WIP: enable -Wfloat-conversion everywhere

Kconfig remove defconfig in root directory after gen
Cleanup fmu configs
2026-06-07 08:41:28 +08:00 · 2021-10-07 11:44:25 -04:00 · 2021-10-07 10:09:01 -04:00 · 2021-10-07 10:09:01 -04:00 · 2021-10-07 10:09:01 -04:00 · 2021-10-07 10:09:01 -04:00
1299 changed files with 31473 additions and 28746 deletions
--- a/.ci/Jenkinsfile-compile
+++ b/.ci/Jenkinsfile-compile
@ -9,10 +9,10 @@ pipeline {
        script {
          def build_nodes = [:]
          def docker_images = [
-            armhf: "px4io/px4-dev-armhf:2021-05-04",
-            arm64: "px4io/px4-dev-aarch64:2021-05-04",
-            base: "px4io/px4-dev-base-bionic:2021-05-04",
-            nuttx: "px4io/px4-dev-nuttx-focal:2021-05-04",
+            armhf: "px4io/px4-dev-armhf:2021-09-08",
+            arm64: "px4io/px4-dev-aarch64:2021-09-08",
+            base: "px4io/px4-dev-base-bionic:2021-09-08",
+            nuttx: "px4io/px4-dev-nuttx-focal:2021-09-08",
          ]

          def armhf_builds = [
@ -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 +84,11 @@ 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",
@ -127,7 +126,7 @@ pipeline {
    // TODO: actually upload artifacts to S3
    // stage('S3 Upload') {
    //   agent {
-    //     docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
+    //     docker { image 'px4io/px4-dev-base-focal:2021-09-08' }
    //   }
    //   options {
    //         skipDefaultCheckout()
--- a/.ci/Jenkinsfile-hardware
+++ b/.ci/Jenkinsfile-hardware
@ -12,16 +12,12 @@ pipeline {
            stage("build cubepilot_cubeorange_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
-                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
+                  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'
@ -63,7 +59,7 @@ pipeline {
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
                    checkStatus()
                    quickCalibrate()
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
                  }
                }
                stage("print topics") {
@ -71,7 +67,11 @@ pipeline {
                    printTopics()
                  }
                }
-
+              }
+              post {
+                always {
+                    resetBoard()
+                }
              }
            } // stage test
          }
@ -82,16 +82,12 @@ pipeline {
            stage("build cuav_x7pro_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
-                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
+                  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'
@ -139,7 +135,11 @@ pipeline {
                    printTopics()
                  }
                }
-
+              }
+              post {
+                always {
+                    resetBoard()
+                }
              }
            } // stage test
          }
@ -150,16 +150,12 @@ pipeline {
            stage("build px4_fmu-v3_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
-                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
+                  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'
@ -199,8 +195,7 @@ pipeline {
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
                    checkStatus()
                    quickCalibrate()
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener px4io_status"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
                  }
                }
                stage("print topics") {
@ -208,7 +203,11 @@ pipeline {
                    printTopics()
                  }
                }
-
+              }
+              post {
+                always {
+                    resetBoard()
+                }
              }
            } // stage test
          }
@ -219,16 +218,12 @@ pipeline {
            stage("build px4_fmu-v4_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
-                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
+                  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'
@ -275,7 +270,11 @@ pipeline {
                    printTopics()
                  }
                }
-
+              }
+              post {
+                always {
+                    resetBoard()
+                }
              }
            } // stage test
          }
@ -286,16 +285,12 @@ pipeline {
            stage("build px4_fmu-v4pro_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
-                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
+                  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'
@ -335,7 +330,7 @@ pipeline {
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
                    checkStatus()
                    quickCalibrate()
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
                  }
                }
                stage("print topics") {
@ -343,7 +338,11 @@ pipeline {
                    printTopics()
                  }
                }
-
+              }
+              post {
+                always {
+                    resetBoard()
+                }
              }
            } // stage test
          }
@ -354,16 +353,12 @@ pipeline {
            stage("build px4_fmu-v5_debug") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
-                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
+                  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'
@ -392,14 +387,15 @@ pipeline {
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save" || true'
                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_bootloader.elf'
                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600 || true'
                  }
                }
                stage("tests") {
                  steps {
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests" || true'
+                    //sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "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'
                  }
                }
@ -411,6 +407,7 @@ pipeline {
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true'       // limit cpu usage
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true'       // limit cpu usage
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SDLOG_MODE -1" || true'        // limit cpu usage
                    checkStatus()
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
                  }
@ -420,76 +417,12 @@ pipeline {
                    printTopics()
                  }
                }
-
-              }
-            } // stage test
-          }
-        }
-
-        stage("px4_fmu-v5_optimized") {
-          stages {
-            stage("build px4_fmu-v5_optimized") {
-              agent {
-                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
-                  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'
+                    resetBoard()
                }
              }
-            } // 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()
-                  }
-                }
-
-              }
            } // stage test
          }
        }
@ -499,16 +432,12 @@ pipeline {
            stage("build px4_fmu-v5_stackcheck") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
-                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
+                  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'
@ -544,7 +473,7 @@ pipeline {
                  steps {
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests" || true'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
                  }
                }
@ -556,6 +485,7 @@ pipeline {
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true'       // limit cpu usage
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true'       // limit cpu usage
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SDLOG_MODE -1" || true'        // limit cpu usage
                    checkStatus()
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
                  }
@ -565,7 +495,11 @@ pipeline {
                    printTopics()
                  }
                }
-
+              }
+              post {
+                always {
+                    resetBoard()
+                }
              }
            } // stage test
          }
@ -576,16 +510,12 @@ pipeline {
            stage("build px4_fmu-v5_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
-                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
+                  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'
@ -633,7 +563,11 @@ pipeline {
                    printTopics()
                  }
                }
-
+              }
+              post {
+                always {
+                    resetBoard()
+                }
              }
            } // stage test
          }
@ -644,8 +578,8 @@ pipeline {
        //     stage("build modalai_fc-v1_test") {
        //       agent {
        //         docker {
-        //           image 'px4io/px4-dev-nuttx-focal:2021-05-04'
-        //           args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+        //           image 'px4io/px4-dev-nuttx-focal:2021-09-08'
+        //           args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
        //         }
        //       }
        //       steps {
@ -711,16 +645,12 @@ pipeline {
            stage("build nxp_fmuk66-v3_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
-                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
+                  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'
@ -756,6 +686,7 @@ pipeline {
                  steps {
                    // configure
                    resetParameters()
+                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_RATEMAX" --value "400"'
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"'    // generic quadcopter
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
                    checkStatus()
@ -767,7 +698,11 @@ pipeline {
                    printTopics()
                  }
                }
-
+              }
+              post {
+                always {
+                    resetBoard()
+                }
              }
            } // stage test
          }
@ -783,11 +718,21 @@ pipeline {
  }
  options {
    buildDiscarder(logRotator(numToKeepStr: '30', artifactDaysToKeepStr: '60'))
-    timeout(time: 120, unit: 'MINUTES')
+    timeout(time: 180, unit: 'MINUTES')
    skipDefaultCheckout()
  }
 }

+void checkoutSCM() {
+  retry(3) {
+    checkout scm
+    sh 'export'
+    sh 'make distclean'
+    sh 'git fetch --tags'
+    sh 'ccache -z'
+  }
+}
+
 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*"'
@ -800,12 +745,13 @@ void quickCalibrate() {
 void checkStatus() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'

  // run logger
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sleep 1"' // sleep before continuing
  // status commands
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/meminfo"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/uptime"'
@ -817,17 +763,18 @@ void checkStatus() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "free"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gps status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload; top once; listener cpuload"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger status" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /bin"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /dev"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /etc"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /obj"'
  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"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf latency"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf"'
@ -835,7 +782,6 @@ void checkStatus() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm info -d /dev/pwm_output0"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm info -d /dev/pwm_output1" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm_out status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -r 2"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uavcan status" || true'
@ -844,7 +790,7 @@ void checkStatus() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ver all"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
  // stop logger
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off" || true'
 }

 void resetParameters() {
@ -856,18 +802,21 @@ void resetParameters() {
 void runTests() {
  resetParameters()

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

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

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

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

@ -877,7 +826,26 @@ void runTests() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd rwtest"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd erase"'

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

 void printTopics() {
@ -885,89 +853,127 @@ void printTopics() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a"'

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

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

--- a/.github/workflows/checks.yml
+++ b/.github/workflows/checks.yml
@ -29,34 +29,13 @@ jobs:
          "parameters_metadata",
        ]
    container:
-      image: px4io/px4-dev-nuttx-focal:2021-05-04
+      image: px4io/px4-dev-nuttx-focal:2021-09-08
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
      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
--- a/.github/workflows/clang-tidy.yml
+++ b/.github/workflows/clang-tidy.yml
@ -11,36 +11,11 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-clang:2021-05-04
+    container: px4io/px4-dev-clang:2021-09-08
    steps:
    - uses: actions/checkout@v1
      with:
        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
--- a/.github/workflows/compile_linux.yml
+++ b/.github/workflows/compile_linux.yml
@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-armhf:2021-05-04
+    container: px4io/px4-dev-armhf:2021-09-08
    strategy:
      matrix:
        config: [
@ -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 "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

--- a/.github/workflows/compile_linux_arm64.yml
+++ b/.github/workflows/compile_linux_arm64.yml
@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-aarch64:2021-05-04
+    container: px4io/px4-dev-aarch64:2021-09-08
    strategy:
      matrix:
        config: [
@ -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 "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

--- a/.github/workflows/compile_macos.yml
+++ b/.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

--- a/.github/workflows/compile_nuttx.yml
+++ b/.github/workflows/compile_nuttx.yml
@ -11,13 +11,14 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-05-04
+    container: px4io/px4-dev-nuttx-focal:2021-09-08
    strategy:
      matrix:
        config: [
          airmind_mindpx-v2,
          ark_can-flow,
          ark_can-gps,
+          ark_can-rtk-gps,
          atl_mantis-edu,
          av_x-v1,
          bitcraze_crazyflie,
@ -79,13 +80,15 @@ 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 "max_size = 100M" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 50M" >> ~/.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
--- a/.github/workflows/compile_nuttx_cannode.yml
+++ b/.github/workflows/compile_nuttx_cannode.yml
@ -11,17 +11,17 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-05-04
+    container: px4io/px4-dev-nuttx-focal:2021-09-08
    strategy:
      matrix:
        config: [
          ark_can-flow_default,
          ark_can-gps_default,
+          ark_can-rtk-gps_default,
          cuav_can-gps-v1_default,
          freefly_can-rtk-gps_default,
          holybro_can-gps-v1_default,
-          nxp_ucans32k146_default,
-          px4_fmu-v4_cannode
+          nxp_ucans32k146_default
          ]
    steps:
    - uses: actions/checkout@v1
@ -45,8 +45,9 @@ 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 = 20M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z

--- a/.github/workflows/deploy_all.yml
+++ b/.github/workflows/deploy_all.yml
@ -23,38 +23,14 @@ jobs:
    needs: enumerate_targets
    strategy:
      matrix: ${{fromJson(needs.enumerate_targets.outputs.matrix)}}
-    container: px4io/px4-dev-${{ matrix.container }}:2021-05-04
+    container: px4io/px4-dev-${{ matrix.container }}:2021-09-08
    steps:
    - uses: actions/checkout@v1
      with:
        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: |
--- a/.github/workflows/ekf_functional_change_indicator.yml
+++ b/.github/workflows/ekf_functional_change_indicator.yml
@ -5,7 +5,7 @@ on: pull_request
 jobs:
  unit_tests:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-05-04
+    container: px4io/px4-dev-base-focal:2021-09-08
    steps:
    - uses: actions/checkout@v2.3.1
      with:
--- a/.github/workflows/ekf_update_change_indicator.yml
+++ b/.github/workflows/ekf_update_change_indicator.yml
@ -5,7 +5,7 @@ on: push
 jobs:
  unit_tests:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-05-04
+    container: px4io/px4-dev-base-focal:2021-09-08
    env:
      GIT_COMMITTER_EMAIL: bot@px4.io
      GIT_COMMITTER_NAME: PX4BuildBot
--- a/.github/workflows/mavros_mission_tests.yml
+++ b/.github/workflows/mavros_mission_tests.yml
@ -25,7 +25,7 @@ jobs:
          #- {vehicle: "tiltrotor",     mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}

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

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

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

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

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

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

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

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

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

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

    container:
-      image: px4io/px4-dev-simulation-focal:2021-05-04
+      image: px4io/px4-dev-simulation-focal:2021-09-08
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@ -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()
--- a/.gitmodules
+++ b/.gitmodules
@ -29,11 +29,11 @@
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
 	url = https://github.com/PX4/NuttX.git
-	branch = px4_firmware_nuttx-10.0.0+
+	branch = px4_firmware_nuttx-10.1.0+
 [submodule "platforms/nuttx/NuttX/apps"]
 	path = platforms/nuttx/NuttX/apps
 	url = https://github.com/PX4/NuttX-apps.git
-	branch = px4_firmware_nuttx-10.0.0+
+	branch = px4_firmware_nuttx-10.1.0+
 [submodule "Tools/flightgear_bridge"]
 	path = Tools/flightgear_bridge
 	url = https://github.com/PX4/PX4-FlightGear-Bridge.git
@ -65,4 +65,12 @@
 	url = https://github.com/mavlink/libevents.git
 [submodule "Tools/simulation-ignition"]
 	path = Tools/simulation-ignition
-	url = https://github.com/Auterion/px4-simulation-ignition.git
+	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
--- a/.vscode/cmake-variants.yaml
+++ b/.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 +101,16 @@ 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_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
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@ -31,7 +31,6 @@
                "esc"
        ],
        "debug.toolBarLocation": "docked",
-        "editor.acceptSuggestionOnEnter": "off",
        "editor.defaultFormatter": "chiehyu.vscode-astyle",
        "editor.dragAndDrop": false,
        "editor.insertSpaces": false,
--- a/CMakeLists.txt
+++ b/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
 #
--- a/26
+++ b/26
@ -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')
--- a/179
+++ b/179
@ -0,0 +1,179 @@
+# 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_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_WIFI
+        string "WIFI 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
--- a/15
+++ b/15
@ -122,6 +122,13 @@ endif

 SRC_DIR := $(shell dirname "$(realpath $(lastword $(MAKEFILE_LIST)))")

+# check if replay env variable is set & set build dir accordingly
+ifdef replay
+	BUILD_DIR_SUFFIX := _replay
+else
+	BUILD_DIR_SUFFIX :=
+endif
+
 # additional config parameters passed to cmake
 ifdef EXTERNAL_MODULES_LOCATION
 	CMAKE_ARGS += -DEXTERNAL_MODULES_LOCATION:STRING=$(EXTERNAL_MODULES_LOCATION)
@ -206,8 +213,8 @@ define colorecho
 +@echo -e '${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
 # --------------------------------------------------------------------
@ -225,6 +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)!)
@ -474,6 +484,7 @@ submodulesupdate:
 	@git submodule update --quiet --init --recursive --jobs 4 || true
 	@git submodule sync --recursive
 	@git submodule update --init --recursive --jobs 4
+	@git fetch --all --tags --recurse-submodules=yes --jobs=4

 gazeboclean:
 	@rm -rf ~/.gazebo/*
--- a/ROMFS/cannode/init.d/rcS
+++ b/ROMFS/cannode/init.d/rcS
@ -15,15 +15,6 @@ set +e
 #
 #------------------------------------------------------------------------------
 set R /
-#
-# Mount the procfs.
-#
-mount -t procfs /proc
-
-#
-# Start CDC/ACM serial driver.
-#
-sercon

 #
 # Print full system version.
--- a/ROMFS/px4fmu_common/init.d-posix/CMakeLists.txt
+++ b/ROMFS/px4fmu_common/init.d-posix/CMakeLists.txt
@ -38,14 +38,6 @@ px4_add_romfs_files(
 	px4-rc.params
 	px4-rc.rtps
 	px4-rc.simulator
-
-	rc.replay_controller_mc_attitude
-	rc.replay_controller_mc_position
-	rc.replay_controller_mc_rate
-	rc.replay_ekf2
-	rc.replay_mc_hover_thrust_estimator
-	rc.replay_mixing
-	rc.replay_sensor_calibration
-
+	rc.replay
 	rcS
 )
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/10018_iris_foggy_lidar
+++ b/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

--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1020_uuv_generic
+++ b/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
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1021_uuv_hippocampus
+++ b/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
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1022_uuv_bluerov2_heavy
+++ b/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
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane
+++ b/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

--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1033_rascal
+++ b/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

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

--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1035_techpod
+++ b/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

--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1036_malolo
+++ b/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
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1037_believer
+++ b/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

--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol
+++ b/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
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor
+++ b/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
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop
+++ b/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
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/17001_tf-g1
+++ b/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
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/3011_hexarotor_x
+++ b/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
--- a/ROMFS/px4fmu_common/init.d-posix/rc.replay_controller_mc_attitude
+++ b/ROMFS/px4fmu_common/init.d-posix/rc.replay_controller_mc_attitude
@ -10,20 +10,20 @@ fi

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

+publisher_rules_file="orb_publisher.rules"
+cat <<EOF > "$publisher_rules_file"
+restrict_topics: sensor_combined, vehicle_gps_position, vehicle_land_detected
+module: replay
+ignore_others: false
+EOF
+
 param set SDLOG_DIRS_MAX 7

-# TODO:
-# input: vehicle_attitude, vehicle_attitude_setpoint
-# output: vehicle_rates_setpoint
-
 # apply all params before ekf starts, as some params cannot be changed after startup
-#replay tryapplyparams
-
-mc_att_control start
-mc_rate_control start
-
+replay tryapplyparams
+ekf2 start -r
 logger start -f -t -b 1000 -p vehicle_attitude
 replay start
--- a/ROMFS/px4fmu_common/init.d-posix/rc.replay_controller_mc_position
+++ b/ROMFS/px4fmu_common/init.d-posix/rc.replay_controller_mc_position
@ -1,30 +0,0 @@
-#!/bin/sh
-
-# EKF2 replay script
-
-# shellcheck disable=SC2154
-if [ ! -f ${replay} ]; then
-	echo "Invalid replay log file ${replay}"
-	exit 1
-fi
-
-if [ ! -f replay_params.txt ]; then
-	echo "Creating $(pwd)/replay_params.txt"
-	ulog_params -i "${replay}" -l ' ' | grep -e '^EKF2' > replay_params.txt
-fi
-
-param set SDLOG_DIRS_MAX 7
-
-# TODO:
-# input: trajector_setpoint
-# output: vehicle_local_position_setpoint vehicle_attitude_setpoint
-
-# apply all params before ekf starts, as some params cannot be changed after startup
-#replay tryapplyparams
-
-mc_pos_control start
-mc_att_control start
-mc_rate_control start
-
-logger start -f -t -b 1000 -p vehicle_attitude
-replay start
--- a/ROMFS/px4fmu_common/init.d-posix/rc.replay_controller_mc_rate
+++ b/ROMFS/px4fmu_common/init.d-posix/rc.replay_controller_mc_rate
@ -1,28 +0,0 @@
-#!/bin/sh
-
-# EKF2 replay script
-
-# shellcheck disable=SC2154
-if [ ! -f ${replay} ]; then
-	echo "Invalid replay log file ${replay}"
-	exit 1
-fi
-
-if [ ! -f replay_params.txt ]; then
-	echo "Creating $(pwd)/replay_params.txt"
-	ulog_params -i "${replay}" -l ' ' | grep -e '^EKF2' > replay_params.txt
-fi
-
-param set SDLOG_DIRS_MAX 7
-
-# TODO:
-# input: vehicle_angular_velocity
-# output: actuator_controls
-
-# apply all params before ekf starts, as some params cannot be changed after startup
-#replay tryapplyparams
-
-mc_rate_control start
-
-logger start -f -t -b 1000 -p vehicle_attitude
-replay start
--- a/ROMFS/px4fmu_common/init.d-posix/rc.replay_ekf2
+++ b/ROMFS/px4fmu_common/init.d-posix/rc.replay_ekf2
@ -1,41 +0,0 @@
-#!/bin/sh
-
-# EKF2 replay script
-
-# shellcheck disable=SC2154
-if [ ! -f ${replay} ]; then
-	echo "Invalid replay log file ${replay}"
-	exit 1
-fi
-
-if [ ! -f replay_params.txt ]; then
-	echo "Creating $(pwd)/replay_params.txt"
-	ulog_params -i "${replay}" -l ' ' | grep -e '^EKF2' > replay_params.txt
-fi
-
-param set SDLOG_DIRS_MAX 7
-
-# TODO:
-# input:  vehicle_imu, vehicle_magnetometer, distance_sensor
-# output: estimator_status
-
-# apply all params before ekf starts, as some params cannot be changed after startup
-#replay tryapplyparams
-ekf2 start
-ekf2 status
-logger start -f -t -b 1000 -p vehicle_attitude
-replay start
-
-
-
-# TODO: easy debug from gdb (and vscode)
-# TODO
-# loop through parameter changes? (noise, sensor delays, etc)
-#        - create log files with appropriate names (logger custom logfile name?)
-
-# TODO
-#  - work queue lockstep handling
-#  - parameter defaults
-#  - progress (percentage, time in seconds, etc)
-#  - realtime vs execute as fast as possible
-#  - controls (pause, reset, etc)
--- a/ROMFS/px4fmu_common/init.d-posix/rc.replay_mc_hover_thrust_estimator
+++ b/ROMFS/px4fmu_common/init.d-posix/rc.replay_mc_hover_thrust_estimator
@ -1,26 +0,0 @@
-#!/bin/sh
-
-# EKF2 replay script
-
-# shellcheck disable=SC2154
-if [ ! -f ${replay} ]; then
-	echo "Invalid replay log file ${replay}"
-	exit 1
-fi
-
-if [ ! -f replay_params.txt ]; then
-	echo "Creating $(pwd)/replay_params.txt"
-	ulog_params -i "${replay}" -l ' ' | grep -e '^EKF2' > replay_params.txt
-fi
-
-param set SDLOG_DIRS_MAX 7
-
-# TODO:
-# input:  vehicle_local_position, vehicle_local_position_setpoint
-# output: hover_thrust_estimate
-
-# apply all params before ekf starts, as some params cannot be changed after startup
-#replay tryapplyparams
-mc_hover_thrust_estimator start
-logger start -f -t -b 1000 -p vehicle_attitude
-replay start
--- a/ROMFS/px4fmu_common/init.d-posix/rc.replay_mixing
+++ b/ROMFS/px4fmu_common/init.d-posix/rc.replay_mixing
@ -1,29 +0,0 @@
-#!/bin/sh
-
-# EKF2 replay script
-
-# shellcheck disable=SC2154
-if [ ! -f ${replay} ]; then
-	echo "Invalid replay log file ${replay}"
-	exit 1
-fi
-
-if [ ! -f replay_params.txt ]; then
-	echo "Creating $(pwd)/replay_params.txt"
-	ulog_params -i "${replay}" -l ' ' | grep -e '^EKF2' > replay_params.txt
-fi
-
-param set SDLOG_DIRS_MAX 7
-
-# TODO:
-# input:  actuator_controls_0
-# output:
-
-# apply all params before ekf starts, as some params cannot be changed after startup
-#replay tryapplyparams
-
-pwm_out_sim start
-mixer load /dev/pwm_output0 etc/mixers/quad_x.main.mix
-
-logger start -f -t -b 1000 -p vehicle_attitude
-replay start
--- a/ROMFS/px4fmu_common/init.d-posix/rc.replay_sensor_calibration
+++ b/ROMFS/px4fmu_common/init.d-posix/rc.replay_sensor_calibration
@ -1,30 +0,0 @@
-#!/bin/sh
-
-# EKF2 replay script
-
-# shellcheck disable=SC2154
-if [ ! -f ${replay} ]; then
-	echo "Invalid replay log file ${replay}"
-	exit 1
-fi
-
-if [ ! -f replay_params.txt ]; then
-	echo "Creating $(pwd)/replay_params.txt"
-	ulog_params -i "${replay}" -l ' ' | grep -e '^EKF2' > replay_params.txt
-fi
-
-param set SDLOG_DIRS_MAX 7
-
-# TODO:
-# input: sensor_accel, sensor_gyro, sensor_mag, ?
-# output: mag_worker_data
-
-# apply all params before ekf starts, as some params cannot be changed after startup
-#replay tryapplyparams
-
-commander start
-gyro_calibration start
-temperature_compensatoin start
-
-logger start -f -t -b 1000 -p vehicle_attitude
-replay start
--- a/ROMFS/px4fmu_common/init.d-posix/rcS
+++ b/ROMFS/px4fmu_common/init.d-posix/rcS
@ -12,16 +12,15 @@ PATH="$PATH:${R}etc/init.d-posix"
 # Main SITL startup script
 #

-# check for replay
-if [ ! -z ${replay_mode+x} ]; then
-	echo "Replay Mode: ${replay_mode}"
-	. ${R}etc/init.d-posix/rc.replay_${replay_mode}
+# check for ekf2 replay
+# shellcheck disable=SC2154
+if [ "$replay_mode" = "ekf2" ]
+then
+	. ${R}etc/init.d-posix/rc.replay
 	exit 0
 fi

 # initialize script variables
-set AUX_MODE                    none
-set AUX_BANK2			none
 set IO_PRESENT                  no
 set MAV_TYPE                    none
 set MIXER                       none
@ -121,8 +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
@ -264,7 +261,12 @@ fi
 [ -e "$autostart_file".post ] && . "$autostart_file".post

 # Run script to start logging
-set LOGGER_ARGS "-p vehicle_attitude"
+if param compare SYS_MC_EST_GROUP 2
+then
+	set LOGGER_ARGS "-p ekf2_timestamps"
+else
+	set LOGGER_ARGS "-p vehicle_attitude"
+fi
 . ${R}etc/init.d/rc.logging

 mavlink boot_complete
--- a/ROMFS/px4fmu_common/init.d/CMakeLists.txt
+++ b/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
--- a/ROMFS/px4fmu_common/init.d/airframes/1000_rc_fw_easystar.hil
+++ b/ROMFS/px4fmu_common/init.d/airframes/1000_rc_fw_easystar.hil
@ -30,17 +30,12 @@ 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
--- a/ROMFS/px4fmu_common/init.d/airframes/10015_tbs_discovery
+++ b/ROMFS/px4fmu_common/init.d/airframes/10015_tbs_discovery
@ -25,19 +25,14 @@

 . ${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
--- a/ROMFS/px4fmu_common/init.d/airframes/10016_3dr_iris
+++ b/ROMFS/px4fmu_common/init.d/airframes/10016_3dr_iris
@ -26,17 +26,14 @@

 # 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
--- a/ROMFS/px4fmu_common/init.d/airframes/10017_steadidrone_qu4d
+++ b/ROMFS/px4fmu_common/init.d/airframes/10017_steadidrone_qu4d
@ -37,9 +37,6 @@ 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
--- a/ROMFS/px4fmu_common/init.d/airframes/10018_tbs_endurance
+++ b/ROMFS/px4fmu_common/init.d/airframes/10018_tbs_endurance
@ -32,15 +32,10 @@ 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

--- a/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil
+++ b/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil
@ -18,10 +18,8 @@ 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 +54,6 @@ 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
--- a/ROMFS/px4fmu_common/init.d/airframes/11001_hexa_cox
+++ b/ROMFS/px4fmu_common/init.d/airframes/11001_hexa_cox
@ -19,6 +19,7 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 # @board bitcraze_crazyflie exclude
+# @board px4_fmu-v2 exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
--- a/ROMFS/px4fmu_common/init.d/airframes/12002_steadidrone_mavrik
+++ b/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
--- a/ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard
+++ b/ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard
@ -25,7 +25,6 @@


 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
--- a/ROMFS/px4fmu_common/init.d/airframes/13001_caipirinha_vtol
+++ b/ROMFS/px4fmu_common/init.d/airframes/13001_caipirinha_vtol
@ -24,20 +24,14 @@ 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
--- a/ROMFS/px4fmu_common/init.d/airframes/13002_firefly6
+++ b/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
--- a/ROMFS/px4fmu_common/init.d/airframes/13003_quad_tailsitter
+++ b/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
--- a/ROMFS/px4fmu_common/init.d/airframes/13004_quad+_tailsitter
+++ b/ROMFS/px4fmu_common/init.d/airframes/13004_quad+_tailsitter
@ -24,11 +24,9 @@


 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
--- a/ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad
+++ b/ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad
@ -26,35 +26,24 @@

 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
--- a/ROMFS/px4fmu_common/init.d/airframes/13006_vtol_standard_delta
+++ b/ROMFS/px4fmu_common/init.d/airframes/13006_vtol_standard_delta
@ -22,21 +22,11 @@
 . ${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
--- a/ROMFS/px4fmu_common/init.d/airframes/13007_vtol_AAVVT_quad
+++ b/ROMFS/px4fmu_common/init.d/airframes/13007_vtol_AAVVT_quad
@ -15,26 +15,17 @@


 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
--- a/ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger
+++ b/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
--- a/ROMFS/px4fmu_common/init.d/airframes/13009_vtol_spt_ranger
+++ b/ROMFS/px4fmu_common/init.d/airframes/13009_vtol_spt_ranger
@ -68,10 +68,8 @@ 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
--- a/ROMFS/px4fmu_common/init.d/airframes/13010_claire
+++ b/ROMFS/px4fmu_common/init.d/airframes/13010_claire
@ -20,7 +20,6 @@ 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
--- a/ROMFS/px4fmu_common/init.d/airframes/13012_convergence
+++ b/ROMFS/px4fmu_common/init.d/airframes/13012_convergence
@ -32,22 +32,14 @@ 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 +49,6 @@ 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 +58,8 @@ 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
--- a/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad
+++ b/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad
@ -69,23 +69,13 @@ 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 +99,6 @@ 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 +108,6 @@ 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 +121,11 @@ 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
--- a/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark
+++ b/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark
@ -29,14 +29,11 @@ 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
--- a/ROMFS/px4fmu_common/init.d/airframes/13030_generic_vtol_quad_tiltrotor
+++ b/ROMFS/px4fmu_common/init.d/airframes/13030_generic_vtol_quad_tiltrotor
@ -27,7 +27,6 @@
 . ${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
--- a/ROMFS/px4fmu_common/init.d/airframes/13050_generic_vtol_octo
+++ b/ROMFS/px4fmu_common/init.d/airframes/13050_generic_vtol_octo
@ -27,7 +27,6 @@


 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
--- a/ROMFS/px4fmu_common/init.d/airframes/15001_coax_heli
+++ b/ROMFS/px4fmu_common/init.d/airframes/15001_coax_heli
@ -20,28 +20,19 @@
 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
--- a/ROMFS/px4fmu_common/init.d/airframes/16001_helicopter
+++ b/ROMFS/px4fmu_common/init.d/airframes/16001_helicopter
@ -36,7 +36,6 @@ 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 +43,6 @@ 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
--- a/ROMFS/px4fmu_common/init.d/airframes/18001_TF-B1
+++ b/ROMFS/px4fmu_common/init.d/airframes/18001_TF-B1
@ -25,7 +25,6 @@ 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}

--- a/ROMFS/px4fmu_common/init.d/airframes/2105_maja
+++ b/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
--- a/ROMFS/px4fmu_common/init.d/airframes/2106_albatross
+++ b/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
--- a/ROMFS/px4fmu_common/init.d/airframes/2200_mini_talon
+++ b/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
--- a/ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox
+++ b/ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox
@ -23,6 +23,7 @@
 # @maintainer William Peale <develop707@gmail.com>
 #
 # @board bitcraze_crazyflie exclude
+# @board px4_fmu-v2 exclude
 #

 set VEHICLE_TYPE mc
@ -35,8 +36,6 @@ 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
--- a/ROMFS/px4fmu_common/init.d/airframes/3030_io_camflyer
+++ b/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
--- a/ROMFS/px4fmu_common/init.d/airframes/3031_phantom
+++ b/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
--- a/ROMFS/px4fmu_common/init.d/airframes/3032_skywalker_x5
+++ b/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
--- a/ROMFS/px4fmu_common/init.d/airframes/3033_wingwing
+++ b/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
--- a/ROMFS/px4fmu_common/init.d/airframes/3034_fx79
+++ b/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

--- a/ROMFS/px4fmu_common/init.d/airframes/3036_pigeon
+++ b/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
--- a/ROMFS/px4fmu_common/init.d/airframes/3037_parrot_disco_mod
+++ b/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
--- a/ROMFS/px4fmu_common/init.d/airframes/3100_tbs_caipirinha
+++ b/ROMFS/px4fmu_common/init.d/airframes/3100_tbs_caipirinha
@ -25,24 +25,18 @@
 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
--- a/ROMFS/px4fmu_common/init.d/airframes/4003_qavr5
+++ b/ROMFS/px4fmu_common/init.d/airframes/4003_qavr5
@ -20,15 +20,9 @@ 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
--- a/ROMFS/px4fmu_common/init.d/airframes/4009_qav250
+++ b/ROMFS/px4fmu_common/init.d/airframes/4009_qav250
@ -33,7 +33,6 @@ 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
--- a/ROMFS/px4fmu_common/init.d/airframes/4010_dji_f330
+++ b/ROMFS/px4fmu_common/init.d/airframes/4010_dji_f330
@ -6,6 +6,7 @@
 # @class Copter
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
+# @board px4_fmu-v2 exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@ -14,17 +15,10 @@ 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
--- a/ROMFS/px4fmu_common/init.d/airframes/4011_dji_f450
+++ b/ROMFS/px4fmu_common/init.d/airframes/4011_dji_f450
@ -14,17 +14,10 @@ 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
--- a/ROMFS/px4fmu_common/init.d/airframes/4014_s500
+++ b/ROMFS/px4fmu_common/init.d/airframes/4014_s500
@ -21,5 +21,3 @@ 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
--- a/ROMFS/px4fmu_common/init.d/airframes/4015_holybro_s500
+++ b/ROMFS/px4fmu_common/init.d/airframes/4015_holybro_s500
@ -18,7 +18,6 @@ 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
--- a/ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision
+++ b/ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision
@ -33,7 +33,6 @@ 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 +40,6 @@ 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 +64,8 @@ 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 +77,6 @@ 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
@ -102,23 +92,17 @@ param set-default MPC_LAND_ALT2 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
--- a/ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames
+++ b/ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames
@ -21,13 +21,10 @@
 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
--- a/ROMFS/px4fmu_common/init.d/airframes/4030_3dr_solo
+++ b/ROMFS/px4fmu_common/init.d/airframes/4030_3dr_solo
@ -48,7 +48,6 @@ param set-default CBRK_IO_SAFETY    22027
 param set-default CBRK_SUPPLY_CHK   894281

 # RC configuration
-param set-default RC_MAP_MODE_SW    5
 param set-default RC_MAP_PITCH      2
 param set-default RC_MAP_ROLL       1
 param set-default RC_MAP_THROTTLE   3
--- a/ROMFS/px4fmu_common/init.d/airframes/4031_3dr_quad
+++ b/ROMFS/px4fmu_common/init.d/airframes/4031_3dr_quad
@ -16,8 +16,6 @@
 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
--- a/ROMFS/px4fmu_common/init.d/airframes/4040_reaper
+++ b/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
--- a/Show More
+++ b/Show More