fixup! Update submodules nuttx, apps

New Branch: px4/pr-fdcan-socketcan-latest

Includes IRQ -> work queue updates

.ci/Jenkinsfile-hardware

@@ -861,7 +861,7 @@ void printTopics() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener distance_sensor" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener ekf2_timestamps" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener ekf_gps_drift" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_gps_status" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener esc_status" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_attitude" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_baro_bias" || true'

.gitmodules

@@ -24,12 +24,12 @@
 	branch = master
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
-	url = https://github.com/PX4/NuttX.git
-	branch = px4_firmware_nuttx-10.1.0+
+	url = https://github.com/JacobCrabill/incubator-nuttx.git
+	branch = dev/stm32h7-socketcan
 [submodule "platforms/nuttx/NuttX/apps"]
 	path = platforms/nuttx/NuttX/apps
-	url = https://github.com/PX4/NuttX-apps.git
-	branch = px4_firmware_nuttx-10.1.0+
+	url = git@github.com:JacobCrabill/incubator-nuttx-apps.git
+	branch = dev/nuttx-10.2.0
 [submodule "Tools/flightgear_bridge"]
 	path = Tools/flightgear_bridge
 	url = https://github.com/PX4/PX4-FlightGear-Bridge.git

CMakeLists.txt

@@ -412,6 +412,7 @@ endif()
 # subdirectories
 #
 add_library(parameters_interface INTERFACE)
+add_library(kernel_parameters_interface INTERFACE)
 
 include(px4_add_library)
 add_subdirectory(src/lib EXCLUDE_FROM_ALL)
@@ -434,7 +435,13 @@ add_subdirectory(src/lib/metadata EXCLUDE_FROM_ALL)
 
 # must be the last module before firmware
 add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL)
+
+if(${PX4_PLATFORM} STREQUAL "nuttx" AND NOT CONFIG_BUILD_FLAT)
+target_link_libraries(parameters_interface INTERFACE usr_parameters)
+target_link_libraries(kernel_parameters_interface INTERFACE parameters)
+else()
 target_link_libraries(parameters_interface INTERFACE parameters)
+endif()
 
 # firmware added last to generate the builtin for included modules
 add_subdirectory(platforms/${PX4_PLATFORM})

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

@@ -8,8 +8,5 @@
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128
 
-set MAV_TYPE 12
-param set MAV_TYPE ${MAV_TYPE}
-
 set MIXER_FILE etc/mixers-sitl/uuv_x_sitl.main.mix
 set MIXER custom

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

@@ -8,8 +8,5 @@
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128
 
-set MAV_TYPE 12
-param set MAV_TYPE ${MAV_TYPE}
-
 set MIXER_FILE etc/mixers-sitl/uuv_x_sitl.main.mix
 set MIXER custom

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

@@ -67,4 +67,3 @@ param set-default PWM_MAIN_FUNC7 107
 param set-default PWM_MAIN_FUNC8 108
 
 set MIXER skip
-

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

@@ -10,7 +10,7 @@
 # param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 2
 
-param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR_COUNT 5
 param set-default CA_ROTOR0_PX 0.1515
 param set-default CA_ROTOR0_PY 0.245
 param set-default CA_ROTOR0_KM 0.05
@@ -23,6 +23,9 @@ param set-default CA_ROTOR2_KM -0.05
 param set-default CA_ROTOR3_PX -0.1515
 param set-default CA_ROTOR3_PY 0.1875
 param set-default CA_ROTOR3_KM -0.05
+param set-default CA_ROTOR4_AX 1.0
+param set-default CA_ROTOR4_AZ 0.0
+param set-default CA_ROTOR4_PX 0.2
 
 param set-default CA_SV_CS_COUNT 3
 param set-default CA_SV_CS0_TYPE 1
@@ -77,7 +80,5 @@ param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_B_TRANS_DUR 8
 param set-default VT_TYPE 2
 
-set MAV_TYPE 22
-
 set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
 set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/1041_tailsitter

@@ -7,6 +7,8 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
+param set-default MAV_TYPE 20
+
 # param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 4
 
@@ -78,7 +80,5 @@ param set-default VT_TYPE 0
 
 param set-default WV_EN 0
 
-set MAV_TYPE 20
-
 set MIXER_FILE etc/mixers-sitl/quad_x_vtol.main.mix
 set MIXER custom

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

@@ -7,6 +7,8 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
+param set-default MAV_TYPE 21
+
 # param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 3
 
@@ -88,7 +90,5 @@ param set-default VT_MOT_ID 1234
 param set-default VT_TILT_TRANS 0.6
 param set-default VT_TYPE 1
 
-set MAV_TYPE 21
-
 set MIXER_FILE etc/mixers-sitl/tiltrotor_sitl.main.mix
 set MIXER custom

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

@@ -51,7 +51,5 @@ param set-default RC_MAP_AUX1 8
 param set-default RC_MAP_AUX2 9
 param set-default RC_MAP_AUX3 10
 
-set MAV_TYPE 22
-
 set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
 set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/1060_rover

@@ -37,6 +37,4 @@ param set-default PWM_MAIN_FUNC2 201
 param set-default PWM_MAIN_FUNC6 101
 param set-default PWM_MAIN_FUNC7 101
 
-set MAV_TYPE 10
-
 set MIXER_FILE skip

ROMFS/px4fmu_common/init.d-posix/airframes/1061_r1_rover

@@ -37,6 +37,4 @@ param set-default PWM_MAIN_FUNC2 101
 param set-default PWM_MAIN_FUNC6 102
 param set-default PWM_MAIN_FUNC7 102
 
-set MAV_TYPE 10
-
 set MIXER_FILE skip

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

@@ -10,6 +10,8 @@
 
 . ${R}etc/init.d/rc.rover_defaults
 
+param set-default MAV_TYPE 10
+
 param set-default GND_L1_DIST 5
 param set-default GND_SP_CTRL_MODE 1
 param set-default GND_SPEED_D 3
@@ -33,6 +35,4 @@ param set-default CBRK_AIRSPD_CHK 162128
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 3.0
 
-set MAV_TYPE 10
-
 set MIXER_FILE etc/mixers-sitl/rover_ackermann_sitl.main.mix

ROMFS/px4fmu_common/init.d-posix/airframes/1070_boat

@@ -47,6 +47,4 @@ param set-default CA_R_REV 3
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 
-set MAV_TYPE 11
-
 set MIXER skip

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

@@ -9,6 +9,8 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
+param set-default MAV_TYPE 13
+
 param set-default MC_PITCHRATE_P 0.1
 param set-default MC_PITCHRATE_I 0.05
 param set-default MC_PITCH_P 6.0
@@ -24,6 +26,4 @@ param set-default TRIG_MODE 4
 param set-default MNT_MODE_IN 4
 param set-default MNT_DO_STAB 2
 
-set MAV_TYPE 13
-
 set MIXER hexa_x

ROMFS/px4fmu_common/init.d-posix/airframes/6011_typhoon_h480

@@ -7,6 +7,8 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
+param set-default MAV_TYPE 13
+
 param set-default MC_PITCHRATE_P 0.0800
 param set-default MC_PITCHRATE_I 0.0400
 param set-default MC_PITCHRATE_D 0.0010
@@ -26,6 +28,4 @@ param set-default MNT_MODE_IN 4
 param set-default MNT_MODE_OUT 2
 param set-default MAV_PROTO_VER 2
 
-set MAV_TYPE 13
-
 set MIXER hexa_x

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

@@ -7,6 +7,8 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
+param set-default MAV_TYPE 13
+
 param set-default SYS_CTRL_ALLOC 1
 
 param set-default MC_PITCHRATE_P 0.0800
@@ -58,7 +60,5 @@ 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 skip
 set MIXER_AUX none

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -24,7 +24,6 @@ fi
 
 # initialize script variables
 set IO_PRESENT                  no
-set MAV_TYPE                    none
 set MIXER                       none
 set MIXER_AUX                   none
 set MIXER_FILE                  none

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

@@ -39,6 +39,26 @@ param set-default FW_RR_P 0.3
 
 param set-default RWTO_TKOFF 1
 
+param set-default CA_AIRFRAME 1
+param set-default CA_ROTOR_COUNT 1
+param set-default CA_ROTOR0_PX 0.3
+param set-default CA_SV_CS_COUNT 4
+param set-default CA_SV_CS0_TRQ_R 0.5
+param set-default CA_SV_CS0_TYPE 2
+param set-default CA_SV_CS1_TRQ_P 1.0
+param set-default CA_SV_CS1_TYPE 3
+param set-default CA_SV_CS2_TRQ_Y 1.0
+param set-default CA_SV_CS2_TYPE 4
+param set-default CA_SV_CS3_TYPE 10
+
+param set-default HIL_ACT_REV 2
+param set-default HIL_ACT_FUNC1 201
+param set-default HIL_ACT_FUNC2 202
+param set-default HIL_ACT_FUNC3 203
+param set-default HIL_ACT_FUNC4 101
+param set-default HIL_ACT_FUNC5 204
+param set-default HIL_ACT_FUNC6 400
+
 param set SYS_HITL 1
 
 # disable some checks to allow to fly

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

@@ -36,4 +36,5 @@ 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
+
 set MIXER quad_w

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

@@ -15,6 +15,23 @@ set MIXER quad_x
 
 param set SYS_HITL 1
 
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.15
+param set-default CA_ROTOR0_PY 0.15
+param set-default CA_ROTOR1_PX -0.15
+param set-default CA_ROTOR1_PY -0.15
+param set-default CA_ROTOR2_PX 0.15
+param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.15
+param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default HIL_ACT_FUNC1 101
+param set-default HIL_ACT_FUNC2 102
+param set-default HIL_ACT_FUNC3 103
+param set-default HIL_ACT_FUNC4 104
+
 # disable some checks to allow to fly
 # - with usb
 param set-default CBRK_USB_CHK 197848

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

@@ -61,6 +61,37 @@ param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_TYPE 2
 
+param set-default CA_AIRFRAME 2
+param set-default CA_ROTOR_COUNT 5
+param set-default CA_ROTOR0_PX 0.15
+param set-default CA_ROTOR0_PY 0.15
+param set-default CA_ROTOR1_PX -0.15
+param set-default CA_ROTOR1_PY -0.15
+param set-default CA_ROTOR2_PX 0.15
+param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.15
+param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_KM -0.05
+param set-default CA_ROTOR4_AX 1.0
+param set-default CA_ROTOR4_AZ 0.0
+param set-default CA_ROTOR4_PX 0.2
+
+param set-default CA_SV_CS_COUNT 3
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TYPE 3
+
+param set-default HIL_ACT_FUNC1 101
+param set-default HIL_ACT_FUNC2 102
+param set-default HIL_ACT_FUNC3 103
+param set-default HIL_ACT_FUNC4 104
+param set-default HIL_ACT_FUNC5 105
+param set-default HIL_ACT_FUNC6 201
+param set-default HIL_ACT_FUNC7 202
+param set-default HIL_ACT_FUNC8 203
+
 
 param set SYS_HITL 1
 
@@ -73,7 +104,7 @@ param set-default CBRK_SUPPLY_CHK 894281
 param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027
 
-set MAV_TYPE 22
+param set-default MAV_TYPE 22
 
 set MIXER standard_vtol_hitl
 

ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil

@@ -17,6 +17,23 @@ set PWM_OUT 1234
 
 param set UAVCAN_ENABLE 0
 
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.15
+param set-default CA_ROTOR0_PY 0.15
+param set-default CA_ROTOR1_PX -0.15
+param set-default CA_ROTOR1_PY -0.15
+param set-default CA_ROTOR2_PX 0.15
+param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.15
+param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default HIL_ACT_FUNC1 101
+param set-default HIL_ACT_FUNC2 102
+param set-default HIL_ACT_FUNC3 103
+param set-default HIL_ACT_FUNC4 104
+
 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
 param set SYS_HITL 2
 

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

@@ -17,6 +17,26 @@ set PWM_OUT 1234
 
 param set UAVCAN_ENABLE 0
 
+param set-default CA_AIRFRAME 1
+param set-default CA_ROTOR_COUNT 1
+param set-default CA_ROTOR0_PX 0.3
+param set-default CA_SV_CS_COUNT 4
+param set-default CA_SV_CS0_TRQ_R 0.5
+param set-default CA_SV_CS0_TYPE 2
+param set-default CA_SV_CS1_TRQ_P 1.0
+param set-default CA_SV_CS1_TYPE 3
+param set-default CA_SV_CS2_TRQ_Y 1.0
+param set-default CA_SV_CS2_TYPE 4
+param set-default CA_SV_CS3_TYPE 10
+
+param set-default HIL_ACT_REV 2
+param set-default HIL_ACT_FUNC1 201
+param set-default HIL_ACT_FUNC2 202
+param set-default HIL_ACT_FUNC3 203
+param set-default HIL_ACT_FUNC4 101
+param set-default HIL_ACT_FUNC5 204
+param set-default HIL_ACT_FUNC6 400
+
 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
 param set-default SYS_HITL 2
 

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

@@ -26,8 +26,28 @@ param set-default VT_FW_DIFTHR_SC 0.3
 param set-default MPC_MAN_Y_MAX 60
 param set-default MC_PITCH_P 5
 
+param set-default CA_AIRFRAME 4
+param set-default CA_ROTOR_COUNT 2
+param set-default CA_ROTOR0_KM -0.05
+param set-default CA_ROTOR0_PY 0.2
+param set-default CA_ROTOR1_KM -0.05
+param set-default CA_ROTOR1_PY -0.2
+param set-default CA_SV_CS_COUNT 2
+param set-default CA_SV_CS0_TRQ_P 0.3
+param set-default CA_SV_CS0_TRQ_Y 0.3
+param set-default CA_SV_CS0_TYPE 5
+param set-default CA_SV_CS1_TRQ_P 0.3
+param set-default CA_SV_CS1_TRQ_Y -0.3
+param set-default CA_SV_CS1_TYPE 6
+
+param set-default HIL_ACT_FUNC1 101
+param set-default HIL_ACT_FUNC2 102
+param set-default HIL_ACT_FUNC5 202
+param set-default HIL_ACT_FUNC6 201
+param set-default HIL_ACT_REV 32
+
 param set-default MAV_TYPE 19
-set MAV_TYPE 19
+
 set MIXER vtol_tailsitter_duo_sat
 
 set PWM_OUT 1234

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

@@ -25,7 +25,7 @@
 . ${R}etc/init.d/rc.vtol_defaults
 
 param set-default CA_AIRFRAME 2
-param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR_COUNT 5
 param set-default CA_ROTOR0_PX 0.15
 param set-default CA_ROTOR0_PY 0.15
 param set-default CA_ROTOR1_PX -0.15
@@ -36,6 +36,9 @@ param set-default CA_ROTOR2_KM -0.05
 param set-default CA_ROTOR3_PX -0.15
 param set-default CA_ROTOR3_PY 0.15
 param set-default CA_ROTOR3_KM -0.05
+param set-default CA_ROTOR4_AX 1.0
+param set-default CA_ROTOR4_AZ 0.0
+param set-default CA_ROTOR4_PX 0.2
 param set-default CA_SV_CS_COUNT 4
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS0_TRQ_R -0.5
@@ -51,7 +54,8 @@ param set-default PWM_AUX_DIS5 950
 param set-default VT_TYPE 2
 param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
-set MAV_TYPE 22
+
+param set-default MAV_TYPE 22
 
 set MIXER quad_x
 set MIXER_AUX vtol_AAERT

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

@@ -19,7 +19,6 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-
 param set-default MAV_TYPE 19
 
 param set-default MC_ROLL_P 6
@@ -38,7 +37,6 @@ param set-default VT_IDLE_PWM_MC  1080
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_MOT_ID 12
 param set-default VT_TYPE 0
-set MAV_TYPE 19
 
 set MIXER vtol_tailsitter_duo
 

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

@@ -23,6 +23,7 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
+param set-default MAV_TYPE 21
 
 param set-default MC_ROLL_P 7
 param set-default MC_ROLLRATE_P 0.19
@@ -45,7 +46,6 @@ param set-default VT_TILT_TRANS 0.5
 param set-default VT_TILT_FW 0.9
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_TYPE 1
-set MAV_TYPE 21
 
 set MIXER firefly6
 set MIXER_AUX firefly6

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

@@ -13,6 +13,8 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
+param set-default MAV_TYPE 20
+
 param set-default CA_AIRFRAME 4
 param set-default CA_ROTOR_COUNT 4
 param set-default CA_ROTOR0_PX 0.15
@@ -38,7 +40,6 @@ param set-default PWM_MAIN_MAX 2000
 param set-default VT_MOT_ID 1234
 param set-default VT_IDLE_PWM_MC  1080
 param set-default VT_TYPE 0
-set MAV_TYPE 20
 
 set MIXER quad_x_vtol
 

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

@@ -22,13 +22,13 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
+param set-default MAV_TYPE 20
+
 param set-default PWM_MAIN_MAX 2000
 
 param set-default VT_IDLE_PWM_MC  1080
 param set-default VT_TYPE 0
 
-set MAV_TYPE 20
-
 set MIXER quad_+_vtol
 
 set PWM_OUT 1234

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

@@ -52,7 +52,6 @@ param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_IDLE_PWM_MC 1080
 param set-default VT_TYPE 2
-set MAV_TYPE 22
 
 set MIXER quad_x
 set MIXER_AUX vtol_AAERT

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

@@ -41,7 +41,6 @@ param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_F_TRANS_THR 0.75
 param set-default VT_IDLE_PWM_MC 1080
 param set-default VT_TYPE 2
-set MAV_TYPE 22
 
 set MIXER quad_x
 set MIXER_AUX vtol_delta

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

@@ -33,7 +33,6 @@ param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_IDLE_PWM_MC 1080
 param set-default VT_TYPE 2
-set MAV_TYPE 22
 
 set MIXER quad_x
 set MIXER_AUX vtol_AAVVT

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

@@ -46,7 +46,6 @@ param set-default VT_IDLE_PWM_MC 1080
 param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_TYPE 2
-set MAV_TYPE 22
 
 set MIXER quad_x
 set MIXER_AUX vtol_AAERT

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

@@ -77,8 +77,6 @@ param set-default VT_TRANS_MIN_TM 5
 param set-default VT_TRANS_TIMEOUT    30
 param set-default VT_TYPE 2
 
-set MAV_TYPE 22
-
 set MIXER quad_x
 set MIXER_AUX vtol_AAERT
 

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

@@ -13,6 +13,8 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
+param set-defualt MAV_TYPE 21
+
 param set-default PWM_AUX_DISARM 1000
 param set-default PWM_AUX_MAX 2000
 param set-default PWM_AUX_MIN 1000
@@ -28,7 +30,6 @@ param set-default VT_TILT_MC 0.08
 param set-default VT_TILT_TRANS 0.5
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_TYPE 1
-set MAV_TYPE 21
 
 set MIXER claire
 set MIXER_AUX claire

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

@@ -22,6 +22,8 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
+param set-defualt MAV_TYPE 21
+
 param set-default CBRK_AIRSPD_CHK 162128
 
 param set-default FW_ARSP_MODE 1
@@ -64,7 +66,6 @@ param set-default VT_TRANS_MIN_TM 1.2
 param set-default VT_TRANS_P2_DUR 1.3
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_TYPE 1
-set MAV_TYPE 21
 
 set MIXER vtol_convergence
 

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

@@ -22,6 +22,8 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
+param set-default MAV_TYPE 22
+
 param set-default BAT1_CAPACITY 23000
 param set-default BAT1_N_CELLS 4
 param set-default BAT1_R_INTERNAL 0.0025
@@ -134,7 +136,6 @@ param set-default VT_TRANS_TIMEOUT 22
 param set-default VT_F_TRANS_RAMP 4
 
 param set-default COM_RC_OVERRIDE 0
-set MAV_TYPE 22
 
 set MIXER deltaquad
 set MIXER_AUX pass

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

@@ -23,6 +23,8 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
+param set-default MAV_TYPE 22
+
 param set-default BAT1_N_CELLS 6
 
 param set-default FW_AIRSPD_MAX 30
@@ -94,8 +96,6 @@ param set-default VT_PSHER_RMP_DT 2
 param set-default VT_TRANS_MIN_TM 4
 param set-default VT_TYPE 2
 
-set MAV_TYPE 22
-
 set MIXER babyshark
 set MIXER_AUX pass
 

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

@@ -27,6 +27,8 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
+param set-default MAV_TYPE 21
+
 param set-default VT_IDLE_PWM_MC 1100
 param set-default VT_TYPE 1
 param set-default VT_MOT_ID 1234
@@ -57,8 +59,6 @@ param set-default CA_SV_CS3_TRQ_Y 1.0
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_TL_COUNT 4
 
-set MAV_TYPE 21
-
 set MIXER quad_x
 set MIXER_AUX vtol_TTTTAAER
 

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

@@ -31,7 +31,6 @@ param set-default PWM_AUX_DIS5 950
 param set-default VT_TYPE 2
 param set-default VT_MOT_ID 12345678
 param set-default VT_FW_MOT_OFFID 12345678
-set MAV_TYPE 22
 
 set MIXER octo_cox
 set MIXER_AUX vtol_AAERT

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

@@ -19,6 +19,8 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
+param set-default MAV_TYPE 19
+
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_MOT_COUNT 2
 param set-default VT_TYPE 0
@@ -37,8 +39,6 @@ param set-default CA_SV_CS1_TRQ_P 0.5
 param set-default CA_SV_CS1_TRQ_Y -0.5
 param set-default CA_SV_CS1_TYPE 6
 
-param set-default MAV_TYPE 19
-set MAV_TYPE 19
 set MIXER vtol_tailsitter_duo
 
 set PWM_OUT 1234

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

@@ -18,4 +18,7 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
+# MAV_TYPE_TRICOPTER 15
+param set-default MAV_TYPE 15
+
 set MIXER tri_y_yaw+

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

@@ -18,4 +18,7 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
+# MAV_TYPE_TRICOPTER 15
+param set-default MAV_TYPE 15
+
 set MIXER tri_y_yaw-

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

@@ -17,7 +17,9 @@
 #
 
 . ${R}etc/init.d/rc.mc_defaults
-set MIXER coax
+
+# MAV_TYPE_COAXIAL 3
+param set-default MAV_TYPE 3
 
 param set-default MC_ROLLRATE_P 0.17
 param set-default MC_ROLLRATE_I 0.05
@@ -36,6 +38,9 @@ param set-default PWM_MAIN_RATE 400
 
 param set-default RTL_RETURN_ALT 30
 param set-default RTL_DESCEND_ALT 10
+
+set MIXER coax
+
 # This is the gimbal pass mixer
 set MIXER_AUX pass
 

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

@@ -20,7 +20,7 @@
 . ${R}etc/init.d/rc.mc_defaults
 
 # Configure as helicopter (number 4 defined in commander_helper.cpp)
-set MAV_TYPE 4
+param set-default MAV_TYPE 4
 
 set MIXER blade130
 

ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2

@@ -41,5 +41,6 @@ param set-default FW_R_LIM 40
 param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
 param set-default FW_P_RMAX_NEG 20
+
 set MIXER TF-G2
 set MIXER_AUX pass

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

@@ -24,8 +24,5 @@ param set-default MAV_0_CONFIG 102
 param set-default GPS_UBX_DYNMODEL 8
 param set-default SER_TEL2_BAUD 9600
 
-set MAV_TYPE 8
-param set MAV_TYPE ${MAV_TYPE}
-
 set MIXER IO_pass
 set MIXER_AUX pass

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

@@ -26,7 +26,7 @@
 # @board px4_fmu-v2 exclude
 #
 
-set VEHICLE_TYPE mc
+. ${R}etc/init.d/rc.mc_defaults
 
 param set-default NAV_ACC_RAD 2
 
@@ -39,6 +39,7 @@ param set-default PWM_MAIN_RATE 400
 
 param set-default RTL_DESCEND_ALT 10
 param set-default RTL_RETURN_ALT 30
+
 set MIXER dodeca_top_cox
 set MIXER_AUX dodeca_bottom_cox
 

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

@@ -41,9 +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
-
 # Set mixer.
 set MIXER fw_generic_wing
 

ROMFS/px4fmu_common/init.d/airframes/4051_s250aq

@@ -24,8 +24,6 @@
 
 set MIXER quad_s250aq
 
-set MAV_TYPE 2
-
 param set-default ATT_BIAS_MAX 0
 
 param set-default CBRK_IO_SAFETY 22027

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

@@ -46,7 +46,7 @@ param set-default COM_RC_LOSS_T 3
 
 
 # ekf2
-param set-default EKF2_AID_MASK 35
+param set-default EKF2_AID_MASK 33
 param set-default EKF2_BARO_DELAY 0
 param set-default EKF2_BARO_NOISE 2.0
 
@@ -164,6 +164,8 @@ param set-default RC_MAP_AUX2       5
 param set-default RC_MAP_AUX3       10
 param set-default RC_MAP_AUX4       8
 param set-default RC_MAP_FLTMODE    6
+param set-default RC_MAP_RETURN_SW  7
+
 param set-default RC1_TRIM          1000
 
 

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

@@ -21,10 +21,7 @@
 # @board cuav_x7pro exclude
 #
 
-set VEHICLE_TYPE mc
-set MIXER quad_x
-set PWM_OUT 1234
-
+. ${R}etc/init.d/rc.mc_defaults
 
 # Attitude & rate gains
 param set-default MC_ROLLRATE_D 0.0013

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

@@ -21,10 +21,7 @@
 # @maintainer Hyon Lim <lim@uvify.com>
 #
 
-set VEHICLE_TYPE mc
-set MIXER quad_x
-set PWM_OUT 1234
-
+. ${R}etc/init.d/rc.mc_defaults
 
 # Attitude & rate gains
 param set-default MC_ROLLRATE_D 0.0013

ROMFS/px4fmu_common/init.d/airframes/4100_tiltquadrotor

@@ -24,10 +24,6 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-
-# Configure this as Quadrotor
-# set MAV_TYPE 14
-
 # Set mixer
 set MIXER tilt_quad
 set MIXER_AUX tilt_quad

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

@@ -48,8 +48,6 @@ param set-default NAV_ACC_RAD 0.5
 param set-default PWM_MAIN_DISARM 1500
 param set-default PWM_MAIN_MAX 2000
 param set-default PWM_MAIN_MIN 1000
-# Configure this as rover
-set MAV_TYPE 10
 
 # Set mixer
 set MIXER rover_generic

ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover

@@ -76,9 +76,6 @@ param set-default RBCLW_SER_CFG 104
 # Start this driver after setting parameters, because the driver uses some of those parameters.
 # roboclaw start /dev/ttyS3
 
-# Configure this as rover
-set MAV_TYPE 10
-
 # Set mixer
 set MIXER generic_diff_rover
 

ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx

@@ -65,9 +65,6 @@ param set-default PWM_MAIN_MIN4 970
 # Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128
 
-# Configure this as rover
-set MAV_TYPE 10
-
 # Set mixer
 set MIXER rover_diff_and_servo
 

ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic

@@ -16,7 +16,4 @@
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128
 
-set MAV_TYPE 12
-param set MAV_TYPE ${MAV_TYPE}
-
 set MIXER uuv_x

ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus

@@ -16,7 +16,4 @@
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128
 
-set MAV_TYPE 12
-param set MAV_TYPE ${MAV_TYPE}
-
 set MIXER uuv_x

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

@@ -23,6 +23,9 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
+# MAV_TYPE_HEXAROTOR 13
+param set-default MAV_TYPE 13
+
 param set-default CA_ROTOR_COUNT 6
 param set-default CA_ROTOR0_PX 0.0
 param set-default CA_ROTOR0_PY 0.5

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

@@ -27,9 +27,8 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-set MIXER hexa_x
-set PWM_OUT 12345678
-
+# MAV_TYPE_HEXAROTOR 13
+param set-default MAV_TYPE 13
 
 ###############################################
 # Attitude & rate gains
@@ -120,3 +119,7 @@ param set-default MAV_1_MODE 2
 param set-default MAV_1_FORWARD 1
 param set-default MAV_1_RATE 800000
 param set-default SER_TEL2_BAUD 921600
+
+
+set MIXER hexa_x
+set PWM_OUT 12345678

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

@@ -23,6 +23,9 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
+# MAV_TYPE_HEXAROTOR 13
+param set-default MAV_TYPE 13
+
 param set-default CA_ROTOR_COUNT 6
 param set-default CA_ROTOR0_PX 0.5
 param set-default CA_ROTOR0_PY 0.0

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

@@ -25,6 +25,9 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
+# MAV_TYPE_OCTOROTOR 14
+param set-default MAV_TYPE 14
+
 param set-default CA_ROTOR_COUNT 8
 param set-default CA_ROTOR0_KM -0.05
 param set-default CA_ROTOR0_PX 0.46

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

@@ -25,6 +25,9 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
+# MAV_TYPE_OCTOROTOR 14
+param set-default MAV_TYPE 14
+
 set MIXER octo_+
 
 set PWM_OUT 12345678

ROMFS/px4fmu_common/init.d/rc.airship_defaults

@@ -7,6 +7,9 @@
 
 set VEHICLE_TYPE airship
 
+# MAV_TYPE_AIRSHIP 7
+param set-default MAV_TYPE 7
+
 #
 # This is the gimbal pass mixer.
 #

ROMFS/px4fmu_common/init.d/rc.balloon_defaults

@@ -7,6 +7,9 @@
 
 set VEHICLE_TYPE fw
 
+# MAV_TYPE_FREE_BALLOON 8
+param set-default MAV_TYPE 8
+
 #
 # Default parameters for balloon UAVs.
 #

ROMFS/px4fmu_common/init.d/rc.boat_defaults

@@ -7,6 +7,9 @@
 
 set VEHICLE_TYPE rover
 
+# MAV_TYPE_SURFACE_BOAT 11
+param set-default MAV_TYPE 11
+
 #
 # Default parameters for UGVs.
 #

ROMFS/px4fmu_common/init.d/rc.fw_defaults

@@ -7,6 +7,9 @@
 
 set VEHICLE_TYPE fw
 
+# MAV_TYPE_FIXED_WING 1
+param set-default MAV_TYPE 1
+
 #
 # Default parameters for fixed wing UAVs.
 #

ROMFS/px4fmu_common/init.d/rc.mc_defaults

@@ -7,6 +7,9 @@
 
 set VEHICLE_TYPE mc
 
+# MAV_TYPE_QUADROTOR 2
+param set-default MAV_TYPE 2
+
 if param compare IMU_GYRO_RATEMAX 400
 then
 	param set-default IMU_GYRO_RATEMAX 800

ROMFS/px4fmu_common/init.d/rc.rover_defaults

@@ -7,6 +7,9 @@
 
 set VEHICLE_TYPE rover
 
+# MAV_TYPE_GROUND_ROVER 10
+param set-default MAV_TYPE 10
+
 #
 # Default parameters for UGVs.
 #

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -149,6 +149,26 @@ then
 	ms5525_airspeed start -X
 fi
 
+# IR-LOCK sensor external I2C
+if param compare -s SENS_EN_IRLOCK 1
+then
+	irlock start -X
+fi
+
+# SPL06 sensor external I2C
+if param compare -s SENS_EN_SPL06 1
+then
+	spl06 -X start
+	spl06 -X -a 0x77 start
+fi
+
+# PCF8583 counter (RPM sensor)
+if param compare -s SENS_EN_PCF8583 1
+then
+	pcf8583 start -X
+	pcf8583 start -X -a 0x51
+fi
+
 # probe for optional external I2C devices
 if param compare SENS_EXT_I2C_PRB 1
 then

ROMFS/px4fmu_common/init.d/rc.uuv_defaults

@@ -7,6 +7,9 @@
 
 set VEHICLE_TYPE uuv
 
+# MAV_TYPE_SUBMARINE 12
+param set-default MAV_TYPE 12
+
 param set-default PWM_MAIN_MAX 1950
 param set-default PWM_MAIN_MIN 1050
 param set-default PWM_MAIN_DISARM 1500

ROMFS/px4fmu_common/init.d/rc.vehicle_setup

@@ -12,19 +12,9 @@ if [ $VEHICLE_TYPE = fw ]
 then
 	if [ $MIXER = none ]
 	then
-		# Set default mixer for fixed wing if not defined.
-		set MIXER AERT
+		echo "FW mixer undefined"
 	fi
 
-	if [ $MAV_TYPE = none ]
-	then
-		# Set a default MAV_TYPE = 1 if not defined.
-		set MAV_TYPE 1
-	fi
-
-	# Set the mav type parameter.
-	param set MAV_TYPE ${MAV_TYPE}
-
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface
 
@@ -42,41 +32,6 @@ then
 		echo "MC mixer undefined"
 	fi
 
-	if [ $MAV_TYPE = none ]
-	then
-		# Set a default MAV_TYPE = 2 if not defined.
-		set MAV_TYPE 2
-
-		# Use mixer to detect vehicle type
-		if [ $MIXER = coax ]
-		then
-			set MAV_TYPE 3
-		fi
-		if [ $MIXER = hexa_x -o $MIXER = hexa_+ ]
-		then
-			set MAV_TYPE 13
-		fi
-		if [ $MIXER = hexa_cox ]
-		then
-			set MAV_TYPE 13
-		fi
-		if [ $MIXER = octo_x -o $MIXER = octo_+ ]
-		then
-			set MAV_TYPE 14
-		fi
-		if [ $MIXER = octo_cox -o $MIXER = octo_cox_w ]
-		then
-			set MAV_TYPE 14
-		fi
-		if [ $MIXER = tri_y_yaw- -o $MIXER = tri_y_yaw+ ]
-		then
-			set MAV_TYPE 15
-		fi
-	fi
-
-	# Set the mav type parameter.
-	param set MAV_TYPE ${MAV_TYPE}
-
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface
 
@@ -91,19 +46,9 @@ if [ $VEHICLE_TYPE = rover ]
 then
 	if [ $MIXER = none ]
 	then
-		# Set default mixer for UGV if not defined.
-		set MIXER rover_generic
+		echo "rover mixer undefined"
 	fi
 
-	if [ $MAV_TYPE = none ]
-	then
-		# Set a default MAV_TYPE = 10 if not defined.
-		set MAV_TYPE 10
-	fi
-
-	# Set the mav type parameter.
-	param set MAV_TYPE ${MAV_TYPE}
-
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface
 
@@ -121,25 +66,6 @@ then
 		echo "VTOL mixer undefined"
 	fi
 
-	if [ $MAV_TYPE = none ]
-	then
-		# Set a default MAV_TYPE = 19 if not defined.
-		set MAV_TYPE 19
-
-		# Use mixer to detect vehicle type.
-		if [ $MIXER = firefly6 ]
-		then
-			set MAV_TYPE 21
-		fi
-		if [ $MIXER = quad_x_pusher_vtol ]
-		then
-			set MAV_TYPE 22
-		fi
-	fi
-
-	# Set the mav type parameter.
-	param set MAV_TYPE ${MAV_TYPE}
-
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface
 
@@ -157,15 +83,6 @@ then
 		echo "Airship mixer undefined"
 	fi
 
-	if [ $MAV_TYPE = none ]
-	then
-		# Set a default MAV_TYPE = 7 if not defined.
-		set MAV_TYPE 7
-	fi
-
-	# Set the mav type parameter.
-	param set MAV_TYPE ${MAV_TYPE}
-
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface
 
@@ -183,19 +100,11 @@ then
 		echo "UUV mixer undefined"
 	fi
 
-	if [ $MAV_TYPE = none ]
-	then
-		# Set default MAV_TYPE to submarine if not defined
-		set MAV_TYPE 12
-	fi
-
-	param set MAV_TYPE ${MAV_TYPE}
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface
 
 	# Start standard vtol apps.
 	. ${R}etc/init.d/rc.uuv_apps
-
 fi
 
 

ROMFS/px4fmu_common/init.d/rc.vtol_defaults

@@ -7,6 +7,9 @@
 
 set VEHICLE_TYPE vtol
 
+# MAV_TYPE_VTOL_RESERVED2 22
+param set-default MAV_TYPE 22
+
 param set-default MIS_TAKEOFF_ALT 20
 param set-default MIS_YAW_TMT 10
 

ROMFS/px4fmu_common/init.d/rcS

@@ -29,7 +29,6 @@ set IOFW "/etc/extras/px4_io-v2_default.bin"
 set IO_PRESENT no
 set LOGGER_ARGS ""
 set LOGGER_BUF 8
-set MAV_TYPE none
 set MIXER none
 set MIXER_AUX none
 set MIXER_FILE none
@@ -573,7 +572,6 @@ unset IO_PRESENT
 unset IOFW
 unset LOGGER_ARGS
 unset LOGGER_BUF
-unset MAV_TYPE
 unset MIXER
 unset MIXER_AUX
 unset MIXER_FILE

ROMFS/px4fmu_common/mixers/quad_x_vtol.main.mix

@@ -1,5 +1,7 @@
 Mixer for Tailsitter with x motor configuration and elevons
 ===========================================================
+# @board px4_fmu-v2 exclude
+# @board omnibus_f4sd exclude
 
 This file defines a single mixer for tailsitter with motors in X configuration.  All controls
 are mixed 100%.

Tools/module_config/generate_actuators_metadata.py

@@ -330,9 +330,11 @@ def get_mixers(yaml_config, output_functions, verbose):
         option = select_param + '==' + str(type_index)
         mixer_config = {
                 'option': option,
+                'help-url': 'https://docs.px4.io/master/en/config/actuators.html',
             }
-        if 'type' in current_type:
-            mixer_config['type'] = current_type['type']
+        for optional in ['type', 'title']:
+            if optional in current_type:
+                mixer_config[optional] = current_type[optional]
         actuators = []
         for actuator_conf in current_type['actuators']:
             actuator = {

Tools/process_sensor_caldata.py

@@ -7,7 +7,8 @@ import os
 import math
 import matplotlib.pyplot as plt
 import numpy as np
-import scipy as sp
+
+from scipy.signal import medfilt
 
 from pyulog import *
 
@@ -65,7 +66,7 @@ def resampleWithDeltaX(x,y):
     return resampledX,resampledY
 
 def median_filter(data):
-    return sp.signal.medfilt(data, 31)
+    return medfilt(data, 31)
 
 parser = argparse.ArgumentParser(description='Reads in IMU data from a static thermal calibration test and performs a curve fit of gyro, accel and baro bias vs temperature')
 parser.add_argument('filename', metavar='file.ulg', help='ULog input file')

Tools/px4moduledoc/srcparser.py

@@ -16,7 +16,7 @@ class ModuleDocumentation(object):
     valid_categories = ['driver', 'estimator', 'controller', 'system',
                         'communication', 'command', 'template', 'simulation', 'autotune']
     valid_subcategories = ['', 'distance_sensor', 'imu', 'airspeed_sensor',
-                           'magnetometer', 'baro', 'optical_flow']
+                           'magnetometer', 'baro', 'optical_flow', 'rpm_sensor']
 
     max_line_length = 80 # wrap lines that are longer than this
 

Tools/serial/generate_config.py

@@ -268,10 +268,14 @@ for serial_command in serial_commands:
                 default_port_str = port_config['default'][i]
             else:
                 default_port_str = port_config['default']
+
             if default_port_str != "":
                 if default_port_str not in serial_ports:
                     raise Exception("Default Port {:} not found for {:}".format(default_port_str, serial_command['label']))
-                default_port = serial_ports[default_port_str]['index']
+
+                if default_port_str in dict(board_ports).keys():
+                    default_port = serial_ports[default_port_str]['index']
+
 
         commands.append({
             'command': serial_command['command'],

Tools/sitl_run.sh

@@ -192,7 +192,7 @@ elif [ "$program" == "ignition" ] && [ -z "$no_sim" ]; then
 		ignition_headless=""
 	fi
 	source "$src_path/Tools/setup_ignition.bash" "${src_path}" "${build_path}"
-	ign gazebo ${verbose} ${ignition_headless} -r "${src_path}/Tools/simulation-ignition/worlds/${model}.world"&
+	ign gazebo --force-version 5 ${verbose} ${ignition_headless} -r "${src_path}/Tools/simulation-ignition/worlds/${model}.world"&
 elif [ "$program" == "flightgear" ] && [ -z "$no_sim" ]; then
 	echo "FG setup"
 	cd "${src_path}/Tools/flightgear_bridge/"

boards/airmind/mindpx-v2/nuttx-config/nsh/defconfig

@@ -111,6 +111,7 @@ CONFIG_NSH_VARS=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_DISABLE_PTHREAD=n
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
@@ -124,6 +125,7 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
@@ -227,5 +229,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_ENTRYPOINT="nsh_main"

boards/airmind/mindpx-v2/src/can.c

@@ -50,7 +50,7 @@
 #include <arch/board/board.h>
 
 #include "chip.h"
-#include "arm_arch.h"
+#include "arm_internal.h"
 
 #include "stm32.h"
 #include "stm32_can.h"

boards/airmind/mindpx-v2/src/usb.c

@@ -51,7 +51,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>
 
-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <stm32.h>
 #include "board_config.h"
 

boards/ark/can-flow/nuttx-config/canbootloader/defconfig

@@ -58,4 +58,4 @@ CONFIG_STM32_NOEXT_VECTORS=y
 CONFIG_STM32_TIM8=y
 CONFIG_TASK_NAME_SIZE=0
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=4096
+CONFIG_INIT_STACKSIZE=4096

boards/ark/can-flow/nuttx-config/nsh/defconfig

@@ -88,6 +88,7 @@ CONFIG_NSH_VARS=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_DISABLE_PTHREAD=n
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
@@ -101,6 +102,7 @@ CONFIG_SCHED_HPWORKPRIORITY=254
 CONFIG_SCHED_HPWORKSTACKSIZE=3000
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
@@ -150,5 +152,5 @@ CONFIG_USART2_RXBUFSIZE=600
 CONFIG_USART2_SERIAL_CONSOLE=y
 CONFIG_USART2_TXBUFSIZE=1100
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2624
-CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2624
+CONFIG_INIT_ENTRYPOINT="nsh_main"

boards/ark/can-flow/src/can.c

@@ -50,7 +50,7 @@
 #include <arch/board/board.h>
 
 #include "chip.h"
-#include "arm_arch.h"
+#include "arm_internal.h"
 
 #include "stm32.h"
 #include "stm32_can.h"

boards/ark/can-gps/nuttx-config/canbootloader/defconfig

@@ -58,4 +58,4 @@ CONFIG_STM32_NOEXT_VECTORS=y
 CONFIG_STM32_TIM8=y
 CONFIG_TASK_NAME_SIZE=0
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=4096
+CONFIG_INIT_STACKSIZE=4096

boards/ark/can-gps/nuttx-config/nsh/defconfig

@@ -90,6 +90,7 @@ CONFIG_NSH_VARS=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_DISABLE_PTHREAD=n
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
@@ -103,6 +104,7 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
@@ -155,5 +157,5 @@ CONFIG_USART2_RXBUFSIZE=600
 CONFIG_USART2_SERIAL_CONSOLE=y
 CONFIG_USART2_TXBUFSIZE=1100
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2624
-CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2624
+CONFIG_INIT_ENTRYPOINT="nsh_main"

boards/ark/can-gps/src/can.c

@@ -50,7 +50,7 @@
 #include <arch/board/board.h>
 
 #include "chip.h"
-#include "arm_arch.h"
+#include "arm_internal.h"
 
 #include "stm32.h"
 #include "stm32_can.h"

boards/ark/can-rtk-gps/nuttx-config/canbootloader/defconfig

@@ -58,4 +58,4 @@ CONFIG_STM32_NOEXT_VECTORS=y
 CONFIG_STM32_TIM8=y
 CONFIG_TASK_NAME_SIZE=0
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=4096
+CONFIG_INIT_STACKSIZE=4096

boards/ark/can-rtk-gps/nuttx-config/nsh/defconfig

@@ -90,6 +90,7 @@ CONFIG_NSH_VARS=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_DISABLE_PTHREAD=n
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
@@ -103,6 +104,7 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
@@ -156,5 +158,5 @@ CONFIG_USART2_RXBUFSIZE=600
 CONFIG_USART2_SERIAL_CONSOLE=y
 CONFIG_USART2_TXBUFSIZE=1100
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2624
-CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2624
+CONFIG_INIT_ENTRYPOINT="nsh_main"

boards/ark/can-rtk-gps/src/can.c

@@ -50,7 +50,7 @@
 #include <arch/board/board.h>
 
 #include "chip.h"
-#include "arm_arch.h"
+#include "arm_internal.h"
 
 #include "stm32.h"
 #include "stm32_can.h"

boards/atl/mantis-edu/nuttx-config/nsh/defconfig

@@ -118,6 +118,7 @@ CONFIG_OTG_ID_GPIO_DISABLE=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_DISABLE_PTHREAD=n
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
@@ -133,6 +134,7 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
@@ -235,5 +237,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_ENTRYPOINT="nsh_main"

boards/atl/mantis-edu/src/pwr.cpp

@@ -55,7 +55,7 @@
 #include <uORB/uORB.h>
 #include <uORB/Publication.hpp>
 
-#include <arm_arch.h>
+#include <arm_internal.h>
 #include "board_config.h"
 #include <stm32_pwr.h>
 

boards/av/x-v1/nuttx-config/nsh/defconfig

@@ -141,6 +141,7 @@ CONFIG_NSH_VARS=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_DISABLE_PTHREAD=n
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=245760
@@ -155,6 +156,7 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
@@ -267,5 +269,5 @@ CONFIG_USART6_RXBUFSIZE=600
 CONFIG_USART6_RXDMA=y
 CONFIG_USART6_TXBUFSIZE=1500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_ENTRYPOINT="nsh_main"

boards/bitcraze/crazyflie/nuttx-config/nsh/defconfig

@@ -109,6 +109,7 @@ CONFIG_NSH_VARS=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_DISABLE_PTHREAD=n
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=196608
@@ -121,6 +122,7 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
@@ -185,5 +187,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_ENTRYPOINT="nsh_main"

boards/bitcraze/crazyflie/src/spi.cpp

@@ -44,7 +44,7 @@
 #include <systemlib/px4_macros.h>
 #include <nuttx/mmcsd.h>
 
-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <chip.h>
 #include <stm32_gpio.h>
 #include "board_config.h"