mavlink: early return in parser

Signed-off-by: Julian Oes <julian@oes.ch>
mavlink: add MAV_SIK_RADIO_ID param back in
2026-05-31 08:20:05 +08:00 · 2023-02-09 21:06:16 +13:00 · 2023-02-09 21:05:44 +13:00 · 2023-02-08 13:15:33 +13:00
174 changed files with 2048 additions and 3772 deletions
@@ -30,7 +30,6 @@ jobs:
          cuav_nora,
          cuav_x7pro,
          cubepilot_cubeorange,
-          cubepilot_cubeorangeplus,
          cubepilot_cubeyellow,
          diatone_mamba-f405-mk2,
          freefly_can-rtk-gps,
@@ -5,12 +5,12 @@
 # @type Quadrotor Wide
 #

-. ${R}etc/init.d-posix/airframes/10016_gazebo-classic_iris
+. ${R}etc/init.d-posix/airframes/10016_iris

-# EKF2: Vision position and heading, no GPS
+# EKF2: Vision position and heading
+param set-default EKF2_AID_MASK 24
 param set-default EKF2_EV_DELAY 5
 param set-default EKF2_EV_CTRL 15
-param set-default EKF2_HGT_REF 3
 param set-default EKF2_GPS_CTRL 0

 # LPE: Vision + baro
@@ -10,7 +10,7 @@ param set-default EKF2_MAG_YAWLIM 0

 param set-default FW_LND_ANG 8

-param set-default NPFG_PERIOD 12
+param set-default FW_L1_PERIOD 12

 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.5
@@ -11,7 +11,7 @@ param set-default EKF2_MAG_YAWLIM 0
 param set-default FW_LND_AIRSPD_SC 1
 param set-default FW_LND_ANG 8

-param set-default NPFG_PERIOD 12
+param set-default FW_L1_PERIOD 12

 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.5
@@ -11,7 +11,7 @@ param set-default EKF2_MAG_YAWLIM 0
 param set-default FW_LND_AIRSPD_SC 1
 param set-default FW_LND_ANG 8

-param set-default NPFG_PERIOD 12
+param set-default FW_L1_PERIOD 12

 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.5
@@ -10,7 +10,7 @@ param set-default FW_LND_FL_PMIN 9.5
 param set-default FW_LND_FL_PMAX 20
 param set-default FW_LND_FLALT 5

-param set-default NPFG_PERIOD 25
+param set-default FW_L1_PERIOD 25

 param set-default FW_PR_FF 0.40
 param set-default FW_PR_I 0.05
@@ -10,7 +10,7 @@ param set-default FW_LND_FL_PMIN 9.5
 param set-default FW_LND_FL_PMAX 20
 param set-default FW_LND_FLALT 5

-param set-default NPFG_PERIOD 25
+param set-default FW_L1_PERIOD 25

 param set-default FW_PR_FF 0.40
 param set-default FW_PR_I 0.05
@@ -10,6 +10,8 @@ param set-default EKF2_MAG_YAWLIM 0

 param set-default FW_LND_ANG 8

+param set-default FW_L1_PERIOD 15
+
 param set-default FW_P_TC 0.5
 param set-default FW_PR_FF 0.40
 param set-default FW_PR_I 0.05
@@ -20,7 +22,7 @@ param set-default FW_RR_FF 0.20
 param set-default FW_RR_I 0.02
 param set-default FW_RR_P 0.22

-param set-default NPFG_PERIOD 12
+param set-default FW_L1_PERIOD 12

 param set-default FW_W_EN 1

@@ -10,7 +10,7 @@ param set-default FW_LND_FL_PMIN 9.5
 param set-default FW_LND_FL_PMAX 20
 param set-default FW_LND_FLALT 5

-param set-default NPFG_PERIOD 25
+param set-default FW_L1_PERIOD 25

 param set-default FW_PR_FF 0.40
 param set-default FW_PR_I 0.05
@@ -10,7 +10,7 @@ param set-default EKF2_MAG_YAWLIM 0

 param set-default FW_LND_ANG 8

-param set-default NPFG_PERIOD 12
+param set-default FW_L1_PERIOD 12

 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.2
@@ -11,7 +11,7 @@ param set-default EKF2_MAG_YAWLIM 0
 param set-default FW_LND_AIRSPD_SC 1
 param set-default FW_LND_ANG 8

-param set-default NPFG_PERIOD 12
+param set-default FW_L1_PERIOD 12

 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.5
@@ -11,7 +11,7 @@ param set-default FW_LND_FL_PMIN 9.5
 param set-default FW_LND_FL_PMAX 20
 param set-default FW_LND_FLALT 5

-param set-default NPFG_PERIOD 25
+param set-default FW_L1_PERIOD 25

 param set-default FW_PR_FF 0.40
 param set-default FW_PR_I 0.05
@@ -11,7 +11,7 @@ param set-default EKF2_MAG_YAWLIM 0
 param set-default FW_LND_ANG 8
 param set-default FW_THR_LND_MAX 0

-param set-default NPFG_PERIOD 12
+param set-default FW_L1_PERIOD 12

 param set-default FW_MAN_P_MAX 30

@@ -47,7 +47,7 @@ param set-default PWM_MAIN_FUNC6 201
 param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203

-param set-default NPFG_PERIOD 12
+param set-default FW_L1_PERIOD 12
 param set-default FW_PR_FF 0.2
 param set-default FW_PR_P 0.9
 param set-default FW_PSP_OFF 2
@@ -42,7 +42,7 @@ 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 NPFG_PERIOD 12
+param set-default FW_L1_PERIOD 12
 param set-default FW_PR_I 0.2
 param set-default FW_PR_P 0.2
 param set-default FW_PSP_OFF 2
@@ -46,7 +46,7 @@ param set-default PWM_MAIN_FUNC7 201
 param set-default PWM_MAIN_FUNC8 202
 param set-default PWM_MAIN_FUNC9 203

-param set-default NPFG_PERIOD 12
+param set-default FW_L1_PERIOD 12
 param set-default FW_PR_FF 0.2
 param set-default FW_PR_P 0.9
 param set-default FW_PSP_OFF 2
@@ -47,7 +47,7 @@ param set-default PWM_MAIN_FUNC6 201
 param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203

-param set-default NPFG_PERIOD 12
+param set-default FW_L1_PERIOD 12
 param set-default FW_PR_FF 0.2
 param set-default FW_PR_P 0.9
 param set-default FW_PSP_OFF 2
@@ -11,7 +11,7 @@ param set-default EKF2_MAG_YAWLIM 0
 param set-default FW_LND_AIRSPD_SC 1
 param set-default FW_LND_ANG 8

-param set-default NPFG_PERIOD 12
+param set-default FW_L1_PERIOD 12

 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.5
@@ -10,14 +10,12 @@ PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
 PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=rc_cessna}

-param set-default SENS_EN_ARSPDSIM 1
-
 param set-default EKF2_MAG_ACCLIM 0
 param set-default EKF2_MAG_YAWLIM 0

 param set-default FW_LND_ANG 8

-param set-default NPFG_PERIOD 12
+param set-default FW_L1_PERIOD 12

 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.5
@@ -57,6 +55,7 @@ param set-default RWTO_TKOFF 1
 param set-default CA_AIRFRAME 1

 param set-default COM_PREARM_MODE 2
+param set-default CBRK_AIRSPD_CHK 162128

 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
@@ -1,106 +0,0 @@
-#!/bin/sh
-#
-# @name Standard VTOL
-#
-# @type Standard VTOL
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=standard_vtol}
-
-param set-default SENS_EN_ARSPDSIM 1
-
-# TODO: Enable motor failure detection when the
-# VTOL no longer reports 0A for all ESCs in SITL
-param set-default FD_ACT_EN 0
-param set-default FD_ACT_MOT_TOUT 500
-
-param set-default CA_AIRFRAME 2
-
-param set-default COM_PREARM_MODE 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 SIM_GZ_EC_FUNC1 101
-param set-default SIM_GZ_EC_MIN1 10
-param set-default SIM_GZ_EC_MAX1 1500
-param set-default SIM_GZ_EC_FUNC2 102
-param set-default SIM_GZ_EC_MIN2 10
-param set-default SIM_GZ_EC_MAX2 1500
-param set-default SIM_GZ_EC_FUNC3 103
-param set-default SIM_GZ_EC_MIN3 10
-param set-default SIM_GZ_EC_MAX3 1500
-param set-default SIM_GZ_EC_FUNC4 104
-param set-default SIM_GZ_EC_MIN4 10
-param set-default SIM_GZ_EC_MAX4 1500
-
-param set-default SIM_GZ_EC_FUNC5 105
-param set-default SIM_GZ_EC_MIN5 0
-param set-default SIM_GZ_EC_MAX5 3500
-
-param set-default SIM_GZ_SV_FUNC1 201
-param set-default SIM_GZ_SV_FUNC2 202
-param set-default SIM_GZ_SV_FUNC3 203
-
-param set-default COM_RC_IN_MODE 1
-param set-default ASPD_PRIMARY 1
-
-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 FW_L1_PERIOD 12
-param set-default FW_PR_FF 0.2
-param set-default FW_PR_P 0.9
-param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MIN -15
-param set-default FW_RR_FF 0.1
-param set-default FW_RR_P 0.3
-param set-default FW_THR_TRIM 0.25
-param set-default FW_THR_MAX 0.6
-param set-default FW_THR_MIN 0.05
-param set-default FW_T_CLMB_MAX 8
-param set-default FW_T_SINK_MAX 2.7
-param set-default FW_T_SINK_MIN 2.2
-
-param set-default MC_AIRMODE 1
-param set-default MC_ROLLRATE_P 0.3
-param set-default MC_YAW_P 1.6
-
-param set-default MIS_TAKEOFF_ALT 10
-
-param set-default MPC_ACC_HOR_MAX 2
-param set-default MPC_XY_P 0.8
-param set-default MPC_XY_VEL_P_ACC 3
-param set-default MPC_XY_VEL_I_ACC 4
-param set-default MPC_XY_VEL_D_ACC 0.1
-
-param set-default NAV_ACC_RAD 5
-
-param set-default VT_FWD_THRUST_EN 4
-param set-default VT_F_TRANS_THR 0.75
-param set-default VT_B_TRANS_DUR 8
-param set-default VT_TYPE 2
-param set-default FD_ESCS_EN 0
@@ -73,7 +73,6 @@ px4_add_romfs_files(
 	4001_gz_x500
 	4002_gz_x500_depth
 	4003_gz_rc_cessna
-	4004_gz_standard_vtol

 	6011_gazebo-classic_typhoon_h480
 	6011_gazebo-classic_typhoon_h480.post
@@ -80,10 +80,6 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
 			sensor_baro_sim start
 			sensor_gps_sim start
 			sensor_mag_sim start
-			if param compare -s SENS_EN_ARSPDSIM 1
-			then
-				sensor_airspeed_sim start
-			fi

 		else
 			echo "ERROR [init] gz_bridge failed to start"
@@ -97,10 +93,6 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
 			sensor_baro_sim start
 			sensor_gps_sim start
 			sensor_mag_sim start
-			if param compare -s SENS_EN_ARSPDSIM 1
-			then
-				sensor_airspeed_sim start
-			fi

 		else
 			echo "ERROR [init] gz_bridge failed to start"
@@ -115,10 +107,6 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
 			sensor_baro_sim start
 			sensor_gps_sim start
 			sensor_mag_sim start
-			if param compare -s SENS_EN_ARSPDSIM 1
-			then
-				sensor_airspeed_sim start
-			fi

 		else
 			echo "ERROR [init] gz_bridge failed to start"
@@ -184,9 +184,6 @@ param set-default SDLOG_DIRS_MAX 7
 param set-default TRIG_INTERFACE 3

 param set-default SYS_FAILURE_EN 1
-# Enable low-battery actions by default for (automated) testing. Battery sim
-# does not go below 50% by default, but failure injection can trigger failsafes.
-param set-default COM_LOW_BAT_ACT 2

 # Adapt timeout parameters if simulation runs faster or slower than realtime.
 if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
@@ -38,7 +38,7 @@ param set-default EKF2_GPS_P_GATE 10
 param set-default EKF2_GPS_V_GATE 10

 param set-default FW_ARSP_MODE 1
-param set-default NPFG_PERIOD 25
+param set-default FW_L1_PERIOD 25
 param set-default FW_PR_FF 0.7
 param set-default FW_PR_I 0.18
 param set-default FW_PR_P 0.15
@@ -30,7 +30,7 @@ param set-default BAT1_N_CELLS 6
 param set-default FW_AIRSPD_MAX 30
 param set-default FW_AIRSPD_MIN 19
 param set-default FW_AIRSPD_TRIM 23
-param set-default FW_PN_R_SLEW_MAX 40
+param set-default FW_L1_R_SLEW_MAX 40
 param set-default FW_PSP_OFF 3
 param set-default FW_P_LIM_MAX 18
 param set-default FW_P_LIM_MIN -25
@@ -20,7 +20,7 @@ control_allocator start
 #
 fw_rate_control start
 fw_att_control start
-fw_path_navigation start
+fw_pos_control_l1 start
 airspeed_selector start

 #
@@ -37,7 +37,7 @@ fi

 fw_rate_control start vtol
 fw_att_control start vtol
-fw_path_navigation start vtol
+fw_pos_control_l1 start vtol
 fw_autotune_attitude_control start vtol

 # Start Land Detector
@@ -1,15 +0,0 @@
-<?xml version="1.0"?>
-<model>
-  <name>Standard VTOL</name>
-  <version>1.0</version>
-  <sdf version='1.10'>model.sdf</sdf>
-
-  <author>
-   <name>Roman Bapst</name>
-   <email>roman@px4.io</email>
-  </author>
-
-  <description>
-    This is a model of a standard VTOL quad plane.
-  </description>
-</model>
@@ -1,748 +0,0 @@
-<?xml version="1.0"?>
-<!-- DO NOT EDIT: Generated from standard_vtol.sdf.jinja -->
-<sdf version='1.10'>
-  <model name='standard_vtol'>
-    <pose>0 0 0.246 0 0 0</pose>
-    <link name='base_link'>
-      <pose>0 0 0 0 0 0</pose>
-      <inertial>
-        <pose>0 0 0 0 0 0</pose>
-        <mass>5</mass>
-        <inertia>
-          <ixx>0.477708333333</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.341666666667</iyy>
-          <iyz>0</iyz>
-          <izz>0.811041666667</izz>
-        </inertia>
-      </inertial>
-      <collision name='base_link_collision'>
-        <pose>0 0 -0.07 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.55 2.144 0.05</size>
-          </box>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>100000</kp>
-              <kd>1.0</kd>
-              <max_vel>0.1</max_vel>
-              <min_depth>0.001</min_depth>
-            </ode>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-      <visual name='base_link_visual'>
-        <pose>0.53 -1.072 -0.1 1.5707963268 0 3.1415926536</pose>
-        <geometry>
-          <mesh>
-            <scale>0.001 0.001 0.001</scale>
-            <uri>model://standard_vtol/meshes/x8_wing.dae</uri>
-          </mesh>
-        </geometry>
-        <material>
-          <ambient>.175 .175 .175 1.0</ambient>
-          <diffuse>.175 .175 .175 1.0</diffuse>
-        </material>
-      </visual>
-      <visual name='left_motor_column'>
-        <pose>0 0.35 0.01 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.74 0.03 0.03</size>
-          </box>
-        </geometry>
-        <material>
-          <ambient>.175 .175 .175 1.0</ambient>
-          <diffuse>.175 .175 .175 1.0</diffuse>
-        </material>
-      </visual>
-      <visual name='right_motor_column'>
-        <pose>0 -0.35 0.01 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.74 0.03 0.03</size>
-          </box>
-        </geometry>
-        <material>
-          <ambient>.175 .175 .175 1.0</ambient>
-          <diffuse>.175 .175 .175 1.0</diffuse>
-        </material>
-      </visual>
-      <visual name='m0'>
-        <pose>-0.35 0.35 0.045 0 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.035</length>
-            <radius>0.02</radius>
-          </cylinder>
-        </geometry>
-        <material>
-          <ambient>.175 .175 .175 1.0</ambient>
-          <diffuse>.175 .175 .175 1.0</diffuse>
-        </material>
-      </visual>
-      <visual name='m1'>
-        <pose>-0.35 -0.35 0.045 0 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.035</length>
-            <radius>0.02</radius>
-          </cylinder>
-        </geometry>
-        <material>
-          <ambient>.175 .175 .175 1.0</ambient>
-          <diffuse>.175 .175 .175 1.0</diffuse>
-        </material>
-      </visual>
-      <visual name='m2'>
-        <pose>0.35 -0.35 0.045 0 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.035</length>
-            <radius>0.02</radius>
-          </cylinder>
-        </geometry>
-        <material>
-          <ambient>.175 .175 .175 1.0</ambient>
-          <diffuse>.175 .175 .175 1.0</diffuse>
-        </material>
-      </visual>
-      <visual name='m3'>
-        <pose>0.35 0.35 0.045 0 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.035</length>
-            <radius>0.02</radius>
-          </cylinder>
-        </geometry>
-        <material>
-          <ambient>.175 .175 .175 1.0</ambient>
-          <diffuse>.175 .175 .175 1.0</diffuse>
-        </material>
-      </visual>
-      <gravity>1</gravity>
-      <velocity_decay/>
-      <self_collide>0</self_collide>
-      <sensor name="imu_sensor" type="imu">
-        <always_on>1</always_on>
-        <update_rate>250</update_rate>
-      </sensor>
-    </link>
-    <link name='rotor_0'>
-      <pose>0.35 -0.35 0.07 0 0 0</pose>
-      <inertial>
-        <pose>0 0 0 0 0 0</pose>
-        <mass>0.005</mass>
-        <inertia>
-          <ixx>9.75e-07</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000166704</iyy>
-          <iyz>0</iyz>
-          <izz>0.000167604</izz>
-        </inertia>
-      </inertial>
-      <collision name='rotor_0_collision'>
-        <pose>0 0 0 0 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.005</length>
-            <radius>0.1</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode/>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-      <visual name='rotor_0_visual'>
-        <pose>0 0 0 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>model://standard_vtol/meshes/iris_prop_ccw.dae</uri>
-          </mesh>
-        </geometry>
-        <material>
-          <ambient>0 0 1 1.0</ambient>
-          <diffuse>0 0 1 1.0</diffuse>
-        </material>
-      </visual>
-      <gravity>1</gravity>
-      <velocity_decay/>
-      <self_collide>0</self_collide>
-    </link>
-    <joint name='rotor_0_joint' type='revolute'>
-      <child>rotor_0</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 0 1</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name='rotor_1'>
-      <pose>-0.35 0.35 0.07 0 0 0</pose>
-      <inertial>
-        <pose>0 0 0 0 0 0</pose>
-        <mass>0.005</mass>
-        <inertia>
-          <ixx>9.75e-07</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000166704</iyy>
-          <iyz>0</iyz>
-          <izz>0.000167604</izz>
-        </inertia>
-      </inertial>
-      <collision name='rotor_1_collision'>
-        <pose>0 0 0 0 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.005</length>
-            <radius>0.1</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode/>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-      <visual name='rotor_1_visual'>
-        <pose>0 0 0 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>model://standard_vtol/meshes/iris_prop_ccw.dae</uri>
-          </mesh>
-        </geometry>
-        <material>
-          <ambient>0 0 1 1.0</ambient>
-          <diffuse>0 0 1 1.0</diffuse>
-        </material>
-      </visual>
-      <gravity>1</gravity>
-      <velocity_decay/>
-      <self_collide>0</self_collide>
-    </link>
-    <joint name='rotor_1_joint' type='revolute'>
-      <child>rotor_1</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 0 1</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name='rotor_2'>
-      <pose>0.35 0.35 0.07 0 0 0</pose>
-      <inertial>
-        <pose>0 0 0 0 0 0</pose>
-        <mass>0.005</mass>
-        <inertia>
-          <ixx>9.75e-07</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000166704</iyy>
-          <iyz>0</iyz>
-          <izz>0.000167604</izz>
-        </inertia>
-      </inertial>
-      <collision name='rotor_2_collision'>
-        <pose>0 0 0 0 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.005</length>
-            <radius>0.1</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode/>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-      <visual name='rotor_2_visual'>
-        <pose>0 0 0 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>model://standard_vtol/meshes/iris_prop_ccw.dae</uri>
-          </mesh>
-        </geometry>
-        <material>
-          <ambient>0 0 1 1.0</ambient>
-          <diffuse>0 0 1 1.0</diffuse>
-        </material>
-      </visual>
-      <gravity>1</gravity>
-      <velocity_decay/>
-      <self_collide>0</self_collide>
-    </link>
-    <joint name='rotor_2_joint' type='revolute'>
-      <child>rotor_2</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 0 1</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name='rotor_3'>
-      <pose>-0.35 -0.35 0.07 0 0 0</pose>
-      <inertial>
-        <pose>0 0 0 0 0 0</pose>
-        <mass>0.005</mass>
-        <inertia>
-          <ixx>9.75e-07</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000166704</iyy>
-          <iyz>0</iyz>
-          <izz>0.000167604</izz>
-        </inertia>
-      </inertial>
-      <collision name='rotor_3_collision'>
-        <pose>0 0 0 0 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.005</length>
-            <radius>0.1</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode/>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-      <visual name='rotor_3_visual'>
-        <pose>0 0 0 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>model://standard_vtol/meshes/iris_prop_ccw.dae</uri>
-          </mesh>
-        </geometry>
-        <material>
-          <ambient>0 0 1 1.0</ambient>
-          <diffuse>0 0 1 1.0</diffuse>
-        </material>
-      </visual>
-      <gravity>1</gravity>
-      <velocity_decay/>
-      <self_collide>0</self_collide>
-    </link>
-    <joint name='rotor_3_joint' type='revolute'>
-      <child>rotor_3</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 0 1</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
-      </axis>
-    </joint>
-
-    <link name='rotor_puller'>
-      <pose>-0.22 0 0.0 0 1.57 0</pose>
-      <inertial>
-        <pose>0 0 0 0 0 0</pose>
-        <mass>0.005</mass>
-        <inertia>
-          <ixx>9.75e-07</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000166704</iyy>
-          <iyz>0</iyz>
-          <izz>0.000167604</izz>
-        </inertia>
-      </inertial>
-      <collision name='rotor_puller_collision'>
-        <pose>0.0 0 -0.04 0 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.005</length>
-            <radius>0.06</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode/>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-      <visual name='rotor_puller_visual'>
-        <pose>0 0 -0.04 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <scale>0.8 0.8 0.8</scale>
-            <uri>model://standard_vtol/meshes/iris_prop_ccw.dae</uri>
-          </mesh>
-        </geometry>
-        <material>
-          <ambient>0 0 1 1.0</ambient>
-          <diffuse>0 0 1 1.0</diffuse>
-        </material>
-      </visual>
-      <gravity>1</gravity>
-      <velocity_decay/>
-      <self_collide>0</self_collide>
-    </link>
-    <joint name='rotor_puller_joint' type='revolute'>
-      <pose>0.0 0 0.0 0 -1.57 0</pose>
-      <child>rotor_puller</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>1 0 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
-      </axis>
-    </joint>
-
-    <link name="left_elevon">
-      <inertial>
-        <mass>0.00000001</mass>
-        <inertia>
-          <ixx>0.000001</ixx>
-          <ixy>0.0</ixy>
-          <iyy>0.000001</iyy>
-          <ixz>0.0</ixz>
-          <iyz>0.0</iyz>
-          <izz>0.000001</izz>
-        </inertia>
-        <pose>0 0.3 0 0.00 0 0.0</pose>
-      </inertial>
-      <visual name='left_elevon_visual'>
-        <pose>-0.105 0.004 -0.034 1.5707963268 0 3.1415926536</pose>
-        <geometry>
-          <mesh>
-            <scale>0.001 0.001 0.001</scale>
-            <uri>model://standard_vtol/meshes/x8_elevon_left.dae</uri>
-          </mesh>
-        </geometry>
-        <material>
-          <ambient>0 0 1 1.0</ambient>
-          <diffuse>0 0 1 1.0</diffuse>
-        </material>
-      </visual>
-    </link>
-    <link name="right_elevon">
-      <inertial>
-        <mass>0.00000001</mass>
-        <inertia>
-          <ixx>0.000001</ixx>
-          <ixy>0.0</ixy>
-          <iyy>0.000001</iyy>
-          <ixz>0.0</ixz>
-          <iyz>0.0</iyz>
-          <izz>0.000001</izz>
-        </inertia>
-        <pose>0 -0.6 0 0.00 0 0.0</pose>
-      </inertial>
-      <visual name='right_elevon_visual'>
-        <pose>0.281 -1.032 -0.034 1.5707963268 0 3.1415926536</pose>
-        <geometry>
-          <mesh>
-            <scale>0.001 0.001 0.001</scale>
-            <uri>model://standard_vtol/meshes/x8_elevon_right.dae</uri>
-          </mesh>
-        </geometry>
-        <material>
-          <ambient>0 0 1 1.0</ambient>
-          <diffuse>0 0 1 1.0</diffuse>
-        </material>
-      </visual>
-    </link>
-    <link name="elevator">
-      <inertial>
-        <mass>0.00000001</mass>
-        <inertia>
-          <ixx>0.000001</ixx>
-          <ixy>0.0</ixy>
-          <iyy>0.000001</iyy>
-          <ixz>0.0</ixz>
-          <iyz>0.0</iyz>
-          <izz>0.000001</izz>
-        </inertia>
-        <pose> -0.5 0 0 0.00 0 0.0</pose>
-      </inertial>
-    </link>
-    <joint name='servo_0' type='revolute'>
-      <parent>base_link</parent>
-      <child>left_elevon</child>
-      <pose>-0.18 0.6 -0.005 0 0 0.265</pose>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-0.53</lower>
-          <upper>0.53</upper>
-        </limit>
-        <dynamics>
-          <damping>1.000</damping>
-        </dynamics>
-      </axis>
-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-        </ode>
-      </physics>
-    </joint>
-    <joint name='servo_1' type='revolute'>
-      <parent>base_link</parent>
-      <child>right_elevon</child>
-      <pose>-0.18 -0.6 -0.005 0 0 -0.265</pose>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-0.53</lower>
-          <upper>0.53</upper>
-        </limit>
-        <dynamics>
-          <damping>1.000</damping>
-        </dynamics>
-      </axis>
-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-        </ode>
-      </physics>
-    </joint>
-    <joint name='servo_2' type='revolute'>
-      <parent>base_link</parent>
-      <child>elevator</child>
-      <pose> -0.5 0 0 0 0 0</pose>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <!-- -30/+30 deg. -->
-          <lower>-0.53</lower>
-          <upper>0.53</upper>
-        </limit>
-        <dynamics>
-          <damping>1.000</damping>
-        </dynamics>
-      </axis>
-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-        </ode>
-      </physics>
-    </joint>
-    <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
-      <a0>0.05984281113</a0>
-      <cla>4.752798721</cla>
-      <cda>0.6417112299</cda>
-      <cma>0.0</cma>
-      <alpha_stall>0.3391428111</alpha_stall>
-      <cla_stall>-3.85</cla_stall>
-      <cda_stall>-0.9233984055</cda_stall>
-      <cma_stall>0</cma_stall>
-      <cp>-0.05 0.3 0.05</cp>
-      <area>0.50</area>
-      <air_density>1.2041</air_density>
-      <forward>1 0 0</forward>
-      <upward>0 0 1</upward>
-      <link_name>base_link</link_name>
-      <control_joint_name>servo_0</control_joint_name>
-      <control_joint_rad_to_cl>-1.0</control_joint_rad_to_cl>
-    </plugin>
-    <plugin
-      filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
-      <joint_name>servo_0</joint_name>
-      <sub_topic>servo_0</sub_topic>
-    </plugin>
-    <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
-      <a0>0.05984281113</a0>
-      <cla>4.752798721</cla>
-      <cda>0.6417112299</cda>
-      <cma>0.0</cma>
-      <alpha_stall>0.3391428111</alpha_stall>
-      <cla_stall>-3.85</cla_stall>
-      <cda_stall>-0.9233984055</cda_stall>
-      <cma_stall>0</cma_stall>
-      <cp>-0.05 -0.3 0.05</cp>
-      <area>0.50</area>
-      <air_density>1.2041</air_density>
-      <forward>1 0 0</forward>
-      <upward>0 0 1</upward>
-      <link_name>base_link</link_name>
-      <control_joint_name>servo_1</control_joint_name>
-      <control_joint_rad_to_cl>-1.0</control_joint_rad_to_cl>
-    </plugin>
-    <plugin
-      filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
-      <joint_name>servo_1</joint_name>
-      <sub_topic>servo_1</sub_topic>
-    </plugin>
-    <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
-      <a0>-0.2</a0>
-      <cla>4.752798721</cla>
-      <cda>0.6417112299</cda>
-      <cma>0.0</cma>
-      <alpha_stall>0.3391428111</alpha_stall>
-      <cla_stall>-3.85</cla_stall>
-      <cda_stall>-0.9233984055</cda_stall>
-      <cma_stall>0</cma_stall>
-      <cp>-0.5 0 0</cp>
-      <area>0.01</area>
-      <air_density>1.2041</air_density>
-      <forward>1 0 0</forward>
-      <upward>0 0 1</upward>
-      <link_name>base_link</link_name>
-      <control_joint_name>servo_2</control_joint_name>
-          <control_joint_name>servo_2</control_joint_name>
-      <control_joint_rad_to_cl>-12.0</control_joint_rad_to_cl>
-    </plugin>
-    <plugin
-      filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
-      <joint_name>servo_2</joint_name>
-      <sub_topic>servo_2</sub_topic>
-    </plugin>
-    <plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
-      <jointName>rotor_0_joint</jointName>
-      <linkName>rotor_0</linkName>
-      <turningDirection>ccw</turningDirection>
-      <timeConstantUp>0.0125</timeConstantUp>
-      <timeConstantDown>0.025</timeConstantDown>
-      <maxRotVelocity>1500</maxRotVelocity>
-      <motorConstant>2e-05</motorConstant>
-      <momentConstant>0.06</momentConstant>
-      <commandSubTopic>command/motor_speed</commandSubTopic>
-      <motorNumber>0</motorNumber>
-      <rotorDragCoefficient>0.000106428</rotorDragCoefficient>
-      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-      <rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim>
-      <motorType>velocity</motorType>
-    </plugin>
-    <plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
-      <jointName>rotor_1_joint</jointName>
-      <linkName>rotor_1</linkName>
-      <turningDirection>ccw</turningDirection>
-      <timeConstantUp>0.0125</timeConstantUp>
-      <timeConstantDown>0.025</timeConstantDown>
-      <maxRotVelocity>1500</maxRotVelocity>
-      <motorConstant>2e-05</motorConstant>
-      <momentConstant>0.06</momentConstant>
-      <commandSubTopic>command/motor_speed</commandSubTopic>
-      <motorNumber>1</motorNumber>
-      <rotorDragCoefficient>0.000106428</rotorDragCoefficient>
-      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-      <rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim>
-      <motorType>velocity</motorType>
-    </plugin>
-    <plugin
-      filename="gz-sim-multicopter-motor-model-system"
-      name="gz::sim::systems::MulticopterMotorModel">
-      <jointName>rotor_2_joint</jointName>
-      <linkName>rotor_2</linkName>
-      <turningDirection>cw</turningDirection>
-      <timeConstantUp>0.0125</timeConstantUp>
-      <timeConstantDown>0.025</timeConstantDown>
-      <maxRotVelocity>1500</maxRotVelocity>
-      <motorConstant>2e-05</motorConstant>
-      <momentConstant>0.06</momentConstant>
-      <commandSubTopic>command/motor_speed</commandSubTopic>
-      <motorNumber>2</motorNumber>
-      <rotorDragCoefficient>0.000106428</rotorDragCoefficient>
-      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-      <rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim>
-      <motorType>velocity</motorType>
-    </plugin>
-    <plugin
-      filename="gz-sim-multicopter-motor-model-system"
-      name="gz::sim::systems::MulticopterMotorModel">
-      <jointName>rotor_3_joint</jointName>
-      <linkName>rotor_3</linkName>
-      <turningDirection>cw</turningDirection>
-      <timeConstantUp>0.0125</timeConstantUp>
-      <timeConstantDown>0.025</timeConstantDown>
-      <maxRotVelocity>1500</maxRotVelocity>
-      <motorConstant>2e-05</motorConstant>
-      <momentConstant>0.06</momentConstant>
-      <commandSubTopic>command/motor_speed</commandSubTopic>
-      <motorNumber>3</motorNumber>
-      <rotorDragCoefficient>0.000106428</rotorDragCoefficient>
-      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-      <rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim>
-      <motorType>velocity</motorType>
-    </plugin>
-    <plugin
-      filename="gz-sim-multicopter-motor-model-system"
-      name="gz::sim::systems::MulticopterMotorModel">
-      <jointName>rotor_puller_joint</jointName>
-      <linkName>rotor_puller</linkName>
-      <turningDirection>cw</turningDirection>
-      <timeConstantUp>0.0125</timeConstantUp>
-      <timeConstantDown>0.025</timeConstantDown>
-      <maxRotVelocity>3500</maxRotVelocity>
-      <motorConstant>8.54858e-06</motorConstant>
-      <momentConstant>0.01</momentConstant>
-      <commandSubTopic>command/motor_speed</commandSubTopic>
-      <motorNumber>4</motorNumber>
-      <rotorDragCoefficient>0.000106428</rotorDragCoefficient>
-      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-      <rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim>
-      <motorType>velocity</motorType>
-    </plugin>
-    <static>0</static>
-  </model>
-</sdf>
@@ -46,7 +46,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -43,7 +43,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -379,7 +379,7 @@

 #define GPIO_UART5_RX    GPIO_UART5_RX_3    /* PD2  */
 #define GPIO_UART5_TX    GPIO_UART5_TX_3    /* PC12 */
-// GPIO_UART5_RTS  No remap                 /* PC8  */
+// GPIO_UART5_RTS   no remap                /* PC8  */
 // GPIO_UART5_CTS  No remap                 /* PC9  */

 #define GPIO_USART6_RX   GPIO_USART6_RX_1   /* PC7 */
@@ -387,8 +387,8 @@

 #define GPIO_UART7_RX    GPIO_UART7_RX_4    /* PF6  */
 #define GPIO_UART7_TX    GPIO_UART7_TX_3    /* PE8  */
-#define GPIO_UART7_RTS   (GPIO_UART7_RTS_2 | GPIO_PULLDOWN)   /* PF8  */
-#define GPIO_UART7_CTS   (GPIO_UART7_CTS_1 | GPIO_PULLDOWN)   /* PE10 */
+#define GPIO_UART7_RTS   GPIO_UART7_RTS_2   /* PF8  */
+#define GPIO_UART7_CTS   GPIO_UART7_CTS_1   /* PE10 */

 #define GPIO_UART8_RX    GPIO_UART8_RX_1    /* PE0 */
 #define GPIO_UART8_TX    GPIO_UART8_TX_1    /* PE1 */
@@ -43,7 +43,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -31,7 +31,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -50,7 +50,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -51,7 +51,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -45,7 +45,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -65,13 +65,16 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
+CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
+CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
@@ -82,6 +85,8 @@ CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_REFLECT=y
+CONFIG_SYSTEMCMDS_SD_BENCH=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
@@ -3,9 +3,9 @@ CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
 CONFIG_DRIVERS_IRLOCK=n
 CONFIG_DRIVERS_PCA9685_PWM_OUT=n
 CONFIG_DRIVERS_UAVCAN=n
+CONFIG_MODULES_ROVER_POS_CONTROL=n
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_TEST_PPM=y
 CONFIG_SYSTEMCMDS_MICROBENCH=y
-CONFIG_SYSTEMCMDS_SD_BENCH=y
 CONFIG_SYSTEMCMDS_SD_STRESS=y
@@ -45,7 +45,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -65,6 +65,7 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
@@ -73,6 +74,7 @@ CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
+CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
@@ -83,6 +85,8 @@ CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_REFLECT=y
+CONFIG_SYSTEMCMDS_SD_BENCH=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
@@ -7,49 +7,21 @@
 #
 # CONFIG_DISABLE_ENVIRON is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_DISABLE_PTHREAD is not set
 # CONFIG_MMCSD_HAVE_CARDDETECT is not set
 # CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
 # CONFIG_MMCSD_MMCSUPPORT is not set
 # CONFIG_MMCSD_SPI is not set
 # CONFIG_NSH_DISABLEBG is not set
 # CONFIG_NSH_DISABLESCRIPT is not set
-# CONFIG_NSH_DISABLE_CAT is not set
-# CONFIG_NSH_DISABLE_CD is not set
-# CONFIG_NSH_DISABLE_CMP is not set
-# CONFIG_NSH_DISABLE_CP is not set
-# CONFIG_NSH_DISABLE_DATE is not set
 # CONFIG_NSH_DISABLE_DF is not set
-# CONFIG_NSH_DISABLE_ECHO is not set
-# CONFIG_NSH_DISABLE_ENV is not set
 # CONFIG_NSH_DISABLE_EXEC is not set
 # CONFIG_NSH_DISABLE_EXIT is not set
-# CONFIG_NSH_DISABLE_EXPORT is not set
-# CONFIG_NSH_DISABLE_FREE is not set
 # CONFIG_NSH_DISABLE_GET is not set
-# CONFIG_NSH_DISABLE_HELP is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
-# CONFIG_NSH_DISABLE_KILL is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
-# CONFIG_NSH_DISABLE_LS is not set
-# CONFIG_NSH_DISABLE_MKDIR is not set
 # CONFIG_NSH_DISABLE_MKFATFS is not set
-# CONFIG_NSH_DISABLE_MOUNT is not set
-# CONFIG_NSH_DISABLE_MV is not set
-# CONFIG_NSH_DISABLE_PS is not set
-# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
-# CONFIG_NSH_DISABLE_PWD is not set
-# CONFIG_NSH_DISABLE_RM is not set
-# CONFIG_NSH_DISABLE_RMDIR is not set
 # CONFIG_NSH_DISABLE_SEMICOLON is not set
-# CONFIG_NSH_DISABLE_SET is not set
-# CONFIG_NSH_DISABLE_SLEEP is not set
-# CONFIG_NSH_DISABLE_SOURCE is not set
-# CONFIG_NSH_DISABLE_TEST is not set
 # CONFIG_NSH_DISABLE_TIME is not set
-# CONFIG_NSH_DISABLE_UMOUNT is not set
-# CONFIG_NSH_DISABLE_UNSET is not set
-# CONFIG_NSH_DISABLE_USLEEP is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
 CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/cubepilot/cubeorangeplus/nuttx-config"
@@ -58,7 +30,7 @@ CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32h7"
 CONFIG_ARCH_CHIP_STM32H747XI=y
 CONFIG_ARCH_CHIP_STM32H7=y
-CONFIG_ARCH_INTERRUPTSTACK=768
+CONFIG_ARCH_INTERRUPTSTACK=512
 CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_DCACHE=y
@@ -68,11 +40,11 @@ CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_ARM_MPU_EARLY_RESET=y
 CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARD_ASSERT_RESET_VALUE=0
 CONFIG_BOARD_CRASHDUMP=y
 CONFIG_BOARD_LOOPSPERMSEC=79954
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
+CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
 CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x1058
@@ -84,11 +56,11 @@ CONFIG_CDCACM_VENDORSTR="CubePilot"
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y
-CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
 CONFIG_DEV_PIPE_SIZE=70
+CONFIG_DISABLE_MQUEUE=y
 CONFIG_EXAMPLES_CALIB_UDELAY=y
 CONFIG_EXPERIMENTAL=y
 CONFIG_FAT_DMAMEMORY=y
@@ -112,10 +84,7 @@ CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
-CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_LONG_LONG=y
-CONFIG_LIBC_MAX_EXITFUNS=1
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
@@ -134,6 +103,9 @@ CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y
 CONFIG_NSH_CROMFSETC=y
+CONFIG_NSH_DISABLE_IFCONFIG=y
+CONFIG_NSH_DISABLE_IFUPDOWN=y
+CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
 CONFIG_NSH_NESTDEPTH=8
@@ -155,16 +127,17 @@ CONFIG_RAW_BINARY=y
 CONFIG_READLINE_CMD_HISTORY=y
 CONFIG_READLINE_TABCOMPLETION=y
 CONFIG_RTC_DATETIME=y
+CONFIG_SCHED_ATEXIT=y
 CONFIG_SCHED_HPWORK=y
 CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
+CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
 CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
@@ -257,4 +230,6 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
+CONFIG_USERMAIN_STACKSIZE=2944
+CONFIG_USER_ENTRYPOINT="nsh_main"
 CONFIG_WATCHDOG=y
@@ -46,7 +46,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -33,7 +33,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -44,7 +44,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -39,7 +39,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -38,7 +38,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -138,8 +138,6 @@

 #define GPIO_RF_SWITCH                     /* PE13  */ (GPIO_OUTPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN13)

-#define GPIO_VTX_ON                        /* PB11  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN11)
-
 /* Power switch controls ******************************************************/

 #define SDIO_SLOTNO                    0  /* Only one slot */
@@ -181,7 +179,6 @@
 		GPIO_TONE_ALARM_IDLE,             \
 		GPIO_RSSI_IN,                     \
 		GPIO_RF_SWITCH,                   \
-		GPIO_VTX_ON,                      \
 	}

 #define BOARD_ENABLE_CONSOLE_BUFFER
@@ -39,7 +39,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -135,8 +135,6 @@

 #define GPIO_RF_SWITCH                     /* PE13  */ (GPIO_OUTPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN13)

-#define GPIO_VTX_ON                        /* PB11  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN11)
-
 /* Power switch controls ******************************************************/

 #define SDIO_SLOTNO                    0  /* Only one slot */
@@ -180,7 +178,6 @@
 		GPIO_TONE_ALARM_IDLE,             \
 		GPIO_RSSI_IN,                     \
 		GPIO_RF_SWITCH,                   \
-		GPIO_VTX_ON,                      \
 	}

 #define BOARD_ENABLE_CONSOLE_BUFFER
@@ -50,7 +50,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -29,7 +29,7 @@ CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
@@ -30,7 +30,7 @@ CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
@@ -31,7 +31,7 @@ CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
@@ -48,7 +48,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -45,7 +45,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -43,7 +43,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -44,7 +44,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -44,7 +44,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -31,6 +31,7 @@ CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_UAVCAN=y
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
@@ -42,7 +43,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -50,6 +51,7 @@ CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
@@ -96,3 +98,4 @@ CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_EXAMPLES_FAKE_GPS=y
@@ -32,6 +32,7 @@ CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_UAVCAN=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
@@ -43,7 +44,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -51,6 +52,7 @@ CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
@@ -97,3 +99,4 @@ CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_EXAMPLES_FAKE_GPS=y
@@ -31,6 +31,7 @@ CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_UAVCAN=y
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
@@ -42,7 +43,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -50,6 +51,7 @@ CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
@@ -45,7 +45,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -46,7 +46,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -46,7 +46,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -48,7 +48,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -2,7 +2,6 @@ CONFIG_DRIVERS_ADC_ADS1115=n
 CONFIG_DRIVERS_IRLOCK=n
 CONFIG_DRIVERS_PCA9685_PWM_OUT=n
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
-CONFIG_MODULES_GYRO_FFT=n
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_BOARD_TESTING=y
 CONFIG_SYSTEMCMDS_MICROBENCH=y
@@ -20,7 +20,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
@@ -20,7 +20,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
@@ -35,8 +35,6 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
-# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
-# CONFIG_SENSORS_VEHICLE_OPTICAL_FLOW is not set
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_MFT=y
@@ -9,5 +9,5 @@ CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_I2C=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_SERIAL=y
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
@@ -49,7 +49,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -50,7 +50,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -47,7 +47,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -3,7 +3,6 @@ CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
 CONFIG_DRIVERS_IRLOCK=n
 CONFIG_DRIVERS_PCA9685_PWM_OUT=n
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
-CONFIG_MODULES_GYRO_FFT=n
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_TEST_PPM=y
@@ -55,7 +55,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -18,7 +18,7 @@ CONFIG_MODULES_CAMERA_FEEDBACK=n
 CONFIG_MODULES_ESC_BATTERY=n
 CONFIG_MODULES_FW_ATT_CONTROL=n
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_FW_PATH_NAVIGATION=n
+CONFIG_MODULES_FW_POS_CONTROL_L1=n
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_MODULES_ROVER_POS_CONTROL=n
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=n
@@ -58,7 +58,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -42,7 +42,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -47,7 +47,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -50,7 +50,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -30,7 +30,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -17,7 +17,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -30,7 +30,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -35,6 +35,7 @@ CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_UAVCAN=y
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
@@ -46,7 +47,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -54,6 +55,7 @@ CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
@@ -99,3 +101,4 @@ CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_EXAMPLES_FAKE_GPS=y
@@ -44,7 +44,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -44,7 +44,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -126,7 +126,6 @@ set(msg_files
 	Mission.msg
 	MissionResult.msg
 	MountOrientation.msg
-	ModeCompleted.msg
 	NavigatorMissionItem.msg
 	NpfgStatus.msg
 	ObstacleDistance.msg
@@ -1,14 +0,0 @@
-# Mode completion result, published by an active mode.
-# Note that this is not always published (e.g. when a user switches modes or on
-# failsafe activation)
-uint64 timestamp				 # time since system start (microseconds)
-
-
-uint8 RESULT_SUCCESS = 0
-# [1-99]: reserved
-uint8 RESULT_FAILURE_OTHER = 100 # Mode failed (generic error)
-
-uint8 result                     # One of RESULT_*
-
-uint8 nav_state                  # Source mode
-
@@ -84,6 +84,7 @@ uint16 VEHICLE_CMD_REQUEST_MESSAGE = 512    		# Request to send a single instanc
 uint16 VEHICLE_CMD_SET_CAMERA_MODE = 530		# Set camera capture mode (photo, video, etc.)
 uint16 VEHICLE_CMD_SET_CAMERA_ZOOM = 531		# Set camera zoom
 uint16 VEHICLE_CMD_SET_CAMERA_FOCUS = 532
+uint16 VEHICLE_CMD_SET_AT_PARAM = 550			# Set AT command for SiK radio
 uint16 VEHICLE_CMD_DO_GIMBAL_MANAGER_PITCHYAW = 1000 	# Setpoint to be sent to a gimbal manager to set a gimbal pitch and yaw
 uint16 VEHICLE_CMD_DO_GIMBAL_MANAGER_CONFIGURE = 1001 	# Gimbal configuration to set which sysid/compid is in primary and secondary control
 uint16 VEHICLE_CMD_IMAGE_START_CAPTURE = 2000   	# Start image capture sequence.
@@ -71,7 +71,7 @@ __END_DECLS
 * Messages that should never be filtered or compiled out
 ****************************************************************************/
 #define PX4_INFO(FMT, ...) 	qurt_log(_PX4_LOG_LEVEL_INFO, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
-#define PX4_INFO_RAW(FMT, ...) 	qurt_log_raw(FMT, ##__VA_ARGS__)
+#define PX4_INFO_RAW(FMT, ...) 	__px4_log_omit(_PX4_LOG_LEVEL_INFO, FMT, ##__VA_ARGS__)

 #if defined(TRACE_BUILD)
 /****************************************************************************
@@ -40,6 +40,14 @@ __BEGIN_DECLS
 #include <stm32.h>
 #define PX4_SOC_ARCH_ID             PX4_SOC_ARCH_ID_STM32F4
 #define PX4_FLASH_BASE  STM32_FLASH_BASE
+#if defined(CONFIG_STM32_STM32F4XXX)
+# include <stm32_bbsram.h>
+# define PX4_BBSRAM_SIZE STM32_BBSRAM_SIZE
+# define PX4_HF_GETDESC_IOCTL STM32_BBSRAM_GETDESC_IOCTL
+# define HAS_BBSRAM CONFIG_STM32_BBSRAM
+# define BBSRAM_FILE_COUNT CONFIG_STM32_BBSRAM_FILES
+# define SAVE_CRASHDUMP CONFIG_STM32_SAVE_CRASHDUMP
+#endif
 #define PX4_NUMBER_I2C_BUSES STM32_NI2C
 #define PX4_ADC_INTERNAL_TEMP_SENSOR_CHANNEL 16

@@ -57,14 +57,4 @@ static __inline void qurt_log(int level, const char *file, int line,
 	qurt_log_to_apps(level, buf);
 }

-static __inline void qurt_log_raw(const char *format, ...)
-{
-	char buf[256];
-	va_list args;
-	va_start(args, format);
-	vsnprintf(buf, sizeof(buf), format, args);
-	va_end(args);
-	qurt_log_to_apps(1, buf);
-}
-
 __END_DECLS
@@ -29,7 +29,7 @@ flight_mode_manager start
 mc_pos_control start vtol
 mc_att_control start vtol
 mc_rate_control start vtol
-fw_path_navigation start vtol
+fw_pos_control_l1 start vtol
 fw_att_control start vtol
 airspeed_selector start

@@ -59,7 +59,7 @@ flight_mode_manager status
 mc_pos_control status
 mc_att_control status
 mc_rate_control status
-fw_path_navigation status
+fw_pos_control_l1 status
 fw_att_control status
 airspeed_selector status
 dataman status
@@ -74,7 +74,7 @@ mc_att_control stop
 fw_att_control stop
 flight_mode_manager stop
 mc_pos_control stop
-fw_path_navigation stop
+fw_pos_control_l1 stop
 navigator stop
 commander stop
 land_detector stop
@@ -56,7 +56,7 @@ ekf2 start
 land_detector start fixedwing

 fw_att_control start
-fw_path_navigation start
+fw_pos_control_l1 start

 mavlink start -n SoftAp -x -u 14556 -r 1000000 -p
 # -n name of wifi interface: SoftAp, wlan or your custom interface,
@@ -63,7 +63,7 @@ airspeed_selector start
 land_detector start fixedwing
 flight_mode_manager start
 fw_att_control start
-fw_path_navigation start
+fw_pos_control_l1 start

 mavlink start -x -u 14556 -r 1000000 -p

@@ -41,7 +41,7 @@ navigator start
 ekf2 start
 land_detector start fixedwing
 fw_att_control start
-fw_path_navigation start
+fw_pos_control_l1 start

 mavlink start -x -u 14556 -r 1000000 -p

--- a/Show More
+++ b/Show More