
 param set-default FW_P_LIM_MAX 32

ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor

@@ -10,7 +10,6 @@
 param set-default FW_L1_PERIOD 12
 param set-default FW_MAN_P_MAX 30
 param set-default FW_PR_FF 0.2
-param set-default FW_PR_I 0.4
 param set-default FW_PR_P 0.9
 param set-default FW_PSP_OFF 2
 param set-default FW_P_LIM_MAX 32

ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop

@@ -10,7 +10,6 @@
 param set-default FW_L1_PERIOD 12
 param set-default FW_MAN_P_MAX 30
 param set-default FW_PR_FF 0.2
-param set-default FW_PR_I 0.4
 param set-default FW_PR_P 0.9
 param set-default FW_PSP_OFF 2
 param set-default FW_P_LIM_MAX 32

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

@@ -12,21 +12,12 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-param set-default EKF2_ARSP_THR 8
-param set-default EKF2_FUSE_BETA 1
-
 param set-default FW_AIRSPD_STALL 8
 
 param set-default FW_P_RMAX_NEG 20.0
-param set-default FW_P_RMAX_POS 60.0
 param set-default FW_W_RMAX 10
 param set-default FW_W_EN 1
 
-param set-default FW_PR_IMAX 0.4
-param set-default FW_R_TC 0.4
-param set-default FW_RR_FF 0.5
-param set-default FW_RR_I 0.1
-param set-default FW_RR_IMAX 0.2
 param set-default FW_RR_P 0.08
 
 param set-default MIS_LTRMIN_ALT 50
@@ -42,7 +33,6 @@ param set-default FW_ARSP_SCALE_EN 0
 
 param set-default FW_AIRSPD_MAX 35
 param set-default FW_AIRSPD_MIN 7
-param set-default FW_AIRSPD_TRIM 15
 
 param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5

ROMFS/px4fmu_common/init.d-posix/airframes/3011_hexarotor_x

@@ -12,7 +12,6 @@
 param set-default MC_PITCHRATE_P 0.1
 param set-default MC_PITCHRATE_I 0.05
 param set-default MC_PITCH_P 6.0
-param set-default MC_ROLLRATE_P 0.15
 param set-default MC_ROLLRATE_I 0.1
 param set-default MC_ROLL_P 6.0
 param set-default MPC_XY_VEL_I_ACC 4

ROMFS/px4fmu_common/init.d-posix/airframes/6012_typhoon_h480_ctrlalloc

@@ -6,7 +6,17 @@
 #
 
 . ${R}etc/init.d/rc.mc_defaults
-. ${R}etc/init.d/rc.ctrlalloc
+
+param set-default SYS_CTRL_ALLOC 1
+
+param set-default MC_PITCHRATE_P 0.0800
+param set-default MC_PITCHRATE_I 0.0400
+param set-default MC_PITCHRATE_D 0.0010
+param set-default MC_PITCH_P 9.0
+param set-default MC_ROLLRATE_P 0.0800
+param set-default MC_ROLLRATE_I 0.0400
+param set-default MC_ROLLRATE_D 0.0010
+param set-default MC_ROLL_P 9.0
 
 param set-default MPC_XY_VEL_I_ACC 4
 param set-default MPC_XY_VEL_P_ACC 3
@@ -66,7 +76,14 @@ param set-default CA_MC_R5_PY -0.5
 param set-default CA_MC_R5_CT 9.5
 param set-default CA_MC_R5_KM -0.05
 
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+param set-default PWM_MAIN_FUNC5 105
+param set-default PWM_MAIN_FUNC6 106
+
 set MAV_TYPE 13
 
-# set MIXER hexa_x
-set MIXER direct
+set MIXER skip
+set MIXER_AUX none

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

@@ -61,6 +61,7 @@ px4_add_romfs_files(
 	1035_techpod
 	1036_malolo
 	1037_believer
+	1038_glider
 	1040_standard_vtol
 	1041_tailsitter
 	1042_tiltrotor
@@ -76,6 +77,6 @@ px4_add_romfs_files(
 	2507_cloudship
 	6011_typhoon_h480
 	6011_typhoon_h480.post
-	6012_typhoon_ctrlalloc
-	6012_typhoon_ctrlalloc.post
+	6012_typhoon_h480_ctrlalloc
+	6012_typhoon_h480_ctrlalloc.post
 )

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -120,8 +120,6 @@ then
 
 	param set SENS_BOARD_X_OFF 0.000001
 	param set SENS_DPRES_OFF 0.001
-
-	param set SYS_RESTART_TYPE 2
 fi
 
 param set-default BAT1_N_CELLS 4

ROMFS/px4fmu_common/init.d/CMakeLists.txt

@@ -42,7 +42,6 @@ px4_add_romfs_files(
 	rc.fw_apps
 	rc.fw_defaults
 	rc.interface
-	rc.io
 	rc.logging
 	rc.mc_apps
 	rc.mc_defaults
@@ -56,5 +55,4 @@ px4_add_romfs_files(
 	rc.vehicle_setup
 	rc.vtol_apps
 	rc.vtol_defaults
-	rc.ctrlalloc
 )

ROMFS/px4fmu_common/init.d/airframes/1000_rc_fw_easystar.hil

@@ -18,7 +18,6 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-
 param set-default BAT1_N_CELLS 3
 
 param set-default FW_AIRSPD_MAX 20
@@ -30,22 +29,16 @@ param set-default FW_L1_DAMPING 0.74
 param set-default FW_L1_PERIOD 16
 param set-default FW_LND_ANG 15
 param set-default FW_LND_FLALT 5
-param set-default FW_LND_HHDIST 15
 param set-default FW_LND_HVIRT 13
 param set-default FW_LND_TLALT 5
 param set-default FW_THR_LND_MAX 0
 param set-default FW_PR_FF 0.35
-param set-default FW_PR_I 0.1
-param set-default FW_PR_IMAX 0.4
 param set-default FW_PR_P 0.2
 param set-default FW_RR_FF 0.6
-param set-default FW_RR_I 0.1
-param set-default FW_RR_IMAX 0.2
 param set-default FW_RR_P 0.3
 
 param set-default RWTO_TKOFF 1
 
-
 param set SYS_HITL 1
 
 # disable some checks to allow to fly

ROMFS/px4fmu_common/init.d/airframes/10015_tbs_discovery

@@ -25,19 +25,12 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-
-param set-default MC_ROLL_P 6.5
 param set-default MC_ROLLRATE_P 0.1
 param set-default MC_ROLLRATE_I 0.05
 param set-default MC_ROLLRATE_D 0.0017
-param set-default MC_PITCH_P 6.5
 param set-default MC_PITCHRATE_P 0.14
 param set-default MC_PITCHRATE_I 0.1
 param set-default MC_PITCHRATE_D 0.0025
-param set-default MC_YAW_P 2.8
 param set-default MC_YAWRATE_P 0.28
-param set-default MC_YAWRATE_I 0.1
-param set-default MC_YAWRATE_D 0
-set MIXER quad_w
 
-set PWM_OUT 1234
+set MIXER quad_w

ROMFS/px4fmu_common/init.d/airframes/10016_3dr_iris

@@ -23,24 +23,18 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-
 # TODO tune roll/pitch separately
 param set-default MC_ROLL_P 7
-param set-default MC_ROLLRATE_P 0.15
 param set-default MC_ROLLRATE_I 0.05
 param set-default MC_ROLLRATE_D 0.004
 param set-default MC_PITCH_P 7
-param set-default MC_PITCHRATE_P 0.15
 param set-default MC_PITCHRATE_I 0.05
 param set-default MC_PITCHRATE_D 0.004
 param set-default MC_YAW_P 2.5
 param set-default MC_YAWRATE_P 0.25
 param set-default MC_YAWRATE_I 0.25
-param set-default MC_YAWRATE_D 0
 
 param set-default BAT1_V_DIV 12.27559
 param set-default BAT1_A_PER_V 15.39103
 
 set MIXER quad_w
-
-set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/10017_steadidrone_qu4d

@@ -25,7 +25,6 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-
 param set-default BAT1_N_CELLS 4
 
 param set-default MC_ROLL_P 7
@@ -37,9 +36,4 @@ param set-default MC_PITCHRATE_P 0.19
 param set-default MC_PITCHRATE_I 0.05
 param set-default MC_PITCHRATE_D 0.004
 param set-default MC_YAW_P 4
-param set-default MC_YAWRATE_P 0.2
-param set-default MC_YAWRATE_I 0.1
-param set-default MC_YAWRATE_D 0
 set MIXER quad_w
-
-set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/10018_tbs_endurance

@@ -25,27 +25,19 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-
 param set-default BAT1_N_CELLS 6
 param set-default BAT1_V_EMPTY 3.5
 
 param set-default MC_ROLL_P 7
 param set-default MC_ROLLRATE_P 0.08
 param set-default MC_ROLLRATE_I 0.02
-param set-default MC_ROLLRATE_D 0.003
 param set-default MC_PITCH_P 7
 param set-default MC_PITCHRATE_P 0.13
 param set-default MC_PITCHRATE_I 0.02
 param set-default MC_PITCHRATE_D 0.005
-param set-default MC_YAW_P 2.8
-param set-default MC_YAWRATE_P 0.2
-param set-default MC_YAWRATE_I 0.1
-param set-default MC_YAWRATE_D 0
 
 param set-default MPC_XY_VEL_MAX 2
 
 param set-default PWM_MAIN_MIN 1080
 
 set MIXER quad_w
-
-set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil

@@ -12,7 +12,6 @@
 . ${R}etc/init.d/rc.mc_defaults
 
 set MIXER quad_x
-set PWM_OUT 1234
 
 param set SYS_HITL 1
 

ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil

@@ -9,6 +9,7 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board holybro_kakutef7 exclude
 #
 
 . ${R}etc/init.d/rc.vtol_defaults
@@ -18,10 +19,8 @@ param set-default BAT1_N_CELLS 3
 
 param set-default COM_RC_IN_MODE 1
 
-param set-default EKF2_AID_MASK 1
 param set-default EKF2_ANGERR_INIT 0.01
 param set-default EKF2_GBIAS_INIT 0.01
-param set-default EKF2_HGT_MODE 0
 param set-default EKF2_MAG_TYPE 1
 
 param set-default FW_AIRSPD_MAX 25
@@ -56,7 +55,6 @@ param set-default RTL_DESCEND_ALT 10
 param set-default RTL_RETURN_ALT 30
 
 param set-default SDLOG_DIRS_MAX 7
-param set-default SYS_RESTART_TYPE 2
 
 param set-default VT_F_TRANS_THR 0.75
 param set-default VT_MOT_ID 1234

ROMFS/px4fmu_common/init.d/airframes/12002_steadidrone_mavrik

@@ -36,9 +36,6 @@ param set-default MC_ROLLRATE_D 0.009
 param set-default MC_ROLLRATE_MAX 180
 
 param set-default MC_YAW_P 3
-param set-default MC_YAWRATE_P 0.2
-param set-default MC_YAWRATE_I 0.1
-param set-default MC_YAWRATE_D 0
 
 param set-default MPC_HOLD_MAX_XY 0.25
 param set-default MPC_THR_MIN 0.15

ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard

@@ -19,13 +19,13 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board holybro_kakutef7 exclude
 #
 
 . ${R}etc/init.d/rc.vtol_defaults
 
 
 param set-default PWM_AUX_DIS5 950
-param set-default PWM_MAIN_RATE 400
 
 param set-default VT_TYPE 2
 param set-default VT_MOT_ID 1234

ROMFS/px4fmu_common/init.d/airframes/13001_caipirinha_vtol

@@ -14,6 +14,7 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board holybro_kakutef7 exclude
 #
 
 . ${R}etc/init.d/rc.vtol_defaults
@@ -24,20 +25,14 @@ param set-default MAV_TYPE 19
 param set-default MC_ROLL_P 6
 param set-default MC_ROLLRATE_P 0.12
 param set-default MC_ROLLRATE_I 0.002
-param set-default MC_ROLLRATE_D 0.003
-param set-default MC_ROLLRATE_FF 0
 
 param set-default MC_PITCH_P 4.5
 param set-default MC_PITCHRATE_P 0.3
 param set-default MC_PITCHRATE_I 0.002
-param set-default MC_PITCHRATE_D 0.003
-param set-default MC_PITCHRATE_FF 0
 
 param set-default MC_YAW_P 3.8
 param set-default MC_YAWRATE_P 0.22
 param set-default MC_YAWRATE_I 0.02
-param set-default MC_YAWRATE_D 0
-param set-default MC_YAWRATE_FF 0
 
 param set-default VT_IDLE_PWM_MC  1080
 param set-default VT_ELEV_MC_LOCK 0

ROMFS/px4fmu_common/init.d/airframes/13002_firefly6

@@ -28,19 +28,13 @@ param set-default MC_ROLL_P 7
 param set-default MC_ROLLRATE_P 0.19
 param set-default MC_ROLLRATE_I 0.002
 param set-default MC_ROLLRATE_D 0.005
-param set-default MC_ROLLRATE_FF 0
 param set-default MC_PITCH_P 7
 param set-default MC_PITCHRATE_P 0.14
 param set-default MC_PITCHRATE_I 0.002
 param set-default MC_PITCHRATE_D 0.004
-param set-default MC_PITCHRATE_FF 0
 param set-default MC_YAW_P 4
 param set-default MC_YAWRATE_P 0.22
 param set-default MC_YAWRATE_I 0.02
-param set-default MC_YAWRATE_D 0
-param set-default MC_YAWRATE_FF 0
-
-param set-default PWM_MAIN_RATE 400
 
 param set-default VT_FW_MOT_OFFID 34
 param set-default VT_IDLE_PWM_MC 1080

ROMFS/px4fmu_common/init.d/airframes/13003_quad_tailsitter

@@ -15,12 +15,10 @@
 
 
 param set-default PWM_MAIN_MAX 2000
-param set-default PWM_MAIN_RATE 400
 
 param set-default VT_MOT_ID 1234
 param set-default VT_IDLE_PWM_MC  1080
 param set-default VT_TYPE 0
-param set-default VT_ELEV_MC_LOCK 1
 set MAV_TYPE 20
 
 set MIXER quad_x_vtol

ROMFS/px4fmu_common/init.d/airframes/13004_quad+_tailsitter

@@ -22,13 +22,11 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-
 param set-default PWM_MAIN_MAX 2000
-param set-default PWM_MAIN_RATE 400
 
 param set-default VT_IDLE_PWM_MC  1080
 param set-default VT_TYPE 0
-param set-default VT_ELEV_MC_LOCK 1
+
 set MAV_TYPE 20
 
 set MIXER quad_+_vtol

ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad

@@ -19,42 +19,30 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board holybro_kakutef7 exclude
 #
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-
 param set-default PWM_AUX_DIS5 950
 
-param set-default PWM_MAIN_RATE 400
-
 param set-default MC_ROLL_P 6
 param set-default MC_ROLLRATE_P 0.17
 param set-default MC_ROLLRATE_I 0.002
 param set-default MC_ROLLRATE_D 0.004
-param set-default MC_ROLLRATE_FF 0
 param set-default MC_PITCH_P 6
 param set-default MC_PITCHRATE_P 0.19
 param set-default MC_PITCHRATE_I 0.002
 param set-default MC_PITCHRATE_D 0.004
-param set-default MC_PITCHRATE_FF 0
-param set-default MC_YAW_P 2.8
 param set-default MC_YAWRATE_P 0.22
 param set-default MC_YAWRATE_I 0.02
-param set-default MC_YAWRATE_D 0
-param set-default MC_YAWRATE_FF 0
 param set-default MC_YAWRATE_MAX 40
 
 param set-default MPC_YAWRAUTO_MAX 40
 
-param set-default FW_PR_FF 0.5
 param set-default FW_PR_I 0.02
-param set-default FW_PR_IMAX 0.4
-param set-default FW_PR_P 0.08
 param set-default FW_RR_FF 0.6
 param set-default FW_RR_I 0.01
-param set-default FW_RR_IMAX 0.2
-param set-default FW_RR_P 0.05
 param set-default FW_THR_CRUISE 0.75
 
 param set-default VT_ARSP_BLEND 6

ROMFS/px4fmu_common/init.d/airframes/13006_vtol_standard_delta

@@ -17,26 +17,16 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board holybro_kakutef7 exclude
 #
 
 . ${R}etc/init.d/rc.vtol_defaults
 
 
-param set-default MC_ROLL_P 6.5
-param set-default MC_ROLLRATE_P 0.15
 param set-default MC_ROLLRATE_I 0.01
-param set-default MC_ROLLRATE_D 0.003
-param set-default MC_ROLLRATE_FF 0
-param set-default MC_PITCH_P 6.5
-param set-default MC_PITCHRATE_P 0.15
 param set-default MC_PITCHRATE_I 0.01
-param set-default MC_PITCHRATE_D 0.003
-param set-default MC_PITCHRATE_FF 0
 param set-default MC_YAW_P 3.5
-param set-default MC_YAWRATE_P 0.2
-param set-default MC_YAWRATE_I 0.1
-param set-default MC_YAWRATE_D 0
-param set-default MC_YAWRATE_FF 0
+
 param set-default MC_YAWRATE_MAX 50
 
 param set-default MPC_XY_P 0.8
@@ -45,7 +35,6 @@ param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_YAWRAUTO_MAX 20
 
 param set-default PWM_AUX_DIS3 950
-param set-default PWM_MAIN_RATE 400
 
 param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234

ROMFS/px4fmu_common/init.d/airframes/13007_vtol_AAVVT_quad

@@ -9,32 +9,24 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board holybro_kakutef7 exclude
 #
 
 . ${R}etc/init.d/rc.vtol_defaults
 
 
 param set-default MC_ROLL_P 7
-param set-default MC_ROLLRATE_P 0.15
 param set-default MC_ROLLRATE_I 0.002
-param set-default MC_ROLLRATE_D 0.003
-param set-default MC_ROLLRATE_FF 0
 param set-default MC_PITCH_P 7
 param set-default MC_PITCHRATE_P 0.12
 param set-default MC_PITCHRATE_I 0.002
-param set-default MC_PITCHRATE_D 0.003
-param set-default MC_PITCHRATE_FF 0
-param set-default MC_YAW_P 2.8
 param set-default MC_YAWRATE_P 0.22
 param set-default MC_YAWRATE_I 0.02
-param set-default MC_YAWRATE_D 0
-param set-default MC_YAWRATE_FF 0
 param set-default MC_YAWRATE_MAX 40
 
 param set-default MPC_YAWRAUTO_MAX 40
 
 param set-default PWM_AUX_DIS5 950
-param set-default PWM_MAIN_RATE 400
 
 param set-default VT_F_TRANS_THR 0.75
 param set-default VT_MOT_ID 1234

ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger

@@ -15,44 +15,32 @@
 
 
 param set-default FW_THR_CRUISE 65
-param set-default FW_PR_P 0.08
-param set-default FW_PR_FF 0.5
-param set-default FW_RR_P 0.05
 param set-default FW_RR_FF 0.6
 
 param set-default MIS_YAW_TMT 10
 
 param set-default MC_ROLL_P 7
-param set-default MC_ROLLRATE_P 0.15
 param set-default MC_ROLLRATE_I 0.1
 param set-default MC_ROLLRATE_D 0.004
-param set-default MC_ROLLRATE_FF 0
 param set-default MC_PITCH_P 7
-param set-default MC_PITCHRATE_P 0.15
 param set-default MC_PITCHRATE_I 0.1
 param set-default MC_PITCHRATE_D 0.004
-param set-default MC_PITCHRATE_FF 0
 param set-default MC_YAW_P 3.5
 param set-default MC_YAWRATE_P 0.6
 param set-default MC_YAWRATE_I 0.04
-param set-default MC_YAWRATE_D 0
-param set-default MC_YAWRATE_FF 0
 param set-default MC_YAWRATE_MAX 40
 
 param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_Z_VEL_MAX_DN 1.5
-param set-default MPC_TKO_SPEED 1.5
 param set-default MPC_LAND_SPEED 0.8
 param set-default MPC_YAWRAUTO_MAX 40
 
 param set-default PWM_AUX_DIS5 950
 param set-default PWM_AUX_REV1 1
 param set-default PWM_AUX_REV2 1
-param set-default PWM_MAIN_RATE 400
 
 param set-default VT_ARSP_TRANS 15
 param set-default VT_ARSP_BLEND 8
-param set-default VT_B_TRANS_DUR 4
 param set-default VT_F_TRANS_THR 0.75
 param set-default VT_IDLE_PWM_MC 1080
 param set-default VT_MOT_ID 1234

ROMFS/px4fmu_common/init.d/airframes/13009_vtol_spt_ranger

@@ -9,11 +9,11 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board holybro_kakutef7 exclude
 #
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-
 param set-default FW_AIRSPD_MAX   22
 param set-default FW_AIRSPD_MIN   14
 param set-default FW_AIRSPD_TRIM  16
@@ -68,10 +68,7 @@ param set-default PWM_AUX_REV4    1
 
 param set-default PWM_AUX_DIS5 950
 
-param set-default PWM_MAIN_RATE 400
-
 param set-default VT_ARSP_TRANS   15
-param set-default VT_B_TRANS_DUR  4
 param set-default VT_F_TRANS_THR    0.6
 param set-default VT_IDLE_PWM_MC 1180
 param set-default VT_MOT_ID 1234

ROMFS/px4fmu_common/init.d/airframes/13010_claire

@@ -13,14 +13,12 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-
 param set-default PWM_AUX_DISARM 1000
 param set-default PWM_AUX_MAX 2000
 param set-default PWM_AUX_MIN 1000
 param set-default PWM_AUX_RATE 50
 
 param set-default PWM_MAIN_MAX 2000
-param set-default PWM_MAIN_RATE 400
 
 param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 13

ROMFS/px4fmu_common/init.d/airframes/13012_convergence

@@ -22,7 +22,6 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-
 param set-default CBRK_AIRSPD_CHK 162128
 
 param set-default FW_ARSP_MODE 1
@@ -32,22 +31,14 @@ param set-default FW_MAN_R_MAX 50
 param set-default FW_ACRO_X_MAX   270
 param set-default FW_ACRO_Y_MAX   270
 param set-default FW_ACRO_Z_MAX   180
-param set-default FW_PR_FF    0.5
-param set-default FW_PR_P 0.08
 param set-default FW_PSP_OFF  5
 param set-default FW_P_LIM_MAX    30
 param set-default FW_P_LIM_MIN    -30
-param set-default FW_P_RMAX_NEG   60
-param set-default FW_P_RMAX_POS   60
 param set-default FW_RR_FF    0.33
 param set-default FW_RR_P 0.11
-param set-default FW_YR_FF    0.3
-param set-default FW_YR_P 0.05
 
-param set-default MC_PITCHRATE_D  0.003
 param set-default MC_PITCHRATE_P  0.15
 param set-default MC_PITCH_P  6
-param set-default MC_ROLLRATE_D   0.003
 param set-default MC_ROLLRATE_P   0.15
 param set-default MC_ROLL_P   6
 param set-default MC_YAWRATE_MAX  120
@@ -57,9 +48,6 @@ param set-default MC_YAW_P    2.5
 param set-default MC_YAWRATE_P 0.3
 param set-default MPC_LAND_SPEED 1.2
 param set-default MPC_TKO_SPEED 2.5
-param set-default MPC_Z_VEL_MAX_UP 3
-
-param set-default PWM_MAIN_RATE 400
 
 param set-default SENS_BOARD_ROT 8
 
@@ -69,11 +57,8 @@ param set-default VT_F_TR_OL_TM   4
 param set-default VT_FW_DIFTHR_EN 1
 param set-default VT_FW_DIFTHR_SC 0.17
 param set-default VT_FW_MOT_OFFID 3
-param set-default VT_FW_PERM_STAB 0
 param set-default VT_IDLE_PWM_MC 1200
 param set-default VT_MOT_ID 123
-param set-default VT_TILT_FW  1
-param set-default VT_TILT_MC  0
 param set-default VT_TILT_TRANS   0.45
 param set-default VT_TRANS_MIN_TM 1.2
 param set-default VT_TRANS_P2_DUR 1.3

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

@@ -22,7 +22,6 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-
 param set-default BAT1_CAPACITY 23000
 param set-default BAT1_N_CELLS 4
 param set-default BAT1_R_INTERNAL 0.0025
@@ -69,23 +68,13 @@ param set-default LNDMC_ALT_MAX 9999
 param set-default LNDMC_XY_VEL_MAX 1
 param set-default LNDMC_Z_VEL_MAX 0.7
 
-param set-default MC_ROLL_P 6.5
 param set-default MC_ROLLRATE_P 0.16
 param set-default MC_ROLLRATE_I 0.01
-param set-default MC_ROLLRATE_D 0.003
-param set-default MC_ROLLRATE_FF 0
 param set-default MC_ROLLRATE_MAX 80
-param set-default MC_PITCH_P 6.5
-param set-default MC_PITCHRATE_P 0.15
 param set-default MC_PITCHRATE_I 0.05
-param set-default MC_PITCHRATE_D 0.003
-param set-default MC_PITCHRATE_FF 0
 param set-default MC_PITCHRATE_MAX 80
 param set-default MC_YAW_P 3.5
-param set-default MC_YAWRATE_P 0.2
-param set-default MC_YAWRATE_I 0.1
-param set-default MC_YAWRATE_D 0
-param set-default MC_YAWRATE_FF 0
+
 param set-default MC_YAWRATE_MAX 20
 param set-default MC_AIRMODE 1
 
@@ -109,7 +98,6 @@ param set-default MPC_TILTMAX_AIR 25
 param set-default MPC_TILTMAX_LND 25
 param set-default MPC_YAWRAUTO_MAX 20
 
-param set-default NAV_DLL_ACT 0
 param set-default NAV_LOITER_RAD 100
 
 param set-default PWM_AUX_DISARM 950
@@ -119,7 +107,6 @@ param set-default PWM_MAIN_DIS6 1500
 param set-default PWM_MAIN_DIS7 900
 param set-default PWM_MAIN_DIS8 900
 
-param set-default PWM_MAIN_RATE 400
 
 param set-default SENS_BOARD_ROT 18
 
@@ -133,13 +120,11 @@ param set-default VT_TYPE 2
 param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_F_TRANS_THR 1
-param set-default VT_DWN_PITCH_MAX 8
+param set-default VT_PITCH_MIN 8
 param set-default VT_FW_QC_P 55
 param set-default VT_FW_QC_R 55
 param set-default VT_TRANS_MIN_TM 15
 param set-default VT_B_TRANS_DUR 8
-param set-default VT_WV_LND_EN 1
-param set-default VT_WV_LTR_EN 1
 param set-default VT_FWD_THRUST_SC 4
 param set-default VT_F_TRANS_DUR 1
 param set-default VT_IDLE_PWM_MC 1025

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

@@ -18,25 +18,22 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board holybro_kakutef7 exclude
 #
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-
 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_L1_R_SLEW_MAX 40
-param set-default FW_LND_EARLYCFG 1
 param set-default FW_MAN_P_MAX 30
-param set-default FW_PR_I 0.1
 param set-default FW_PSP_OFF 3
 param set-default FW_P_LIM_MAX 18
 param set-default FW_P_LIM_MIN -25
 param set-default FW_RLL_TO_YAW_FF 0.1
-param set-default FW_RR_I 0.1
 param set-default FW_RR_P 0.08
 param set-default FW_R_LIM 45
 param set-default FW_R_RMAX 50
@@ -46,22 +43,15 @@ param set-default FW_THR_SLEW_MAX 0.6
 param set-default FW_T_HRATE_FF 0
 param set-default FW_T_SINK_MAX 15
 param set-default FW_T_SINK_MIN 3
-param set-default FW_YR_I 0.1
 param set-default FW_YR_P 0.15
 
-param set-default IMU_GYRO_CUTOFF 40
-
 param set-default IMU_DGYRO_CUTOFF 15
-param set-default MC_PITCHRATE_I 0.2
 param set-default MC_PITCHRATE_MAX 60
-param set-default MC_ROLLRATE_I 0.2
 param set-default MC_ROLLRATE_MAX 60
 param set-default MC_YAWRATE_I 0.15
 param set-default MC_YAWRATE_MAX 40
 param set-default MC_YAWRATE_P 0.3
 
-param set-default MIS_TAKEOFF_ALT 30
-
 param set-default MPC_ACC_DOWN_MAX 2
 param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_ACC_UP_MAX 3

ROMFS/px4fmu_common/init.d/airframes/13030_generic_vtol_quad_tiltrotor

@@ -22,13 +22,11 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board holybro_kakutef7 exclude
 #
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-
-param set-default PWM_MAIN_RATE 400
-
 param set-default VT_IDLE_PWM_MC 1100
 param set-default VT_TYPE 1
 param set-default VT_MOT_ID 1234

ROMFS/px4fmu_common/init.d/airframes/13050_generic_vtol_octo

@@ -21,13 +21,12 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board holybro_kakutef7 exclude
 #
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-
 param set-default PWM_AUX_DIS5 950
-param set-default PWM_MAIN_RATE 400
 
 param set-default VT_TYPE 2
 param set-default VT_MOT_ID 12345678

ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter

@@ -14,11 +14,11 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board holybro_kakutef7 exclude
 #
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_MOT_COUNT 2
 param set-default VT_TYPE 0

ROMFS/px4fmu_common/init.d/airframes/14001_tri_y_yaw+

@@ -19,5 +19,3 @@
 . ${R}etc/init.d/rc.mc_defaults
 
 set MIXER tri_y_yaw+
-
-set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/14002_tri_y_yaw-

@@ -19,5 +19,3 @@
 . ${R}etc/init.d/rc.mc_defaults
 
 set MIXER tri_y_yaw-
-
-set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/15001_coax_heli

@@ -19,29 +19,19 @@
 . ${R}etc/init.d/rc.mc_defaults
 set MIXER coax
 
-
-param set-default MC_ROLL_P 6.5
 param set-default MC_ROLLRATE_P 0.17
 param set-default MC_ROLLRATE_I 0.05
 param set-default MC_ROLLRATE_D 0.005
-param set-default MC_ROLLRATE_FF 0
-param set-default MC_PITCH_P 6.5
 param set-default MC_PITCHRATE_P 0.17
 param set-default MC_PITCHRATE_I 0.05
 param set-default MC_PITCHRATE_D 0.005
-param set-default MC_PITCHRATE_FF 0
 param set-default MC_YAW_P 2
 param set-default MC_YAWRATE_P 0.1
-param set-default MC_YAWRATE_I 0.1
-param set-default MC_YAWRATE_D 0
-param set-default MC_YAWRATE_FF 0
 
 param set-default NAV_ACC_RAD 2
 
 param set-default PWM_AUX_RATE 50
 param set-default PWM_MAIN_DISARM 900
-param set-default PWM_MAIN_MIN 1075
-param set-default PWM_MAIN_MAX 1950
 param set-default PWM_MAIN_RATE 400
 
 param set-default RTL_RETURN_ALT 30
@@ -50,5 +40,4 @@ param set-default RTL_DESCEND_ALT 10
 set MIXER_AUX pass
 
 # use PWM parameters for throttle channel
-set PWM_AUX_OUT 1234
 set PWM_OUT 34

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

@@ -24,8 +24,7 @@ set MAV_TYPE 4
 
 set MIXER blade130
 
-#set PWM_OUT 1234
-
+set PWM_OUT none
 
 param set-default ATT_BIAS_MAX 0
 
@@ -36,7 +35,6 @@ param set-default MC_ROLLRATE_P 0
 param set-default MC_ROLLRATE_I 0
 param set-default MC_ROLLRATE_D 0
 param set-default MC_ROLLRATE_FF 0.15
-param set-default MC_PITCH_P 6.5
 param set-default MC_PITCHRATE_P 0
 param set-default MC_PITCHRATE_I 0
 param set-default MC_PITCHRATE_D 0
@@ -44,7 +42,6 @@ param set-default MC_PITCHRATE_FF 0.15
 param set-default MC_YAW_P 3
 param set-default MC_YAWRATE_P 0.1
 param set-default MC_YAWRATE_I 0
-param set-default MC_YAWRATE_D 0
 param set-default MC_ROLLRATE_MAX 720
 param set-default MC_PITCHRATE_MAX 720
 param set-default MC_YAWRATE_MAX 400

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

@@ -15,7 +15,6 @@
 
 . ${R}etc/init.d/rc.balloon_defaults
 
-
 param set-default COM_PREARM_MODE 2  # always in prearm state
 param set-default CBRK_IO_SAFETY 22027
 param set-default SDLOG_PROFILE 17
@@ -25,10 +24,8 @@ param set-default MAV_0_CONFIG 102
 param set-default GPS_UBX_DYNMODEL 8
 param set-default SER_TEL2_BAUD 9600
 
-param set-default SENS_BOARD_ROT 0
 set MAV_TYPE 8
 param set MAV_TYPE ${MAV_TYPE}
 
-
 set MIXER IO_pass
 set MIXER_AUX pass

ROMFS/px4fmu_common/init.d/airframes/2105_maja

@@ -25,10 +25,6 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-param set-default FW_AIRSPD_MIN 10
-param set-default FW_AIRSPD_TRIM 15
-param set-default FW_AIRSPD_MAX 20
-
 param set-default FW_MAN_P_MAX 55
 param set-default FW_MAN_R_MAX 55
 param set-default FW_R_LIM 55

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

@@ -25,10 +25,6 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-param set-default FW_AIRSPD_MIN 10
-param set-default FW_AIRSPD_TRIM 15
-param set-default FW_AIRSPD_MAX 20
-
 param set-default FW_MAN_P_MAX 55
 param set-default FW_MAN_R_MAX 55
 param set-default FW_R_LIM 55

ROMFS/px4fmu_common/init.d/airframes/2200_mini_talon

@@ -26,10 +26,6 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-param set-default FW_AIRSPD_MIN 10
-param set-default FW_AIRSPD_TRIM 15
-param set-default FW_AIRSPD_MAX 20
-
 param set-default FW_MAN_P_MAX 55
 param set-default FW_MAN_R_MAX 55
 param set-default FW_R_LIM 55

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

@@ -28,7 +28,6 @@
 
 set VEHICLE_TYPE mc
 
-
 param set-default NAV_ACC_RAD 2
 
 param set-default PWM_AUX_RATE 400
@@ -36,8 +35,6 @@ param set-default PWM_AUX_DISARM 900
 param set-default PWM_AUX_MIN 1075
 param set-default PWM_AUX_MAX 1950
 
-param set-default PWM_MAIN_MIN 1075
-param set-default PWM_MAIN_MAX 1950
 param set-default PWM_MAIN_RATE 400
 
 param set-default RTL_DESCEND_ALT 10

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

@@ -18,6 +18,5 @@
 param set-default COM_PREARM_MODE 2
 param set-default CBRK_IO_SAFETY 22027
 
-
 set MIXER cloudship
 set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/3030_io_camflyer

@@ -22,7 +22,6 @@
 . ${R}etc/init.d/rc.fw_defaults
 
 param set-default FW_AIRSPD_MAX 15
-param set-default FW_AIRSPD_MIN 10
 param set-default FW_AIRSPD_TRIM 13
 param set-default FW_R_TC 0.3
 param set-default FW_P_TC 0.3
@@ -30,15 +29,11 @@ param set-default FW_L1_DAMPING 0.74
 param set-default FW_L1_PERIOD 16
 param set-default FW_LND_ANG 15
 param set-default FW_LND_FLALT 5
-param set-default FW_LND_HHDIST 15
 param set-default FW_LND_HVIRT 13
 param set-default FW_LND_TLALT 5
 param set-default FW_THR_LND_MAX 0
 param set-default FW_PR_FF 0.35
-param set-default FW_PR_IMAX 0.4
-param set-default FW_PR_P 0.08
 param set-default FW_RR_FF 0.6
-param set-default FW_RR_IMAX 0.2
 param set-default FW_RR_P 0.04
 
 param set-default PWM_MAIN_DISARM 1000

ROMFS/px4fmu_common/init.d/airframes/3031_phantom

@@ -24,20 +24,15 @@
 . ${R}etc/init.d/rc.fw_defaults
 
 param set-default FW_AIRSPD_MIN 13
-param set-default FW_AIRSPD_TRIM 15
 param set-default FW_AIRSPD_MAX 25
 param set-default FW_R_TC 0.3
 param set-default FW_P_TC 0.3
-param set-default FW_L1_DAMPING 0.75
 param set-default FW_L1_PERIOD 15
 param set-default FW_PR_FF 0.2
 param set-default FW_PR_IMAX 0.2
 param set-default FW_PR_P 0.03
 param set-default FW_P_LIM_MAX 50
 param set-default FW_P_LIM_MIN -50
-param set-default FW_P_ROLLFF 1
-param set-default FW_RR_FF 0.5
-param set-default FW_RR_IMAX 0.2
 param set-default FW_RR_P 0.08
 param set-default FW_R_LIM 50
 param set-default FW_R_RMAX 50

ROMFS/px4fmu_common/init.d/airframes/3032_skywalker_x5

@@ -30,7 +30,6 @@ param set-default FW_L1_DAMPING 0.74
 param set-default FW_L1_PERIOD 16
 param set-default FW_LND_ANG 15
 param set-default FW_LND_FLALT 5
-param set-default FW_LND_HHDIST 15
 param set-default FW_LND_HVIRT 13
 param set-default FW_LND_TLALT 5
 param set-default FW_THR_LND_MAX 0
@@ -38,5 +37,4 @@ param set-default FW_PR_FF 0.35
 param set-default FW_RR_FF 0.6
 param set-default FW_RR_P 0.04
 
-
 set MIXER fw_generic_wing

ROMFS/px4fmu_common/init.d/airframes/3033_wingwing

@@ -25,7 +25,6 @@
 
 param set-default BAT1_N_CELLS 2
 param set-default FW_AIRSPD_MAX 15
-param set-default FW_AIRSPD_MIN 10
 param set-default FW_AIRSPD_TRIM 13
 param set-default FW_R_TC 0.3
 param set-default FW_P_TC 0.3
@@ -33,7 +32,6 @@ param set-default FW_L1_DAMPING 0.74
 param set-default FW_L1_PERIOD 16
 param set-default FW_LND_ANG 15
 param set-default FW_LND_FLALT 5
-param set-default FW_LND_HHDIST 15
 param set-default FW_LND_HVIRT 13
 param set-default FW_LND_TLALT 5
 param set-default FW_THR_LND_MAX 0
@@ -43,7 +41,6 @@ param set-default FW_RR_P 0.04
 
 param set-default PWM_MAIN_DISARM 1000
 
-
 # Configure this as plane.
 set MAV_TYPE 1
 

ROMFS/px4fmu_common/init.d/airframes/3034_fx79

@@ -23,7 +23,6 @@
 
 param set-default FW_AIRSPD_MAX 30
 param set-default FW_AIRSPD_MIN 13
-param set-default FW_AIRSPD_TRIM 15
 
 param set-default NAV_LOITER_RAD 150
 

ROMFS/px4fmu_common/init.d/airframes/3036_pigeon

@@ -27,17 +27,11 @@ param set-default FW_AIRSPD_MIN 15
 param set-default FW_AIRSPD_TRIM 20
 param set-default FW_AIRSPD_MAX 27
 param set-default FW_ATT_TC 0.3
-param set-default FW_L1_DAMPING 0.75
-param set-default FW_L1_PERIOD 20
 param set-default FW_PR_FF 0.35
 param set-default FW_PR_IMAX 0.2
 param set-default FW_PR_P 0.05
-param set-default FW_P_LIM_MAX 45
-param set-default FW_P_LIM_MIN -45
-param set-default FW_P_ROLLFF 1
 param set-default FW_P_TC 0.3
 param set-default FW_RR_FF 0.3
-param set-default FW_RR_IMAX 0.2
 param set-default FW_RR_P 0.03
 param set-default FW_R_LIM 40
 param set-default FW_R_RMAX 50

ROMFS/px4fmu_common/init.d/airframes/3037_parrot_disco_mod

@@ -26,38 +26,15 @@
 ####################################
 # Airspeed
 ####################################
-param set-default FW_AIRSPD_MIN  15 # = 29 knots
-param set-default FW_AIRSPD_TRIM 20 # = 39 knots
 param set-default FW_AIRSPD_MAX  27 # = 52 knots
 
-####################################
-# The Main L1 Controller
-####################################
-param set-default FW_L1_PERIOD 20 #units of meters
-
-# Damping factor for L1 control (def = 0.75)
-param set-default FW_L1_DAMPING 0.75
-
 ####################################
 # Pitch
 ####################################
 
-# Basic limits (def = +/- 45 deg)
-param set-default FW_P_LIM_MAX  45
-param set-default FW_P_LIM_MIN -45
-
-# Time Constant (def = 0.4s)
-param set-default FW_P_TC 0.4
-
 # Pitch rate feed forward (def = 0.5 %/rad/sec)
 param set-default FW_PR_FF 0.35
 
-# Pitch rate integrator limit (def = 0.4)
-param set-default FW_PR_IMAX 0.4
-
-# Pitch rate proportional gain (def = 0.08 %/rad/sec)
-param set-default FW_PR_P 0.08
-
 ####################################
 # Roll
 ####################################
@@ -68,21 +45,8 @@ param set-default FW_R_LIM 40
 # Roll rate upper limit (def = 70 deg/s)
 param set-default FW_R_RMAX 50
 
-# Roll Time Constant (def = 0.4 s)
-param set-default FW_R_TC 0.4
-
-# Roll rate feed forward (def = 0.5 %/rad/sec)
-param set-default FW_RR_FF 0.5
-
-# Roll rate proportional Gain (def = 0.05 %/rad/sec)
-param set-default FW_RR_P 0.05
-
-# Roll Integrator Anti-Windup
-param set-default FW_RR_IMAX 0.2
-
 param set-default PWM_MAIN_DISARM 1000
 
-
 set MIXER fw_generic_wing.main.mix
 
 # Provide ESC a constant 1000 us pulse

ROMFS/px4fmu_common/init.d/airframes/3100_tbs_caipirinha

@@ -21,28 +21,21 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-
 param set-default FW_AIRSPD_MAX 25
 param set-default FW_AIRSPD_MIN 12.5
 param set-default FW_AIRSPD_TRIM 16.5
-param set-default FW_L1_DAMPING 0.75
 param set-default FW_L1_PERIOD 15
 param set-default FW_LND_ANG 15
 param set-default FW_LND_FLALT 8
-param set-default FW_LND_HHDIST 15
 param set-default FW_LND_HVIRT 13
 param set-default FW_LND_TLALT 10
 param set-default FW_THR_LND_MAX 0
 param set-default FW_P_LIM_MAX 20
 param set-default FW_P_LIM_MIN -30
 param set-default FW_R_LIM 45
-param set-default FW_R_TC 0.4
-param set-default FW_P_TC 0.4
 param set-default FW_PR_FF 0.45
-param set-default FW_PR_IMAX 0.4
 param set-default FW_PR_P 0.005
 param set-default FW_RR_FF 0.45
-param set-default FW_RR_IMAX 0.2
 param set-default FW_RR_P 0.013
 param set-default FW_P_RMAX_NEG 70
 param set-default FW_P_RMAX_POS 70

ROMFS/px4fmu_common/init.d/airframes/4001_quad_x

@@ -21,7 +21,3 @@
 #
 
 . ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-
-set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/4003_qavr5

@@ -13,22 +13,12 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-set MIXER quad_x
-set PWM_OUT 1234
-
-
 param set-default MC_ROLL_P 8
 param set-default MC_ROLLRATE_P 0.08
 param set-default MC_ROLLRATE_I 0.16
-param set-default MC_ROLLRATE_D 0.003
 param set-default MC_PITCH_P 8
 param set-default MC_PITCHRATE_P 0.1
-param set-default MC_PITCHRATE_I 0.2
-param set-default MC_PITCHRATE_D 0.003
-param set-default MC_YAW_P 2.8
 param set-default MC_YAWRATE_P 0.15
-param set-default MC_YAWRATE_I 0.1
-param set-default MC_YAWRATE_D 0
 
 param set-default MPC_THR_MIN 0.06
 param set-default MPC_MANTHR_MIN 0.06

ROMFS/px4fmu_common/init.d/airframes/4009_qav250

@@ -13,10 +13,6 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-set MIXER quad_x
-set PWM_OUT 1234
-
-
 param set-default ATT_BIAS_MAX 0
 
 param set-default CBRK_IO_SAFETY 22027
@@ -33,7 +29,6 @@ param set-default MC_PITCHRATE_D 0.004
 param set-default MC_YAW_P 4
 param set-default MC_YAWRATE_P 0.3
 param set-default MC_YAWRATE_I 0.2
-param set-default MC_YAWRATE_D 0
 param set-default MPC_THR_MIN 0.06
 
 param set-default PWM_MAIN_MIN 1075

ROMFS/px4fmu_common/init.d/airframes/4010_dji_f330

@@ -11,21 +11,11 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-set MIXER quad_x
-set PWM_OUT 1234
-
 param set-default MC_ROLL_P 7
-param set-default MC_ROLLRATE_P 0.15
 param set-default MC_ROLLRATE_I 0.05
-param set-default MC_ROLLRATE_D 0.003
 param set-default MC_PITCH_P 7
-param set-default MC_PITCHRATE_P 0.15
 param set-default MC_PITCHRATE_I 0.05
-param set-default MC_PITCHRATE_D 0.003
-param set-default MC_YAW_P 2.8
-param set-default MC_YAWRATE_P 0.2
-param set-default MC_YAWRATE_I 0.1
-param set-default MC_YAWRATE_D 0
+
 
 # DJI ESCs do not support calibration and need a higher min
 param set-default PWM_MAIN_MIN 1230

ROMFS/px4fmu_common/init.d/airframes/4011_dji_f450

@@ -10,21 +10,11 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-set MIXER quad_x
-set PWM_OUT 1234
-
 param set-default MC_ROLL_P 7
-param set-default MC_ROLLRATE_P 0.15
 param set-default MC_ROLLRATE_I 0.05
-param set-default MC_ROLLRATE_D 0.003
 param set-default MC_PITCH_P 7
-param set-default MC_PITCHRATE_P 0.15
 param set-default MC_PITCHRATE_I 0.05
-param set-default MC_PITCHRATE_D 0.003
-param set-default MC_YAW_P 2.8
 param set-default MC_YAWRATE_P 0.3
-param set-default MC_YAWRATE_I 0.1
-param set-default MC_YAWRATE_D 0
 
 # DJI ESCs do not support calibration and need a higher min
 param set-default PWM_MAIN_MIN 1230

ROMFS/px4fmu_common/init.d/airframes/4014_s500

@@ -13,13 +13,7 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-set MIXER quad_x
-set PWM_OUT 1234
-
-
 param set-default MC_ROLLRATE_P 0.18
 param set-default MC_PITCHRATE_P 0.18
 param set-default MC_ROLLRATE_I 0.15
 param set-default MC_PITCHRATE_I 0.15
-param set-default MC_ROLLRATE_D 0.003
-param set-default MC_PITCHRATE_D 0.003

ROMFS/px4fmu_common/init.d/airframes/4015_holybro_s500

@@ -13,12 +13,7 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-set MIXER quad_x
-set PWM_OUT 1234
-
-
 param set-default IMU_GYRO_CUTOFF 30
-param set-default IMU_DGYRO_CUTOFF 30
 
 param set-default MC_ROLLRATE_P 0.14
 param set-default MC_PITCHRATE_P 0.14

ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision

@@ -16,10 +16,6 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-set MIXER quad_x
-set PWM_OUT 1234
-
-
 # System parameters
 # use FMU motor outputs for less delay in the rate control loop
 param set-default SYS_USE_IO 0
@@ -33,7 +29,6 @@ param set-default EKF2_AID_MASK 35
 param set-default EKF2_IMU_POS_X 0.02
 param set-default EKF2_GPS_POS_X 0.055
 param set-default EKF2_GPS_POS_Z -0.15
-param set-default EKF2_HGT_MODE 0
 param set-default EKF2_MIN_RNG 0.03
 param set-default EKF2_OF_POS_X 0.055
 param set-default EKF2_OF_POS_Y 0.02
@@ -41,7 +36,6 @@ param set-default EKF2_OF_POS_Z 0.065
 param set-default EKF2_REQ_HDRIFT 0.3
 param set-default EKF2_REQ_SACC 1
 param set-default EKF2_REQ_VDRIFT 0.3
-param set-default EKF2_RNG_AID 1
 param set-default EKF2_RNG_A_HMAX 8
 param set-default EKF2_RNG_A_VMAX 2
 param set-default EKF2_RNG_POS_X 0.055
@@ -66,15 +60,8 @@ param set-default MC_ACRO_R_MAX 200
 param set-default MC_ACRO_SUPEXPO 0
 param set-default MC_ACRO_SUPEXPOY 0
 param set-default MC_ACRO_Y_MAX 150
-param set-default IMU_DGYRO_CUTOFF 30
 param set-default MC_PITCHRATE_D 0.0015
-param set-default MC_PITCHRATE_I 0.2
-param set-default MC_PITCHRATE_K 1
-param set-default MC_PITCHRATE_P 0.15
 param set-default MC_ROLLRATE_D 0.0015
-param set-default MC_ROLLRATE_I 0.2
-param set-default MC_ROLLRATE_K 1
-param set-default MC_ROLLRATE_P 0.15
 param set-default MC_YAWRATE_P 0.3
 
 # Position Control Tuning
@@ -86,7 +73,6 @@ param set-default MPC_MANTHR_MIN 0
 param set-default MPC_MAN_Y_MAX 120
 param set-default MPC_TILTMAX_AIR 45
 param set-default MPC_THR_HOVER 0.3
-param set-default MPC_THR_MIN 0.12
 param set-default MPC_TKO_SPEED 1
 param set-default MPC_VEL_MANUAL 5
 param set-default MPC_XY_CRUISE 5
@@ -98,27 +84,23 @@ param set-default MPC_Z_VEL_P_ACC 5
 param set-default MPC_Z_VEL_I_ACC 3
 param set-default MPC_LAND_ALT1 3
 param set-default MPC_LAND_ALT2 1
+param set-default MPC_POS_MODE 3
+param set-default CP_GO_NO_DATA 1
 
 # Navigator Parameters
 param set-default NAV_ACC_RAD 2
 
-# PWM and RC Parameters
-param set-default PWM_MAIN_MAX 1950
-param set-default PWM_MAIN_MIN 1075
-
 # use oneshot motor output protocol
 param set-default PWM_MAIN_RATE 0
 
 # RTL Parameters
 param set-default RTL_DESCEND_ALT 5
 param set-default RTL_RETURN_ALT 5
-param set-default RTL_CONE_ANG 45
 
 # Logging Parameters
 param set-default SDLOG_PROFILE 131
 
 # Sensors Parameters
-param set-default SENS_BOARD_ROT 0
 param set-default SENS_CM8JL65_CFG 104
 param set-default SENS_FLOW_MAXHGT 25
 param set-default SENS_FLOW_MINHGT 0.5

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

@@ -18,16 +18,10 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-set MIXER quad_x
-set PWM_OUT 1234
-
-param set-default IMU_GYRO_CUTOFF 40
 param set-default IMU_DGYRO_CUTOFF 20
 
 param set-default MC_ROLLRATE_P 0.18
 param set-default MC_ROLLRATE_I 0.15
-param set-default MC_ROLLRATE_D 0.003
 
 param set-default MC_PITCHRATE_P 0.18
 param set-default MC_PITCHRATE_I 0.15
-param set-default MC_PITCHRATE_D 0.003

ROMFS/px4fmu_common/init.d/airframes/4018_s500_ctrlalloc

@@ -11,8 +11,11 @@
 #
 
 . ${R}etc/init.d/rc.mc_defaults
-. ${R}etc/init.d/rc.ctrlalloc
 
+set MIXER skip
+set MIXER_AUX none
+
+param set-default SYS_CTRL_ALLOC 1
 
 param set-default MPC_USE_HTE 0
 
@@ -49,8 +52,7 @@ param set-default CA_MC_R3_PY 0.177
 param set-default CA_MC_R3_CT 6.5
 param set-default CA_MC_R3_KM -0.05
 
-set MIXER direct
-set PWM_OUT 1234
-
-set MIXER_AUX direct_aux
-set PWM_AUX_OUT 1234
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104

ROMFS/px4fmu_common/init.d/airframes/4030_3dr_solo

@@ -18,7 +18,6 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-
 # tuning
 param set-default MC_PITCHRATE_P    0.11
 param set-default MC_ROLLRATE_P     0.11
@@ -48,7 +47,6 @@ param set-default CBRK_IO_SAFETY    22027
 param set-default CBRK_SUPPLY_CHK   894281
 
 # RC configuration
-param set-default RC_MAP_MODE_SW    5
 param set-default RC_MAP_PITCH      2
 param set-default RC_MAP_ROLL       1
 param set-default RC_MAP_THROTTLE   3
@@ -84,7 +82,5 @@ param set-default RC5_TRIM          1500
 param set-default MAV_0_RATE 80000
 param set-default MAV_0_MODE 2
 param set-default SER_TEL1_BAUD 921600
-set MIXER quad_x
 
-set PWM_OUT 1234
 set MIXER_AUX none

ROMFS/px4fmu_common/init.d/airframes/4031_3dr_quad

@@ -13,11 +13,6 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-set MIXER quad_x
-set PWM_OUT 1234
-
-
-param set-default MC_ROLL_P 6.5
 param set-default MC_ROLLRATE_P 0.14
 param set-default MC_ROLLRATE_I 0.1
 param set-default MC_ROLLRATE_D 0.004

ROMFS/px4fmu_common/init.d/airframes/4040_reaper

@@ -20,8 +20,6 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-
-param set-default MC_ROLL_P 6.5
 param set-default MC_ROLLRATE_P 0.14
 param set-default MC_ROLLRATE_I 0.1
 param set-default MC_ROLLRATE_D 0.004
@@ -44,8 +42,4 @@ param set-default RTL_DESCEND_ALT 10
 
 set MIXER quad_h
 
-set PWM_OUT 1234
-
 set MIXER_AUX pass
-
-set PWM_AUX_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/4041_beta75x

@@ -23,7 +23,6 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-
 param set-default CBRK_SUPPLY_CHK 894281
 param set-default CBRK_USB_CHK 197848
 
@@ -57,5 +56,3 @@ param set-default SYS_HAS_MAG 0
 param set-default BAT1_N_CELLS 2
 # The Whoop uses reversed props
 set MIXER quad_h
-set PWM_OUT 1234
-