parameters: add boolean support (PARAM_DEFINE_BOOL)

- real boolean parameter support saves a bit of space in export (bson) and in mavlink sync
2026-05-26 01:07:36 +08:00 · 2021-12-23 17:08:12 -05:00
1161 changed files with 26645 additions and 45054 deletions
@@ -60,8 +60,6 @@ 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",
@@ -172,7 +170,7 @@ def createBuildNode(Boolean archive, String docker_image, String target) {
            try {
              sh('export')
              checkout(scm)
-              sh('make distclean; git clean -ff -x -d .')
+              sh('make distclean')
              sh('git fetch --tags')
              sh('ccache -s')
              sh('make ' + target)
@@ -189,7 +187,7 @@ def createBuildNode(Boolean archive, String docker_image, String target) {
              throw (exc)
            }
            finally {
-              sh('make distclean; git clean -ff -x -d .')
+              sh('make distclean')
            }
          }
        }
@@ -25,7 +25,7 @@ pipeline {
              }
              post {
                always {
-                  sh 'make distclean; git clean -ff -x -d .'
+                    sh 'make distclean'
                }
              }
            } // stage build
@@ -74,8 +74,7 @@ pipeline {
              }
              post {
                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'
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf || true'
                }
              }
            } // stage test
@@ -100,7 +99,7 @@ pipeline {
              }
              post {
                always {
-                  sh 'make distclean; git clean -ff -x -d .'
+                    sh 'make distclean'
                }
              }
            } // stage build
@@ -144,8 +143,7 @@ pipeline {
              }
              post {
                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'
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cuav_x7pro_test/cuav_x7pro_test.elf || true'
                }
              }
            } // stage test
@@ -170,7 +168,7 @@ pipeline {
              }
              post {
                always {
-                  sh 'make distclean; git clean -ff -x -d .'
+                    sh 'make distclean'
                }
              }
            } // stage build
@@ -214,8 +212,7 @@ pipeline {
              }
              post {
                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'
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf || true'
                }
              }
            } // stage test
@@ -240,7 +237,7 @@ pipeline {
              }
              post {
                always {
-                  sh 'make distclean; git clean -ff -x -d .'
+                    sh 'make distclean'
                }
              }
            } // stage build
@@ -283,8 +280,7 @@ pipeline {
              }
              post {
                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'
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf || true'
                }
              }
            } // stage test
@@ -309,7 +305,7 @@ pipeline {
              }
              post {
                always {
-                  sh 'make distclean; git clean -ff -x -d .'
+                    sh 'make distclean'
                }
              }
            } // stage build
@@ -353,8 +349,7 @@ pipeline {
              }
              post {
                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'
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf || true'
                }
              }
            } // stage test
@@ -379,7 +374,7 @@ pipeline {
              }
              post {
                always {
-                  sh 'make distclean; git clean -ff -x -d .'
+                    sh 'make distclean'
                }
              }
            } // stage build
@@ -412,7 +407,7 @@ pipeline {

                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -v"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u -v" || true'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u -v"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'

                    // test dataman
@@ -431,6 +426,7 @@ pipeline {
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true'       // limit cpu usage
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true'       // limit cpu usage
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SDLOG_MODE -1" || true'        // limit cpu usage
                    checkStatus()
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
                  }
@@ -443,8 +439,7 @@ pipeline {
              }
              post {
                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'
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf || true'
                }
              }
            } // stage test
@@ -469,7 +464,7 @@ pipeline {
              }
              post {
                always {
-                  sh 'make distclean; git clean -ff -x -d .'
+                    sh 'make distclean'
                }
              }
            } // stage build
@@ -513,6 +508,7 @@ pipeline {
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true'       // limit cpu usage
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true'       // limit cpu usage
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SDLOG_MODE -1" || true'        // limit cpu usage
                    checkStatus()
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
                  }
@@ -525,8 +521,7 @@ pipeline {
              }
              post {
                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'
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf || true'
                }
              }
            } // stage test
@@ -551,7 +546,7 @@ pipeline {
              }
              post {
                always {
-                  sh 'make distclean; git clean -ff -x -d .'
+                    sh 'make distclean'
                }
              }
            } // stage build
@@ -595,8 +590,7 @@ pipeline {
              }
              post {
                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'
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf || true'
                }
              }
            } // stage test
@@ -621,7 +615,7 @@ pipeline {
              }
              post {
                always {
-                  sh 'make distclean; git clean -ff -x -d .'
+                    sh 'make distclean'
                }
              }
            } // stage build
@@ -665,8 +659,7 @@ pipeline {
              }
              post {
                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'
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf || true'
                }
              }
            } // stage test
@@ -692,7 +685,7 @@ void checkoutSCM() {
  retry(3) {
    checkout scm
    sh 'export'
-    sh 'make distclean; git clean -ff -x -d .'
+    sh 'make distclean'
    sh 'git fetch --tags'
    sh 'ccache -z'
  }
@@ -725,44 +718,34 @@ 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"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sleep 1"' // sleep before continuing
  // status commands
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/usage"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/meminfo"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/uptime"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander check" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dataman status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ekf2 status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "free"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gps status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload; top once; listener cpuload"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger status" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /bin"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /dev"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /etc"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /obj"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc/fs"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status streams" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param 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"'
@@ -774,12 +757,12 @@ 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
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off" || true'
 }

 void resetParameters() {
@@ -797,8 +780,6 @@ 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
@@ -838,13 +819,30 @@ void runTests() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors stop"' // ignore irrelevant sensor timeouts during microbenchmarks
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "microbench all"'

-  //sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "calib_udelay"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "calib_udelay"'
+
+  // test rebooting multiple times
+  resetParameters()
+  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 set SYS_AUTOSTART 4001" || true'
+  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 save"'
+  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
+  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
+  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
+  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/microsd/parameters_backup.bson" || true'
 }

 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 +859,7 @@ 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'
@@ -938,6 +936,10 @@ void printTopics() {
 }

 void resetBoard() {
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd" || true'
+
  resetParameters()

  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 0" || true'
@@ -947,4 +949,29 @@ void resetBoard() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SDLOG_MODE -1" || true'        // limit cpu usage
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "echo > /fs/microsd/.format" || true'
  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
+
+  // check SD card
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc/fs" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/usage" || true'
+  // format
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dataman stop" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "umount /fs/microsd" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mkfatfs -F 32 /dev/mmcsd0" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once" || true'
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount -t vfat /dev/mmcsd0 /fs/microsd" || true'
+  // check SD card
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc/fs" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/usage" || true'
+
+  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
 }
@@ -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/
@@ -1,4 +0,0 @@
-#!/usr/bin/env bash -eu
-
-PX4_FUZZ=1 make px4_sitl
-cp build/px4_sitl_default/bin/px4 $OUT/px4
@@ -1 +0,0 @@
-language: c++
@@ -1,34 +0,0 @@
-name: ClusterFuzzLite batch fuzzing
-on:
-  schedule:
-    - cron: '0 6 * * *'  # UTC 6am every day.
-permissions: read-all
-jobs:
-  BatchFuzzing:
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      matrix:
-        sanitizer:
-        - address
-        - undefined
-        - memory
-    steps:
-    - name: Build Fuzzers (${{ 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".
@@ -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,
@@ -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
@@ -125,11 +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"
@@ -147,7 +142,6 @@ set(CONFIG "px4_sitl_default" CACHE STRING "desired configuration")

 include(px4_add_module)
 set(config_module_list)
-set(config_kernel_list)

 # Find Python
 # If using catkin, Python 2 is found since it points
@@ -412,7 +406,6 @@ endif()
 # subdirectories
 #
 add_library(parameters_interface INTERFACE)
-add_library(kernel_parameters_interface INTERFACE)

 include(px4_add_library)
 add_subdirectory(src/lib EXCLUDE_FROM_ALL)
@@ -435,13 +428,7 @@ add_subdirectory(src/lib/metadata EXCLUDE_FROM_ALL)

 # must be the last module before firmware
 add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL)
-
-if(${PX4_PLATFORM} STREQUAL "nuttx" AND NOT CONFIG_BUILD_FLAT)
-target_link_libraries(parameters_interface INTERFACE usr_parameters)
-target_link_libraries(kernel_parameters_interface INTERFACE parameters)
-else()
 target_link_libraries(parameters_interface INTERFACE parameters)
-endif()

 # firmware added last to generate the builtin for included modules
 add_subdirectory(platforms/${PX4_PLATFORM})
@@ -88,7 +88,7 @@ pipeline {
            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
          }
          steps {
-            sh 'make distclean; git clean -ff -x -d .'
+            sh 'make distclean'
            sh 'git fetch --all --tags'
            sh 'make airframe_metadata'
            dir('build/px4_sitl_default/docs') {
@@ -98,7 +98,7 @@ pipeline {
          }
          post {
            always {
-              sh 'make distclean; git clean -ff -x -d .'
+              sh 'make distclean'
            }
          }
        }
@@ -108,7 +108,7 @@ pipeline {
            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
          }
          steps {
-            sh 'make distclean; git clean -ff -x -d .'
+            sh 'make distclean'
            sh 'git fetch --all --tags'
            sh 'make parameters_metadata'
            dir('build/px4_sitl_default/docs') {
@@ -118,7 +118,7 @@ pipeline {
          }
          post {
            always {
-              sh 'make distclean; git clean -ff -x -d .'
+              sh 'make distclean'
            }
          }
        }
@@ -128,7 +128,7 @@ pipeline {
            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
          }
          steps {
-            sh 'make distclean; git clean -ff -x -d .'
+            sh 'make distclean'
            sh 'git fetch --all --tags'
            sh 'make module_documentation'
            dir('build/px4_sitl_default/docs') {
@@ -138,7 +138,7 @@ pipeline {
          }
          post {
            always {
-              sh 'make distclean; git clean -ff -x -d .'
+              sh 'make distclean'
            }
          }
        }
@@ -156,7 +156,7 @@ pipeline {
          }
          post {
            always {
-              sh 'make distclean; git clean -ff -x -d .'
+              sh 'make distclean'
            }
          }
        }
@@ -170,7 +170,7 @@ pipeline {
          }
          steps {
            sh 'export'
-            sh 'make distclean; git clean -ff -x -d .'
+            sh 'make distclean'
            sh 'git fetch --all --tags'
            sh 'make uorb_graphs'
            dir('Tools/uorb_graph') {
@@ -180,7 +180,7 @@ pipeline {
          }
          post {
            always {
-              sh 'make distclean; git clean -ff -x -d .'
+              sh 'make distclean'
            }
          }
        }
@@ -261,7 +261,7 @@ pipeline {
          steps {
            sh('export')
            sh('git fetch --all --tags')
-            sh('make distclean; git clean -ff -x -d .')
+            sh('make distclean')
            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 ${BRANCH_NAME}")
@@ -290,7 +290,7 @@ pipeline {
          }
          steps {
            sh('export')
-            sh('make distclean; git clean -ff -x -d .')
+            sh('make distclean')
            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
              // 'master' branch
@@ -319,7 +319,7 @@ pipeline {
          }
          steps {
            sh('export')
-            sh('make distclean; git clean -ff -x -d .')
+            sh('make distclean')
            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_ros_com.git -b ${BRANCH_NAME}")
              // deploy uORB RTPS ID map
@@ -118,11 +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
@@ -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
@@ -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
@@ -487,9 +482,7 @@ shellcheck_all:
 	@make px4_fmu-v5_default shellcheck

 validate_module_configs:
-	@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f \
-	-not -path "$(SRC_DIR)/src/lib/mixer_module/*" -not -path "$(SRC_DIR)/src/lib/crypto/libtommath/*" -print0 | \
-	xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
+	@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f -not -path "$(SRC_DIR)/src/lib/mixer_module/*" -print0 | xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml

 # Cleanup
 # --------------------------------------------------------------------
@@ -14,19 +14,19 @@ 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 0.1515
-param set-default CA_ROTOR0_PY 0.245
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.1515
-param set-default CA_ROTOR1_PY -0.1875
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.1515
-param set-default CA_ROTOR2_PY -0.245
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.1515
-param set-default CA_ROTOR3_PY 0.1875
-param set-default CA_ROTOR3_KM -0.05
+param set-default CA_MC_R_COUNT 4
+param set-default CA_MC_R0_PX 0.1515
+param set-default CA_MC_R0_PY 0.245
+param set-default CA_MC_R0_KM 0.05
+param set-default CA_MC_R1_PX -0.1515
+param set-default CA_MC_R1_PY -0.1875
+param set-default CA_MC_R1_KM 0.05
+param set-default CA_MC_R2_PX 0.1515
+param set-default CA_MC_R2_PY -0.245
+param set-default CA_MC_R2_KM -0.05
+param set-default CA_MC_R3_PX -0.1515
+param set-default CA_MC_R3_PY 0.1875
+param set-default CA_MC_R3_KM -0.05

 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
@@ -8,5 +8,8 @@
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

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

+set MAV_TYPE 12
+param set MAV_TYPE ${MAV_TYPE}
+
 set MIXER_FILE etc/mixers-sitl/uuv_x_sitl.main.mix
 set MIXER custom
@@ -8,62 +8,6 @@
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

-param set-default SYS_CTRL_ALLOC 1
-param set-default CA_AIRFRAME 7
-
-param set-default CA_ROTOR_COUNT 8
-param set-default CA_R_REV 255
-param set-default CA_ROTOR0_AX 1.0000
-param set-default CA_ROTOR0_AY -1.0000
-param set-default CA_ROTOR0_AZ 0.0000
-param set-default CA_ROTOR0_KM 0.0000
-param set-default CA_ROTOR0_PX 0.5000
-param set-default CA_ROTOR0_PY 0.3000
-param set-default CA_ROTOR0_PZ 0.2000
-param set-default CA_ROTOR1_AX 1.0000
-param set-default CA_ROTOR1_AY 1.0000
-param set-default CA_ROTOR1_AZ 0.0000
-param set-default CA_ROTOR1_KM 0.0000
-param set-default CA_ROTOR1_PX 0.5000
-param set-default CA_ROTOR1_PY -0.3000
-param set-default CA_ROTOR1_PZ 0.2000
-param set-default CA_ROTOR2_AX 1.0000
-param set-default CA_ROTOR2_AY 1.0000
-param set-default CA_ROTOR2_AZ 0.0000
-param set-default CA_ROTOR2_KM 0.0000
-param set-default CA_ROTOR2_PX -0.5000
-param set-default CA_ROTOR2_PY 0.3000
-param set-default CA_ROTOR2_PZ 0.2000
-param set-default CA_ROTOR3_AX 1.0000
-param set-default CA_ROTOR3_AY -1.0000
-param set-default CA_ROTOR3_AZ 0.0000
-param set-default CA_ROTOR3_KM 0.0000
-param set-default CA_ROTOR3_PX -0.5000
-param set-default CA_ROTOR3_PY -0.3000
-param set-default CA_ROTOR3_PZ 0.2000
-param set-default CA_ROTOR4_AZ -1.0000
-param set-default CA_ROTOR4_KM 0.0000
-param set-default CA_ROTOR4_PX 0.5000
-param set-default CA_ROTOR4_PY 0.5000
-param set-default CA_ROTOR5_AZ 1.0000
-param set-default CA_ROTOR5_KM 0.0000
-param set-default CA_ROTOR5_PX 0.5000
-param set-default CA_ROTOR5_PY -0.5000
-param set-default CA_ROTOR6_AZ 1.0000
-param set-default CA_ROTOR6_KM 0.0000
-param set-default CA_ROTOR6_PX -0.5000
-param set-default CA_ROTOR6_PY 0.5000
-param set-default CA_ROTOR7_KM 0.0000
-param set-default CA_ROTOR7_PX -0.5000
-param set-default CA_ROTOR7_PY -0.5000
-
-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
-param set-default PWM_MAIN_FUNC7 107
-param set-default PWM_MAIN_FUNC8 108
-
-set MIXER skip
+set PWM_OUT 12345678
+set MIXER_FILE etc/mixers-sitl/vectored6dof_sitl.main.mix
+set MIXER custom
@@ -43,32 +43,5 @@ param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1

-#param set-default SYS_CTRL_ALLOC 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 6
-param set-default CA_SV_CS0_TRQ_R -0.5
-param set-default CA_SV_CS0_TYPE 1
-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_CS4_TYPE 9
-param set-default CA_SV_CS5_TYPE 10
-param set-default PWM_MAIN_FUNC3 204
-param set-default PWM_MAIN_FUNC4 205
-param set-default PWM_MAIN_FUNC5 101
-param set-default PWM_MAIN_FUNC6 201
-param set-default PWM_MAIN_FUNC7 202
-param set-default PWM_MAIN_FUNC8 203
-param set-default PWM_MAIN_FUNC9 206
-param set-default PWM_MAIN_REV 256
-
-
 set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
 set MIXER custom
@@ -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
@@ -7,42 +7,6 @@

 . ${R}etc/init.d/rc.vtol_defaults

-# param set-default SYS_CTRL_ALLOC 1
-param set-default CA_AIRFRAME 2
-
-param set-default CA_ROTOR_COUNT 5
-param set-default CA_ROTOR0_PX 0.1515
-param set-default CA_ROTOR0_PY 0.245
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.1515
-param set-default CA_ROTOR1_PY -0.1875
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.1515
-param set-default CA_ROTOR2_PY -0.245
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.1515
-param set-default CA_ROTOR3_PY 0.1875
-param set-default CA_ROTOR3_KM -0.05
-param set-default CA_ROTOR4_AX 1.0
-param set-default CA_ROTOR4_AZ 0.0
-param set-default CA_ROTOR4_PX 0.2
-
-param set-default CA_SV_CS_COUNT 3
-param set-default CA_SV_CS0_TYPE 1
-param set-default CA_SV_CS0_TRQ_R -0.5
-param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS1_TRQ_R 0.5
-param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS2_TRQ_P 1.0
-param set-default 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 201
-param set-default PWM_MAIN_FUNC7 202
-param set-default PWM_MAIN_FUNC8 203
-
 param set-default FW_L1_PERIOD 12
 param set-default FW_MAN_P_MAX 30
 param set-default FW_PR_FF 0.2
@@ -80,5 +44,7 @@ param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_B_TRANS_DUR 8
 param set-default VT_TYPE 2

+set MAV_TYPE 22
+
 set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
 set MIXER custom
@@ -7,50 +7,14 @@

 . ${R}etc/init.d/rc.vtol_defaults

-param set-default MAV_TYPE 20
-
-# param set-default SYS_CTRL_ALLOC 1
-param set-default CA_AIRFRAME 4
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 1
-param set-default CA_ROTOR0_PY 2
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -1
-param set-default CA_ROTOR1_PY -1
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 1
-param set-default CA_ROTOR2_PY -1
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -1
-param set-default CA_ROTOR3_PY 1
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default CA_SV_CS_COUNT 2
-param set-default CA_SV_CS0_TYPE 5
-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_CS1_TYPE 6
-param set-default CA_SV_CS1_TRQ_P 0.5
-param set-default CA_SV_CS1_TRQ_Y 0.5
-
-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 0
-param set-default PWM_MAIN_FUNC6 201
-param set-default PWM_MAIN_FUNC7 202
-param set-default PWM_MAIN_REV 96 # invert both elevons
-
 param set-default FW_L1_PERIOD 12
 param set-default FW_MAN_P_MAX 30
 param set-default FW_PR_I 0.2
-param set-default FW_PR_P 0.2
+param set-default FW_PR_P 0.3
 param set-default FW_PSP_OFF 2
 param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15
-param set-default FW_RR_P 0.2
+param set-default FW_RR_P 0.3
 param set-default FW_THR_CRUISE 0.33
 param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
@@ -72,13 +36,13 @@ param set-default MPC_XY_VEL_D_ACC 0.1
 param set-default NAV_ACC_RAD 5
 param set-default NAV_LOITER_RAD 80

-param set-default VT_FW_DIFTHR_EN 1
-param set-default VT_FW_DIFTHR_SC 0.5
 param set-default VT_F_TRANS_DUR 1.5
 param set-default VT_F_TRANS_THR 0.7
 param set-default VT_TYPE 0

 param set-default WV_EN 0

+set MAV_TYPE 20
+
 set MIXER_FILE etc/mixers-sitl/quad_x_vtol.main.mix
 set MIXER custom
@@ -7,54 +7,6 @@

 . ${R}etc/init.d/rc.vtol_defaults

-param set-default MAV_TYPE 21
-
-# param set-default SYS_CTRL_ALLOC 1
-param set-default CA_AIRFRAME 3
-
-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
-param set-default CA_ROTOR1_PX -0.1515
-param set-default CA_ROTOR1_PY -0.1875
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.1515
-param set-default CA_ROTOR2_PY -0.245
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.1515
-param set-default CA_ROTOR3_PY 0.1875
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default CA_ROTOR0_TILT 1
-param set-default CA_ROTOR1_TILT 2
-param set-default CA_ROTOR2_TILT 3
-param set-default CA_ROTOR3_TILT 4
-param set-default CA_SV_CS0_TRQ_R -0.5
-param set-default CA_SV_CS0_TYPE 1
-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_CS_COUNT 3
-param set-default CA_SV_TL0_CT 0
-param set-default CA_SV_TL1_CT 0
-param set-default CA_SV_TL2_CT 0
-param set-default CA_SV_TL3_CT 0
-param set-default CA_SV_TL_COUNT 4
-
-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 204
-param set-default PWM_MAIN_FUNC6 205
-param set-default PWM_MAIN_FUNC7 206
-param set-default PWM_MAIN_FUNC8 207
-param set-default PWM_MAIN_FUNC9 201
-param set-default PWM_MAIN_FUNC10 202
-param set-default PWM_MAIN_FUNC11 203
-
 param set-default FW_L1_PERIOD 12
 param set-default FW_MAN_P_MAX 30
 param set-default FW_PR_FF 0.2
@@ -90,5 +42,7 @@ param set-default VT_MOT_ID 1234
 param set-default VT_TILT_TRANS 0.6
 param set-default VT_TYPE 1

+set MAV_TYPE 21
+
 set MIXER_FILE etc/mixers-sitl/tiltrotor_sitl.main.mix
 set MIXER custom
@@ -51,5 +51,7 @@ param set-default RC_MAP_AUX1 8
 param set-default RC_MAP_AUX2 9
 param set-default RC_MAP_AUX3 10

+set MAV_TYPE 22
+
 set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
 set MIXER custom
@@ -28,13 +28,6 @@ param set-default CBRK_AIRSPD_CHK 162128
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 2.0

-param set-default SYS_CTRL_ALLOC 1
-param set-default CA_AIRFRAME 5
+set MAV_TYPE 10

-param set-default CA_R_REV 1
-param set-default PWM_MAIN_FUNC1 201
-param set-default PWM_MAIN_FUNC2 201
-param set-default PWM_MAIN_FUNC6 101
-param set-default PWM_MAIN_FUNC7 101
-
-set MIXER_FILE skip
+set MIXER_FILE etc/mixers-sitl/rover_ackermann_sitl.main.mix
@@ -28,13 +28,6 @@ param set-default CBRK_AIRSPD_CHK 162128
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 2.0

-param set-default SYS_CTRL_ALLOC 1
-param set-default CA_AIRFRAME 6
+set MAV_TYPE 10

-param set-default CA_R_REV 3
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 101
-param set-default PWM_MAIN_FUNC6 102
-param set-default PWM_MAIN_FUNC7 102
-
-set MIXER_FILE skip
+set MIXER_FILE etc/mixers-sitl/rover_diff_sitl.main.mix
@@ -10,8 +10,6 @@

 . ${R}etc/init.d/rc.rover_defaults

-param set-default MAV_TYPE 10
-
 param set-default GND_L1_DIST 5
 param set-default GND_SP_CTRL_MODE 1
 param set-default GND_SPEED_D 3
@@ -35,4 +33,6 @@ param set-default CBRK_AIRSPD_CHK 162128
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 3.0

+set MAV_TYPE 10
+
 set MIXER_FILE etc/mixers-sitl/rover_ackermann_sitl.main.mix
@@ -28,23 +28,6 @@ param set-default CBRK_AIRSPD_CHK 162128
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 2.0

-param set-default SYS_CTRL_ALLOC 1
-param set-default CA_AIRFRAME 9
+set MAV_TYPE 11

-param set-default CA_ROTOR_COUNT 2
-param set-default CA_ROTOR0_AX 1
-param set-default CA_ROTOR0_AZ 0
-param set-default CA_ROTOR0_KM 0
-param set-default CA_ROTOR0_PX -2
-param set-default CA_ROTOR0_PY -1
-param set-default CA_ROTOR1_AX 1
-param set-default CA_ROTOR1_AZ 0
-param set-default CA_ROTOR1_KM 0
-param set-default CA_ROTOR1_PX -2
-param set-default CA_ROTOR1_PY 1
-param set-default CA_R_REV 3
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-
-set MIXER skip
+set MIXER_FILE etc/mixers-sitl/boat_sitl.main.mix
@@ -11,31 +11,5 @@

 . ${R}etc/init.d/rc.airship_defaults

-param set-default SYS_CTRL_ALLOC 1
-param set-default CA_AIRFRAME 9
-
-param set-default CA_ROTOR_COUNT 3
-param set-default CA_ROTOR0_AX 1.0000
-param set-default CA_ROTOR0_AZ 0.0000
-param set-default CA_ROTOR0_KM 0.0000
-param set-default CA_ROTOR0_PY 2.0000
-param set-default CA_ROTOR1_AX 1.0000
-param set-default CA_ROTOR1_AZ 0.0000
-param set-default CA_ROTOR1_KM 0.0000
-param set-default CA_ROTOR1_PY -2.0000
-param set-default CA_ROTOR2_AY -1.0000
-param set-default CA_ROTOR2_AZ 0.0000
-param set-default CA_ROTOR2_KM 0.0000
-param set-default CA_ROTOR2_PX -10.0000
-
-param set-default CA_SV_CS_COUNT 1
-param set-default CA_SV_CS0_TRQ_P 1.0000
-
-param set-default CA_R_REV 7
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 201
-param set-default PWM_MAIN_FUNC4 103
-
-set MIXER skip
+set MIXER cloudship
+set PWM_OUT 1234
@@ -9,8 +9,6 @@

 . ${R}etc/init.d/rc.mc_defaults

-param set-default MAV_TYPE 13
-
 param set-default MC_PITCHRATE_P 0.1
 param set-default MC_PITCHRATE_I 0.05
 param set-default MC_PITCH_P 6.0
@@ -26,4 +24,6 @@ param set-default TRIG_MODE 4
 param set-default MNT_MODE_IN 4
 param set-default MNT_DO_STAB 2

+set MAV_TYPE 13
+
 set MIXER hexa_x
@@ -7,8 +7,6 @@

 . ${R}etc/init.d/rc.mc_defaults

-param set-default MAV_TYPE 13
-
 param set-default MC_PITCHRATE_P 0.0800
 param set-default MC_PITCHRATE_I 0.0400
 param set-default MC_PITCHRATE_D 0.0010
@@ -28,4 +26,6 @@ param set-default MNT_MODE_IN 4
 param set-default MNT_MODE_OUT 2
 param set-default MAV_PROTO_VER 2

+set MAV_TYPE 13
+
 set MIXER hexa_x
@@ -7,8 +7,6 @@

 . ${R}etc/init.d/rc.mc_defaults

-param set-default MAV_TYPE 13
-
 param set-default SYS_CTRL_ALLOC 1

 param set-default MC_PITCHRATE_P 0.0800
@@ -32,26 +30,26 @@ param set-default MNT_MODE_IN 0
 param set-default MAV_PROTO_VER 2

 param set-default CA_AIRFRAME 0
-param set-default CA_ROTOR_COUNT 6
+param set-default CA_MC_R_COUNT 6

-param set-default CA_ROTOR0_PX 0.0
-param set-default CA_ROTOR0_PY 1.0
-param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR1_PX 0.0
-param set-default CA_ROTOR1_PY -1.0
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.866025
-param set-default CA_ROTOR2_PY -0.5
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.866025
-param set-default CA_ROTOR3_PY 0.5
-param set-default CA_ROTOR3_KM 0.05
-param set-default CA_ROTOR4_PX 0.866025
-param set-default CA_ROTOR4_PY 0.5
-param set-default CA_ROTOR4_KM 0.05
-param set-default CA_ROTOR5_PX -0.866025
-param set-default CA_ROTOR5_PY -0.5
-param set-default CA_ROTOR5_KM -0.05
+param set-default CA_MC_R0_PX 0.0
+param set-default CA_MC_R0_PY 1.0
+param set-default CA_MC_R0_KM -0.05
+param set-default CA_MC_R1_PX 0.0
+param set-default CA_MC_R1_PY -1.0
+param set-default CA_MC_R1_KM 0.05
+param set-default CA_MC_R2_PX 0.866025
+param set-default CA_MC_R2_PY -0.5
+param set-default CA_MC_R2_KM -0.05
+param set-default CA_MC_R3_PX -0.866025
+param set-default CA_MC_R3_PY 0.5
+param set-default CA_MC_R3_KM 0.05
+param set-default CA_MC_R4_PX 0.866025
+param set-default CA_MC_R4_PY 0.5
+param set-default CA_MC_R4_KM 0.05
+param set-default CA_MC_R5_PX -0.866025
+param set-default CA_MC_R5_PY -0.5
+param set-default CA_MC_R5_KM -0.05

 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
@@ -60,5 +58,7 @@ param set-default PWM_MAIN_FUNC4 104
 param set-default PWM_MAIN_FUNC5 105
 param set-default PWM_MAIN_FUNC6 106

+set MAV_TYPE 13
+
 set MIXER skip
 set MIXER_AUX none
@@ -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
@@ -24,6 +24,7 @@ fi

 # initialize script variables
 set IO_PRESENT                  no
+set MAV_TYPE                    none
 set MIXER                       none
 set MIXER_AUX                   none
 set MIXER_FILE                  none
@@ -233,7 +234,7 @@ fi

 if param greater -s MNT_MODE_IN -1
 then
-	gimbal start
+	vmount start
 fi

 if param greater -s TRIG_MODE 0
@@ -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
@@ -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
@@ -36,5 +36,4 @@ param set-default MC_PITCHRATE_P 0.19
 param set-default MC_PITCHRATE_I 0.05
 param set-default MC_PITCHRATE_D 0.004
 param set-default MC_YAW_P 4
-
 set MIXER quad_w
@@ -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
@@ -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

@@ -104,7 +73,7 @@ param set-default CBRK_SUPPLY_CHK 894281
 param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027

-param set-default MAV_TYPE 22
+set MAV_TYPE 22

 set MIXER standard_vtol_hitl

@@ -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

@@ -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)
@@ -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 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
@@ -24,38 +24,13 @@

 . ${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

 param set-default VT_TYPE 2
 param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
-
-param set-default MAV_TYPE 22
+set MAV_TYPE 22

 set MIXER quad_x
 set MIXER_AUX vtol_AAERT
@@ -19,6 +19,7 @@

 . ${R}etc/init.d/rc.vtol_defaults

+
 param set-default MAV_TYPE 19

 param set-default MC_ROLL_P 6
@@ -37,6 +38,7 @@ param set-default VT_IDLE_PWM_MC  1080
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_MOT_ID 12
 param set-default VT_TYPE 0
+set MAV_TYPE 19

 set MIXER vtol_tailsitter_duo

@@ -23,7 +23,6 @@

 . ${R}etc/init.d/rc.vtol_defaults

-param set-default MAV_TYPE 21

 param set-default MC_ROLL_P 7
 param set-default MC_ROLLRATE_P 0.19
@@ -46,6 +45,7 @@ param set-default VT_TILT_TRANS 0.5
 param set-default VT_TILT_FW 0.9
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_TYPE 1
+set MAV_TYPE 21

 set MIXER firefly6
 set MIXER_AUX firefly6
@@ -13,33 +13,13 @@

 . ${R}etc/init.d/rc.vtol_defaults

-param set-default MAV_TYPE 20
-
-param set-default CA_AIRFRAME 4
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-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

 param set-default VT_MOT_ID 1234
 param set-default VT_IDLE_PWM_MC  1080
 param set-default VT_TYPE 0
+set MAV_TYPE 20

 set MIXER quad_x_vtol

@@ -22,13 +22,13 @@

 . ${R}etc/init.d/rc.vtol_defaults

-param set-default MAV_TYPE 20
-
 param set-default PWM_MAIN_MAX 2000

 param set-default VT_IDLE_PWM_MC  1080
 param set-default VT_TYPE 0

+set MAV_TYPE 20
+
 set MIXER quad_+_vtol

 set PWM_OUT 1234
@@ -52,6 +52,7 @@ param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_IDLE_PWM_MC 1080
 param set-default VT_TYPE 2
+set MAV_TYPE 22

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

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

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

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

+set MAV_TYPE 22
+
 set MIXER quad_x
 set MIXER_AUX vtol_AAERT

@@ -13,8 +13,6 @@

 . ${R}etc/init.d/rc.vtol_defaults

-param set-defualt MAV_TYPE 21
-
 param set-default PWM_AUX_DISARM 1000
 param set-default PWM_AUX_MAX 2000
 param set-default PWM_AUX_MIN 1000
@@ -30,6 +28,7 @@ param set-default VT_TILT_MC 0.08
 param set-default VT_TILT_TRANS 0.5
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_TYPE 1
+set MAV_TYPE 21

 set MIXER claire
 set MIXER_AUX claire
@@ -22,8 +22,6 @@

 . ${R}etc/init.d/rc.vtol_defaults

-param set-defualt MAV_TYPE 21
-
 param set-default CBRK_AIRSPD_CHK 162128

 param set-default FW_ARSP_MODE 1
@@ -66,6 +64,7 @@ param set-default VT_TRANS_MIN_TM 1.2
 param set-default VT_TRANS_P2_DUR 1.3
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_TYPE 1
+set MAV_TYPE 21

 set MIXER vtol_convergence

@@ -22,8 +22,6 @@

 . ${R}etc/init.d/rc.vtol_defaults

-param set-default MAV_TYPE 22
-
 param set-default BAT1_CAPACITY 23000
 param set-default BAT1_N_CELLS 4
 param set-default BAT1_R_INTERNAL 0.0025
@@ -66,6 +64,7 @@ param set-default FW_BAT_SCALE_EN 1
 param set-default FW_THR_ALT_SCL 2.7
 param set-default FW_T_RLL2THR 20

+param set-default LNDMC_ALT_MAX 9999
 param set-default LNDMC_XY_VEL_MAX 1
 param set-default LNDMC_Z_VEL_MAX 0.7

@@ -136,6 +135,7 @@ param set-default VT_TRANS_TIMEOUT 22
 param set-default VT_F_TRANS_RAMP 4

 param set-default COM_RC_OVERRIDE 0
+set MAV_TYPE 22

 set MIXER deltaquad
 set MIXER_AUX pass
@@ -23,8 +23,6 @@

 . ${R}etc/init.d/rc.vtol_defaults

-param set-default MAV_TYPE 22
-
 param set-default BAT1_N_CELLS 6

 param set-default FW_AIRSPD_MAX 30
@@ -96,6 +94,8 @@ param set-default VT_PSHER_RMP_DT 2
 param set-default VT_TRANS_MIN_TM 4
 param set-default VT_TYPE 2

+set MAV_TYPE 22
+
 set MIXER babyshark
 set MIXER_AUX pass

@@ -27,37 +27,11 @@

 . ${R}etc/init.d/rc.vtol_defaults

-param set-default MAV_TYPE 21
-
 param set-default VT_IDLE_PWM_MC 1100
 param set-default VT_TYPE 1
 param set-default VT_MOT_ID 1234
 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
 set MIXER_AUX vtol_TTTTAAER
@@ -31,6 +31,7 @@ param set-default PWM_AUX_DIS5 950
 param set-default VT_TYPE 2
 param set-default VT_MOT_ID 12345678
 param set-default VT_FW_MOT_OFFID 12345678
+set MAV_TYPE 22

 set MIXER octo_cox
 set MIXER_AUX vtol_AAERT
@@ -19,26 +19,12 @@

 . ${R}etc/init.d/rc.vtol_defaults

-param set-default MAV_TYPE 19
-
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_MOT_COUNT 2
 param set-default VT_TYPE 0

-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

 set PWM_OUT 1234
@@ -18,7 +18,4 @@

 . ${R}etc/init.d/rc.mc_defaults

-# MAV_TYPE_TRICOPTER 15
-param set-default MAV_TYPE 15
-
 set MIXER tri_y_yaw+
@@ -18,7 +18,4 @@

 . ${R}etc/init.d/rc.mc_defaults

-# MAV_TYPE_TRICOPTER 15
-param set-default MAV_TYPE 15
-
 set MIXER tri_y_yaw-
@@ -17,9 +17,7 @@
 #

 . ${R}etc/init.d/rc.mc_defaults
-
-# MAV_TYPE_COAXIAL 3
-param set-default MAV_TYPE 3
+set MIXER coax

 param set-default MC_ROLLRATE_P 0.17
 param set-default MC_ROLLRATE_I 0.05
@@ -38,9 +36,6 @@ param set-default PWM_MAIN_RATE 400

 param set-default RTL_RETURN_ALT 30
 param set-default RTL_DESCEND_ALT 10
-
-set MIXER coax
-
 # This is the gimbal pass mixer
 set MIXER_AUX pass

@@ -20,7 +20,7 @@
 . ${R}etc/init.d/rc.mc_defaults

 # Configure as helicopter (number 4 defined in commander_helper.cpp)
-param set-default MAV_TYPE 4
+set MAV_TYPE 4

 set MIXER blade130

@@ -41,6 +41,5 @@ param set-default FW_R_LIM 40
 param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
 param set-default FW_P_RMAX_NEG 20
-
 set MIXER TF-G2
 set MIXER_AUX pass
@@ -24,5 +24,8 @@ param set-default MAV_0_CONFIG 102
 param set-default GPS_UBX_DYNMODEL 8
 param set-default SER_TEL2_BAUD 9600

+set MAV_TYPE 8
+param set MAV_TYPE ${MAV_TYPE}
+
 set MIXER IO_pass
 set MIXER_AUX pass
@@ -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

@@ -26,7 +26,7 @@
 # @board px4_fmu-v2 exclude
 #

-. ${R}etc/init.d/rc.mc_defaults
+set VEHICLE_TYPE mc

 param set-default NAV_ACC_RAD 2

@@ -39,7 +39,6 @@ param set-default PWM_MAIN_RATE 400

 param set-default RTL_DESCEND_ALT 10
 param set-default RTL_RETURN_ALT 30
-
 set MIXER dodeca_top_cox
 set MIXER_AUX dodeca_bottom_cox

@@ -41,6 +41,9 @@ param set-default FW_RR_P 0.04

 param set-default PWM_MAIN_DISARM 1000

+# Configure this as plane.
+set MAV_TYPE 1
+
 # Set mixer.
 set MIXER fw_generic_wing

@@ -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
-
@@ -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_MC_R_COUNT 4
+param set-default CA_MC_R0_PX 0.177
+param set-default CA_MC_R0_PY 0.177
+param set-default CA_MC_R0_KM 0.05
+param set-default CA_MC_R1_PX -0.177
+param set-default CA_MC_R1_PY -0.177
+param set-default CA_MC_R1_KM 0.05
+param set-default CA_MC_R2_PX 0.177
+param set-default CA_MC_R2_PY -0.177
+param set-default CA_MC_R2_KM -0.05
+param set-default CA_MC_R3_PX -0.177
+param set-default CA_MC_R3_PY 0.177
+param set-default CA_MC_R3_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
@@ -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
@@ -24,6 +24,8 @@

 set MIXER quad_s250aq

+set MAV_TYPE 2
+
 param set-default ATT_BIAS_MAX 0

 param set-default CBRK_IO_SAFETY 22027
@@ -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
@@ -21,7 +21,10 @@
 # @board cuav_x7pro exclude
 #

-. ${R}etc/init.d/rc.mc_defaults
+set VEHICLE_TYPE mc
+set MIXER quad_x
+set PWM_OUT 1234
+

 # Attitude & rate gains
 param set-default MC_ROLLRATE_D 0.0013
@@ -21,7 +21,10 @@
 # @maintainer Hyon Lim <lim@uvify.com>
 #

-. ${R}etc/init.d/rc.mc_defaults
+set VEHICLE_TYPE mc
+set MIXER quad_x
+set PWM_OUT 1234
+

 # Attitude & rate gains
 param set-default MC_ROLLRATE_D 0.0013
@@ -24,6 +24,10 @@

 . ${R}etc/init.d/rc.mc_defaults

+
+# Configure this as Quadrotor
+# set MAV_TYPE 14
+
 # Set mixer
 set MIXER tilt_quad
 set MIXER_AUX tilt_quad
@@ -48,6 +48,8 @@ param set-default NAV_ACC_RAD 0.5
 param set-default PWM_MAIN_DISARM 1500
 param set-default PWM_MAIN_MAX 2000
 param set-default PWM_MAIN_MIN 1000
+# Configure this as rover
+set MAV_TYPE 10

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

+# Configure this as rover
+set MAV_TYPE 10
+
 # Set mixer
 set MIXER generic_diff_rover

@@ -65,6 +65,9 @@ param set-default PWM_MAIN_MIN4 970
 # Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

+# Configure this as rover
+set MAV_TYPE 10
+
 # Set mixer
 set MIXER rover_diff_and_servo

@@ -16,4 +16,7 @@
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

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

+set MAV_TYPE 12
+param set MAV_TYPE ${MAV_TYPE}
+
 set MIXER uuv_x
@@ -23,26 +23,6 @@

 . ${R}etc/init.d/rc.mc_defaults

-# MAV_TYPE_HEXAROTOR 13
-param set-default MAV_TYPE 13
-
-param set-default CA_ROTOR_COUNT 6
-param set-default CA_ROTOR0_PX 0.0
-param set-default CA_ROTOR0_PY 0.5
-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
@@ -27,8 +27,9 @@

 . ${R}etc/init.d/rc.mc_defaults

-# MAV_TYPE_HEXAROTOR 13
-param set-default MAV_TYPE 13
+set MIXER hexa_x
+set PWM_OUT 12345678
+

 ###############################################
 # Attitude & rate gains
@@ -119,7 +120,3 @@ param set-default MAV_1_MODE 2
 param set-default MAV_1_FORWARD 1
 param set-default MAV_1_RATE 800000
 param set-default SER_TEL2_BAUD 921600
-
-
-set MIXER hexa_x
-set PWM_OUT 12345678
@@ -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_MC_R_COUNT 6
+
+param set-default CA_MC_R0_PX 0.0
+param set-default CA_MC_R0_PY 0.275
+param set-default CA_MC_R0_KM -0.05
+
+param set-default CA_MC_R1_PX 0.0
+param set-default CA_MC_R1_PY -0.275
+param set-default CA_MC_R1_KM 0.05
+
+param set-default CA_MC_R2_PX 0.238
+param set-default CA_MC_R2_PY -0.1375
+param set-default CA_MC_R2_KM -0.05
+
+param set-default CA_MC_R3_PX -0.238
+param set-default CA_MC_R3_PY 0.1375
+param set-default CA_MC_R3_KM 0.05
+
+param set-default CA_MC_R4_PX 0.238
+param set-default CA_MC_R4_PY 0.1375
+param set-default CA_MC_R4_KM 0.05
+
+param set-default CA_MC_R5_PX -0.238
+param set-default CA_MC_R5_PY -0.1375
+param set-default CA_MC_R5_KM -0.05
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+param set-default PWM_MAIN_FUNC5 105
+param set-default PWM_MAIN_FUNC6 106
+
+set MIXER skip
+set MIXER_AUX none
@@ -23,26 +23,6 @@

 . ${R}etc/init.d/rc.mc_defaults

-# MAV_TYPE_HEXAROTOR 13
-param set-default MAV_TYPE 13
-
-param set-default CA_ROTOR_COUNT 6
-param set-default CA_ROTOR0_PX 0.5
-param set-default CA_ROTOR0_PY 0.0
-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
@@ -25,31 +25,6 @@

 . ${R}etc/init.d/rc.mc_defaults

-# MAV_TYPE_OCTOROTOR 14
-param set-default MAV_TYPE 14
-
-param set-default CA_ROTOR_COUNT 8
-param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR0_PX 0.46
-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
@@ -25,9 +25,6 @@

 . ${R}etc/init.d/rc.mc_defaults

-# MAV_TYPE_OCTOROTOR 14
-param set-default MAV_TYPE 14
-
 set MIXER octo_+

 set PWM_OUT 12345678
@@ -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_+
@@ -48,14 +48,6 @@ fi
 #                        End Estimator Group Selection                        #
 ###############################################################################

-if param compare SYS_CTRL_ALLOC 1
-then
-	#
-	# Start Control Allocator
-	#
-	control_allocator start
-fi
-
 #
 # Start Airship Attitude Controller.
 #
@@ -7,9 +7,6 @@

 set VEHICLE_TYPE airship

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

 set VEHICLE_TYPE fw

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

 set VEHICLE_TYPE rover

-# MAV_TYPE_SURFACE_BOAT 11
-param set-default MAV_TYPE 11
-
 #
 # Default parameters for UGVs.
 #
@@ -10,14 +10,6 @@
 #
 ekf2 start &

-if param compare SYS_CTRL_ALLOC 1
-then
-	#
-	# Start Control Allocator
-	#
-	control_allocator start
-fi
-
 #
 # Start attitude controller.
 #
@@ -7,9 +7,6 @@

 set VEHICLE_TYPE fw

-# MAV_TYPE_FIXED_WING 1
-param set-default MAV_TYPE 1
-
 #
 # Default parameters for fixed wing UAVs.
 #
@@ -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 ]
@@ -7,13 +7,7 @@

 set VEHICLE_TYPE mc

-# MAV_TYPE_QUADROTOR 2
-param set-default MAV_TYPE 2
-
-if param compare IMU_GYRO_RATEMAX 400
-then
-	param set-default IMU_GYRO_RATEMAX 800
-fi
+param set-default IMU_GYRO_RATEMAX 800

 param set-default NAV_ACC_RAD 2

@@ -12,13 +12,6 @@ ekf2 start &
 #attitude_estimator_q start
 #local_position_estimator start

-if param compare SYS_CTRL_ALLOC 1
-then
-	#
-	# Start Control Allocator
-	#
-	control_allocator start
-fi

 #
 # Start attitude controllers.
@@ -7,9 +7,6 @@

 set VEHICLE_TYPE rover

-# MAV_TYPE_GROUND_ROVER 10
-param set-default MAV_TYPE 10
-
 #
 # Default parameters for UGVs.
 #
@@ -4,6 +4,19 @@
 #
 # NOTE: Script variables are declared/initialized/unset in the rcS script.
 #
+
+if ! ver hwcmp OMNIBUS_F4SD
+then
+	if ! ver hwcmp BITCRAZE_CRAZYFLIE
+	then
+		# Configure all I2C buses to 100 KHz as they
+		# are all external or slow
+		# TODO: move this
+		pwm_out i2c 1 100000
+		pwm_out i2c 2 100000
+	fi
+fi
+
 ###############################################################################
 #                           Begin Optional drivers                            #
 ###############################################################################
@@ -130,13 +143,6 @@ 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
@@ -149,26 +155,6 @@ then
 	ms5525_airspeed start -X
 fi

-# IR-LOCK sensor external I2C
-if param compare -s SENS_EN_IRLOCK 1
-then
-	irlock start -X
-fi
-
-# SPL06 sensor external I2C
-if param compare -s SENS_EN_SPL06 1
-then
-	spl06 -X start
-	spl06 -X -a 0x77 start
-fi
-
-# PCF8583 counter (RPM sensor)
-if param compare -s SENS_EN_PCF8583 1
-then
-	pcf8583 start -X
-	pcf8583 start -X -a 0x51
-fi
-
 # probe for optional external I2C devices
 if param compare SENS_EXT_I2C_PRB 1
 then
@@ -15,14 +15,6 @@ ekf2 start &
 #                        End Estimator Group Selection                        #
 ###############################################################################

-if param compare SYS_CTRL_ALLOC 1
-then
-	#
-	# Start Control Allocator
-	#
-	control_allocator start
-fi
-
 #
 # Start UUV Attitude Controller.
 #
@@ -7,9 +7,6 @@

 set VEHICLE_TYPE uuv

-# MAV_TYPE_SUBMARINE 12
-param set-default MAV_TYPE 12
-
 param set-default PWM_MAIN_MAX 1950
 param set-default PWM_MAIN_MIN 1050
 param set-default PWM_MAIN_DISARM 1500
--- a/Show More
+++ b/Show More