[DO NOT MERGE] parameter testing

.ci/Jenkinsfile-compile

@@ -28,7 +28,7 @@ pipeline {
           ]
 
           def base_builds = [
-            target: ["px4_sitl_default"],
+            target: ["px4_sitl_rtps"],
             image: docker_images.base,
             archive: false
           ]
@@ -60,20 +60,24 @@ pipeline {
                      "holybro_kakutef7_default",
                      "holybro_pix32v5_default",
                      "matek_h743-slim",
-                     "matek_gnss-m9n-f4_canbootloader",
-                     "matek_gnss-m9n-f4_default",
                      "modalai_fc-v1_default",
+                     "modalai_fc-v1_rtps",
                      "modalai_fc-v2_default",
                      "mro_ctrl-zero-f7_default",
                      "mro_ctrl-zero-f7-oem_default",
                      "mro_ctrl-zero-h7_default",
+                     "mro_ctrl-zero-h7_rtps",
                      "mro_ctrl-zero-h7-oem_default",
+                     "mro_ctrl-zero-h7-oem_rtps",
                      "mro_pixracerpro_default",
+                     "mro_pixracerpro_rtps",
                      "mro_x21-777_default",
                      "mro_x21_default",
                      "nxp_fmuk66-e_default",
+                     "nxp_fmuk66-e_rtps",
                      "nxp_fmuk66-e_socketcan",
                      "nxp_fmuk66-v3_default",
+                     "nxp_fmuk66-v3_rtps",
                      "nxp_fmuk66-v3_socketcan",
                      "nxp_fmurt1062-v1_default",
                      "nxp_ucans32k146_canbootloader",
@@ -89,6 +93,7 @@ pipeline {
                      "px4_fmu-v4pro_default",
                      "px4_fmu-v5_debug",
                      "px4_fmu-v5_default",
+                     "px4_fmu-v5_rtps",
                      "px4_fmu-v5_stackcheck",
                      "px4_fmu-v5_uavcanv0periph",
                      "px4_fmu-v5_uavcanv1",

.ci/Jenkinsfile-hardware

@@ -73,8 +73,10 @@ pipeline {
                 }
               }
               post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                 always {
-                  sh 'cat /tmp/pyserial_spy_file.txt || true'
                   sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf || true'
                 }
               }
@@ -143,8 +145,10 @@ pipeline {
                 }
               }
               post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                 always {
-                  sh 'cat /tmp/pyserial_spy_file.txt || true'
                   sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cuav_x7pro_test/cuav_x7pro_test.elf || true'
                 }
               }
@@ -213,8 +217,10 @@ pipeline {
                 }
               }
               post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                 always {
-                  sh 'cat /tmp/pyserial_spy_file.txt || true'
                   sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf || true'
                 }
               }
@@ -282,8 +288,10 @@ pipeline {
                 }
               }
               post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                 always {
-                  sh 'cat /tmp/pyserial_spy_file.txt || true'
                   sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf || true'
                 }
               }
@@ -352,8 +360,10 @@ pipeline {
                 }
               }
               post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                 always {
-                  sh 'cat /tmp/pyserial_spy_file.txt || true'
                   sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf || true'
                 }
               }
@@ -442,8 +452,10 @@ pipeline {
                 }
               }
               post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                 always {
-                  sh 'cat /tmp/pyserial_spy_file.txt || true'
                   sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf || true'
                 }
               }
@@ -524,8 +536,10 @@ pipeline {
                 }
               }
               post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                 always {
-                  sh 'cat /tmp/pyserial_spy_file.txt || true'
                   sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf || true'
                 }
               }
@@ -594,8 +608,10 @@ pipeline {
                 }
               }
               post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                 always {
-                  sh 'cat /tmp/pyserial_spy_file.txt || true'
                   sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf || true'
                 }
               }
@@ -664,8 +680,10 @@ pipeline {
                 }
               }
               post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                 always {
-                  sh 'cat /tmp/pyserial_spy_file.txt || true'
                   sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf || true'
                 }
               }
@@ -725,10 +743,8 @@ 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 SYS*"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
   sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
   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 "param dump"'
 
   // run logger
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"'
@@ -762,7 +778,6 @@ void checkStatus() {
   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 dump"'
   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"'
@@ -774,8 +789,8 @@ void checkStatus() {
   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'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a" || true'
+  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 "ver all"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
   // stop logger
@@ -797,8 +812,6 @@ void runTests() {
 
   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/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SENS_IMU_AUTOCAL" --value "0" || true' // disable during testing
-  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SENS_MAG_AUTOCAL" --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/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
@@ -844,7 +857,7 @@ void runTests() {
 void printTopics() {
   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 "uorb status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a"'
 
   // 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'
@@ -861,7 +874,7 @@ void printTopics() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener distance_sensor" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener ekf2_timestamps" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_gps_status" || 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'

.clusterfuzzlite/Dockerfile

@@ -1,7 +0,0 @@
-FROM gcr.io/oss-fuzz-base/base-builder:v1
-COPY . $SRC/PX4-Autopilot
-RUN apt-get install -y libjpeg8-dev zlib1g-dev
-RUN pip3 install --upgrade pip
-RUN python3 -m pip install -r $SRC/PX4-Autopilot/Tools/setup/requirements.txt
-WORKDIR $SRC/PX4-Autopilot
-COPY ./.clusterfuzzlite/build.sh $SRC/

.clusterfuzzlite/build.sh

@@ -1,4 +0,0 @@
-#!/usr/bin/env bash -eu
-
-PX4_FUZZ=1 make px4_sitl
-cp build/px4_sitl_default/bin/px4 $OUT/px4

.clusterfuzzlite/project.yaml

@@ -1 +0,0 @@
-language: c++

.github/workflows/cflite_batch.yml

@@ -1,34 +0,0 @@
-name: ClusterFuzzLite batch fuzzing
-on:
-  schedule:
-    - cron: '0 6 * * *'  # UTC 6am every day.
-permissions: read-all
-jobs:
-  BatchFuzzing:
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      matrix:
-        sanitizer:
-        - address
-        - undefined
-        - memory
-    steps:
-    - name: Build Fuzzers (${{ matrix.sanitizer }})
-      id: build
-      uses: google/clusterfuzzlite/actions/build_fuzzers@v1
-      with:
-        sanitizer: ${{ matrix.sanitizer }}
-    - name: Run Fuzzers (${{ matrix.sanitizer }})
-      id: run
-      uses: google/clusterfuzzlite/actions/run_fuzzers@v1
-      with:
-        github-token: ${{ secrets.GITHUB_TOKEN }}
-        fuzz-seconds: 1800 # 30 mins
-        mode: 'batch'
-        sanitizer: ${{ matrix.sanitizer }}
-        # Optional but recommended: For storing certain artifacts from fuzzing.
-        # See later section on "Git repo for storage".
-        # storage-repo: https://${{ secrets.PERSONAL_ACCESS_TOKEN }}@github.com/OWNER/STORAGE-REPO-NAME.git
-        # storage-repo-branch: main   # Optional. Defaults to "main"
-        # storage-repo-branch-coverage: gh-pages  # Optional. Defaults to "gh-pages".

.github/workflows/checks.yml

@@ -23,6 +23,7 @@ jobs:
           "shellcheck_all",
           "NO_NINJA_BUILD=1 px4_fmu-v5_default",
           "NO_NINJA_BUILD=1 px4_sitl_default",
+          "BUILD_MICRORTPS_AGENT=1 px4_sitl_rtps",
           "airframe_metadata",
           "module_documentation",
           "parameters_metadata",

.github/workflows/compile_nuttx.yml

@@ -33,10 +33,8 @@ jobs:
           holybro_can-gps-v1,
           holybro_durandal-v1,
           holybro_kakutef7,
-          holybro_kakuteh7,
           holybro_pix32v5,
           matek_h743-slim,
-          matek_gnss-m9n-f4,
           modalai_fc-v1,
           modalai_fc-v2,
           mro_ctrl-zero-f7,

.github/workflows/metadata.yml

@@ -115,3 +115,43 @@ jobs:
         cd Tools/uorb_graph
         ls -ls *
       # TODO: deploy graph_px4_sitl.json to S3 px4-travis:Firmware/master/
+
+  micrortps_agent:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2021-09-08
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: microRTPS agent
+      run: |
+        make px4_sitl_rtps
+        git clone https://github.com/PX4/micrortps_agent.git
+        cp -R build/px4_sitl_rtps/src/modules/micrortps_bridge/micrortps_agent/* micrortps_agent
+
+  ROS_msgs:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2021-09-08
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: PX4 ROS msgs
+      run: |
+        git clone https://github.com/PX4/px4_msgs.git
+        python3 msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/
+
+  ROS2_bridge:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2021-09-08
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: PX4 ROS2 bridge
+      run: |
+        git clone https://github.com/PX4/px4_ros_com.git
+        ./msg/tools/uorb_to_ros_urtps_topics.py -i msg/tools/urtps_bridge_topics.yaml -o px4_ros_com/templates/urtps_bridge_topics.yaml

.gitmodules

@@ -18,6 +18,10 @@
 	path = src/drivers/gps/devices
 	url = https://github.com/PX4/PX4-GPSDrivers.git
 	branch = master
+[submodule "src/modules/micrortps_bridge/micro-CDR"]
+	path = src/modules/micrortps_bridge/micro-CDR
+	url = https://github.com/PX4/Micro-CDR.git
+	branch = master
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
 	url = https://github.com/PX4/NuttX.git

.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
@@ -26,11 +31,6 @@ CONFIG:
       buildType: RelWithDebInfo
       settings:
         CONFIG: px4_sitl_test
-    px4_ros2_default:
-      short: px4_ros2
-      buildType: RelWithDebInfo
-      settings:
-        CONFIG: px4_ros2_default
     px4_io-v2_default:
       short: px4_io-v2
       buildType: MinSizeRel
@@ -196,16 +196,6 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: matek_h743-slim_default
-    matek_gnss-m9n-f4_canbootloader:
-      short: matek_gnss-m9n-f4_canbootloader
-      buildType: MiniSizeRel
-      settings:
-        CONFIG: matek_m9nf4can_canbootloader
-    matek_gnss-m9n-f4_default:
-      short: matek_gnss-m9n-f4_default
-      buildType: MiniSizeRel
-      settings:
-        CONFIG: matek_gnss-m9n-f4_default
     modalai_fc-v1_default:
       short: modalai_fc-v1
       buildType: MinSizeRel

.vscode/settings.json

@@ -6,7 +6,7 @@
         "C_Cpp.autoAddFileAssociations": false,
         "C_Cpp.clang_format_fallbackStyle": "none",
         "C_Cpp.default.browse.limitSymbolsToIncludedHeaders": true,
-        "C_Cpp.default.cppStandard": "c++17",
+        "C_Cpp.default.cppStandard": "c++14",
         "C_Cpp.default.cStandard": "c11",
         "C_Cpp.formatting": "Disabled",
         "C_Cpp.intelliSenseEngine": "Default",
@@ -121,7 +121,6 @@
                 "variant": "cpp",
                 "vector": "cpp"
         },
-        "ros.distro": "foxy",
         "search.exclude": {
                 "${workspaceFolder}/build": true
         },
@@ -137,7 +136,5 @@
         "yaml.schemas": {
                 "${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml"
         },
-        "python.autoComplete.extraPaths": [
-                "/opt/ros/foxy/lib/python3.8/site-packages"
-        ]
+        "cortex-debug.openocdPath": "${env:PICO_SDK_PATH}/../openocd/src/openocd"       // Added for rp2040
 }

.ycm_extra_conf.py

@@ -0,0 +1,172 @@
+# This file is NOT licensed under the GPLv3, which is the license for the rest
+# of YouCompleteMe.
+#
+# Here's the license text for this file:
+#
+# This is free and unencumbered software released into the public domain.
+#
+# Anyone is free to copy, modify, publish, use, compile, sell, or
+# distribute this software, either in source code form or as a compiled
+# binary, for any purpose, commercial or non-commercial, and by any
+# means.
+#
+# In jurisdictions that recognize copyright laws, the author or authors
+# of this software dedicate any and all copyright interest in the
+# software to the public domain. We make this dedication for the benefit
+# of the public at large and to the detriment of our heirs and
+# successors. We intend this dedication to be an overt act of
+# relinquishment in perpetuity of all present and future rights to this
+# software under copyright law.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+# IN NO EVENT SHALL THE AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR
+# OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
+# ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
+# OTHER DEALINGS IN THE SOFTWARE.
+#
+# For more information, please refer to <http://unlicense.org/>
+
+import os
+import ycm_core
+
+# These are the compilation flags that will be used in case there's no
+# compilation database set (by default, one is not set).
+# CHANGE THIS LIST OF FLAGS. YES, THIS IS THE DROID YOU HAVE BEEN LOOKING FOR.
+flags = [
+'-Wall',
+'-Wextra',
+'-Werror',
+#'-Wc++98-compat',
+'-Wno-long-long',
+'-Wno-variadic-macros',
+'-fexceptions',
+'-DNDEBUG',
+# You 100% do NOT need -DUSE_CLANG_COMPLETER in your flags; only the YCM
+# source code needs it.
+#'-DUSE_CLANG_COMPLETER',
+# THIS IS IMPORTANT! Without a "-std=<something>" flag, clang won't know which
+# language to use when compiling headers. So it will guess. Badly. So C++
+# headers will be compiled as C headers. You don't want that so ALWAYS specify
+# a "-std=<something>".
+# For a C project, you would set this to something like 'c99' instead of
+# 'c++14'.
+'-std=c++14',
+# ...and the same thing goes for the magic -x option which specifies the
+# language that the files to be compiled are written in. This is mostly
+# relevant for c++ headers.
+# For a C project, you would set this to 'c' instead of 'c++'.
+'-x',
+'c++',
+'-undef', # get rid of standard definitions to allow us to include arm math header
+'-I', os.path.join(os.path.expanduser("~"),'gcc-arm-none-eabi-4_7-2013q3/arm-none-eabi/include'),
+'-I', 'Build/px4_io-v2_default.build/nuttx-export/include/',
+'-I', './NuttX/nuttx/arch/arm/include',
+'-include', './src/include/visibility.h',
+'-I', './src',
+'-I', './src/modules',
+'-I', './src/include',
+'-I', './src/lib',
+'-I', './NuttX',
+]
+
+
+# Set this to the absolute path to the folder (NOT the file!) containing the
+# compile_commands.json file to use that instead of 'flags'. See here for
+# more details: http://clang.llvm.org/docs/JSONCompilationDatabase.html
+#
+# Most projects will NOT need to set this to anything; you can just change the
+# 'flags' list of compilation flags. Notice that YCM itself uses that approach.
+compilation_database_folder = ''
+
+if os.path.exists( compilation_database_folder ):
+  database = ycm_core.CompilationDatabase( compilation_database_folder )
+else:
+  database = None
+
+SOURCE_EXTENSIONS = [ '.cpp', '.cxx', '.cc', '.c', '.m', '.mm' ]
+
+def DirectoryOfThisScript():
+  return os.path.dirname( os.path.abspath( __file__ ) )
+
+
+def MakeRelativePathsInFlagsAbsolute( flags, working_directory ):
+  if not working_directory:
+    return list( flags )
+  new_flags = []
+  make_next_absolute = False
+  path_flags = [ '-isystem', '-I', '-iquote', '--sysroot=' ]
+  for flag in flags:
+    new_flag = flag
+
+    if make_next_absolute:
+      make_next_absolute = False
+      if not flag.startswith( '/' ):
+        new_flag = os.path.join( working_directory, flag )
+
+    for path_flag in path_flags:
+      if flag == path_flag:
+        make_next_absolute = True
+        break
+
+      if flag.startswith( path_flag ):
+        path = flag[ len( path_flag ): ]
+        new_flag = path_flag + os.path.join( working_directory, path )
+        break
+
+    if new_flag:
+      new_flags.append( new_flag )
+  return new_flags
+
+
+def IsHeaderFile( filename ):
+  extension = os.path.splitext( filename )[ 1 ]
+  return extension in [ '.h', '.hxx', '.hpp', '.hh' ]
+
+
+def GetCompilationInfoForFile( filename ):
+  # The compilation_commands.json file generated by CMake does not have entries
+  # for header files. So we do our best by asking the db for flags for a
+  # corresponding source file, if any. If one exists, the flags for that file
+  # should be good enough.
+  if IsHeaderFile( filename ):
+    basename = os.path.splitext( filename )[ 0 ]
+    for extension in SOURCE_EXTENSIONS:
+      replacement_file = basename + extension
+      if os.path.exists( replacement_file ):
+        compilation_info = database.GetCompilationInfoForFile(
+          replacement_file )
+        if compilation_info.compiler_flags_:
+          return compilation_info
+    return None
+  return database.GetCompilationInfoForFile( filename )
+
+
+def FlagsForFile( filename, **kwargs ):
+  if database:
+    # Bear in mind that compilation_info.compiler_flags_ does NOT return a
+    # python list, but a "list-like" StringVec object
+    compilation_info = GetCompilationInfoForFile( filename )
+    if not compilation_info:
+      return None
+
+    final_flags = MakeRelativePathsInFlagsAbsolute(
+      compilation_info.compiler_flags_,
+      compilation_info.compiler_working_dir_ )
+
+    # NOTE: This is just for YouCompleteMe; it's highly likely that your project
+    # does NOT need to remove the stdlib flag. DO NOT USE THIS IN YOUR
+    # ycm_extra_conf IF YOU'RE NOT 100% SURE YOU NEED IT.
+    #try:
+    #  final_flags.remove( '-stdlib=libc++' )
+    #except ValueError:
+    #  pass
+  else:
+    relative_to = DirectoryOfThisScript()
+    final_flags = MakeRelativePathsInFlagsAbsolute( flags, relative_to )
+
+  return {
+    'flags': final_flags,
+    'do_cache': True
+  }

CMakeLists.txt

@@ -1,6 +1,6 @@
 ############################################################################
 #
-# Copyright (c) 2017 - 2022 PX4 Development Team. All rights reserved.
+# Copyright (c) 2017 - 2019 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -101,8 +101,6 @@
 
 cmake_minimum_required(VERSION 3.2 FATAL_ERROR)
 
-cmake_policy(SET CMP0058 NEW)
-
 set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}" CACHE FILEPATH "PX4 source directory" FORCE)
 set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}" CACHE FILEPATH "PX4 binary directory" FORCE)
 
@@ -127,11 +125,6 @@ define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES
                  FULL_DOCS "List of all PX4 module libraries"
                  )
 
-define_property(GLOBAL PROPERTY PX4_KERNEL_MODULE_LIBRARIES
-                 BRIEF_DOCS "PX4 kernel side module libs"
-                 FULL_DOCS "List of all PX4 kernel module libraries"
-                 )
-
 define_property(GLOBAL PROPERTY PX4_MODULE_PATHS
                  BRIEF_DOCS "PX4 module paths"
                  FULL_DOCS "List of paths to all PX4 modules"
@@ -140,41 +133,29 @@ define_property(GLOBAL PROPERTY PX4_SRC_FILES
                  BRIEF_DOCS "src files from all PX4 modules & libs"
                  FULL_DOCS "SRC files from px4_add_{module,library}"
                  )
-define_property(GLOBAL PROPERTY PX4_PUBLICATIONS
-                 BRIEF_DOCS "PX4 publication topics"
-                 FULL_DOCS "List of topics published by PX4 modules"
-                 )
-define_property(GLOBAL PROPERTY PX4_SUBSCRIPTIONS
-                 BRIEF_DOCS "PX4 subscription topics"
-                 FULL_DOCS "List of topics subscribed by PX4 modules"
-                 )
+
 #=============================================================================
 # configuration
 #
 
-# default to px4_ros2_default if building within a ROS2 colcon environment
-if((DEFINED ENV{COLCON_PREFIX_PATH}) AND (DEFINED ENV{ROS_VERSION}))
-	if("$ENV{ROS_VERSION}" MATCHES "2")
-		message(STATUS "ROS_VERSION: $ENV{ROS_VERSION}")
-		set(CONFIG "px4_ros2_default" CACHE STRING "desired configuration") # TODO
-	endif()
-endif()
-
-if(NOT CONFIG)
-	set(CONFIG "px4_sitl_default" CACHE STRING "desired configuration")
-endif()
+set(CONFIG "px4_sitl_default" CACHE STRING "desired configuration")
 
 include(px4_add_module)
 set(config_module_list)
-set(config_kernel_list)
 
 # Find Python
-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")
+# 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)
@@ -210,6 +191,10 @@ set_property(GLOBAL PROPERTY PX4_MODULE_CONFIG_FILES)
 include(platforms/${PX4_PLATFORM}/cmake/px4_impl_os.cmake)
 list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake)
 
+if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake/init.cmake")
+	include(init)
+endif()
+
 # CMake build type (Debug Release RelWithDebInfo MinSizeRel Coverage)
 if(NOT CMAKE_BUILD_TYPE)
 	if(${PX4_PLATFORM} STREQUAL "nuttx")
@@ -245,18 +230,20 @@ project(px4 CXX C ASM)
 
 set(package-contact "px4users@googlegroups.com")
 
-set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD 14)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_C_STANDARD 11)
 set(CMAKE_C_STANDARD_REQUIRED ON)
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PX4_BINARY_DIR})
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${PX4_BINARY_DIR})
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${PX4_BINARY_DIR})
-
-if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake/init.cmake")
-	include(init)
+# For the catkin build process, unset build of dynamically-linked binaries
+# and do not change CMAKE_RUNTIME_OUTPUT_DIRECTORY
+if (NOT CATKIN_DEVEL_PREFIX)
+	set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PX4_BINARY_DIR})
+	set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${PX4_BINARY_DIR})
+	set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${PX4_BINARY_DIR})
+else()
+	SET(BUILD_SHARED_LIBS OFF)
 endif()
 
 #=============================================================================
@@ -302,6 +289,21 @@ endif()
 
 include(ccache)
 
+#=============================================================================
+# find programs and packages
+#
+
+# see if catkin was invoked to build this
+if (CATKIN_DEVEL_PREFIX)
+	message(STATUS "catkin ENABLED")
+	find_package(catkin REQUIRED)
+	if (catkin_FOUND)
+		catkin_package()
+	else()
+		message(FATAL_ERROR "catkin not found")
+	endif()
+endif()
+
 #=============================================================================
 # get chip and chip manufacturer
 #
@@ -313,13 +315,6 @@ if(NOT PX4_CHIP)
 	message(FATAL_ERROR "px4_os_determine_build_chip() needs to set PX4_CHIP")
 endif()
 
-#=============================================================================
-# board cmake init (optional)
-#
-if(EXISTS ${PX4_BOARD_DIR}/cmake/init.cmake)
-	include(${PX4_BOARD_DIR}/cmake/init.cmake)
-endif()
-
 #=============================================================================
 # build flags
 #
@@ -327,6 +322,13 @@ include(px4_add_common_flags)
 px4_add_common_flags()
 px4_os_add_flags()
 
+#=============================================================================
+# board cmake init (optional)
+#
+if(EXISTS ${PX4_BOARD_DIR}/cmake/init.cmake)
+	include(${PX4_BOARD_DIR}/cmake/init.cmake)
+endif()
+
 #=============================================================================
 # message, and airframe generation
 #
@@ -408,13 +410,8 @@ add_library(parameters_interface INTERFACE)
 include(px4_add_library)
 add_subdirectory(src/lib EXCLUDE_FROM_ALL)
 
-add_subdirectory(platforms/${PX4_PLATFORM}/src/px4 EXCLUDE_FROM_ALL)
-
-if(${PX4_PLATFORM} MATCHES "ros2") # TODO: fix
-	add_subdirectory(platforms/common/work_queue EXCLUDE_FROM_ALL)
-else()
-	add_subdirectory(platforms EXCLUDE_FROM_ALL)
-endif()
+add_subdirectory(platforms/${PX4_PLATFORM}/src/px4)
+add_subdirectory(platforms EXCLUDE_FROM_ALL)
 
 if(EXISTS "${PX4_BOARD_DIR}/CMakeLists.txt")
 	add_subdirectory(${PX4_BOARD_DIR})
@@ -436,126 +433,6 @@ target_link_libraries(parameters_interface INTERFACE parameters)
 # firmware added last to generate the builtin for included modules
 add_subdirectory(platforms/${PX4_PLATFORM})
 
-
-set(PX4_ORB_TOPIC_COUNT 0)
-
-if(${PX4_PLATFORM} MATCHES "ros2") # TODO: fix
-
-	configure_file(${CMAKE_SOURCE_DIR}/build/px4_fmu-v5x_default/uORBTopics.cpp ${CMAKE_BINARY_DIR}/uORBTopics.cpp COPYONLY)
-	configure_file(${CMAKE_SOURCE_DIR}/build/px4_fmu-v5x_default/uORBTopics.hpp ${CMAKE_BINARY_DIR}/uORBTopics.hpp COPYONLY)
-
-	set(PX4_ORB_TOPIC_COUNT 1)
-
-else()
-
-	get_property(publications GLOBAL PROPERTY PX4_PUBLICATIONS)
-	get_property(subscriptions GLOBAL PROPERTY PX4_SUBSCRIPTIONS)
-
-	# TODO: for now combine subsriptions and publications for complete topic list
-	list(APPEND publications ${subscriptions})
-
-	list(SORT publications)
-	list(REMOVE_DUPLICATES publications)
-
-	set(pub_all_topics)
-	set(PX4_MSG_TYPE_ID)
-	set(PX4_MSG_TOPIC_ID)
-	set(PX4_MSG_TOPIC_ID_STRING)
-	set(PX4_MSG_TOPIC_ORB_ID)
-
-	set(PX4_ORB_DECLARE_STR)
-	set(PX4_ORB_DEFINE_STR)
-	set(PX4_ORB_HEADER_INCLUDE_STR)
-
-
-	foreach(pub ${publications})
-		#message(STATUS "pub: ${pub}")
-		string(REPLACE " /" ";" pub ${pub})
-
-		list(GET pub 0 pub_type)
-		list(GET pub 1 pub_topic)
-
-		string(REPLACE "::" ";" pub_type_split ${pub_type})
-		list(GET pub_type_split 2 pub_type_simple_lower)
-
-		# Pascal case to snake case (PubType -> pub_type)
-		string(REGEX REPLACE "(.)([A-Z][a-z]+)" "\\1_\\2" pub_type_simple_lower "${pub_type_simple_lower}")
-		string(REGEX REPLACE "([a-z0-9])([A-Z])" "\\1_\\2" pub_type_simple_lower "${pub_type_simple_lower}")
-		string(TOLOWER "${pub_type_simple_lower}" pub_type_simple_lower)
-
-		#message(STATUS "pub: Type: ${pub_type}, Topic: ${pub_topic} (${pub_type_simple_lower})")
-
-
-
-
-		# pub_type to include path (eg px4::msg::VehicleStatus => px4/msg/vehicle_status.hpp)
-		#  temporary create px4/msg/vehicle_status.hpp which simply includes <uORB/topics/vehicle_status.h>
-
-
-
-
-		list(APPEND pub_all_topics ${pub_topic})
-
-		list(APPEND PX4_MSG_TYPE_ID ${pub_type})
-
-		#list(APPEND PX4_MSG_TOPIC_ID ${pub_topic})
-		set(PX4_MSG_TOPIC_ID "${PX4_MSG_TOPIC_ID}\t${pub_topic},\n")
-		#set(PX4_MSG_TOPIC_ID_STRING "${PX4_MSG_TOPIC_ID_STRING}\t"case ORB_ID::${pub_topic}: return \"${pub_topic}\";"\n")
-		set(PX4_MSG_TOPIC_ORB_ID "${PX4_MSG_TOPIC_ORB_ID}\tORB_ID(${pub_topic}),\n")
-
-		list(APPEND PX4_MSG_TOPIC_ID_STRING
-			"case ORB_ID::${pub_topic}: return \"${pub_topic}\";\n"
-		)
-
-		# PX4_MSG_TYPE_ID
-		# PX4_MSG_TOPIC_ID
-
-		# .h  ORB_DECLARE(actuator_controls_0);
-		# .c  ORB_DEFINE(actuator_controls_0, struct actuator_controls_s, 48, __orb_actuator_controls_fields, static_cast<uint8_t>(ORB_ID::actuator_controls_0));
-
-
-		set(PX4_ORB_DECLARE_STR
-			"${PX4_ORB_DECLARE_STR}ORB_DECLARE(${pub_topic});\n")
-
-		# ORB_DEFINE(actuator_armed, struct actuator_armed_s, 16, __orb_actuator_armed_fields, static_cast<uint8_t>(ORB_ID::actuator_armed));
-		set(PX4_ORB_DEFINE_STR
-			"${PX4_ORB_DEFINE_STR}ORB_DEFINE(${pub_topic}, ${pub_type}, px4_embedded::${pub_type_simple_lower}_s::SIZE_NO_PADDING, px4_embedded::${pub_type_simple_lower}_s::FIELDS, static_cast<uint8_t>(ORB_ID::${pub_topic}));\n")
-
-		set(PX4_ORB_HEADER_INCLUDE_STR
-			"${PX4_ORB_HEADER_INCLUDE_STR}#include <uORB/topics/${pub_type_simple_lower}.h>\n")
-
-		math(EXPR PX4_ORB_TOPIC_COUNT "${PX4_ORB_TOPIC_COUNT}+1")
-
-	endforeach()
-	list(REMOVE_DUPLICATES PX4_MSG_TYPE_ID)
-	#list(REMOVE_DUPLICATES PX4_MSG_TOPIC_ID)
-
-	#message(STATUS "PX4_MSG_TYPE_ID: ${PX4_MSG_TYPE_ID}")
-	#message(STATUS "PX4_MSG_TOPIC_ID: ${PX4_MSG_TOPIC_ID}")
-
-	if(PX4_ORB_TOPIC_COUNT GREATER 0)
-		configure_file(uORBTopics.cpp.in ${CMAKE_BINARY_DIR}/uORBTopics.cpp)
-		configure_file(uORBTopics.hpp.in ${CMAKE_BINARY_DIR}/uORBTopics.hpp)
-	endif()
-
-	# .hpp enum ORB_ID
-	# .cpp struct orb_metadat ORB_ID() array
-
-	foreach(f ${msg_files})
-		#message(STATUS "MSG: ${f}")
-	endforeach()
-endif()
-
-if(PX4_ORB_TOPIC_COUNT GREATER 0)
-	add_library(uorb_msgs ${uorb_headers} ${CMAKE_BINARY_DIR}/uORBTopics.cpp ${CMAKE_BINARY_DIR}/uORBTopics.hpp)
-	add_dependencies(uorb_msgs prebuild_targets uorb_headers)
-endif()
-
-if(${PX4_PLATFORM} MATCHES "ros2") # TODO: fix
-	ament_target_dependencies(uorb_msgs rclcpp std_msgs)
-	rosidl_target_interfaces(uorb_msgs ${PROJECT_NAME} "rosidl_typesupport_cpp")
-endif()
-
 #=============================================================================
 # uORB graph generation: add a custom target 'uorb_graph'
 #
@@ -583,13 +460,17 @@ include(doxygen)
 include(metadata)
 include(package)
 
+# print size
+add_custom_target(size
+	COMMAND size $<TARGET_FILE:px4>
+	DEPENDS px4
+	WORKING_DIRECTORY ${PX4_BINARY_DIR}
+	USES_TERMINAL
+	)
+
 # install python requirements using configured python
 add_custom_target(install_python_requirements
 	COMMAND ${PYTHON_EXECUTABLE} -m pip install --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
 	DEPENDS ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
 	USES_TERMINAL
 )
-
-if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake/finalize.cmake")
-	include(finalize)
-endif()

Documentation/Doxyfile.in

@@ -829,6 +829,7 @@ RECURSIVE              = YES
 # run.
 
 EXCLUDE                = @CMAKE_SOURCE_DIR@/src/modules/uavcan/libuavcan \
+                         @CMAKE_SOURCE_DIR@/src/modules/micrortps_bridge/micro-CDR \
                          @CMAKE_SOURCE_DIR@/src/examples \
                          @CMAKE_SOURCE_DIR@/src/templates
 

Jenkinsfile

@@ -12,6 +12,76 @@ pipeline {
         }
       }
       parallel {
+        // stage('Catkin build on ROS workspace') {
+        //   agent {
+        //     docker {
+        //       image 'px4io/px4-dev-ros-melodic:2021-08-18'
+        //       args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
+        //     }
+        //   }
+        //   steps {
+        //     sh 'ls -l'
+        //     sh '''#!/bin/bash -l
+        //       echo $0;
+        //       mkdir -p catkin_ws/src;
+        //       cd catkin_ws;
+        //       git -C ${WORKSPACE}/catkin_ws/src/Firmware submodule update --init --recursive --force Tools/sitl_gazebo
+        //       git clone --recursive ${WORKSPACE}/catkin_ws/src/Firmware/Tools/sitl_gazebo src/mavlink_sitl_gazebo;
+        //       git -C ${WORKSPACE}/catkin_ws/src/Firmware fetch --tags;
+        //       source /opt/ros/melodic/setup.bash;
+        //       export PYTHONPATH=/opt/ros/$ROS_DISTRO/lib/python2.7/dist-packages:/usr/lib/python2.7/dist-packages:/usr/local/lib/python2.7/dist-packages;
+        //       catkin init;
+        //       catkin build -j$(nproc) -l$(nproc);
+        //     '''
+        //     // test if the binary was correctly installed and runs using 'mavros_posix_silt.launch'
+        //     sh '''#!/bin/bash -l
+        //       echo $0;
+        //       source catkin_ws/devel/setup.bash;
+        //       rostest px4 pub_test.launch;
+        //     '''
+        //   }
+        //   post {
+        //     always {
+        //       sh 'rm -rf catkin_ws'
+        //     }
+        //     failure {
+        //       archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.xml, .ros/**/*.log')
+        //     }
+        //   }
+        //   options {
+        //     checkoutToSubdirectory('catkin_ws/src/Firmware')
+        //   }
+        // }
+
+        stage('Colcon build on ROS2 workspace') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-ros2-foxy:2021-08-18'
+              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
+            }
+          }
+          steps {
+            sh 'ls -l'
+            sh '''#!/bin/bash -l
+              echo $0;
+              unset ROS_DISTRO;
+              mkdir -p colcon_ws/src;
+              cd colcon_ws;
+              git -C ${WORKSPACE}/colcon_ws/src/Firmware submodule update --init --recursive --force Tools/sitl_gazebo;
+              git -C ${WORKSPACE}/colcon_ws/src/Firmware fetch --tags;
+              source /opt/ros/foxy/setup.sh;
+              colcon build --event-handlers console_direct+ --symlink-install;
+            '''
+          }
+          post {
+            always {
+              sh 'rm -rf colcon_ws'
+            }
+          }
+          options {
+            checkoutToSubdirectory('colcon_ws/src/Firmware')
+          }
+        }
 
         stage('Airframe') {
           agent {
@@ -184,6 +254,108 @@ pipeline {
           }
         }
 
+        stage('microRTPS agent') {
+          agent {
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
+          }
+          steps {
+            sh('export')
+            sh('git fetch --all --tags')
+            sh('make distclean; git clean -ff -x -d .')
+            sh('make px4_sitl_rtps')
+            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
+              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/micrortps_agent.git -b ${BRANCH_NAME}")
+              sh("rm -rf micrortps_agent/src micrortps_agent/idl")
+              sh('cp -R build/px4_sitl_rtps/src/modules/micrortps_bridge/micrortps_agent/* micrortps_agent')
+              sh('cd micrortps_agent; git status; git add src; git commit -a -m "Update microRTPS agent source code `date`" || true')
+              sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
+              sh('cd micrortps_agent; git status; git add idl; git commit -a -m "Update IDL definitions `date`" || true')
+              sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
+              sh('cd micrortps_agent; git status; git add CMakeLists.txt; git commit -a -m "Update CMakeLists.txt `date`" || true')
+              sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
+              sh('rm -rf micrortps_agent')
+            }
+          }
+          when {
+            anyOf {
+              branch 'master'
+              branch 'pr-jenkins' // for testing
+            }
+          }
+        }
+
+        stage('PX4 ROS msgs') {
+          agent {
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
+          }
+          steps {
+            sh('export')
+            sh('make distclean; git clean -ff -x -d .')
+            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
+              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
+              // 'master' branch
+              sh('./msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
+              sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
+              sh('cd px4_msgs; git push origin master || true')
+              // 'ros1' branch
+              sh('cd px4_msgs; git checkout ros1')
+              sh('./msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
+              sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
+              sh('cd px4_msgs; git push origin ros1 || true')
+              sh('rm -rf px4_msgs')
+            }
+          }
+          when {
+            anyOf {
+              branch 'master'
+              branch 'pr-jenkins' // for testing
+            }
+          }
+        }
+
+        stage('PX4 ROS2 bridge') {
+          agent {
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
+          }
+          steps {
+            sh('export')
+            sh('make distclean; git clean -ff -x -d .')
+            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
+              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_ros_com.git -b ${BRANCH_NAME}")
+              // deploy uORB RTPS ID map
+              sh('./msg/tools/uorb_to_ros_urtps_topics.py -i msg/tools/urtps_bridge_topics.yaml -o px4_ros_com/templates/urtps_bridge_topics.yaml')
+              sh('cd px4_ros_com; git status; git add .; git commit -a -m "Update uORB RTPS ID map `date`" || true')
+              sh('cd px4_ros_com; git push origin ${BRANCH_NAME} || true')
+              // deploy uORB RTPS required tools
+              sh('cp msg/tools/uorb_rtps_classifier.py px4_ros_com/scripts/uorb_rtps_classifier.py')
+              sh('cp msg/tools/generate_microRTPS_bridge.py px4_ros_com/scripts/generate_microRTPS_bridge.py')
+              sh('cp msg/tools/px_generate_uorb_topic_files.py px4_ros_com/scripts/px_generate_uorb_topic_files.py')
+              sh('cp msg/tools/px_generate_uorb_topic_helper.py px4_ros_com/scripts/px_generate_uorb_topic_helper.py')
+              // deploy templates
+              sh('cp msg/templates/urtps/microRTPS_agent.cpp.em px4_ros_com/templates/microRTPS_agent.cpp.em')
+              sh('cp msg/templates/urtps/microRTPS_timesync.cpp.em px4_ros_com/templates/microRTPS_timesync.cpp.em')
+              sh('cp msg/templates/urtps/microRTPS_timesync.h.em px4_ros_com/templates/microRTPS_timesync.h.em')
+              sh('cp msg/templates/urtps/microRTPS_transport.cpp px4_ros_com/templates/microRTPS_transport.cpp')
+              sh('cp msg/templates/urtps/microRTPS_transport.h px4_ros_com/templates/microRTPS_transport.h')
+              sh('cp msg/templates/urtps/Publisher.cpp.em px4_ros_com/templates/Publisher.cpp.em')
+              sh('cp msg/templates/urtps/Publisher.h.em px4_ros_com/templates/Publisher.h.em')
+              sh('cp msg/templates/urtps/Subscriber.cpp.em px4_ros_com/templates/Subscriber.cpp.em')
+              sh('cp msg/templates/urtps/Subscriber.h.em px4_ros_com/templates/Subscriber.h.em')
+              sh('cp msg/templates/urtps/RtpsTopics.cpp.em px4_ros_com/templates/RtpsTopics.cpp.em')
+              sh('cp msg/templates/urtps/RtpsTopics.h.em px4_ros_com/templates/RtpsTopics.h.em')
+              sh('cd px4_ros_com; git status; git add .; git commit -a -m "Update uORB RTPS script tools `date`" || true')
+              sh('cd px4_ros_com; git push origin ${BRANCH_NAME} || true')
+              sh('rm -rf px4_msgs')
+            }
+          }
+          when {
+            anyOf {
+              branch 'master'
+              branch 'pr-jenkins' // for testing
+            }
+          }
+        }
+
         stage('S3') {
           agent {
             docker { image 'px4io/px4-dev-base-focal:2021-08-18' }

Kconfig

@@ -17,8 +17,6 @@ menu "Toolchain"
             bool "posix"
         config PLATFORM_QURT
             bool "qurt"
-        config PLATFORM_ROS2
-            bool "ros2"
     endchoice
 
     config BOARD_PLATFORM
@@ -26,7 +24,6 @@ menu "Toolchain"
         default "nuttx" if PLATFORM_NUTTX
         default "posix" if PLATFORM_POSIX
         default "qurt" if PLATFORM_QURT
-        default "ros2" if PLATFORM_ROS2
 
     config BOARD_LOCKSTEP
         bool "Force enable lockstep"
@@ -121,11 +118,6 @@ config BOARD_CRYPTO
     help
         Enable PX4 Crypto Support. Select the implementation under drivers
 
-config BOARD_PROTECTED
-    bool "Memory protection"
-    help
-        Enable memory protection via MPU/MMU
-
 menu "Serial ports"
 
     config BOARD_SERIAL_URT6

LICENSE

@@ -1,6 +1,6 @@
 BSD 3-Clause License
 
-Copyright (c) 2012 - 2022, PX4 Development Team
+Copyright (c) 2012 - 2021, PX4 Development Team
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

Makefile

@@ -158,11 +158,6 @@ else
 		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=UndefinedBehaviorSanitizer
 	endif
 
-	# Fuzz Testing
-	ifdef PX4_FUZZ
-		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=FuzzTesting
-	endif
-
 endif
 
 # Pick up specific Python path if set
@@ -170,6 +165,11 @@ ifdef PYTHON_EXECUTABLE
 	CMAKE_ARGS += -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
 endif
 
+# Check if the microRTPS agent is to be built
+ifdef BUILD_MICRORTPS_AGENT
+  CMAKE_ARGS += -DBUILD_MICRORTPS_AGENT=ON
+endif
+
 # Functions
 # --------------------------------------------------------------------
 # describe how to build a cmake config
@@ -246,7 +246,7 @@ endef
 # Other targets
 # --------------------------------------------------------------------
 
-.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware
+.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware check_rtps
 
 # QGroundControl flashable NuttX firmware
 qgc_firmware: px4fmu_firmware misc_qgc_extra_firmware
@@ -271,7 +271,15 @@ misc_qgc_extra_firmware: \
 	check_airmind_mindpx-v2_default \
 	sizes
 
-.PHONY: sizes check quick_check uorb_graphs
+# builds with RTPS
+check_rtps: \
+	check_px4_fmu-v3_rtps \
+	check_px4_fmu-v4_rtps \
+	check_px4_fmu-v4pro_rtps \
+	check_px4_sitl_rtps \
+	sizes
+
+.PHONY: sizes check quick_check check_rtps uorb_graphs
 
 sizes:
 	@-find build -name *.elf -type f | xargs size 2> /dev/null || :
@@ -466,7 +474,7 @@ clang-tidy-quiet: px4_sitl_default-clang
 # TODO: Fix cppcheck errors then try --enable=warning,performance,portability,style,unusedFunction or --enable=all
 cppcheck: px4_sitl_default
 	@mkdir -p "$(SRC_DIR)"/build/cppcheck
-	@cppcheck -i"$(SRC_DIR)"/src/examples --enable=performance --std=c++17 --std=c99 --std=posix --project="$(SRC_DIR)"/build/px4_sitl_default/compile_commands.json --xml-version=2 2> "$(SRC_DIR)"/build/cppcheck/cppcheck-result.xml > /dev/null
+	@cppcheck -i"$(SRC_DIR)"/src/examples --enable=performance --std=c++14 --std=c99 --std=posix --project="$(SRC_DIR)"/build/px4_sitl_default/compile_commands.json --xml-version=2 2> "$(SRC_DIR)"/build/cppcheck/cppcheck-result.xml > /dev/null
 	@cppcheck-htmlreport --source-encoding=ascii --file="$(SRC_DIR)"/build/cppcheck/cppcheck-result.xml --report-dir="$(SRC_DIR)"/build/cppcheck --source-dir="$(SRC_DIR)"/src/
 
 shellcheck_all:
@@ -546,3 +554,12 @@ ifneq ($(ROS2_WS_DIR),)
 else
   ROS2_WS_DIR := ~/colcon_ws
 endif
+
+update_ros2_bridge:
+	@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --all
+
+update_px4_ros_com:
+	@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --px4_ros_com
+
+update_px4_msgs:
+	@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --px4_msgs

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

@@ -36,6 +36,7 @@ add_subdirectory(airframes)
 px4_add_romfs_files(
 	px4-rc.mavlink
 	px4-rc.params
+	px4-rc.rtps
 	px4-rc.simulator
 	rc.replay
 	rcS

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

@@ -44,8 +44,6 @@ param set-default MIS_TAKEOFF_ALT 30
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
 
-param set-default FW_USE_NPFG 1
-
 param set-default RWTO_TKOFF 1
 
 set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix

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

@@ -10,7 +10,7 @@
 # param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 2
 
-param set-default CA_ROTOR_COUNT 5
+param set-default CA_ROTOR_COUNT 4
 param set-default CA_ROTOR0_PX 0.1515
 param set-default CA_ROTOR0_PY 0.245
 param set-default CA_ROTOR0_KM 0.05
@@ -23,9 +23,6 @@ param set-default CA_ROTOR2_KM -0.05
 param set-default CA_ROTOR3_PX -0.1515
 param set-default CA_ROTOR3_PY 0.1875
 param set-default CA_ROTOR3_KM -0.05
-param set-default CA_ROTOR4_AX 1.0
-param set-default CA_ROTOR4_AZ 0.0
-param set-default CA_ROTOR4_PX 0.2
 
 param set-default CA_SV_CS_COUNT 3
 param set-default CA_SV_CS0_TYPE 1

ROMFS/px4fmu_common/init.d-posix/px4-rc.rtps

@@ -0,0 +1,4 @@
+#!/bin/sh
+# shellcheck disable=SC2154
+
+micrortps_client start -t UDP -r $((2019+2*px4_instance)) -s $((2020+2*px4_instance))

ROMFS/px4fmu_common/init.d-posix/rc.replay

@@ -10,7 +10,7 @@ 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"
@@ -21,7 +21,6 @@ ignore_others: false
 EOF
 
 param set SDLOG_DIRS_MAX 7
-param set SDLOG_PROFILE 3
 
 # apply all params before ekf starts, as some params cannot be changed after startup
 replay tryapplyparams

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -226,9 +226,15 @@ sensors start
 commander start
 navigator start
 
+# Try to start the micrortps_client with UDP transport if module exists
+if px4-micrortps_client status > /dev/null 2>&1
+then
+	. px4-rc.rtps
+fi
+
 if param greater -s MNT_MODE_IN -1
 then
-	gimbal start
+	vmount start
 fi
 
 if param greater -s TRIG_MODE 0

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

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

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

@@ -35,6 +35,6 @@ param set-default MC_YAWRATE_P 0.25
 param set-default MC_YAWRATE_I 0.25
 
 param set-default BAT1_V_DIV 12.27559
-param set-default BAT1_A_PER_V 15.391030303103
+param set-default BAT1_A_PER_V 15.39103
 
 set MIXER quad_w

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

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

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

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

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

@@ -15,25 +15,6 @@
 set MIXER quad_x
 set PWM_OUT 1234
 
-param set UAVCAN_ENABLE 0
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default HIL_ACT_FUNC1 101
-param set-default HIL_ACT_FUNC2 102
-param set-default HIL_ACT_FUNC3 103
-param set-default HIL_ACT_FUNC4 104
-
 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
 param set SYS_HITL 2
 

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

@@ -15,28 +15,6 @@
 set MIXER AERT
 set PWM_OUT 1234
 
-param set UAVCAN_ENABLE 0
-
-param set-default CA_AIRFRAME 1
-param set-default CA_ROTOR_COUNT 1
-param set-default CA_ROTOR0_PX 0.3
-param set-default CA_SV_CS_COUNT 4
-param set-default CA_SV_CS0_TRQ_R 0.5
-param set-default CA_SV_CS0_TYPE 2
-param set-default CA_SV_CS1_TRQ_P 1.0
-param set-default CA_SV_CS1_TYPE 3
-param set-default CA_SV_CS2_TRQ_Y 1.0
-param set-default CA_SV_CS2_TYPE 4
-param set-default CA_SV_CS3_TYPE 10
-
-param set-default HIL_ACT_REV 2
-param set-default HIL_ACT_FUNC1 201
-param set-default HIL_ACT_FUNC2 202
-param set-default HIL_ACT_FUNC3 203
-param set-default HIL_ACT_FUNC4 101
-param set-default HIL_ACT_FUNC5 204
-param set-default HIL_ACT_FUNC6 400
-
 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
 param set-default SYS_HITL 2
 
@@ -60,4 +38,3 @@ param set SIH_IXZ 0.00046
 param set SIH_KDV 0.2
 
 param set SIH_VEHICLE_TYPE 1 	# sih as fixed wing
-param set RWTO_TKOFF 1  # enable takeoff from runway (as opposed to launched)

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

@@ -1,81 +0,0 @@
-#!/bin/sh
-#
-# @name SIH Tailsitter Duo
-#
-# @type Simulation
-# @class VTOL
-#
-# @output MAIN1 motor right
-# @output MAIN2 motor left
-# @output MAIN5 elevon right
-# @output MAIN6 elevon left
-#
-# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
-#
-# @board px4_fmu-v2 exclude
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-param set UAVCAN_ENABLE 0
-param set-default VT_ELEV_MC_LOCK 0
-param set-default VT_MOT_COUNT 2
-param set-default VT_TYPE 0
-param set-default VT_FW_DIFTHR_EN 1
-param set-default VT_FW_DIFTHR_SC 0.3
-param set-default MPC_MAN_Y_MAX 60
-param set-default MC_PITCH_P 5
-
-param set-default CA_AIRFRAME 4
-param set-default CA_ROTOR_COUNT 2
-param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR0_PY 0.2
-param set-default CA_ROTOR1_KM -0.05
-param set-default CA_ROTOR1_PY -0.2
-param set-default CA_SV_CS_COUNT 2
-param set-default CA_SV_CS0_TRQ_P 0.3
-param set-default CA_SV_CS0_TRQ_Y 0.3
-param set-default CA_SV_CS0_TYPE 5
-param set-default CA_SV_CS1_TRQ_P 0.3
-param set-default CA_SV_CS1_TRQ_Y -0.3
-param set-default CA_SV_CS1_TYPE 6
-
-param set-default HIL_ACT_FUNC1 101
-param set-default HIL_ACT_FUNC2 102
-param set-default HIL_ACT_FUNC5 202
-param set-default HIL_ACT_FUNC6 201
-param set-default HIL_ACT_REV 32
-
-param set-default MAV_TYPE 19
-set MAV_TYPE 19
-set MIXER vtol_tailsitter_duo_sat
-
-set PWM_OUT 1234
-
-# set SYS_HITL to 2 to start the SIH and avoid sensors startup
-param set-default SYS_HITL 2
-
-# disable some checks to allow to fly:
-# - with usb
-param set-default CBRK_USB_CHK 197848
-# - without real battery
-param set-default CBRK_SUPPLY_CHK 894281
-# - without safety switch
-param set-default COM_PREARM_MODE 0
-param set-default CBRK_IO_SAFETY 22027
-
-param set-default BAT_N_CELLS 3
-
-param set SIH_T_MAX 2.0
-param set SIH_Q_MAX 0.0165
-param set SIH_MASS 0.2
-# IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
-param set SIH_IXX 0.00354
-param set SIH_IYY 0.000625
-param set SIH_IZZ 0.00300
-param set SIH_IXZ 0.0
-param set SIH_KDV 0.2
-param set SIH_L_ROLL 0.145
-
-# sih as tailsitter
-param set SIH_VEHICLE_TYPE 2

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

@@ -24,30 +24,6 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-param set-default CA_AIRFRAME 2
-param set-default CA_ROTOR_COUNT 5
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
-param set-default CA_ROTOR3_KM -0.05
-param set-default CA_ROTOR4_AX 1.0
-param set-default CA_ROTOR4_AZ 0.0
-param set-default CA_ROTOR4_PX 0.2
-param set-default CA_SV_CS_COUNT 4
-param set-default CA_SV_CS0_TYPE 1
-param set-default CA_SV_CS0_TRQ_R -0.5
-param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS1_TRQ_R 0.5
-param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS2_TRQ_P 1.0
-param set-default CA_SV_CS3_TRQ_Y 1.0
-param set-default CA_SV_CS3_TYPE 4
 
 param set-default PWM_AUX_DIS5 950
 

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

@@ -13,25 +13,6 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-param set-default CA_AIRFRAME 4
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
-param set-default CA_ROTOR3_KM -0.05
-param set-default CA_SV_CS_COUNT 2
-param set-default CA_SV_CS0_TRQ_P 0.5
-param set-default CA_SV_CS0_TRQ_Y 0.5
-param set-default CA_SV_CS0_TYPE 5
-param set-default CA_SV_CS1_TRQ_P 0.5
-param set-default CA_SV_CS1_TRQ_Y -0.5
-param set-default CA_SV_CS1_TYPE 6
 
 param set-default PWM_MAIN_MAX 2000
 

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

@@ -31,32 +31,6 @@ param set-default VT_IDLE_PWM_MC 1100
 param set-default VT_TYPE 1
 param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 24
-
-param set-default CA_AIRFRAME 3
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR0_TILT 1
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR1_TILT 2
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR2_TILT 3
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
-param set-default CA_ROTOR3_KM -0.05
-param set-default CA_ROTOR3_TILT 4
-param set-default CA_SV_CS_COUNT 4
-param set-default CA_SV_CS1_TRQ_R 0.5
-param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
-param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
-param set-default CA_SV_CS3_TYPE 4
-param set-default CA_SV_TL_COUNT 4
-
 set MAV_TYPE 21
 
 set MIXER quad_x

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

@@ -23,20 +23,6 @@ param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_MOT_COUNT 2
 param set-default VT_TYPE 0
 
-param set-default CA_AIRFRAME 4
-param set-default CA_ROTOR_COUNT 2
-param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR0_PY 0.2
-param set-default CA_ROTOR1_KM -0.05
-param set-default CA_ROTOR1_PY -0.2
-param set-default CA_SV_CS_COUNT 2
-param set-default CA_SV_CS0_TRQ_P 0.5
-param set-default CA_SV_CS0_TRQ_Y 0.5
-param set-default CA_SV_CS0_TYPE 5
-param set-default CA_SV_CS1_TRQ_P 0.5
-param set-default CA_SV_CS1_TRQ_Y -0.5
-param set-default CA_SV_CS1_TYPE 6
-
 param set-default MAV_TYPE 19
 set MAV_TYPE 19
 set MIXER vtol_tailsitter_duo

ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane

@@ -23,18 +23,6 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-param set-default CA_AIRFRAME 1
-param set-default CA_ROTOR_COUNT 1
-param set-default CA_ROTOR0_PX 0.3
-param set-default CA_SV_CS_COUNT 4
-param set-default CA_SV_CS0_TRQ_R -0.5
-param set-default CA_SV_CS1_TRQ_R 0.5
-param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
-param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
-param set-default CA_SV_CS3_TYPE 4
-
 param set-default PWM_AUX_RATE 50
 param set-default PWM_MAIN_RATE 50
 

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

@@ -21,16 +21,3 @@
 #
 
 . ${R}etc/init.d/rc.mc_defaults
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
-param set-default CA_ROTOR3_KM -0.05
-

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

@@ -0,0 +1,39 @@
+#!/bin/sh
+#
+# @name S500 with control allocation
+#
+# @type Quadrotor x
+# @class Copter
+#
+# @maintainer Silvan Fuhrer
+#
+# @board px4_fmu-v2 exclude
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+set MIXER skip
+set MIXER_AUX none
+
+param set-default SYS_CTRL_ALLOC 1
+
+param set-default CA_AIRFRAME 0
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.177
+param set-default CA_ROTOR0_PY 0.177
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.177
+param set-default CA_ROTOR1_PY -0.177
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.177
+param set-default CA_ROTOR2_PY -0.177
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.177
+param set-default CA_ROTOR3_PY 0.177
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104

ROMFS/px4fmu_common/init.d/airframes/4019_x500_v2

@@ -1,23 +0,0 @@
-#!/bin/sh
-#
-# @name Holybro X500 V2
-#
-# @type Quadrotor x
-# @class Copter
-#
-# @maintainer Farhang Naderi <farhang.nba@gmail.com>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-param set-default IMU_GYRO_CUTOFF 30
-
-param set-default MC_ROLLRATE_P 0.14
-param set-default MC_PITCHRATE_P 0.14
-param set-default MC_ROLLRATE_I 0.3
-param set-default MC_PITCHRATE_I 0.3
-param set-default MC_ROLLRATE_D 0.004
-param set-default MC_PITCHRATE_D 0.004

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

@@ -16,10 +16,8 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-# We set the mixer and ESC manually.
-set MIXER skip
-set MIXER_AUX skip
-set MIXER_FILE ""
+set MIXER none
+set MIXER_AUX none
 
 # Battery settings
 param set-default BAT_CRIT_THR 0.20
@@ -35,18 +33,17 @@ param set-default CBRK_SUPPLY_CHK 894281
 
 param set-default COM_DISARM_LAND 0.1
 param set-default COM_DISARM_PRFLT 3
-param set-default COM_DL_LOSS_T 10
-param set-default COM_FLTMODE1  2
+param set-default COM_FLTMODE1 -1
 param set-default COM_FLTMODE2 -1
 param set-default COM_FLTMODE3 -1
-param set-default COM_FLTMODE4 -1
+param set-default COM_FLTMODE4  2
 param set-default COM_FLTMODE5 -1
-param set-default COM_FLTMODE6  1
+param set-default COM_FLTMODE6  6
 param set-default COM_RC_LOSS_T 3
 
 
 # ekf2
-param set-default EKF2_AID_MASK 33
+param set-default EKF2_AID_MASK 35
 param set-default EKF2_BARO_DELAY 0
 param set-default EKF2_BARO_NOISE 2.0
 
@@ -71,9 +68,6 @@ param set-default EKF2_OF_GATE 2.0
 param set-default EKF2_OF_POS_X -0.035
 param set-default EKF2_OF_POS_Y 0.0
 param set-default EKF2_OF_POS_Z 0.033
-param set-default EKF2_OF_MIN_RNG 0.01
-param set-default EKF2_OF_A_HMAX 7.0
-param set-default EKF2_OF_QMIN 30
 
 param set-default EKF2_PCOEF_XN -0.3
 param set-default EKF2_PCOEF_XP -0.4
@@ -147,33 +141,58 @@ param set-default MPC_Z_VEL_P 0.27
 
 
 # gimbal configuration
-param set-default MNT_MODE_IN 0
-param set-default MNT_MODE_OUT 1
-param set-default MNT_MAN_PITCH 2
-param set-default MNT_RC_IN_MODE 1
-param set-default MNT_RATE_PITCH 30
+param set-default MNT_MODE_IN 1
+param set-default MNT_MODE_OUT 2
+param set-default MNT_MAN_PITCH 1
+
 
 # RC
 param set-default RC_CHAN_CNT       12
 
 param set-default RC_MAP_THROTTLE   1
-param set-default RC_MAP_YAW        2
+param set-default RC_MAP_ROLL       2
 param set-default RC_MAP_PITCH      3
-param set-default RC_MAP_ROLL       4
-param set-default RC_MAP_AUX2       5
-param set-default RC_MAP_AUX3       10
-param set-default RC_MAP_AUX4       8
-param set-default RC_MAP_FLTMODE    6
-param set-default RC_MAP_RETURN_SW  7
+param set-default RC_MAP_YAW        4
+param set-default RC_MAP_FLTMODE    5
+param set-default RC_MAP_AUX1       7
 
-param set-default RC1_TRIM          1000
+param set-default RC1_DZ            10
+param set-default RC1_MAX           3413
+param set-default RC1_MIN           683
+param set-default RC1_REV           1
+param set-default RC1_TRIM          683
+param set-default RC2_DZ            10
+param set-default RC2_MAX           3413
+param set-default RC2_MIN           683
+param set-default RC2_REV           -1
+param set-default RC2_TRIM          2048
+param set-default RC3_DZ            10
+param set-default RC3_MAX           3413
+param set-default RC3_MIN           683
+param set-default RC3_REV           1
+param set-default RC3_TRIM          2048
+param set-default RC4_DZ            10
+param set-default RC4_MAX           3413
+param set-default RC4_MIN           683
+param set-default RC4_REV           -1
+param set-default RC4_TRIM          2048
+param set-default RC5_DZ            10
+param set-default RC5_MAX           3414
+param set-default RC5_MIN           2048
+param set-default RC5_REV           1
+param set-default RC5_TRIM          2048
+param set-default RC7_DZ            10
+param set-default RC7_MAX           3413
+param set-default RC7_MIN           683
+param set-default RC7_REV           1
+param set-default RC7_TRIM          2048
 
 
 # optical flow
 param set-default SENS_FLOW_MAXR   7.4
 param set-default SENS_FLOW_MINHGT 0.15
 param set-default SENS_FLOW_MAXHGT 5.0
-param set-default SENS_FLOW_ROT    0
+param set-default SENS_FLOW_ROT    4
 
-# ignore the SD card errors and use normal startup sound
-set STARTUP_TUNE "1"
+
+mixer load /dev/tap_esc /etc/mixers/quad_x.main.mix

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

@@ -23,23 +23,6 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-param set-default CA_ROTOR_COUNT 6
-param set-default CA_ROTOR0_PX 0.0
-param set-default CA_ROTOR0_PY 0.5
-param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR1_PX 0.0
-param set-default CA_ROTOR1_PY -0.5
-param set-default CA_ROTOR2_PX 0.43
-param set-default CA_ROTOR2_PY -0.25
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.43
-param set-default CA_ROTOR3_PY 0.25
-param set-default CA_ROTOR4_PX 0.43
-param set-default CA_ROTOR4_PY 0.25
-param set-default CA_ROTOR5_PX -0.43
-param set-default CA_ROTOR5_PY -0.25
-param set-default CA_ROTOR5_KM -0.05
-
 set MIXER hexa_x
 
 # Need to set all 8 channels

ROMFS/px4fmu_common/init.d/airframes/6003_hexa_x_ctrlalloc

@@ -0,0 +1,52 @@
+#!/bin/sh
+#
+# @name Hex X with control allocation
+#
+# @type Hexarotor x
+# @class Copter
+#
+# @maintainer Silvan Fuhrer
+#
+# @board px4_fmu-v2 exclude
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+param set-default SYS_CTRL_ALLOC 1
+
+param set-default CA_AIRFRAME 0
+param set-default CA_ROTOR_COUNT 6
+
+param set-default CA_ROTOR0_PX 0.0
+param set-default CA_ROTOR0_PY 0.275
+param set-default CA_ROTOR0_KM -0.05
+
+param set-default CA_ROTOR1_PX 0.0
+param set-default CA_ROTOR1_PY -0.275
+param set-default CA_ROTOR1_KM 0.05
+
+param set-default CA_ROTOR2_PX 0.238
+param set-default CA_ROTOR2_PY -0.1375
+param set-default CA_ROTOR2_KM -0.05
+
+param set-default CA_ROTOR3_PX -0.238
+param set-default CA_ROTOR3_PY 0.1375
+param set-default CA_ROTOR3_KM 0.05
+
+param set-default CA_ROTOR4_PX 0.238
+param set-default CA_ROTOR4_PY 0.1375
+param set-default CA_ROTOR4_KM 0.05
+
+param set-default CA_ROTOR5_PX -0.238
+param set-default CA_ROTOR5_PY -0.1375
+param set-default CA_ROTOR5_KM -0.05
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+param set-default PWM_MAIN_FUNC5 105
+param set-default PWM_MAIN_FUNC6 106
+
+set MIXER skip
+set MIXER_AUX none

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

@@ -23,23 +23,6 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-param set-default CA_ROTOR_COUNT 6
-param set-default CA_ROTOR0_PX 0.5
-param set-default CA_ROTOR0_PY 0.0
-param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR1_PX -0.5
-param set-default CA_ROTOR1_PY 0.0
-param set-default CA_ROTOR2_PX -0.25
-param set-default CA_ROTOR2_PY -0.43
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX 0.25
-param set-default CA_ROTOR3_PY 0.43
-param set-default CA_ROTOR4_PX 0.25
-param set-default CA_ROTOR4_PY -0.43
-param set-default CA_ROTOR5_PX -0.25
-param set-default CA_ROTOR5_PY 0.43
-param set-default CA_ROTOR5_KM -0.05
-
 set MIXER hexa_+
 
 # Need to set all 8 channels

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

@@ -25,28 +25,6 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-param set-default CA_ROTOR_COUNT 8
-param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR0_PX 0.46
-param set-default CA_ROTOR0_PY 0.19
-param set-default CA_ROTOR1_KM -0.05
-param set-default CA_ROTOR1_PX -0.46
-param set-default CA_ROTOR1_PY -0.19
-param set-default CA_ROTOR2_PX 0.19
-param set-default CA_ROTOR2_PY 0.46
-param set-default CA_ROTOR3_PX -0.46
-param set-default CA_ROTOR3_PY 0.19
-param set-default CA_ROTOR4_PX 0.46
-param set-default CA_ROTOR4_PY -0.19
-param set-default CA_ROTOR5_PX -0.19
-param set-default CA_ROTOR5_PY -0.46
-param set-default CA_ROTOR6_KM -0.05
-param set-default CA_ROTOR6_PX 0.19
-param set-default CA_ROTOR6_PY -0.46
-param set-default CA_ROTOR7_KM -0.05
-param set-default CA_ROTOR7_PX -0.19
-param set-default CA_ROTOR7_PY 0.46
-
 set MIXER octo_x
 
 set PWM_OUT 12345678

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

@@ -40,7 +40,6 @@ px4_add_romfs_files(
 	1002_standard_vtol.hil
 	1100_rc_quad_x_sih.hil
 	1101_rc_plane_sih.hil
-	1102_tailsitter_duo_sih.hil
 
 	# [2000, 2999] Standard planes"
 	2100_standard_plane
@@ -72,7 +71,7 @@ px4_add_romfs_files(
 	4015_holybro_s500
 	4016_holybro_px4vision
 	4017_nxp_hovergames
-	4019_x500_v2
+	4018_s500_ctrlalloc
 	4030_3dr_solo
 	4031_3dr_quad
 	4040_reaper
@@ -99,6 +98,7 @@ px4_add_romfs_files(
 	# [6000, 6999] Hexarotor x"
 	6001_hexa_x
 	6002_draco_r
+	6003_hexa_x_ctrlalloc
 
 	# [7000, 7999] Hexarotor +"
 	7001_hexa_+

ROMFS/px4fmu_common/init.d/rc.interface

@@ -45,7 +45,7 @@ fi
 #
 # Set the default output mode if none was set.
 #
-if [ $OUTPUT_MODE = none -a $OUTPUT_MODE != skip ]
+if [ $OUTPUT_MODE = none ]
 then
 	if [ $USE_IO = yes ]
 	then
@@ -72,7 +72,7 @@ fi
 #
 # If OUTPUT_MODE = none then something is wrong with setup and we shouldn't try to enable output.
 #
-if [ $OUTPUT_MODE != none -a $OUTPUT_MODE != skip ]
+if [ $OUTPUT_MODE != none ]
 then
 
 	if [ $OUTPUT_MODE = hil -o $OUTPUT_MODE = sim ]

ROMFS/px4fmu_common/init.d/rc.mc_defaults

@@ -7,10 +7,7 @@
 
 set VEHICLE_TYPE mc
 
-if param compare IMU_GYRO_RATEMAX 400
-then
-	param set-default IMU_GYRO_RATEMAX 800
-fi
+param set-default IMU_GYRO_RATEMAX 800
 
 param set-default NAV_ACC_RAD 2
 

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -130,13 +130,6 @@ then
 	fi
 fi
 
-# SHT3x temperature and hygrometer sensor, external I2C
-if param compare -s SENS_EN_SHT3X 1
-then
-	sht3x start -X
-	sht3x start -X -a 0x45
-fi
-
 # TE MS4525 differential pressure sensor external I2C
 if param compare -s SENS_EN_MS4525 1
 then
@@ -149,19 +142,6 @@ then
 	ms5525_airspeed start -X
 fi
 
-# IR-LOCK sensor external I2C
-if param compare -s SENS_EN_IRLOCK 1
-then
-	irlock start -X
-fi
-
-# PCF8583 counter (RPM sensor)
-if param compare -s SENS_EN_PCF8583 1
-then
-	pcf8583 start -X
-	pcf8583 start -X -a 0x51
-fi
-
 # probe for optional external I2C devices
 if param compare SENS_EXT_I2C_PRB 1
 then

ROMFS/px4fmu_common/init.d/rcS

@@ -147,6 +147,8 @@ else
 
 		param dump $PARAM_FILE
 
+		hexdump $PARAM_FILE
+
 		if [ -d "/fs/microsd" ]
 		then
 			dmesg >> /fs/microsd/param_import_fail.txt &
@@ -291,9 +293,15 @@ else
 		# Start core UAVCAN module.
 		if uavcan start
 		then
-			if param greater UAVCAN_ENABLE 2
+			if param greater UAVCAN_ENABLE 1
 			then
-				set OUTPUT_MODE uavcan_esc
+				# Start UAVCAN firmware update server and dynamic node ID allocation server.
+				uavcan start fw
+
+				if param greater UAVCAN_ENABLE 2
+				then
+					set OUTPUT_MODE uavcan_esc
+				fi
 			fi
 		else
 			tune_control play error
@@ -409,6 +417,17 @@ else
 		commander start
 	fi
 
+
+	#
+	# Play the startup tune (if not disabled or there is an error)
+	#
+	param compare CBRK_BUZZER 782090
+	if [ $? != 0 -o $STARTUP_TUNE != 1 ]
+	then
+		tune_control play -t $STARTUP_TUNE
+	fi
+
+
 	# Pre-takeoff continuous magnetometer calibration
 	if param compare -s MBE_ENABLE 1
 	then
@@ -427,7 +446,7 @@ else
 	set BOARD_RC_MAVLINK ${R}etc/init.d/rc.board_mavlink
 	if [ -f $BOARD_RC_MAVLINK ]
 	then
-		echo "Board mavlink: ${BOARD_RC_MAVLINK}"
+		echo "Board extras: ${BOARD_RC_MAVLINK}"
 		. $BOARD_RC_MAVLINK
 	fi
 	unset BOARD_RC_MAVLINK
@@ -466,15 +485,6 @@ else
 	#
 	. ${R}etc/init.d/rc.vehicle_setup
 
-	#
-	# Play the startup tune (if not disabled or there is an error)
-	#
-	param compare CBRK_BUZZER 782090
-	if [ "$?" != "0" -o "$STARTUP_TUNE" != "1" ]
-	then
-		tune_control play -t $STARTUP_TUNE
-	fi
-
 	#
 	# Start the navigator.
 	#
@@ -486,11 +496,11 @@ else
 	. ${R}etc/init.d/rc.thermal_cal
 
 	#
-	# Start gimbal to control mounts such as gimbals, disabled by default.
+	# Start vmount to control mounts such as gimbals, disabled by default.
 	#
 	if param greater -s MNT_MODE_IN -1
 	then
-		gimbal start
+		vmount start
 	fi
 
 	# Check for flow sensor

ROMFS/px4fmu_common/mixers/CMakeLists.txt

@@ -90,5 +90,4 @@ px4_add_romfs_files(
 	vtol_convergence.main.mix
 	vtol_delta.aux.mix
 	vtol_tailsitter_duo.main.mix
-	vtol_tailsitter_duo_sat.main.mix
 )

ROMFS/px4fmu_common/mixers/vtol_tailsitter_duo_sat.main.mix

@@ -1,39 +0,0 @@
-Tailsitter duo mixer
-============================
-
-This file defines a mixer for a generic duo tailsitter VTOL (eg TBS Caipirinha tailsitter edition). This vehicle
-has two motors in total, one attached to each wing. It also has two elevons which
-are located in the slipstream of the propellers. This mixer generates 4 PWM outputs
-on the main PWM ouput port, two at 400Hz for the motors, and two at 50Hz for the
-elevon servos. Channels 1-4 are configured to run at 400Hz, while channels 5-8 run
-at the default rate of 50Hz. Note that channels 3 and 4 are assigned but not used.
-
-Motor mixer
-------------
-Channel 1 connects to the right (starboard) motor.
-Channel 2 connects to the left (port) motor.
-
-R: 2-
-
-Zero mixer (2x)
----------------
-Channels 3,4 are unused.
-
-Z:
-
-Z:
-
-Elevons mixer
---------------
-Channel 5 connects to the right (starboard) elevon.
-Channel 6 connects to the left (port) elevon.
-Here we saturate the elevons before their full range
-to avoid roll-pitch-yaw coupling during faster maneuvers
-
-M: 2
-S: 1 0   10000   10000    0 -6000  6000
-S: 1 1   10000   10000    0 -6000  6000
-
-M: 2
-S: 1 0   10000   10000    0 -6000  6000
-S: 1 1  -10000  -10000    0 -6000  6000

Tools/HIL/test_airframes.sh

@@ -21,25 +21,13 @@ echo "airframes: ${ALL_AIRFRAMES}"
 for airframe in $ALL_AIRFRAMES
 do
 	echo
-	echo
-	echo
-	echo "########################################################################################################################"
+	echo "##########################################################################################"
 	echo " Airframe: $airframe"
-	echo "########################################################################################################################"
+	echo "##########################################################################################"
 	echo
 
 	${DIR}/nsh_param_set.py --device ${SERIAL_DEVICE} --name SYS_AUTOSTART  --value $airframe
 	${DIR}/nsh_param_set.py --device ${SERIAL_DEVICE} --name CBRK_BUZZER    --value 782097
-
-	# enable all mavlink instances
-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param set MAV_0_CONFIG 101' || true
-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param set MAV_1_CONFIG 102' || true
-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param set MAV_2_CONFIG 103' || true
-
-	# enable all GPS
-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param set GPS_1_CONFIG 201' || true
-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param set GPS_1_CONFIG 202' || true
-
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param reset SYS_HITL'
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param status'
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param save'
@@ -47,16 +35,13 @@ do
 
 	${DIR}/reboot.py --device ${SERIAL_DEVICE}
 
-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param status'
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump /fs/mtd_params' || true
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump /fs/microsd/parameters_backup.bson' || true
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump /fs/microsd/param_import_fail.bson' || true
 
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'ps'
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'work_queue status'
 
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'pwm info'
 
-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'mavlink stop-all'
-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'gps stop'
-
 done

Tools/astyle/files_to_check_code_style.sh

@@ -8,6 +8,7 @@ if [ $# -gt 0 ]; then
 fi
 
 exec find boards msg src platforms test \
+    -path msg/templates/urtps -prune -o \
     -path platforms/nuttx/NuttX -prune -o \
     -path platforms/qurt/dspal -prune -o \
     -path src/drivers/uavcan/libuavcan -prune -o \
@@ -20,6 +21,8 @@ exec find boards msg src platforms test \
     -path src/modules/ekf2/EKF -prune -o \
     -path src/modules/gyro_fft/CMSIS_5 -prune -o \
     -path src/modules/mavlink/mavlink -prune -o \
+    -path src/modules/micrortps_bridge/micro-CDR -prune -o \
+    -path src/modules/micrortps_bridge/microRTPS_client -prune -o \
     -path test/mavsdk_tests/catch2 -prune -o \
     -path src/lib/crypto/monocypher -prune -o \
     -path src/lib/crypto/libtomcrypt -prune -o \

Tools/build_micrortps_agent.sh

@@ -0,0 +1,15 @@
+#!/usr/bin/env bash
+set -e
+
+SCRIPT_DIR=$0
+if [[ ${SCRIPT_DIR:0:1} != '/' ]]; then
+  SCRIPT_DIR=$(dirname $(realpath -s "$PWD/$0"))
+fi
+
+PX4_DIR=$(cd "$(dirname $(dirname $SCRIPT_DIR))" && pwd)
+
+if [ -d $PX4_DIR/build/*_rtps ]; then
+  cd $PX4_DIR/build/*_rtps/src/modules/micrortps_bridge/micrortps_agent/
+  cmake -Bbuild
+  cmake --build build -j$(nproc --all)
+fi

Tools/flightgear_bridge

@@ -1 +1 @@
-Subproject commit f47ce7b5fbbb3aa43d33d2be1f6cd3746b13d5bf
+Subproject commit ea9b6cb5b93365928190864a6592c0a280e101ea

Tools/gazebo_sitl_multiple_run.sh

@@ -39,7 +39,7 @@ function spawn_model() {
 
 	echo "Spawning ${MODEL}_${N} at ${X} ${Y}"
 
-	gz model --spawn-file=/tmp/${MODEL}_${N}.sdf --model-name=${MODEL}_${N} -x ${X} -y ${Y} -z 0.83
+	gz model --spawn-file=/tmp/${MODEL}_${N}.sdf --model-name=${MODEL}_${N} -x ${X} -y ${Y} -z 0.0
 
 	popd &>/dev/null
 

Tools/jmavsim_run.sh

@@ -10,7 +10,7 @@ extra_args=
 baudrate=921600
 device=
 ip="127.0.0.1"
-while getopts ":b:d:p:qsr:f:i:loat" opt; do
+while getopts ":b:d:p:qsr:f:i:loa" opt; do
 	case $opt in
 		b)
 			baudrate=$OPTARG
@@ -40,10 +40,7 @@ while getopts ":b:d:p:qsr:f:i:loat" opt; do
 			extra_args="$extra_args -disponly"
 			;;
 		a)
-			extra_args="$extra_args -fw" # aircraft model
-			;;
-		t)
-			extra_args="$extra_args -ts" # tailsitter model
+			extra_args="$extra_args -fw" # aircraft
 			;;
 		\?)
 			echo "Invalid option: -$OPTARG" >&2

Tools/kconfig/cmake_kconfig_lut.txt

@@ -93,6 +93,7 @@ pca9685_pwm_out,CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 power_monitor/ina226,CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 power_monitor/voxlpm,CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
 pps_capture,CONFIG_DRIVERS_PPS_CAPTURE=y
+protocol_splitter,CONFIG_DRIVERS_PROTOCOL_SPLITTER=y
 pwm_input,CONFIG_DRIVERS_PWM_INPUT=y
 pwm_out_sim,CONFIG_DRIVERS_PWM_OUT_SIM=y
 pwm_out,CONFIG_DRIVERS_PWM_OUT=y
@@ -137,6 +138,7 @@ mc_att_control,CONFIG_MODULES_MC_ATT_CONTROL=y
 mc_hover_thrust_estimator,CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 mc_pos_control,CONFIG_MODULES_MC_POS_CONTROL=y
 mc_rate_control,CONFIG_MODULES_MC_RATE_CONTROL=y
+micrortps_bridge,CONFIG_MODULES_MICRORTPS_BRIDGE=y
 navigator,CONFIG_MODULES_NAVIGATOR=y
 px4iofirmware,CONFIG_MODULES_PX4IOFIRMWARE=y
 rc_update,CONFIG_MODULES_RC_UPDATE=y
@@ -148,12 +150,13 @@ simulator,CONFIG_MODULES_SIMULATOR=y
 temperature_compensation,CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 uuv_att_control,CONFIG_MODULES_UUV_ATT_CONTROL=y
 uuv_pos_control,CONFIG_MODULES_UUV_POS_CONTROL=y
-gimbal,CONFIG_MODULES_GIMBAL=y
+vmount,CONFIG_MODULES_VMOUNT=y
 vtol_att_control,CONFIG_MODULES_VTOL_ATT_CONTROL=y
 bl_update,CONFIG_SYSTEMCMDS_BL_UPDATE=y
 dmesg,CONFIG_SYSTEMCMDS_DMESG=y
 dumpfile,CONFIG_SYSTEMCMDS_DUMPFILE=y
 dyn,CONFIG_SYSTEMCMDS_DYN=y
+esc_calib,CONFIG_SYSTEMCMDS_ESC_CALIB=y
 failure,CONFIG_SYSTEMCMDS_FAILURE=y
 gpio,CONFIG_SYSTEMCMDS_GPIO=y
 hardfault_log,CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
@@ -162,6 +165,7 @@ led_control,CONFIG_SYSTEMCMDS_LED_CONTROL=y
 mft,CONFIG_SYSTEMCMDS_MFT=y
 microbench,CONFIG_SYSTEMCMDS_MICROBENCH=y
 mixer,CONFIG_SYSTEMCMDS_MIXER=y
+motor_ramp,CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 motor_test,CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 mtd,CONFIG_SYSTEMCMDS_MTD=y
 netman,CONFIG_SYSTEMCMDS_NETMAN=y

Tools/module_config/generate_actuators_metadata.py

@@ -142,6 +142,7 @@ def get_actuator_output(yaml_config, output_functions, timer_config_file, verbos
         }
     if 'show_subgroups_if' in actuator_output_yaml:
         actuator_output['show-subgroups-if'] = actuator_output_yaml['show_subgroups_if']
+    add_reverse_range_param = actuator_output_yaml.get('add_reverse_range_param', False)
 
     # config parameters
     def get_config_params(param_list):
@@ -256,13 +257,14 @@ def get_actuator_output(yaml_config, output_functions, timer_config_file, verbos
                 per_channel_params.append(param)
 
 
-        param = {
-                'label': 'Rev Range\n(for Servos)',
-                'name': param_prefix+'_REV',
-                'index-offset': -1,
-                'show-as': 'bitset',
-            }
-        per_channel_params.append(param)
+        if add_reverse_range_param:
+            param = {
+                    'label': 'Rev Range\n(for Servos)',
+                    'name': param_prefix+'_REV',
+                    'index-offset': -1,
+                    'show-as': 'bitset',
+                }
+            per_channel_params.append(param)
 
         # TODO: support non-standard per-channel parameters
 
@@ -330,11 +332,9 @@ def get_mixers(yaml_config, output_functions, verbose):
         option = select_param + '==' + str(type_index)
         mixer_config = {
                 'option': option,
-                'help-url': 'https://docs.px4.io/master/en/config/actuators.html',
             }
-        for optional in ['type', 'title']:
-            if optional in current_type:
-                mixer_config[optional] = current_type[optional]
+        if 'type' in current_type:
+            mixer_config['type'] = current_type['type']
         actuators = []
         for actuator_conf in current_type['actuators']:
             actuator = {

Tools/module_config/generate_params.py

@@ -178,6 +178,7 @@ def get_actuator_output_params(yaml_config, output_functions,
     all_params = {}
     group_idx = 0
 
+    add_reverse_range_param = yaml_config['actuator_output'].get('add_reverse_range_param', False)
     all_param_prefixes = {}
 
     def add_local_param(param_name, param_def):
@@ -298,9 +299,13 @@ Note that non-motor outputs might already be active in prearm state if COM_PREAR
 '''
         minimum_description = \
 '''Minimum output value (when not disarmed).
+
+The output range can be reversed by setting Min > Max.
 '''
         maximum_description = \
 '''Maxmimum output value (when not disarmed).
+
+The output range can be reversed by setting Min > Max.
 '''
         failsafe_description = \
 '''This is the output value that is set when in failsafe mode.
@@ -341,29 +346,29 @@ When set to -1 (default), the value depends on the function (see {:}).
                     }
                 add_local_param(param_prefix+'_'+param_suffix+'${i}', param)
 
-    # add reverse range param
-    for param_prefix in all_param_prefixes:
-        groups = all_param_prefixes[param_prefix]
-        # collect the bits
-        channel_bits = {}
-        for instance_start, instance_start_label, num_instances, label in groups:
-            for instance in range(instance_start, instance_start+num_instances):
-                instance_label = instance - instance_start + instance_start_label
-                channel_bits[instance-1] = label + ' ' + str(instance_label)
+    if add_reverse_range_param:
+        for param_prefix in all_param_prefixes:
+            groups = all_param_prefixes[param_prefix]
+            # collect the bits
+            channel_bits = {}
+            for instance_start, instance_start_label, num_instances, label in groups:
+                for instance in range(instance_start, instance_start+num_instances):
+                    instance_label = instance - instance_start + instance_start_label
+                    channel_bits[instance-1] = label + ' ' + str(instance_label)
 
-        param = {
-            'description': {
-                'short': 'Reverse Output Range for '+module_name,
-                'long':
+            param = {
+                'description': {
+                    'short': 'Reverse Output Range for '+module_name,
+                    'long':
 '''Allows to reverse the output range for each channel.
 Note: this is only useful for servos.
 '''.format(channel_label),
-                },
-            'type': 'bitmask',
-            'default': 0,
-            'bit': channel_bits
-            }
-        add_local_param(param_prefix+'_REV', param)
+                    },
+                'type': 'bitmask',
+                'default': 0,
+                'bit': channel_bits
+                }
+            add_local_param(param_prefix+'_REV', param)
 
     if verbose: print('adding actuator params: {:}'.format(all_params))
     return all_params

Tools/process_sensor_caldata.py

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

Tools/px4_developer.mk.example

@@ -0,0 +1,5 @@
+$(info px4_developer.mk inclded)
+ifeq ($(UAVCAN_BL_OVERRIDE),y)
+$(info **************************  UAVCAN BOOT LOADERS built for In place application Debugging ***************************************)
+export EXTRAFLAGS +=-DDEBUG_APPLICATION_INPLACE
+endif

Tools/px4moduledoc/srcparser.py

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

Tools/serial/generate_config.py

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

Tools/setup/arch.sh

@@ -9,6 +9,8 @@
 ## - jMAVSim simulator (omit with arg: --no-sim-tools)
 ## - Gazebo simulator (not by default, use --gazebo)
 ##
+## Not Installs:
+## - FastRTPS and FastCDR
 
 INSTALL_NUTTX="true"
 INSTALL_SIM="true"
@@ -46,6 +48,7 @@ echo "Installing PX4 general dependencies"
 sudo pacman -Sy --noconfirm --needed \
 	astyle \
 	base-devel \
+	ccache \
 	clang \
 	cmake \
 	cppcheck \
@@ -120,7 +123,7 @@ if [[ $INSTALL_SIM == "true" ]]; then
 	echo
 	echo "Installing PX4 simulation dependencies"
 
-	# java (jmavsim)
+	# java (jmavsim or fastrtps)
 	sudo pacman -S --noconfirm --needed \
 		ant \
 		jdk-openjdk \

Tools/setup/ubuntu.sh

@@ -10,6 +10,8 @@ set -e
 ## - NuttX toolchain (omit with arg: --no-nuttx)
 ## - jMAVSim and Gazebo9 simulator (omit with arg: --no-sim-tools)
 ##
+## Not Installs:
+## - FastRTPS and FastCDR
 
 INSTALL_NUTTX="true"
 INSTALL_SIM="true"
@@ -75,6 +77,7 @@ sudo apt-get update -y --quiet
 sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 	astyle \
 	build-essential \
+	ccache \
 	cmake \
 	cppcheck \
 	file \
@@ -98,6 +101,12 @@ sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends i
 	zip \
 	;
 
+if [[ "${UBUNTU_RELEASE}" == "16.04" ]]; then
+	echo "Installing Ubuntu 16.04 PX4-compatible ccache version"
+	wget -O /tmp/ccache_3.4.1-1_amd64.deb http://launchpadlibrarian.net/356662933/ccache_3.4.1-1_amd64.deb
+	sudo dpkg -i /tmp/ccache_3.4.1-1_amd64.deb
+fi
+
 # Python3 dependencies
 echo
 echo "Installing PX4 Python3 dependencies"
@@ -206,7 +215,7 @@ if [[ $INSTALL_SIM == "true" ]]; then
 		java_version=14
 		gazebo_version=11
 	fi
-	# Java (jmavsim)
+	# Java (jmavsim or fastrtps)
 	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 		ant \
 		openjdk-$java_version-jre \

Tools/sitl_gazebo

@@ -1 +1 @@
-Subproject commit 25138e803ee8525ee5fe4e6d511506e88e3f819c
+Subproject commit 27298574ce33a79ba6cfc31ed4604974605e7257

Tools/sitl_run.sh

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

Tools/uorb_graph/create.py

@@ -56,21 +56,6 @@ def get_N_colors(N, s=0.8, v=0.9):
         hex_out.append("#"+"".join(map(lambda x: format(x, '02x'), rgb)))
     return hex_out
 
-def topic_filename(topic):
-    MSG_PATH = 'msg/'
-
-    file_list = os.listdir(MSG_PATH)
-    msg_files = [file.replace('.msg', '') for file in file_list if file.endswith(".msg")]
-
-    if topic in msg_files:
-        return topic
-    else:
-        for msg_file in msg_files:
-            with open(f'{MSG_PATH}/{msg_file}.msg') as f:
-                ret = re.findall(f'^# TOPICS.*{topic}.*',f.read(),re.MULTILINE)
-                if len(ret) > 0:
-                    return msg_file
-    return "no_file"
 
 class PubSub(object):
     """ Collects either publication or subscription information for nodes
@@ -694,7 +679,8 @@ class OutputJSON(object):
             node['type'] = 'topic'
             node['color'] = topic_colors[topic]
             # url is opened when double-clicking on the node
-            node['url'] = 'https://github.com/PX4/PX4-Autopilot/blob/master/msg/'+topic_filename(topic)+'.msg'
+            # TODO: does not work for multi-topics
+            node['url'] = 'https://github.com/PX4/PX4-Autopilot/blob/master/msg/'+topic+'.msg'
             nodes.append(node)
 
         data['nodes'] = nodes

Tools/update_px4_ros2_bridge.sh

@@ -0,0 +1,135 @@
+#!/usr/bin/env bash
+set -e
+
+agent_template_files_updated=0
+code_generator_files_updated=0
+
+# parse help argument
+if [[ $1 == "-h" ]] || [[ $1 == "--help" ]]; then
+  echo -e "Usage: update_px4_ros2_bridge.bash [options...] \t This script allows to update px4_ros_com and px4_msgs in a specified directory." >&2
+  echo
+  echo -e "\t--ws_dir \t\t Location of the ament/colcon workspace. Default: $HOME/colcon_ws."
+  echo -e "\t--px4_ros_com \t\t Updates px4_ros_com microRTPS agent code generation and templates."
+  echo -e "\t--px4_msgs \t\t Updates px4_msgs messages definition files."
+  echo -e "\t--all \t\t Updates both px4_ros_com and px4_msgs."
+  echo
+  exit 0
+fi
+
+# parse the arguments
+while [ $# -gt 0 ]; do
+  if [[ $1 == *"--"* ]]; then
+    v="${1/--/}"
+    if [ ! -z $2 ]; then
+      declare $v="$2"
+    else
+      declare $v=1
+    fi
+  fi
+  shift
+done
+
+# get script directory
+SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
+
+# get PX4-Autopilot directory
+PX4_DIR=$(cd "$(dirname "$SCRIPT_DIR")" && pwd)
+
+function compare_and_update () {
+  cmp -s "$1" "$2"
+  if [ $? -eq 1 ]; then
+    cp "$1" "$2"
+    return 0
+  fi
+
+  return 1;
+}
+
+# update microRTPS agent code generators / helpers
+function update_agent_code {
+  declare -a templates=( \
+    "microRTPS_agent.cpp.em" \
+    "microRTPS_timesync.cpp.em" \
+    "microRTPS_timesync.h.em" \
+    "microRTPS_transport.cpp" \
+    "microRTPS_transport.h" \
+    "Publisher.cpp.em" \
+    "Publisher.h.em" \
+    "Subscriber.cpp.em" \
+    "Subscriber.h.em" \
+    "RtpsTopics.cpp.em" \
+    "RtpsTopics.h.em" \
+    )
+
+  for file in ${templates[@]}; do
+    compare_and_update "$PX4_DIR/msg/templates/urtps/$file" "$ws_dir/src/px4_ros_com/templates/$file" \
+      && echo -e "--\t\t- '$ws_dir/src/px4_ros_com/templates/$file' updated" && ((agent_template_files_updated+=1))
+  done
+  if [ $agent_template_files_updated -eq 0 ]; then
+    echo -e "--\t\t- No template files updated"
+  elif [ $agent_template_files_updated -eq 1 ]; then
+    echo -e "--\t\t  - 1 template file updated"
+  else
+    echo -e "--\t\t  - $agent_template_files_updated template files updated"
+  fi
+}
+
+# update microRTPS agent code templates
+function update_agent_templates {
+  declare -a code_generators=( \
+    "uorb_rtps_classifier.py" \
+    "generate_microRTPS_bridge.py" \
+    "px_generate_uorb_topic_files.py" \
+    )
+  for file in ${code_generators[@]}; do
+    compare_and_update "$PX4_DIR/msg/tools/$file $ws_dir/src/px4_ros_com/scripts/$file" \
+      && echo -e "--\t\t- '$ws_dir/src/px4_ros_com/scripts/$file' updated" && ((code_generator_files_updated+=1))
+  done
+  if [ $code_generator_files_updated -eq 0 ]; then
+    echo -e "--\t\t- No code generators / helpers files updated"
+  elif [ $code_generator_files_updated -eq 1 ]; then
+    echo -e "--\t\t  - 1 code generator / helper file updated"
+  else
+    echo -e "--\t\t  - $code_generator_files_updated code generator / helper files updated"
+  fi
+}
+
+# update px4_ros_com files
+function update_px4_ros_com {
+  python3 $PX4_DIR/msg/tools/uorb_to_ros_urtps_topics.py -i $PX4_DIR/msg/tools/urtps_bridge_topics.yaml -o $ws_dir/src/px4_ros_com/templates/urtps_bridge_topics.yaml
+  echo -e "---------------          \033[1mmicroRTPS agent code generation and templates update\033[0m          ----------------"
+  echo "-------------------------------------------------------------------------------------------------------"
+  update_agent_code
+  update_agent_templates
+  return 0
+}
+
+# function to update px4_msgs
+function update_px4_msgs {
+  find "$ws_dir/src/px4_msgs/msg/" -maxdepth 1 -type f -delete
+  python3 $PX4_DIR/msg/tools/uorb_to_ros_msgs.py $PX4_DIR/msg/ $ws_dir/src/px4_msgs/msg/
+}
+
+# decisor
+echo "-------------------------------------------------------------------------------------------------------"
+if [ -d "${ws_dir}" ]; then
+  ws_dir=$(cd "$ws_dir" && pwd)
+  if [ ! -z ${all} ]; then
+    update_px4_ros_com
+    echo "-------------------------------------------------------------------------------------------------------"
+    update_px4_msgs
+  elif [ ! -z ${px4_ros_com} ]; then
+    update_px4_ros_com
+    echo "-------------------------------------------------------------------------------------------------------"
+  elif [ ! -z ${px4_msgs} ]; then
+    update_px4_msgs
+  fi
+  echo -e "--------------------------------          \033[0;32mUpdate successful!\033[0m          ---------------------------------"
+  echo "-------------------------------------------------------------------------------------------------------"
+  exit 0
+else
+  echo -e "-- \033[0;31mWorkspace directory doesn't exist...\033[0m"
+  echo -e "----------------------------------          \033[0;31mUpdate failed!\033[0m          -----------------------------------"
+  echo "-------------------------------------------------------------------------------------------------------"
+  exit $ERRCODE
+fi

boards/airmind/mindpx-v2/default.px4board

@@ -74,17 +74,19 @@ CONFIG_MODULES_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
-CONFIG_MODULES_GIMBAL=y
+CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
+CONFIG_SYSTEMCMDS_ESC_CALIB=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_MIXER=y
+CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_NSHTERM=y

boards/airmind/mindpx-v2/init/rc.board_defaults

@@ -1,7 +0,0 @@
-#!/bin/sh
-#
-# board specific defaults
-#------------------------------------------------------------------------------
-
-param set-default BAT1_V_DIV 10.177939394
-param set-default BAT1_A_PER_V 15.391030303

boards/airmind/mindpx-v2/src/board_config.h

@@ -72,6 +72,12 @@
 #define ADC_RC_RSSI_CHANNEL		11
 #define ADC_AIRSPEED_VOLTAGE_CHANNEL	15
 
+/* Define Battery 1 Voltage Divider and A per V
+ */
+
+#define BOARD_BATTERY1_V_DIV   (10.177939394f)
+#define BOARD_BATTERY1_A_PER_V (15.391030303f)
+
 /* Power supply control and monitoring GPIOs */
 // #define GPIO_VDD_5V_PERIPH_EN	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
 // #define GPIO_VDD_BRICK_VALID	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)

boards/ark/can-flow/src/CMakeLists.txt

@@ -61,5 +61,6 @@ else()
 			nuttx_arch
 			nuttx_drivers
 			px4_layer
+			arch_io_pins
 	)
 endif()

boards/ark/can-gps/src/CMakeLists.txt

@@ -63,5 +63,6 @@ else()
 			nuttx_arch
 			nuttx_drivers
 			px4_layer
+			arch_io_pins
 	)
 endif()

boards/ark/can-rtk-gps/init/rc.board_defaults

@@ -4,7 +4,6 @@
 #------------------------------------------------------------------------------
 
 param set-default CBRK_IO_SAFETY 0
-param set-default CANNODE_GPS_RTCM 1
 
 safety_button start
 tone_alarm start

boards/ark/can-rtk-gps/src/CMakeLists.txt

@@ -63,5 +63,6 @@ else()
 			nuttx_arch
 			nuttx_drivers
 			px4_layer
+			arch_io_pins
 	)
 endif()

boards/atl/mantis-edu/cmake/upload.cmake

@@ -1,46 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2021 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-
-set(PX4_FW_NAME ${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}.px4)
-
-# The file needs to have that name in order to be updated automatically.
-set(UPLOAD_NAME autopilot.px4)
-
-add_custom_target(upload_wifi
-	COMMAND ${CMAKE_COMMAND} -E copy ${PX4_FW_NAME} ${UPLOAD_NAME}
-	COMMAND ${PX4_SOURCE_DIR}/boards/atl/mantis-edu/upload.sh ${UPLOAD_NAME}
-	DEPENDS ${PX4_FW_NAME}
-	COMMENT "uploading autopilot.px4 file"
-	USES_TERMINAL
-)

boards/atl/mantis-edu/default.px4board

@@ -4,8 +4,6 @@ CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
-CONFIG_DRIVERS_BAROMETER_MAIERTEK_MPC2520=y
-CONFIG_DRIVERS_TAP_ESC=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
@@ -31,7 +29,7 @@ CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIH=y
-CONFIG_MODULES_GIMBAL=y
+CONFIG_MODULES_VMOUNT=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
@@ -39,6 +37,7 @@ CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MIXER=y
+CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y

boards/atl/mantis-edu/init/rc.board_defaults

@@ -5,8 +5,6 @@
 
 param set-default SYS_AUTOSTART 4061
 
-param set-default BAT1_V_DIV 9.0
-
 param set-default COM_ARM_SDCARD 0
 
 param set-default SENS_EXT_I2C_PRB 0
@@ -18,7 +16,7 @@ param set-default SENS_MAG_MODE 0
 
 param set-default EV_TSK_STAT_DIS 1
 
-param set-default SYS_DM_BACKEND 1
+set LOGGER_ARGS "-m mavlink"
 
-# Use MAVLink log streaming
-set LOGGER_ARGS "-m mavlink -c 0.5"
+# Start esc
+tap_esc start -d /dev/ttyS4 -n 4

boards/atl/mantis-edu/init/rc.board_extras

@@ -1,5 +0,0 @@
-#!/bin/sh
-
-tap_esc start -d /dev/ttyS4 -n 4
-sleep 1
-mixer load /dev/tap_esc /etc/mixers/quad_x.main.mix

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

@@ -204,7 +204,7 @@ CONFIG_TASK_NAME_SIZE=24
 CONFIG_UART4_BAUD=57600
 CONFIG_UART4_RXBUFSIZE=600
 CONFIG_UART4_RXDMA=y
-CONFIG_UART4_TXBUFSIZE=3000
+CONFIG_UART4_TXBUFSIZE=1500
 CONFIG_UART7_BAUD=57600
 CONFIG_UART7_RXBUFSIZE=600
 CONFIG_UART7_TXBUFSIZE=1500

boards/atl/mantis-edu/nuttx-config/scripts/script.ld

@@ -103,7 +103,7 @@ SECTIONS
 		This signature provides the bootloader with a way to delay booting
 		*/
 		_bootdelay_signature = ABSOLUTE(.);
-		FILL(0xb4ecc2925d7d05c5)
+		FILL(0xffecc2925d7d05c5)
 		. += 8;
 		*(.main_toc)
 		*(.text .text.*)

boards/atl/mantis-edu/src/CMakeLists.txt

@@ -39,7 +39,7 @@ add_library(drivers_board
 	spi.cpp
 	timer_config.cpp
 	usb.c
-	pwr.cpp
+	pwr.c
 )
 add_dependencies(drivers_board arch_board_hw_info)
 

boards/atl/mantis-edu/src/board_config.h

@@ -59,13 +59,6 @@
 #define BOARD_ARMED_STATE_LED  LED_BLUE
 
 #define FLASH_BASED_PARAMS
-#define RAM_BASED_MISSIONS
-
-// Hacks for MAVLink RC button input
-#define ATL_MANTIS_RC_INPUT_HACKS
-
-// Hacks for MAVLink RC button input
-#define ATL_MANTIS_RC_INPUT_HACKS
 
 /*
  * ADC channels
@@ -105,6 +98,9 @@
 	 (1 << ADC_HW_REV_SENSE_CHANNEL)           | \
 	 (1 << ADC1_SPARE_1_CHANNEL))
 
+/* Define Battery 1 Voltage Divider and A per V */
+#define BOARD_BATTERY1_V_DIV         (9.0f)     /* measured with the provided PM board */
+
 /* HW has to large of R termination on ADC todo:change when HW value is chosen */
 #define BOARD_ADC_OPEN_CIRCUIT_V     (5.6f)
 
@@ -151,8 +147,9 @@
 #define RC_SERIAL_PORT                     "/dev/ttyS5"
 #define RC_SERIAL_SINGLEWIRE
 
+#define BOARD_HAS_POWER_CONTROL	1
 /* power on/off */
-#define MS_PWR_BUTTON_DOWN 750
+#define MS_PWR_BUTTON_DOWN 1500
 #define KEY_AD_GPIO    (GPIO_INPUT|GPIO_PULLUP|GPIO_EXTI|GPIO_PORTC|GPIO_PIN4)
 #define POWER_ON_GPIO  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN5)
 #define POWER_OFF_GPIO (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTC|GPIO_PIN5)

boards/atl/mantis-edu/src/init.c

@@ -114,8 +114,6 @@ static void cam_pwr_on_pulse(void)
 	static bool pwr_on_flag = false;
 
 	if (pwr_on_flag == false) {
-		// This is now done in the bootloader.
-		// However, for transition we can leave it in.
 		up_mdelay(700);
 		stm32_configgpio(GPIO_CAM_PWR_ON_H);
 		up_mdelay(20);

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

@@ -53,7 +53,8 @@
 #include <nuttx/arch.h>
 
 #include <uORB/uORB.h>
-#include <uORB/Publication.hpp>
+#include <uORB/topics/led_control.h>
+#include <uORB/topics/tune_control.h>
 
 #include <arm_arch.h>
 #include "board_config.h"

boards/atl/mantis-edu/upload.sh

@@ -1,11 +0,0 @@
-#!/usr/bin/env bash
-
-set -e
-
-PX4_BINARY_FILE="$1"
-
-echo "uploading: $PX4_BINARY_FILE"
-
-PX4_BINARY_FILE_SIZE=$(stat -c%s "$PX4_BINARY_FILE")
-curl -v -F "image=@$PX4_BINARY_FILE" -H "Expect:" -H "File-Size:$PX4_BINARY_FILE_SIZE" http://192.168.42.1/cgi-bin/upload
-

boards/av/x-v1/default.px4board

@@ -71,17 +71,19 @@ CONFIG_MODULES_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
-CONFIG_MODULES_GIMBAL=y
+CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
+CONFIG_SYSTEMCMDS_ESC_CALIB=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MIXER=y
+CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_NETMAN=y
 CONFIG_SYSTEMCMDS_NSHTERM=y

boards/av/x-v1/init/rc.board_defaults

@@ -5,5 +5,3 @@
 
 # system_power unavailable
 param set-default CBRK_SUPPLY_CHK 894281
-
-param set-default BAT1_V_DIV 10.13

boards/av/x-v1/src/board_config.h

@@ -88,6 +88,12 @@
 #define ADC_CHANNELS \
 	((1 << ADC_BATTERY1_VOLTAGE_CHANNEL))
 
+/* Define Battery 1 Voltage Divider and A per V
+ */
+
+#define BOARD_BATTERY1_V_DIV         (10.133333333f)
+#define BOARD_BATTERY1_A_PER_V       (36.367515152f)
+
 /* HW has to large of R termination on ADC todo:change when HW value is chosen */
 
 #define BOARD_ADC_OPEN_CIRCUIT_V               (5.6f)

boards/beaglebone/blue/default.px4board

@@ -56,11 +56,13 @@ CONFIG_MODULES_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
-CONFIG_MODULES_GIMBAL=y
+CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_DYN=y
+CONFIG_SYSTEMCMDS_ESC_CALIB=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MIXER=y
+CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y

boards/beaglebone/blue/init/rc.board_defaults

@@ -1,6 +0,0 @@
-#!/bin/sh
-#
-# board specific defaults
-#------------------------------------------------------------------------------
-
-param set-default BAT1_V_DIV 11.0

boards/beaglebone/blue/src/board_config.h

@@ -42,6 +42,8 @@
 #define BOARD_OVERRIDE_UUID "BBBLUEID00000000" // must be of length 16
 #define PX4_SOC_ARCH_ID     PX4_SOC_ARCH_ID_BBBLUE
 
+#define BOARD_BATTERY1_V_DIV   (11.0f)
+
 #define BOARD_MAX_LEDS 4 // Number external of LED's this board has
 
 

boards/bitcraze/crazyflie/default.px4board

@@ -17,6 +17,7 @@ CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LOAD_MON=y
 CONFIG_MODULES_LOGGER=y

boards/bitcraze/crazyflie/syslink/CMakeLists.txt

@@ -44,6 +44,4 @@ px4_add_module(
 		syslink.c
 	DEPENDS
 		battery
-	SUBSCRIPTIONS
-		"px4::msg::BatteryStatus /battery_status"
 	)

boards/cuav/can-gps-v1/src/CMakeLists.txt

@@ -61,5 +61,6 @@ else()
 			nuttx_arch
 			nuttx_drivers
 			px4_layer
+			arch_io_pins
 	)
 endif()

boards/cuav/nora/default.px4board

@@ -76,12 +76,13 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
-CONFIG_MODULES_GIMBAL=y
+CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
+CONFIG_SYSTEMCMDS_ESC_CALIB=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y