updating sitl-gazebo classic (#21352)

Co-authored-by: root <root@DESKTOP-OINCOKE>

.ci/Jenkinsfile-compile

@@ -9,10 +9,10 @@ pipeline {
         script {
           def build_nodes = [:]
           def docker_images = [
-            armhf: "px4io/px4-dev-armhf:2021-09-08",
-            arm64: "px4io/px4-dev-aarch64:2021-09-08",
-            base: "px4io/px4-dev-base-bionic:2021-09-08",
-            nuttx: "px4io/px4-dev-nuttx-focal:2021-09-08",
+            armhf: "px4io/px4-dev-armhf:2022-08-12",
+            arm64: "px4io/px4-dev-aarch64:2022-08-12",
+            base: "px4io/px4-dev-ros2-foxy:2022-08-12",
+            nuttx: "px4io/px4-dev-nuttx-focal:2022-08-12",
           ]
 
           def armhf_builds = [
@@ -62,6 +62,8 @@ pipeline {
                      "holybro_durandal-v1_default",
                      "holybro_kakutef7_default",
                      "holybro_kakuteh7_default",
+                     "holybro_kakuteh7v2_default",
+                     "holybro_kakuteh7mini_default",
                      "holybro_pix32v5_default",
                      "matek_gnss-m9n-f4_canbootloader",
                      "matek_gnss-m9n-f4_default",
@@ -108,6 +110,8 @@ pipeline {
                      "raspberrypi_pico_default",
                      "sky-drones_smartap-airlink_default",
                      "spracing_h7extreme_default",
+                     "thepeach_k1_default",
+                     "thepeach_r1_default",
                      "uvify_core_default"
             ],
             image: docker_images.nuttx,

.github/workflows/compile_nuttx.yml

@@ -30,6 +30,7 @@ jobs:
           cuav_nora,
           cuav_x7pro,
           cubepilot_cubeorange,
+          cubepilot_cubeorangeplus,
           cubepilot_cubeyellow,
           diatone_mamba-f405-mk2,
           freefly_can-rtk-gps,

.gitignore

@@ -105,3 +105,6 @@ src/modules/simulator/simulator_config.h
 src/systemcmds/topic_listener/listener_generated.cpp
 
 !src/drivers/distance_sensor/broadcom/afbrs50/Lib/*
+
+# colcon
+log/

.vscode/cmake-variants.yaml

@@ -180,7 +180,7 @@ CONFIG:
       short: cubepilot_cubeorange
       buildType: MinSizeRel
       settings:
-        CONFIG: cubepilot_orange_test
+        CONFIG: cubepilot_cubeorange_test
     emlid_navio2_default:
       short: emlid_navio2
       buildType: MinSizeRel

.vscode/settings.json

@@ -2,7 +2,6 @@
         "astyle.astylerc": "${workspaceFolder}/Tools/astyle/astylerc",
         "astyle.c.enable": true,
         "astyle.cpp.enable": true,
-        "breadcrumbs.enabled": true,
         "C_Cpp.autoAddFileAssociations": false,
         "C_Cpp.clang_format_fallbackStyle": "none",
         "C_Cpp.default.browse.limitSymbolsToIncludedHeaders": true,
@@ -20,7 +19,6 @@
         "cmakeExplorer.buildDir": "${workspaceFolder}/build/px4_sitl_test",
         "cmakeExplorer.parallelJobs": 1,
         "cmakeExplorer.suiteDelimiter": "-",
-        "cortex-debug.enableTelemetry": false,
         "cSpell.allowCompoundWords": true,
         "cSpell.diagnosticLevel": "Hint",
         "cSpell.showStatus": false,
@@ -31,7 +29,6 @@
         ],
         "debug.toolBarLocation": "docked",
         "editor.defaultFormatter": "chiehyu.vscode-astyle",
-        "editor.dragAndDrop": false,
         "editor.insertSpaces": false,
         "editor.minimap.maxColumn": 120,
         "editor.minimap.renderCharacters": false,
@@ -127,12 +124,7 @@
                 "${workspaceFolder}/build": true
         },
         "search.showLineNumbers": true,
-        "telemetry.enableTelemetry": false,
-        "terminal.integrated.scrollback": 5000,
-        "window.title": "${dirty} ${activeEditorMedium}${separator}${rootName}",
-        "workbench.editor.highlightModifiedTabs": true,
-        "workbench.enableExperiments": false,
-        "workbench.settings.enableNaturalLanguageSearch": false,
+        "terminal.integrated.scrollback": 15000,
         "yaml.schemas": {
                 "${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml"
         }

.vscode/tasks.json

@@ -170,7 +170,7 @@
             ]
         },
         {
-            "label": "ign gazebo",
+            "label": "gazebo",
             "type": "shell",
             "options": {
                 "cwd": "${workspaceFolder}",
@@ -178,7 +178,7 @@
                     "IGN_GAZEBO_RESOURCE_PATH": "${workspaceFolder}/Tools/simulation/gz/models",
                 }
             },
-            "command": "ign gazebo -v 4 -r ${workspaceFolder}/Tools/simulation/gz/worlds/${input:gzWorld}.sdf",
+            "command": "gz sim -v 4 -r ${workspaceFolder}/Tools/simulation/gz/worlds/${input:gzWorld}.sdf",
             "isBackground": true,
             "presentation": {
                 "echo": true,
@@ -191,7 +191,7 @@
                 "close": false
             },
             "problemMatcher": [],
-            "dependsOn":["ign gazebo kill"]
+            "dependsOn":["gazebo kill"]
         },
         {
             "label": "gazebo-classic kill",
@@ -211,9 +211,9 @@
             "dependsOn":["px4_sitl_cleanup"]
         },
         {
-            "label": "ign gazebo kill",
+            "label": "gazebo kill",
             "type": "shell",
-            "command": "pkill -9 -f 'ign gazebo' || true",
+            "command": "pkill -9 -f 'gz sim' || true",
             "presentation": {
                 "echo": true,
                 "reveal": "never",

CMakeLists.txt

@@ -118,7 +118,21 @@ execute_process(
 	OUTPUT_STRIP_TRAILING_WHITESPACE
 	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 	)
-message(STATUS "PX4 version: ${PX4_GIT_TAG}")
+
+# git describe to X.Y.Z version
+string(REPLACE "." ";" VERSION_LIST ${PX4_GIT_TAG})
+
+# major version
+list(GET VERSION_LIST 0 PX4_VERSION_MAJOR)
+string(REPLACE "v" "" PX4_VERSION_MAJOR ${PX4_VERSION_MAJOR})
+# minor version
+list(GET VERSION_LIST 1 PX4_VERSION_MINOR)
+# patch version
+list(GET VERSION_LIST 2 PX4_VERSION_PATCH)
+string(REPLACE "-" ";" PX4_VERSION_PATCH ${PX4_VERSION_PATCH})
+list(GET PX4_VERSION_PATCH 0 PX4_VERSION_PATCH)
+
+message(STATUS "PX4 version: ${PX4_GIT_TAG} (${PX4_VERSION_MAJOR}.${PX4_VERSION_MINOR}.${PX4_VERSION_PATCH})")
 
 define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES
                  BRIEF_DOCS "PX4 module libs"
@@ -456,6 +470,9 @@ add_custom_command(OUTPUT ${uorb_graph_config}
 add_custom_target(uorb_graph DEPENDS ${uorb_graph_config})
 
 
+include(bloaty)
+
+
 include(doxygen)
 include(metadata)
 include(package)

Kconfig

@@ -73,6 +73,13 @@ menu "Toolchain"
         help
             relative path to the ROMFS root directory
 
+    config BOARD_ROOTFSDIR
+        string "Root directory"
+        depends on PLATFORM_POSIX
+        default "."
+        help
+            Configure the root directory in the file system for PX4 files
+
     config BOARD_IO
         string "IO board name"
         default "px4_io-v2_default"

LICENSE

@@ -1,6 +1,6 @@
 BSD 3-Clause License
 
-Copyright (c) 2012 - 2022, PX4 Development Team
+Copyright (c) 2012 - 2023, PX4 Development Team
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

README.md

@@ -44,81 +44,88 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://docs.px4.io/main/en/con
 
 ## Maintenance Team
 
-  * Project: Founder
-    * [Lorenz Meier](https://github.com/LorenzMeier)
-  * Architecture
-    * [Daniel Agar](https://github.com/dagar)
-  * [Dev Call](https://github.com/PX4/PX4-Autopilot/labels/devcall)
-    * [Ramon Roche](https://github.com/mrpollo)
-  * Communication Architecture
-    * [Beat Kueng](https://github.com/bkueng)
-    * [Julian Oes](https://github.com/JulianOes)
-  * UI in QGroundControl
-    * [Gus Grubba](https://github.com/dogmaphobic)
-  * [Multicopter Flight Control](https://github.com/PX4/PX4-Autopilot/labels/multicopter)
-    * [Mathieu Bresciani](https://github.com/bresch)
-  * [Multicopter Software Architecture](https://github.com/PX4/PX4-Autopilot/labels/multicopter)
-    * [Matthias Grob](https://github.com/MaEtUgR)
-  * [VTOL Flight Control](https://github.com/PX4/PX4-Autopilot/labels/vtol)
-    * [Roman Bapst](https://github.com/RomanBapst)
-  * [Fixed Wing Flight Control](https://github.com/PX4/PX4-Autopilot/labels/fixedwing)
-    * [Roman Bapst](https://github.com/RomanBapst)
-  * OS / NuttX
-    * [David Sidrane](https://github.com/davids5)
-  * Driver Architecture
-    * [Daniel Agar](https://github.com/dagar)
-  * Commander Architecture
-    * [Julian Oes](https://github.com/julianoes)
-  * [UAVCAN](https://github.com/PX4/PX4-Autopilot/labels/uavcan)
-    * [Daniel Agar](https://github.com/dagar)
-  * [State Estimation](https://github.com/PX4/PX4-Autopilot/issues?q=is%3Aopen+is%3Aissue+label%3A%22state+estimation%22)
-    * [Paul Riseborough](https://github.com/priseborough)
-  * Vision based navigation and Obstacle Avoidance
-    * [Markus Achtelik](https://github.com/markusachtelik)
-  * DDS/ROS2 Interface
-    * [Nuno Marques](https://github.com/TSC21)
+Note: This is the source of truth for the active maintainers of PX4 ecosystem.
 
-See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/PX4-Autopilot/graphs/contributors) (Github).
+| Sector | Maintainer |
+|---|---|
+| Founder | [Lorenz Meier](https://github.com/LorenzMeier) |
+| Architecture | [Daniel Agar](https://github.com/dagar) / [Beat Küng](https://github.com/bkueng)|
+| State Estimation | [Mathieu Bresciani](https://github.com/bresch) / [Paul Riseborough](https://github.com/priseborough) |
+| OS/NuttX | [David Sidrane](https://github.com/davids5) |
+| Drivers | [Daniel Agar](https://github.com/dagar) |
+| Simulation | [Jaeyoung Lim](https://github.com/Jaeyoung-Lim) |
+| ROS2 | [Beniamino Pozzan](https://github.com/beniaminopozzan) |
+| Community QnA Call | [Ramon Roche](https://github.com/mrpollo) |
+| [Documentation](https://docs.px4.io/main/en/) | [Hamish Willee](https://github.com/hamishwillee) |
+
+| Vehicle Type | Maintainer |
+|---|---|
+| Multirotor | [Matthias Grob](https://github.com/MaEtUgR) |
+| Fixed Wing | [Thomas Stastny](https://github.com/tstastny) |
+| Hybrid VTOL | [Silvan Fuhrer](https://github.com/sfuhrer) |
+| Boat | x |
+| Rover | x |
+
+See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/PX4-Autopilot/graphs/contributors) (Github). However it may be not up to date.
 
 ## Supported Hardware
 
-This repository contains code supporting Pixhawk standard boards (best supported, best tested, recommended choice) and proprietary boards.
+Pixhawk standard boards and proprietary boards are shown below (discontinued boards aren't listed).
+
+For the most up to date information, please visit [PX4 user Guide > Autopilot Hardware](https://docs.px4.io/main/en/flight_controller/).
 
 ### Pixhawk Standard Boards
-  * FMUv6X and FMUv6U (STM32H7, 2021)
-    * Various vendors will provide FMUv6X and FMUv6U based designs Q3/2021
-  * FMUv5 and FMUv5X (STM32F7, 2019/20)
-    * [Pixhawk 4 (FMUv5)](https://docs.px4.io/main/en/flight_controller/pixhawk4.html)
-    * [Pixhawk 4 mini (FMUv5)](https://docs.px4.io/main/en/flight_controller/pixhawk4_mini.html)
-    * [CUAV V5+ (FMUv5)](https://docs.px4.io/main/en/flight_controller/cuav_v5_plus.html)
-    * [CUAV V5 nano (FMUv5)](https://docs.px4.io/main/en/flight_controller/cuav_v5_nano.html)
-    * [Auterion Skynode (FMUv5X)](https://docs.auterion.com/skynode)
-  * FMUv4 (STM32F4, 2015)
-    * [Pixracer](https://docs.px4.io/main/en/flight_controller/pixracer.html)
-    * [Pixhawk 3 Pro](https://docs.px4.io/main/en/flight_controller/pixhawk3_pro.html)
-  * FMUv3 (STM32F4, 2014)
-    * [Pixhawk 2](https://docs.px4.io/main/en/flight_controller/pixhawk-2.html)
-    * [Pixhawk Mini](https://docs.px4.io/main/en/flight_controller/pixhawk_mini.html)
-    * [CUAV Pixhack v3](https://docs.px4.io/main/en/flight_controller/pixhack_v3.html)
-  * FMUv2 (STM32F4, 2013)
-    * [Pixhawk](https://docs.px4.io/main/en/flight_controller/pixhawk.html)
-    * [Pixfalcon](https://docs.px4.io/main/en/flight_controller/pixfalcon.html)
 
-### Manufacturer and Community supported
-  * [Holybro Durandal](https://docs.px4.io/main/en/flight_controller/durandal.html)
-  * [Hex Cube Orange](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orange.html)
-  * [Hex Cube Yellow](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_yellow.html)
-  * [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
-  * [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
-  * [Bitcraze Crazyflie 2.0](https://docs.px4.io/main/en/complete_vehicles/crazyflie2.html)
-  * [Omnibus F4 SD](https://docs.px4.io/main/en/flight_controller/omnibus_f4_sd.html)
-  * [Holybro Kakute F7](https://docs.px4.io/main/en/flight_controller/kakutef7.html)
-  * [Raspberry PI with Navio 2](https://docs.px4.io/main/en/flight_controller/raspberry_pi_navio2.html)
+These boards fully comply with Pixhawk Standard, and are maintained by the PX4-Autopilot maintainers and Dronecode team
 
-Additional information about supported hardware can be found in [PX4 user Guide > Autopilot Hardware](https://docs.px4.io/main/en/flight_controller/).
+* FMUv6X and FMUv6C
+  * [CUAV Pixahwk V6X (FMUv6X)](https://docs.px4.io/main/en/flight_controller/cuav_pixhawk_v6x.html)
+  * [Holybro Pixhawk 6X (FMUv6X)](https://docs.px4.io/main/en/flight_controller/pixhawk6x.html)
+  * [Holybro Pixhawk 6C (FMUv6C)](https://docs.px4.io/main/en/flight_controller/pixhawk6c.html)
+  * [Holybro Pix32 v6 (FMUv6C)](https://docs.px4.io/main/en/flight_controller/holybro_pix32_v6.html)
+* FMUv5 and FMUv5X (STM32F7, 2019/20)
+  * [Pixhawk 4 (FMUv5)](https://docs.px4.io/main/en/flight_controller/pixhawk4.html)
+  * [Pixhawk 4 mini (FMUv5)](https://docs.px4.io/main/en/flight_controller/pixhawk4_mini.html)
+  * [CUAV V5+ (FMUv5)](https://docs.px4.io/main/en/flight_controller/cuav_v5_plus.html)
+  * [CUAV V5 nano (FMUv5)](https://docs.px4.io/main/en/flight_controller/cuav_v5_nano.html)
+  * [Auterion Skynode (FMUv5X)](https://docs.auterion.com/avionics/skynode)
+* FMUv4 (STM32F4, 2015)
+  * [Pixracer](https://docs.px4.io/main/en/flight_controller/pixracer.html)
+  * [Pixhawk 3 Pro](https://docs.px4.io/main/en/flight_controller/pixhawk3_pro.html)
+* FMUv3 (STM32F4, 2014)
+  * [Pixhawk 2](https://docs.px4.io/main/en/flight_controller/pixhawk-2.html)
+  * [Pixhawk Mini](https://docs.px4.io/main/en/flight_controller/pixhawk_mini.html)
+  * [CUAV Pixhack v3](https://docs.px4.io/main/en/flight_controller/pixhack_v3.html)
+* FMUv2 (STM32F4, 2013)
+  * [Pixhawk](https://docs.px4.io/main/en/flight_controller/pixhawk.html)
+
+### Manufacturer supported
+
+These boards are maintained to be compatible with PX4-Autopilot by the Manufacturers.
+
+* [ARK Electronics ARKV6X](https://docs.px4.io/main/en/flight_controller/arkv6x.html)
+* [Hex Cube Orange](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orange.html)
+* [Hex Cube Yellow](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_yellow.html)
+* [Holybro Durandal](https://docs.px4.io/main/en/flight_controller/durandal.html)
+* [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
+* [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
+* [Holybro Kakute F7](https://docs.px4.io/main/en/flight_controller/kakutef7.html)
+
+### Community supported
+
+These boards don't fully comply industry standards, and thus is solely maintained by the PX4 publc community members.
+
+### Experimental
+
+These boards are nor maintained by PX4 team nor Manufacturer, and is not guaranteed to be compatible with up to date PX4 releases.
+
+* [Raspberry PI with Navio 2](https://docs.px4.io/main/en/flight_controller/raspberry_pi_navio2.html)
+* [Bitcraze Crazyflie 2.0](https://docs.px4.io/main/en/complete_vehicles/crazyflie2.html)
 
 ## Project Roadmap
 
+**Note: Outdated**
+
 A high level project roadmap is available [here](https://github.com/orgs/PX4/projects/25).
 
 ## Project Governance

ROMFS/CMakeLists.txt

@@ -137,11 +137,6 @@ add_custom_command(
 	COMMENT "ROMFS: copying, generating airframes"
 	)
 
-if(EXISTS ${PX4_BOARD_DIR}/extras/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin)
-	set(BOARD_FIRMWARE_BIN "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
-	configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in ${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade @ONLY)
-endif()
-
 # copy extras into ROMFS
 set(extras_dependencies)
 
@@ -208,6 +203,24 @@ endforeach()
 set(OPTIONAL_BOARD_EXTRAS)
 file(GLOB OPTIONAL_BOARD_EXTRAS ${PX4_BOARD_DIR}/extras/*)
 
+# bootloader (optional)
+#  - if systemcmds/bl_update included and board bootloader available then generate rc.board_bootloader_upgrade and copy bootloader binary
+#  - otherwise remove bootloader binary from extras in final ROMFS
+foreach(board_extra_file ${OPTIONAL_BOARD_EXTRAS})
+	file(RELATIVE_PATH extra_file_base_name ${PX4_BOARD_DIR}/extras/ ${board_extra_file})
+	if(${extra_file_base_name} MATCHES "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
+		if(CONFIG_SYSTEMCMDS_BL_UPDATE)
+			# generate rc.board_bootloader_upgrade
+			set(BOARD_FIRMWARE_BIN "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
+			configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in ${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade @ONLY)
+		else()
+			# remove bootloader from extras
+			list(REMOVE_ITEM OPTIONAL_BOARD_EXTRAS ${board_extra_file})
+		endif()
+
+	endif()
+endforeach()
+
 foreach(board_extra_file ${OPTIONAL_BOARD_EXTRAS})
 
 	if(EXISTS "${board_extra_file}")

ROMFS/px4fmu_common/init.d-posix/airframes/10040_sihsim_quadx

@@ -12,6 +12,10 @@
 PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=quadx}
 
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 1
+param set-default SENS_EN_MAGSIM 1
+
 # disable some checks to allow to fly:
 # - with usb
 param set-default CBRK_USB_CHK 197848

ROMFS/px4fmu_common/init.d-posix/airframes/10041_sihsim_airplane

@@ -11,6 +11,11 @@
 PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=airplane}
 
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 1
+param set-default SENS_EN_MAGSIM 1
+param set-default SENS_EN_ARSPDSIM 1
+
 # disable some checks to allow to fly:
 # - with usb
 param set-default CBRK_USB_CHK 197848

ROMFS/px4fmu_common/init.d-posix/airframes/10042_sihsim_xvert

@@ -11,6 +11,12 @@
 PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=xvert}
 
+param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported for tailsitters
+
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 1
+param set-default SENS_EN_MAGSIM 1
+
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_TYPE 0
 param set-default VT_FW_DIFTHR_EN 1
@@ -49,7 +55,7 @@ param set-default CA_AIRFRAME 4
 
 param set-default CA_ROTOR_COUNT 2
 param set-default CA_ROTOR0_PX 0
-param set-default CA_ROTOR0_PY 2
+param set-default CA_ROTOR0_PY 1
 param set-default CA_ROTOR0_KM 0.05
 param set-default CA_ROTOR1_PX 0
 param set-default CA_ROTOR1_PY -1

ROMFS/px4fmu_common/init.d-posix/airframes/1013_gazebo-classic_iris_vision

@@ -5,12 +5,12 @@
 # @type Quadrotor Wide
 #
 
-. ${R}etc/init.d-posix/airframes/10016_iris
+. ${R}etc/init.d-posix/airframes/10016_gazebo-classic_iris
 
-# EKF2: Vision position and heading
-param set-default EKF2_AID_MASK 24
+# EKF2: Vision position and heading, no GPS
 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

ROMFS/px4fmu_common/init.d-posix/airframes/1030_gazebo-classic_plane

@@ -10,7 +10,7 @@ param set-default EKF2_MAG_YAWLIM 0
 
 param set-default FW_LND_ANG 8
 
-param set-default FW_L1_PERIOD 12
+param set-default NPFG_PERIOD 12
 
 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.5

ROMFS/px4fmu_common/init.d-posix/airframes/1031_gazebo-classic_plane_cam

@@ -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 FW_L1_PERIOD 12
+param set-default NPFG_PERIOD 12
 
 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.5

ROMFS/px4fmu_common/init.d-posix/airframes/1032_gazebo-classic_plane_catapult

@@ -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 FW_L1_PERIOD 12
+param set-default NPFG_PERIOD 12
 
 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.5

ROMFS/px4fmu_common/init.d-posix/airframes/1033_jsbsim_rascal

@@ -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 FW_L1_PERIOD 25
+param set-default NPFG_PERIOD 25
 
 param set-default FW_PR_FF 0.40
 param set-default FW_PR_I 0.05

ROMFS/px4fmu_common/init.d-posix/airframes/1034_flightgear_rascal-electric

@@ -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 FW_L1_PERIOD 25
+param set-default NPFG_PERIOD 25
 
 param set-default FW_PR_FF 0.40
 param set-default FW_PR_I 0.05

ROMFS/px4fmu_common/init.d-posix/airframes/1035_gazebo-classic_techpod

@@ -10,8 +10,6 @@ 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
@@ -22,7 +20,7 @@ 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 FW_L1_PERIOD 12
+param set-default NPFG_PERIOD 12
 
 param set-default FW_W_EN 1
 

ROMFS/px4fmu_common/init.d-posix/airframes/1036_jsbsim_malolo

@@ -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 FW_L1_PERIOD 25
+param set-default NPFG_PERIOD 25
 
 param set-default FW_PR_FF 0.40
 param set-default FW_PR_I 0.05

ROMFS/px4fmu_common/init.d-posix/airframes/1037_gazebo-classic_believer

@@ -10,7 +10,7 @@ param set-default EKF2_MAG_YAWLIM 0
 
 param set-default FW_LND_ANG 8
 
-param set-default FW_L1_PERIOD 12
+param set-default NPFG_PERIOD 12
 
 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.2

ROMFS/px4fmu_common/init.d-posix/airframes/1038_gazebo-classic_glider

@@ -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 FW_L1_PERIOD 12
+param set-default NPFG_PERIOD 12
 
 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.5

ROMFS/px4fmu_common/init.d-posix/airframes/1039_flightgear_rascal

@@ -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 FW_L1_PERIOD 25
+param set-default NPFG_PERIOD 25
 
 param set-default FW_PR_FF 0.40
 param set-default FW_PR_I 0.05

ROMFS/px4fmu_common/init.d-posix/airframes/1039_gazebo-classic_advanced_plane

@@ -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 FW_L1_PERIOD 12
+param set-default NPFG_PERIOD 12
 
 param set-default FW_MAN_P_MAX 30
 

ROMFS/px4fmu_common/init.d-posix/airframes/1040_gazebo-classic_standard_vtol

@@ -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 FW_L1_PERIOD 12
+param set-default NPFG_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

ROMFS/px4fmu_common/init.d-posix/airframes/1041_gazebo-classic_tailsitter

@@ -9,11 +9,13 @@
 
 param set-default MAV_TYPE 20
 
+param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported for tailsitters
+
 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_PY 1
 param set-default CA_ROTOR0_KM 0.05
 param set-default CA_ROTOR1_PX -1
 param set-default CA_ROTOR1_PY -1
@@ -42,7 +44,7 @@ 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 FW_L1_PERIOD 12
+param set-default NPFG_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

ROMFS/px4fmu_common/init.d-posix/airframes/1042_gazebo-classic_tiltrotor

@@ -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 FW_L1_PERIOD 12
+param set-default NPFG_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

ROMFS/px4fmu_common/init.d-posix/airframes/1043_gazebo-classic_standard_vtol_drop

@@ -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 FW_L1_PERIOD 12
+param set-default NPFG_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

ROMFS/px4fmu_common/init.d-posix/airframes/1044_gazebo-classic_plane_lidar

@@ -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 FW_L1_PERIOD 12
+param set-default NPFG_PERIOD 12
 
 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.5

ROMFS/px4fmu_common/init.d-posix/airframes/4001_gz_x500

@@ -11,6 +11,12 @@ PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
 PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500}
 
+param set-default SIM_GZ_EN 1
+
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 0
+param set-default SENS_EN_MAGSIM 1
+
 param set-default CA_AIRFRAME 0
 param set-default CA_ROTOR_COUNT 4
 
@@ -30,19 +36,19 @@ param set-default CA_ROTOR3_PX -0.13
 param set-default CA_ROTOR3_PY 0.20
 param set-default CA_ROTOR3_KM -0.05
 
-param set-default SIM_GZ_FUNC1 101
-param set-default SIM_GZ_FUNC2 102
-param set-default SIM_GZ_FUNC3 103
-param set-default SIM_GZ_FUNC4 104
+param set-default SIM_GZ_EC_FUNC1 101
+param set-default SIM_GZ_EC_FUNC2 102
+param set-default SIM_GZ_EC_FUNC3 103
+param set-default SIM_GZ_EC_FUNC4 104
 
-param set-default SIM_GZ_MIN1 150
-param set-default SIM_GZ_MIN2 150
-param set-default SIM_GZ_MIN3 150
-param set-default SIM_GZ_MIN4 150
+param set-default SIM_GZ_EC_MIN1 150
+param set-default SIM_GZ_EC_MIN2 150
+param set-default SIM_GZ_EC_MIN3 150
+param set-default SIM_GZ_EC_MIN4 150
 
-param set-default SIM_GZ_MAX1 1000
-param set-default SIM_GZ_MAX2 1000
-param set-default SIM_GZ_MAX3 1000
-param set-default SIM_GZ_MAX4 1000
+param set-default SIM_GZ_EC_MAX1 1000
+param set-default SIM_GZ_EC_MAX2 1000
+param set-default SIM_GZ_EC_MAX3 1000
+param set-default SIM_GZ_EC_MAX4 1000
 
 param set-default MPC_THR_HOVER 0.60

ROMFS/px4fmu_common/init.d-posix/airframes/4002_gz_x500_depth

@@ -11,6 +11,12 @@ PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
 PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_depth}
 
+param set-default SIM_GZ_EN 1
+
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 0
+param set-default SENS_EN_MAGSIM 1
+
 param set-default CA_AIRFRAME 0
 param set-default CA_ROTOR_COUNT 4
 
@@ -30,19 +36,19 @@ param set-default CA_ROTOR3_PX -0.13
 param set-default CA_ROTOR3_PY 0.20
 param set-default CA_ROTOR3_KM -0.05
 
-param set-default SIM_GZ_FUNC1 101
-param set-default SIM_GZ_FUNC2 102
-param set-default SIM_GZ_FUNC3 103
-param set-default SIM_GZ_FUNC4 104
+param set-default SIM_GZ_EC_FUNC1 101
+param set-default SIM_GZ_EC_FUNC2 102
+param set-default SIM_GZ_EC_FUNC3 103
+param set-default SIM_GZ_EC_FUNC4 104
 
-param set-default SIM_GZ_MIN1 150
-param set-default SIM_GZ_MIN2 150
-param set-default SIM_GZ_MIN3 150
-param set-default SIM_GZ_MIN4 150
+param set-default SIM_GZ_EC_MIN1 150
+param set-default SIM_GZ_EC_MIN2 150
+param set-default SIM_GZ_EC_MIN3 150
+param set-default SIM_GZ_EC_MIN4 150
 
-param set-default SIM_GZ_MAX1 1000
-param set-default SIM_GZ_MAX2 1000
-param set-default SIM_GZ_MAX3 1000
-param set-default SIM_GZ_MAX4 1000
+param set-default SIM_GZ_EC_MAX1 1000
+param set-default SIM_GZ_EC_MAX2 1000
+param set-default SIM_GZ_EC_MAX3 1000
+param set-default SIM_GZ_EC_MAX4 1000
 
 param set-default MPC_THR_HOVER 0.60

ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_rc_cessna

@@ -0,0 +1,88 @@
+#!/bin/sh
+#
+# @name Gazebo rc_cessna
+# @type Fixedwing
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=rc_cessna}
+
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 0
+param set-default SENS_EN_MAGSIM 1
+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_PR_P 0.9
+param set-default FW_PR_FF 0.5
+param set-default FW_PR_I 0.5
+param set-default TRIM_PITCH -0.15
+
+param set-default FW_PSP_OFF 2
+param set-default FW_P_LIM_MIN -15
+
+param set-default FW_RR_FF 0.5
+param set-default FW_RR_P 0.3
+param set-default FW_RR_I 0.5
+
+param set-default FW_YR_FF 0.5
+param set-default FW_YR_P 0.6
+param set-default FW_YR_I 0.5
+
+param set-default FW_SPOILERS_LND 0.4
+
+param set-default FW_THR_MAX 0.6
+param set-default FW_THR_MIN 0.05
+param set-default FW_THR_TRIM 0.25
+
+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 FW_W_EN 1
+
+param set-default MIS_TAKEOFF_ALT 30
+
+param set-default NAV_ACC_RAD 15
+param set-default NAV_DLL_ACT 2
+
+param set-default RWTO_TKOFF 1
+
+param set-default CA_AIRFRAME 1
+
+param set-default COM_PREARM_MODE 2
+
+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 SIM_GZ_EC_FUNC1 101
+param set-default SIM_GZ_EC_MIN1 0
+param set-default SIM_GZ_EC_MAX1 1000
+
+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 SIM_GZ_SV_FUNC4 204
+param set-default SIM_GZ_SV_FUNC5 205
+param set-default SIM_GZ_SV_FUNC6 206

ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol

@@ -0,0 +1,109 @@
+#!/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_GPSSIM 1
+param set-default SENS_EN_BAROSIM 0
+param set-default SENS_EN_MAGSIM 1
+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

ROMFS/px4fmu_common/init.d-posix/airframes/4005_gz_x500_vision

@@ -0,0 +1,12 @@
+#!/bin/sh
+#
+# @name Gazebo x500 vision
+#
+# @type Quadrotor
+#
+
+. ${R}etc/init.d-posix/airframes/4001_gz_x500
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_vision}

ROMFS/px4fmu_common/init.d-posix/airframes/6011_gazebo-classic_typhoon_h480.post

@@ -1,8 +1,6 @@
 
 mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 -p
 
-# shellcheck disable=SC2154
-mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local
 # shellcheck disable=SC2154
 mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_offboard_port_local
 mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_offboard_port_local

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

@@ -72,6 +72,9 @@ px4_add_romfs_files(
 
 	4001_gz_x500
 	4002_gz_x500_depth
+	4003_gz_rc_cessna
+	4004_gz_standard_vtol
+	4005_gz_x500_vision
 
 	6011_gazebo-classic_typhoon_h480
 	6011_gazebo-classic_typhoon_h480.post

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

@@ -8,20 +8,37 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"
 
 	echo "INFO  [init] SIH simulator"
 
+	if [ -n "${PX4_HOME_LAT}" ]; then
+		param set SIH_LOC_LAT0 ${PX4_HOME_LAT}
+	fi
+
+	if [ -n "${PX4_HOME_LON}" ]; then
+		param set SIH_LOC_LON0 ${PX4_HOME_LON}
+	fi
+
 	if simulator_sih start; then
 
-		sensor_baro_sim start
-		sensor_gps_sim start
-		sensor_mag_sim start
+		if param compare -s SENS_EN_BAROSIM 1
+		then
+			sensor_baro_sim start
+		fi
+		if param compare -s SENS_EN_GPSSIM 1
+		then
+			sensor_gps_sim start
+		fi
+		if param compare -s SENS_EN_MAGSIM 1
+		then
+			sensor_mag_sim start
+		fi
 
 	else
 		echo "ERROR [init] simulator_sih failed to start"
 		exit 1
 	fi
 
-elif [ "$PX4_SIMULATOR" = "gz" ]; then
+elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; then
 
-	# source generated gz_env.sh for IGN_GAZEBO_RESOURCE_PATH
+	# source generated gz_env.sh for GZ_SIM_RESOURCE_PATH
 	if [ -f ./gz_env.sh ]; then
 		. ./gz_env.sh
 
@@ -37,16 +54,8 @@ elif [ "$PX4_SIMULATOR" = "gz" ]; then
 		gz_command="gz"
 		gz_sub_command="sim"
 	else
-		IGN_GAZEBO_VERSIONS=$(ign gazebo --versions 2>&1)
-		if [ $? -eq 0 ] && [ "${IGN_GAZEBO_VERSIONS}" != "" ]
-		then
-			# "ign gazebo" for Fortress and earlier
-			gz_command="ign"
-			gz_sub_command="gazebo"
-		else
-			echo "ERROR [init] Gazebo gz and ign commands unavailable"
-			exit 1
-		fi
+		echo "ERROR [init] Gazebo gz please install gz-garden"
+		exit 1
 	fi
 
 	# look for running ${gz_command} gazebo world
@@ -85,9 +94,22 @@ elif [ "$PX4_SIMULATOR" = "gz" ]; then
 
 		# start gz bridge with pose arg.
 		if gz_bridge start -p "${model_pose}" -m "${PX4_GZ_MODEL}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
-			sensor_baro_sim start
-			sensor_gps_sim start
-			sensor_mag_sim start
+			if param compare -s SENS_EN_BAROSIM 1
+			then
+				sensor_baro_sim start
+			fi
+			if param compare -s SENS_EN_GPSSIM 1
+			then
+				sensor_gps_sim start
+			fi
+			if param compare -s SENS_EN_MAGSIM 1
+			then
+				sensor_mag_sim start
+			fi
+			if param compare -s SENS_EN_ARSPDSIM 1
+			then
+				sensor_airspeed_sim start
+			fi
 
 		else
 			echo "ERROR [init] gz_bridge failed to start"
@@ -98,9 +120,22 @@ elif [ "$PX4_SIMULATOR" = "gz" ]; then
 		# model name specificed, gz_bridge will attach to existing model
 
 		if gz_bridge start -n "${PX4_GZ_MODEL_NAME}" -w "${PX4_GZ_WORLD}"; then
-			sensor_baro_sim start
-			sensor_gps_sim start
-			sensor_mag_sim start
+			if param compare -s SENS_EN_BAROSIM 1
+			then
+				sensor_baro_sim start
+			fi
+			if param compare -s SENS_EN_GPSSIM 1
+			then
+				sensor_gps_sim start
+			fi
+			if param compare -s SENS_EN_MAGSIM 1
+			then
+				sensor_mag_sim start
+			fi
+			if param compare -s SENS_EN_ARSPDSIM 1
+			then
+				sensor_airspeed_sim start
+			fi
 
 		else
 			echo "ERROR [init] gz_bridge failed to start"
@@ -112,9 +147,22 @@ elif [ "$PX4_SIMULATOR" = "gz" ]; then
 		echo "WARN  [init] PX4_GZ_MODEL_NAME or PX4_GZ_MODEL not set using PX4_SIM_MODEL."
 
 		if gz_bridge start -m "${PX4_SIM_MODEL#*gz_}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
-			sensor_baro_sim start
-			sensor_gps_sim start
-			sensor_mag_sim start
+			if param compare -s SENS_EN_BAROSIM 1
+			then
+				sensor_baro_sim start
+			fi
+			if param compare -s SENS_EN_GPSSIM 1
+			then
+				sensor_gps_sim start
+			fi
+			if param compare -s SENS_EN_MAGSIM 1
+			then
+				sensor_mag_sim start
+			fi
+			if param compare -s SENS_EN_ARSPDSIM 1
+			then
+				sensor_airspeed_sim start
+			fi
 
 		else
 			echo "ERROR [init] gz_bridge failed to start"

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -184,6 +184,9 @@ 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

ROMFS/px4fmu_common/init.d/CMakeLists.txt

@@ -36,6 +36,7 @@ add_subdirectory(airframes)
 px4_add_romfs_files(
 	rc.airship_apps
 	rc.airship_defaults
+	rc.autostart_ext
 	rc.balloon_apps
 	rc.balloon_defaults
 	rc.boat_defaults

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

@@ -17,6 +17,8 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
+param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported for tailsitters
+
 param set UAVCAN_ENABLE 0
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_MOT_COUNT 2

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

@@ -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 FW_L1_PERIOD 25
+param set-default NPFG_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
@@ -122,16 +122,12 @@ param set-default VT_TRANS_MIN_TM 15
 param set-default VT_B_TRANS_DUR 8
 param set-default VT_FWD_THRUST_SC 4
 param set-default VT_F_TRANS_DUR 1
-param set-default VT_B_REV_OUT 0.5
 param set-default VT_B_TRANS_THR 0.7
 param set-default VT_TRANS_TIMEOUT 22
 param set-default VT_F_TRANS_RAMP 4
 
 param set-default COM_RC_OVERRIDE 0
 
-
-
-
 param set-default CA_AIRFRAME 2
 
 param set-default CA_ROTOR_COUNT 5

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

@@ -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_L1_R_SLEW_MAX 40
+param set-default FW_PN_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

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

@@ -12,6 +12,8 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
+param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported for tailsitters
+
 param set-default CA_AIRFRAME 4
 param set-default CA_ROTOR_COUNT 2
 param set-default CA_ROTOR0_KM -0.05

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

@@ -54,14 +54,6 @@ param set-default CBRK_AIRSPD_CHK 162128
 # Differential drive acts like ackermann steering with a maximum turn angle of 180 degrees, or pi radians
 param set-default GND_MAX_ANG 3.1415
 
-param set-default RBCLW_BAUD 8
-param set-default RBCLW_COUNTS_REV 1200
-param set-default RBCLW_ADDRESS 128
-# 104 corresponds to Telem 4
-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
-
 # Set geometry & output configration
 param set-default CA_AIRFRAME 6
 param set-default CA_R_REV 3

ROMFS/px4fmu_common/init.d/rc.fw_apps

@@ -20,7 +20,7 @@ control_allocator start
 #
 fw_rate_control start
 fw_att_control start
-fw_pos_control_l1 start
+fw_path_navigation start
 airspeed_selector start
 
 #

ROMFS/px4fmu_common/init.d/rc.fw_defaults

@@ -14,9 +14,13 @@ param set-default MAV_TYPE 1
 # Default parameters for fixed wing UAVs.
 #
 param set-default COM_POS_FS_DELAY 5
-param set-default COM_POS_FS_EPH 15
-param set-default COM_POS_FS_EPV 30
+
+# there is a 2.5 factor applied on the _FS thresholds if for invalidation
+param set-default COM_POS_FS_EPH 50
 param set-default COM_VEL_FS_EVH 5
+
+param set-default COM_POS_LOW_EPH 50
+
 # Disable preflight disarm to not interfere with external launching
 param set-default COM_DISARM_PRFLT -1
 

ROMFS/px4fmu_common/init.d/rc.logging

@@ -23,6 +23,12 @@ then
 	set LOGGER_ARGS "${LOGGER_ARGS} -x"
 fi
 
+if param compare SDLOG_MODE 4
+then
+	set LOGGER_ARGS "${LOGGER_ARGS} -a"
+fi
+
+
 if ! param compare SDLOG_MODE -1
 then
 	logger start -b ${LOGGER_BUF} -t ${LOGGER_ARGS}

ROMFS/px4fmu_common/init.d/rc.vtol_apps

@@ -37,7 +37,7 @@ fi
 
 fw_rate_control start vtol
 fw_att_control start vtol
-fw_pos_control_l1 start vtol
+fw_path_navigation start vtol
 fw_autotune_attitude_control start vtol
 
 # Start Land Detector

ROMFS/px4fmu_common/init.d/rc.vtol_defaults

@@ -10,6 +10,11 @@ set VEHICLE_TYPE vtol
 # MAV_TYPE_VTOL_FIXEDROTOR 22
 param set-default MAV_TYPE 22
 
+# there is a 2.5 factor applied on COM_POS_FS_EPH if for invalidation
+param set-default COM_POS_FS_EPH 50
+
+param set-default COM_POS_LOW_EPH 50
+
 param set-default MIS_TAKEOFF_ALT 20
 param set-default MIS_YAW_TMT 10
 

Tools/HIL/test_airframes.sh

@@ -54,7 +54,10 @@ do
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'ps'
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'work_queue status'
 
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'mavlink status' || true
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'mavlink stop-all'
+
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'gps status' || true
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'gps stop'
 
 done

Tools/astyle/files_to_check_code_style.sh

@@ -10,6 +10,7 @@ fi
 exec find boards msg src platforms test \
     -path platforms/nuttx/NuttX -prune -o \
     -path platforms/qurt/dspal -prune -o \
+    -path src/drivers/ins/vectornav/libvnc -prune -o \
     -path src/drivers/uavcan/libuavcan -prune -o \
     -path src/drivers/uavcan/uavcan_drivers/kinetis/driver/include/uavcan_kinetis -prune -o \
     -path src/drivers/cyphal/libcanard -prune -o \

Tools/msg/generate_msg_docs.py

@@ -25,7 +25,7 @@ if __name__ == "__main__":
     if not os.path.isdir(output_dir):
         os.mkdir(output_dir)
 
-    msg_path = os.path.join(os.path.dirname(os.path.realpath(__file__)),"..")
+    msg_path = os.path.join(os.path.dirname(os.path.realpath(__file__)),"../../msg")
     msg_files = get_msgs_list(msg_path)
     msg_files.sort()
 

Tools/msg/templates/ucdr/msg.h.em

@@ -164,7 +164,8 @@ for field_type, field_name, field_size, padding in fields:
 	print('\tmemcpy(&topic.{0}, buf.iterator, sizeof(topic.{0}));'.format(field_name))
 
 	if field_type == 'uint64' and (field_name == 'timestamp' or field_name == 'timestamp_sample'):
-		print('\ttopic.{0} -= time_offset;'.format(field_name))
+		print('\tif (topic.{0} == 0) topic.{0} = hrt_absolute_time();'.format(field_name, field_name))
+		print('\telse topic.{0} = math::min(topic.{0} - time_offset, hrt_absolute_time());'.format(field_name, field_name))
 
 	print('\tbuf.iterator += sizeof(topic.{:});'.format(field_name))
 	print('\tbuf.offset += sizeof(topic.{:});'.format(field_name))

Tools/px4events/jsonout.py

@@ -7,7 +7,7 @@ import os
 class JsonOutput():
     def __init__(self, groups):
         all_json = {}
-        all_json['version'] = 1
+        all_json['version'] = 2
         component = {}
         all_json['components'] = {1: component} #1: autopilot component
 

Tools/px4moduledoc/srcparser.py

@@ -15,7 +15,7 @@ class ModuleDocumentation(object):
     # TOC in https://github.com/PX4/PX4-user_guide/blob/main/en/SUMMARY.md
     valid_categories = ['driver', 'estimator', 'controller', 'system',
                         'communication', 'command', 'template', 'simulation', 'autotune']
-    valid_subcategories = ['', 'distance_sensor', 'imu', 'airspeed_sensor',
+    valid_subcategories = ['', 'distance_sensor', 'imu', 'ins', 'airspeed_sensor',
                            'magnetometer', 'baro', 'optical_flow', 'rpm_sensor', 'transponder']
 
     max_line_length = 80 # wrap lines that are longer than this
@@ -102,7 +102,7 @@ class ModuleDocumentation(object):
     def _handle_usage_param_int(self, args):
         assert(len(args) == 6) # option_char, default_val, min_val, max_val, description, is_optional
         option_char = self._get_option_char(args[0])
-        default_val = int(args[1], 0)
+        default_val = self._get_int(args[1])
         description = self._get_string(args[4])
         if self._is_bool_true(args[5]):
             self._usage_string += "     [-%s <val>]  %s\n" % (option_char, description)
@@ -214,6 +214,9 @@ class ModuleDocumentation(object):
             f = f[:-1]
         return float(f)
 
+    def _get_int(self, argument):
+        return int(eval(argument))
+
     def _is_string(self, argument):
         return len(argument) > 0 and argument[0] == '"'
 
@@ -307,6 +310,8 @@ class SourceParser(object):
             r'//.*?$|/\*.*?\*/|\'(?:\\.|[^\\\'])*\'|"(?:\\.|[^\\"])*"',
             re.DOTALL | re.MULTILINE)
 
+        self._define_pattern = re.compile(r'#define\s+(\w+?)[^\S\r\n]+(.+?)\s*?\n')
+
     def Parse(self, scope, contents):
         """
         Incrementally parse program contents and append all found documentations
@@ -316,6 +321,9 @@ class SourceParser(object):
         # remove comments from source
         contents = self._comment_remover(contents)
 
+        # replace preprocessor defines defined in file directly
+        contents = self._define_replacer(contents)
+
         extracted_function_calls = [] # list of tuples: (FUNC_NAME, list(ARGS))
 
         start_index = 0
@@ -379,6 +387,15 @@ class SourceParser(object):
                 return s
         return re.sub(self._comment_remove_pattern, replacer, text)
 
+    def _define_replacer(self, text):
+        """ check for C preprocesor #define in text and replace with argument"""
+        text = re.sub(r"\\\s*?\n"," ",text)
+        define_iter = self._define_pattern.finditer(text)
+        for define_pattern in define_iter:
+            text = re.sub(r"\b" +re.escape(str(define_pattern.groups()[0])) + r"\b", re.escape(str(define_pattern.groups()[1])), text)
+        return text
+
+
     def _do_consistency_check(self, contents, scope, module_doc):
         """
         check the documentation for consistency with the code (arguments to

Tools/setup/ubuntu.sh

@@ -84,6 +84,7 @@ sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends i
 	gdb \
 	git \
 	lcov \
+	libfuse2 \
 	libxml2-dev \
 	libxml2-utils \
 	make \
@@ -182,6 +183,7 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 			echo "${NUTTX_GCC_VERSION} path already set.";
 		else
 			echo $exportline >> $HOME/.profile;
+			source $HOME/.profile; # Allows to directly build NuttX targets in the same terminal
 		fi
 	fi
 fi
@@ -217,22 +219,34 @@ if [[ $INSTALL_SIM == "true" ]]; then
 	# Set Java 11 as default
 	sudo update-alternatives --set java $(update-alternatives --list java | grep "java-$java_version")
 
-	# Install Gazebo classic
-	if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
-		gazebo_version=9
-		gazebo_packages="gazebo$gazebo_version libgazebo$gazebo_version-dev"
-	elif [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
-		gazebo_packages="gazebo libgazebo-dev"
+	# Gazebo / Gazebo classic installation
+	if [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
+		echo "Gazebo (Garden) will be installed"
+		echo "Earlier versions will be removed"
+		# Add Gazebo binary repository
+		sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
+		echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
+		sudo apt-get update -y --quiet
+
+		# Install Gazebo
+		gazebo_packages="gz-garden"
 	else
-		# default and Ubuntu 20.04
-		gazebo_version=11
-		gazebo_packages="gazebo$gazebo_version libgazebo$gazebo_version-dev"
+		sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
+		wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
+		# Update list, since new gazebo-stable.list has been added
+		sudo apt-get update -y --quiet
+
+		# Install Gazebo classic
+		if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
+			gazebo_classic_version=9
+			gazebo_packages="gazebo$gazebo_classic_version libgazebo$gazebo_classic_version-dev"
+		else
+			# default and Ubuntu 20.04
+			gazebo_classic_version=11
+			gazebo_packages="gazebo$gazebo_classic_version libgazebo$gazebo_classic_version-dev"
+		fi
 	fi
 
-	sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
-	wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
-	# Update list, since new gazebo-stable.list has been added
-	sudo apt-get update -y --quiet
 	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 		dmidecode \
 		$gazebo_packages \
@@ -255,16 +269,6 @@ if [[ $INSTALL_SIM == "true" ]]; then
 		echo "export SVGA_VGPU10=0" >> ~/.profile
 	fi
 
-	# Install Gazebo
-	if [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
-		sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
-		wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
-		# Update list, since new gazebo-stable.list has been added
-		sudo apt-get update -y --quiet
-		sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
-			ignition-fortress \
-			;
-	fi
 fi
 
 if [[ $INSTALL_NUTTX == "true" ]]; then

Tools/simulation/gazebo-classic/sitl_gazebo-classic

@@ -1 +1 @@
-Subproject commit 1a725dd858a3a7c15e79e8e40aa91f4fad9128e5
+Subproject commit 1c5818e56c2f54ca16f465fbf43580b1b6f3ece0

Tools/simulation/gazebo-classic/sitl_multiple_run.sh

@@ -35,7 +35,20 @@ function spawn_model() {
 	pushd "$working_dir" &>/dev/null
 	echo "starting instance $N in $(pwd)"
 	$build_path/bin/px4 -i $N -d "$build_path/etc" >out.log 2>err.log &
-	python3 ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/scripts/jinja_gen.py ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/${MODEL}/${MODEL}.sdf.jinja ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic --mavlink_tcp_port $((4560+${N})) --mavlink_udp_port $((14560+${N})) --mavlink_id $((1+${N})) --gst_udp_port $((5600+${N})) --video_uri $((5600+${N})) --mavlink_cam_udp_port $((14530+${N})) --output-file /tmp/${MODEL}_${N}.sdf
+
+	set --
+	set -- ${@} ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/scripts/jinja_gen.py
+	set -- ${@} ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/${MODEL}/${MODEL}.sdf.jinja
+	set -- ${@} ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic
+	set -- ${@} --mavlink_tcp_port $((4560+${N}))
+	set -- ${@} --mavlink_udp_port $((14560+${N}))
+	set -- ${@} --mavlink_id $((1+${N}))
+	set -- ${@} --gst_udp_port $((5600+${N}))
+	set -- ${@} --video_uri $((5600+${N}))
+	set -- ${@} --mavlink_cam_udp_port $((14530+${N}))
+	set -- ${@} --output-file /tmp/${MODEL}_${N}.sdf
+
+	python3 ${@}
 
 	echo "Spawning ${MODEL}_${N} at ${X} ${Y}"
 

Tools/simulation/gz/models/rc_cessna/meshes/elevators.dae

@@ -0,0 +1,165 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+    <asset>
+        <contributor>
+            <authoring_tool>SketchUp 15.3.331</authoring_tool>
+        </contributor>
+        <created>2015-05-26T23:41:25Z</created>
+        <modified>2015-05-26T23:41:25Z</modified>
+        <unit meter="0.0254" name="inch" />
+        <up_axis>Z_UP</up_axis>
+    </asset>
+    <library_visual_scenes>
+        <visual_scene id="ID1">
+            <node name="SketchUp">
+                <node id="ID2" name="instance_0">
+                    <matrix>0.001745328 -0.9999985 0 70.84882 0.9999985 0.001745328 0 -0.03157813 -0 0 1 -19.50896 0 0 0 1</matrix>
+                    <instance_node url="#ID3" />
+                </node>
+            </node>
+        </visual_scene>
+    </library_visual_scenes>
+    <library_nodes>
+        <node id="ID3" name="ske2A3">
+            <node id="ID4" name="group_0">
+                <matrix>1.963935 -3.469447e-018 0 1.237124 3.469447e-018 1.963935 0 258.791 0 0 1.963935 40.4385 0 0 0 1</matrix>
+                <instance_geometry url="#ID5">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID6">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                            <instance_material symbol="Material3" target="#ID11">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+            </node>
+            <node id="ID15" name="group_1">
+                <matrix>1.963935 -4.336809e-018 0 -68.35112 4.336809e-018 1.963935 0 258.791 0 0 1.963935 40.4385 0 0 0 1</matrix>
+                <instance_geometry url="#ID16">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID6">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                            <instance_material symbol="Material3" target="#ID11">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+            </node>
+        </node>
+    </library_nodes>
+    <library_geometries>
+        <geometry id="ID5">
+            <mesh>
+                <source id="ID8">
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Tools/simulation/gz/models/rc_cessna/meshes/left_aileron.dae

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Tools/simulation/gz/models/rc_cessna/meshes/left_flap.dae

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Tools/simulation/gz/models/rc_cessna/meshes/right_aileron.dae

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Tools/simulation/gz/models/rc_cessna/meshes/right_flap.dae

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Tools/simulation/gz/models/rc_cessna/model.config

@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<model>
+  <name>rc_cessna</name>
+  <version>1.0</version>
+  <sdf version='1.9'>model.sdf</sdf>
+
+  <author>
+   <name>Benjamin Perseghetti</name>
+   <email>bperseghetti@rudislabs.com</email>
+  </author>
+
+  <description>
+    This is a model of an RC Cessna 182.
+  </description>
+</model>

Tools/simulation/gz/models/rc_cessna/model.sdf

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+    <link name='base_link'>
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+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <max_vel>10</max_vel>
+              <min_depth>0.01</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+      <!-- <visual name='fuselodge_collision_visual'>
+        <pose>-.14 0 0 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.65 .08 0.1</size>
+          </box>
+        </geometry>
+      </visual>
+      <visual name='wings_collision_visual'>
+        <pose>-0.01 0 0.07 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.1 1.0 0.01</size>
+          </box>
+        </geometry>
+      </visual> -->
+      <visual name='base_link_visual'>
+        <pose>0.07 0 -0.08 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.1 0.1 0.1</scale>
+            <uri>model://rc_cessna/meshes/body.dae</uri>
+          </mesh>
+        </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>
+      <sensor name="air_pressure_sensor" type="air_pressure">
+        <always_on>1</always_on>
+        <update_rate>50</update_rate>
+        <air_pressure>
+          <pressure>
+            <noise type="gaussian">
+              <mean>0</mean>
+              <stddev>0.01</stddev>
+            </noise>
+          </pressure>
+        </air_pressure>
+      </sensor>
+    </link>
+    <link name="airspeed">
+      <pose>0 0 0 0 0 0</pose>
+      <inertial>
+        <pose>0 0 0 0 0 0</pose>
+        <mass>0.015</mass>
+        <inertia>
+          <ixx>1e-05</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>1e-05</iyy>
+          <iyz>0</iyz>
+          <izz>1e-05</izz>
+        </inertia>
+      </inertial>
+      <visual name="airspeed_visual">
+        <geometry>
+          <cylinder>
+            <radius>0.01</radius>
+            <length>0.1</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0 0 0 1.0</ambient>
+          <diffuse>0 0 0 1.0</diffuse>
+        </material>
+      </visual>
+      <!-- <sensor name="air_speed" type="air_speed">
+        <always_on>1</always_on>
+        <update_rate>5.0</update_rate>
+        <enable_metrics>false</enable_metrics>
+        <air_speed>
+          <airspeed>
+            <noise type="gaussian">
+              <mean>0</mean>
+              <stddev>0.01</stddev>
+            </noise>
+          </airspeed>
+        </air_speed>
+      </sensor> -->
+    </link>
+    <joint name='airspeed_joint' type='fixed'>
+      <child>airspeed</child>
+      <parent>base_link</parent>
+    </joint>
+    <link name='rotor_puller'>
+      <pose>0.22 0 0.0 0 1.57079632679 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 -1.57079632679 0</pose>
+        <geometry>
+          <box>
+            <size>0.005 0.22 0.02</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <!-- <visual name='rotor_puller_collision_visual'>
+        <pose>0 0 0 0 -1.57079632679 0</pose>
+        <geometry>
+          <box>
+            <size>0.005 0.22 0.02</size>
+          </box>
+        </geometry>
+      </visual> -->
+      <visual name='rotor_puller_visual'>
+        <pose>0 0 0 0 0 -1.57079632679</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://rc_cessna/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'>
+      <child>rotor_puller</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>
+      </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>0.07 0.0 -0.08 0.00 0 0.0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.1 0.1 0.1</scale>
+            <uri>model://rc_cessna/meshes/left_aileron.dae</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0 0 1 1.0</ambient>
+          <diffuse>0 0 1 1.0</diffuse>
+        </material>
+      </visual>
+    </link>
+    <link name="LeftWheel">
+      <pose relative_to="LeftWheelJoint">0 0 0 0 0 0</pose>
+      <inertial>
+        <mass>.05</mass>
+        <inertia>
+          <ixx>0.00003331</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0000204</iyy>
+          <iyz>0</iyz>
+          <izz>0.0000204</izz>
+        </inertia>
+      </inertial>
+      <gravity>true</gravity>
+      <velocity_decay/>
+      <visual name="LeftWheelVisual">
+        <pose>0 0 0 -1.57079632679 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.01</length>
+            <radius>0.03</radius>
+          </cylinder>
+        </geometry>
+      </visual>
+      <collision name="LeftWheelCollision">
+        <pose>0 0 0 -1.57079632679 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.01</length>
+            <radius>0.03</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1.0</mu>
+              <mu2>0.5</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+    </link>
+    <link name="RightWheel">
+      <pose relative_to="RightWheelJoint">0 0 0 0 0 0</pose>
+      <inertial>
+        <mass>.05</mass>
+        <inertia>
+          <ixx>0.00003331</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0000204</iyy>
+          <iyz>0</iyz>
+          <izz>0.0000204</izz>
+        </inertia>
+      </inertial>
+      <gravity>true</gravity>
+      <velocity_decay/>
+      <visual name="RightWheelVisual">
+        <pose>0 0 0 -1.57079632679 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.01</length>
+            <radius>0.03</radius>
+          </cylinder>
+        </geometry>
+      </visual>
+      <collision name="RightWheelCollision">
+        <pose>0 0 0 -1.57079632679 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.01</length>
+            <radius>0.03</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1.0</mu>
+              <mu2>0.5</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+    </link>
+    <link name="CenterWheel">
+      <pose relative_to="CenterWheelJoint">0 0 0 0 0 0</pose>
+      <inertial>
+        <mass>.05</mass>
+        <inertia>
+          <ixx>0.00003331</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0000204</iyy>
+          <iyz>0</iyz>
+          <izz>0.0000204</izz>
+        </inertia>
+      </inertial>
+      <gravity>true</gravity>
+      <velocity_decay/>
+      <visual name="CenterWheelVisual">
+        <pose>0 0 0 -1.57079632679 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.01</length>
+            <radius>0.025</radius>
+          </cylinder>
+        </geometry>
+      </visual>
+      <collision name="CenterWheelCollision">
+        <pose>0 0 0 -1.57079632679 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.01</length>
+            <radius>0.025</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1.0</mu>
+              <mu2>0.5</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+    </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 -0.3 0 0.00 0 0.0</pose>
+      </inertial>
+      <visual name='right_elevon_visual'>
+        <pose>0.07 0.0 -0.08 0.00 0 0.0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.1 0.1 0.1</scale>
+            <uri>model://rc_cessna/meshes/right_aileron.dae</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0 0 1 1.0</ambient>
+          <diffuse>0 0 1 1.0</diffuse>
+        </material>
+      </visual>
+    </link>
+    <link name="left_flap">
+      <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 0.15 0 0.00 0 0.0</pose>
+      </inertial>
+      <visual name='left_flap_visual'>
+        <pose>0.07 0.0 -0.08 0.00 0 0.0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.1 0.1 0.1</scale>
+            <uri>model://rc_cessna/meshes/left_flap.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_flap">
+      <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 -0.15 0 0.00 0 0.0</pose>
+      </inertial>
+      <visual name='right_flap_visual'>
+        <pose>0.07 0.0 -0.08 0.00 0 0.0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.1 0.1 0.1</scale>
+            <uri>model://rc_cessna/meshes/right_flap.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>
+      <visual name='elevator_visual'>
+        <pose>0.07 0.0 -0.08 0.00 0 0.0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.1 0.1 0.1</scale>
+            <uri>model://rc_cessna/meshes/elevators.dae</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0 0 1 1.0</ambient>
+          <diffuse>0 0 1 1.0</diffuse>
+        </material>
+      </visual>
+    </link>
+    <link name="rudder">
+      <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 0.05 0 0 0 </pose>
+      </inertial>
+      <visual name='rudder_visual'>
+        <pose>0.07 0.0 -0.08 0.00 0 0.0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.1 0.1 0.1</scale>
+            <uri>model://rc_cessna/meshes/rudder.dae</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0 0 1 1.0</ambient>
+          <diffuse>0 0 1 1.0</diffuse>
+        </material>
+      </visual>
+    </link>
+    <joint name='servo_0' type='revolute'>
+      <parent>base_link</parent>
+      <child>left_elevon</child>
+      <pose>-0.07 0.4 0.08 0.00 0 0.0</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>-0.07 -0.4 0.08 0.00 0 0.0</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='left_flap_joint' type='revolute'>
+      <parent>base_link</parent>
+      <child>left_flap</child>
+      <pose>-0.07 0.2 0.08 0.00 0 0.0</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='right_flap_joint' type='revolute'>
+      <parent>base_link</parent>
+      <child>right_flap</child>
+      <pose>-0.07 -0.2 0.08 0.00 0 0.0</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>
+    <joint name='rudder_joint' type='revolute'>
+      <parent>base_link</parent>
+      <child>rudder</child>
+      <pose>-0.5 0 0.05 0.00 0 0.0</pose>
+      <axis>
+        <xyz>0 0 1</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="LeftWheelJoint" type="revolute">
+      <parent>base_link</parent>
+      <child>LeftWheel</child>
+      <pose relative_to="base_link">-.035 .13 -0.12 0 0 0</pose>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1.79769e+308</lower>
+          <upper>1.79769e+308</upper>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
+    <joint name="RightWheelJoint" type="revolute">
+      <parent>base_link</parent>
+      <child>RightWheel</child>
+      <pose relative_to="base_link">-.035 -.13 -0.12 0 0 0</pose>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1.79769e+308</lower>
+          <upper>1.79769e+308</upper>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
+    <joint name="CenterWheelJoint" type="revolute">
+      <parent>base_link</parent>
+      <child>CenterWheel</child>
+      <pose relative_to="base_link">.135 0 -0.12 0 0 0</pose>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1.79769e+308</lower>
+          <upper>1.79769e+308</upper>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </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 0.45 0.05</cp>
+      <area>0.6</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>-0.3</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>
+      <p_gain>10.0</p_gain>
+    </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 -0.45 0.05</cp>
+      <area>0.6</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>-0.3</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>
+      <p_gain>10.0</p_gain>
+    </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 0.15 0.05</cp>
+      <area>0.6</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>left_flap_joint</control_joint_name>
+      <control_joint_rad_to_cl>-0.1</control_joint_rad_to_cl>
+    </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 -0.15 0.05</cp>
+      <area>0.6</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>right_flap_joint</control_joint_name>
+      <control_joint_rad_to_cl>-0.1</control_joint_rad_to_cl>
+    </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_rad_to_cl>-4.0</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>
+      <p_gain>10.0</p_gain>
+    </plugin>
+    <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
+      <a0>0.0</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 0.05</cp>
+      <area>0.02</area>
+      <air_density>1.2041</air_density>
+      <forward>1 0 0</forward>
+      <upward>0 1 0</upward>
+      <link_name>base_link</link_name>
+      <control_joint_name>rudder_joint</control_joint_name>
+      <control_joint_rad_to_cl>0.8</control_joint_rad_to_cl>
+    </plugin>
+    <plugin
+      filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
+      <joint_name>rudder_joint</joint_name>
+      <sub_topic>servo_3</sub_topic>
+      <p_gain>10.0</p_gain>
+    </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>1000</maxRotVelocity>
+      <motorConstant>2.44858e-05</motorConstant>
+      <momentConstant>0.016</momentConstant>
+      <commandSubTopic>command/motor_speed</commandSubTopic>
+      <motorNumber>0</motorNumber>
+      <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
+      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
+      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
+      <motorType>velocity</motorType>
+    </plugin>
+    <static>0</static>
+  </model>
+</sdf>

Tools/simulation/gz/models/standard_vtol/model.config

@@ -0,0 +1,15 @@
+<?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>

Tools/simulation/gz/models/standard_vtol/model.sdf

@@ -0,0 +1,755 @@
+<?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>
+      <sensor name="air_pressure_sensor" type="air_pressure">
+        <always_on>1</always_on>
+        <update_rate>50</update_rate>
+        <air_pressure>
+          <pressure>
+            <noise type="gaussian">
+              <mean>0</mean>
+              <stddev>0.01</stddev>
+            </noise>
+          </pressure>
+        </air_pressure>
+      </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>
+      </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>
+      </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>
+      </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>
+      </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>
+      </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>

Tools/simulation/gz/models/x500/model.sdf

@@ -215,6 +215,18 @@
           </friction>
         </surface>
       </collision>
+      <sensor name="air_pressure_sensor" type="air_pressure">
+        <always_on>1</always_on>
+        <update_rate>50</update_rate>
+        <air_pressure>
+          <pressure>
+            <noise type="gaussian">
+              <mean>0</mean>
+              <stddev>0.01</stddev>
+            </noise>
+          </pressure>
+        </air_pressure>
+      </sensor>
       <sensor name="imu_sensor" type="imu">
         <always_on>1</always_on>
         <update_rate>250</update_rate>
@@ -290,7 +302,6 @@
           <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">
@@ -363,7 +374,6 @@
           <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">
@@ -436,7 +446,6 @@
           <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">
@@ -509,10 +518,9 @@
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
       </axis>
     </joint>
-   <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
+   <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>
@@ -528,7 +536,7 @@
       <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
       <motorType>velocity</motorType>
     </plugin>
-    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
+    <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>
@@ -544,7 +552,7 @@
       <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
       <motorType>velocity</motorType>
     </plugin>
-    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
+    <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>
@@ -560,7 +568,7 @@
       <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
       <motorType>velocity</motorType>
     </plugin>
-    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
+    <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>

Tools/simulation/gz/models/x500_vision/model.config

@@ -0,0 +1,11 @@
+<?xml version="1.0"?>
+<model>
+  <name>x500-vision</name>
+  <version>1.0</version>
+  <sdf version="1.9">model.sdf</sdf>
+  <author>
+    <name>Jaeyoung Lim</name>
+    <email>jalim@ethz.ch</email>
+  </author>
+  <description>Model of the X500 with a odometry/external vision input.</description>
+</model>

Tools/simulation/gz/models/x500_vision/model.sdf

@@ -0,0 +1,13 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<sdf version='1.9'>
+  <model name='x500-vision'>
+    <include merge='true'>
+      <uri>x500</uri>
+    </include>
+      <plugin
+        filename="gz-sim-odometry-publisher-system"
+        name="gz::sim::systems::OdometryPublisher">
+        <dimensions>3</dimensions>
+      </plugin>
+  </model>
+</sdf>

Tools/simulation/gz/worlds/default.sdf

@@ -5,21 +5,22 @@
       <real_time_factor>1.0</real_time_factor>
       <real_time_update_rate>250</real_time_update_rate>
     </physics>
-    <plugin name='ignition::gazebo::systems::Physics' filename='ignition-gazebo-physics-system'/>
-    <plugin name='ignition::gazebo::systems::UserCommands' filename='ignition-gazebo-user-commands-system'/>
-    <plugin name='ignition::gazebo::systems::SceneBroadcaster' filename='ignition-gazebo-scene-broadcaster-system'/>
-    <plugin name='ignition::gazebo::systems::Contact' filename='ignition-gazebo-contact-system'/>
-    <plugin name='ignition::gazebo::systems::Imu' filename='ignition-gazebo-imu-system'/>
-    <plugin name='ignition::gazebo::systems::Sensors' filename='ignition-gazebo-sensors-system'>
+    <plugin name='gz::sim::systems::Physics' filename='gz-sim-physics-system'/>
+    <plugin name='gz::sim::systems::UserCommands' filename='gz-sim-user-commands-system'/>
+    <plugin name='gz::sim::systems::SceneBroadcaster' filename='gz-sim-scene-broadcaster-system'/>
+    <plugin name='gz::sim::systems::Contact' filename='gz-sim-contact-system'/>
+    <plugin name='gz::sim::systems::Imu' filename='gz-sim-imu-system'/>
+    <plugin name='gz::sim::systems::AirPressure' filename='gz-sim-air-pressure-system'/>
+    <plugin name='gz::sim::systems::Sensors' filename='gz-sim-sensors-system'>
       <render_engine>ogre2</render_engine>
     </plugin>
     <gui fullscreen='false'>
       <plugin name='3D View' filename='GzScene3D'>
-        <ignition-gui>
+        <gz-gui>
           <title>3D View</title>
           <property type='bool' key='showTitleBar'>0</property>
           <property type='string' key='state'>docked</property>
-        </ignition-gui>
+        </gz-gui>
         <engine>ogre2</engine>
         <scene>scene</scene>
         <ambient_light>0.5984631152222222 0.5984631152222222 0.5984631152222222</ambient_light>
@@ -27,7 +28,7 @@
         <camera_pose>-6 0 6 0 0.5 0</camera_pose>
       </plugin>
       <plugin name='World control' filename='WorldControl'>
-        <ignition-gui>
+        <gz-gui>
           <title>World control</title>
           <property type='bool' key='showTitleBar'>0</property>
           <property type='bool' key='resizable'>0</property>
@@ -39,13 +40,13 @@
             <line own='left' target='left'/>
             <line own='bottom' target='bottom'/>
           </anchors>
-        </ignition-gui>
+        </gz-gui>
         <play_pause>1</play_pause>
         <step>1</step>
         <start_paused>1</start_paused>
       </plugin>
       <plugin name='World stats' filename='WorldStats'>
-        <ignition-gui>
+        <gz-gui>
           <title>World stats</title>
           <property type='bool' key='showTitleBar'>0</property>
           <property type='bool' key='resizable'>0</property>
@@ -57,7 +58,7 @@
             <line own='right' target='right'/>
             <line own='bottom' target='bottom'/>
           </anchors>
-        </ignition-gui>
+        </gz-gui>
         <sim_time>1</sim_time>
         <real_time>1</real_time>
         <real_time_factor>1</real_time_factor>

Tools/uorb_graph/create.py

@@ -110,10 +110,6 @@ class PubSub(object):
 
             log.debug("          ####:{}:  {}, {}".format( self._name, route_group, topic_group))
 
-            # # TODO: handle this case... but not sure where, yet
-            # if match == 'ORB_ID_VEHICLE_ATTITUDE_CONTROLS': # special case
-            #     match = orb_id+orb_id_vehicle_attitude_controls_topic
-
             # match has the form: '[ORB_ID(]<topic_name>'
             if route_group:
                 if route_group == 'ORB_ID':
@@ -232,9 +228,6 @@ class Graph(object):
 
         self._topic_blacklist = set(kwargs.get('topic_blacklist',set()))
 
-        self._orb_id_vehicle_attitude_controls_topic = 'actuator_controls_0'
-        self._orb_id_vehicle_attitude_controls_re = re.compile(r'\#define\s+ORB_ID_VEHICLE_ATTITUDE_CONTROLS\s+([^,)]+)')
-
         self._warnings = [] # list of all ambiguous scan sites
 
         self._current_scope = [] # stack with current module (they can be nested)
@@ -510,18 +503,7 @@ class Graph(object):
                 elif current_scope.name == 'uorb_tests': # skip this
                     return
                 elif current_scope.name == 'uorb':
-
-                    # search and validate the ORB_ID_VEHICLE_ATTITUDE_CONTROLS define
-                    matches = self._orb_id_vehicle_attitude_controls_re.findall(content)
-                    for match in matches:
-                        if match != 'ORB_ID('+self._orb_id_vehicle_attitude_controls_topic:
-                            # if we land here, you need to change _orb_id_vehicle_attitude_controls_topic
-                            raise Exception(
-                                'The extracted define for ORB_ID_VEHICLE_ATTITUDE_CONTROLS '
-                                'is '+match+' but expected ORB_ID('+
-                                self._orb_id_vehicle_attitude_controls_topic)
-
-                    return # skip uorb module for the rest
+                    return # skip this
 
             line_number = 0
             for full_line in content.splitlines():

boards/airmind/mindpx-v2/default.px4board

@@ -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_POS_CONTROL_L1=y
+CONFIG_MODULES_FW_PATH_NAVIGATION=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/ark/can-flow/default.px4board

@@ -13,10 +13,13 @@ CONFIG_DRIVERS_OPTICAL_FLOW_PAA3905=y
 CONFIG_DRIVERS_OPTICAL_FLOW_PAW3902=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
+CONFIG_UAVCANNODE_FLOW_MEASUREMENT=y
+CONFIG_UAVCANNODE_RANGE_SENSOR_MEASUREMENT=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_SENSORS=y
 # CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
 # CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
+# CONFIG_SENSORS_VEHICLE_ACCELERATION is not set
 # CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
 # CONFIG_SENSORS_VEHICLE_MAGNETOMETER is not set
 CONFIG_SYSTEMCMDS_PARAM=y

boards/ark/can-gps/default.px4board

@@ -13,6 +13,13 @@ CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
+CONFIG_UAVCANNODE_BEEP_COMMAND=y
+CONFIG_UAVCANNODE_GNSS_FIX=y
+CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
+CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
+CONFIG_UAVCANNODE_SAFETY_BUTTON=y
+CONFIG_UAVCANNODE_STATIC_PRESSURE=y
+CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_SENSORS=y

boards/ark/can-rtk-gps/default.px4board

@@ -13,6 +13,14 @@ CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
+CONFIG_UAVCANNODE_BEEP_COMMAND=y
+CONFIG_UAVCANNODE_GNSS_FIX=y
+CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
+CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
+CONFIG_UAVCANNODE_RTK_DATA=y
+CONFIG_UAVCANNODE_SAFETY_BUTTON=y
+CONFIG_UAVCANNODE_STATIC_PRESSURE=y
+CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_SENSORS=y

boards/ark/cannode/default.px4board

@@ -9,6 +9,7 @@ CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_BOOTLOADERS=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
+CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_COMMON_HYGROMETERS=y
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
@@ -17,10 +18,28 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
+CONFIG_UAVCANNODE_ARMING_STATUS=y
+CONFIG_UAVCANNODE_BEEP_COMMAND=y
+CONFIG_UAVCANNODE_ESC_RAW_COMMAND=y
+CONFIG_UAVCANNODE_ESC_STATUS=y
+CONFIG_UAVCANNODE_FLOW_MEASUREMENT=y
+CONFIG_UAVCANNODE_GNSS_FIX=y
+CONFIG_UAVCANNODE_HYGROMETER_MEASUREMENT=y
+CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
+CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
+CONFIG_UAVCANNODE_RANGE_SENSOR_MEASUREMENT=y
+CONFIG_UAVCANNODE_RAW_AIR_DATA=y
+CONFIG_UAVCANNODE_RTK_DATA=y
+CONFIG_UAVCANNODE_SERVO_ARRAY_COMMAND=y
+CONFIG_UAVCANNODE_STATIC_PRESSURE=y
+CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
+CONFIG_MODULES_SENSORS=y
+CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
@@ -29,4 +48,5 @@ CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
 CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y

boards/ark/cannode/init/rc.board_defaults

@@ -2,6 +2,7 @@
 #
 # board specific defaults
 #------------------------------------------------------------------------------
+
 pwm_out start
 
-control_allocator start
+dshot start

boards/ark/cannode/nuttx-config/include/board_dma_map.h

@@ -42,3 +42,9 @@
 //--------------------------------------------//---------------------------//----------------
 #define DMACHAN_SPI1_RX    DMAMAP_SPI1_RX_2   // DMA2, Stream 2, Channel 3
 #define DMACHAN_SPI1_TX    DMAMAP_SPI1_TX_2   // DMA2, Stream 5, Channel 3
+
+// Assigned in timer_config.cpp
+
+// Timer 2                                    /* DMA1, Stream 7, Channel 3 DMAMAP_TIM2_UP_2 */
+// Timer 3                                    /* DMA1, Stream 2, Channel 5 DMAMAP_TIM3_UP   */
+// Timer 4                                    /* DMA1, Stream 6, Channel 2 DMAMAP_TIM4_UP   */

boards/ark/cannode/src/board_config.h

@@ -62,7 +62,8 @@
 #define GPIO_TIM1_CH3         /* PA10 */  (GPIO_TIM1_CH3_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz)
 
 /* PWM Outputs */
-#define DIRECT_PWM_OUTPUT_CHANNELS  6 // Actually 8
+#define BOARD_NUM_IO_TIMERS         3
+#define DIRECT_PWM_OUTPUT_CHANNELS  8
 
 #define GPIO_TIM2_CH1_RESET   /* PA0  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0)
 #define GPIO_TIM2_CH2_RESET   /* PA1  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN1)

boards/ark/cannode/src/timer_config.cpp

@@ -34,9 +34,9 @@
 #include <px4_arch/io_timer_hw_description.h>
 
 constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
-	initIOTimer(Timer::Timer2),
-	initIOTimer(Timer::Timer3),
-	//initIOTimer(Timer::Timer4),
+	initIOTimer(Timer::Timer2, DMA{DMA::Index1, DMA::Stream7, DMA::Channel3}),
+	initIOTimer(Timer::Timer3, DMA{DMA::Index1, DMA::Stream2, DMA::Channel5}),
+	initIOTimer(Timer::Timer4, DMA{DMA::Index1, DMA::Stream6, DMA::Channel2}),
 };
 
 constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
@@ -46,8 +46,8 @@ constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
 	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel1}, {GPIO::PortB, GPIO::Pin4}),
 	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel2}, {GPIO::PortB, GPIO::Pin5}),
 	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel3}, {GPIO::PortB, GPIO::Pin0}),
-	//initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel4}, {GPIO::PortB, GPIO::Pin1}),
-	//initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortB, GPIO::Pin7}),
+	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel4}, {GPIO::PortB, GPIO::Pin1}),
+	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortB, GPIO::Pin7}),
 };
 
 constexpr io_timers_channel_mapping_t io_timers_channel_mapping =

boards/ark/fmu-v6x/default.px4board

@@ -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_POS_CONTROL_L1=y
+CONFIG_MODULES_FW_PATH_NAVIGATION=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -67,7 +67,6 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=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_HARDFAULT_LOG=y

boards/ark/fmu-v6x/init/rc.board_sensors

@@ -47,14 +47,14 @@ then
 	fi
 fi
 
-# Internal SPI bus IIM42652
-iim42652 -R 3 -s -b 1 start
+# Internal SPI bus IIM42652 with SPIX measured frequency of 32.051kHz
+iim42652 -R 3 -s -b 1 -C 32051 start
 
-# Internal SPI bus ICM42688p
-icm42688p -R 9 -s -b 2 start
+# Internal SPI bus ICM42688p with SPIX measured frequency of 32.051kHz
+icm42688p -R 9 -s -b 2 -C 32051 start
 
-# Internal SPI bus ICM42688p
-icm42688p -R 6 -s -b 3 start
+# Internal SPI bus ICM42688p with SPIX measured frequency of 32.051kHz
+icm42688p -R 6 -s -b 3 -C 32051 start
 
 # Internal magnetometer on I2C
 bmm150 -I start

boards/ark/fmu-v6x/nuttx-config/include/board.h

@@ -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   /* PF8  */
-#define GPIO_UART7_CTS   GPIO_UART7_CTS_1   /* PE10 */
+#define GPIO_UART7_RTS   (GPIO_UART7_RTS_2 | GPIO_PULLDOWN)   /* PF8  */
+#define GPIO_UART7_CTS   (GPIO_UART7_CTS_1 | GPIO_PULLDOWN)   /* PE10 */
 
 #define GPIO_UART8_RX    GPIO_UART8_RX_1    /* PE0 */
 #define GPIO_UART8_TX    GPIO_UART8_TX_1    /* PE1 */

boards/ark/fmu-v6x/src/CMakeLists.txt

@@ -31,14 +31,19 @@
 #
 ############################################################################
 if("${PX4_BOARD_LABEL}" STREQUAL  "bootloader")
+	add_compile_definitions(BOOTLOADER)
 	add_library(drivers_board
 		bootloader_main.c
+		init.c
 		usb.c
+		timer_config.cpp
 	)
 	target_link_libraries(drivers_board
 		PRIVATE
 			nuttx_arch # sdio
 			nuttx_drivers # sdio
+			px4_layer #gpio
+			arch_io_pins # iotimer
 			bootloader
 	)
 	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader/common)
@@ -53,6 +58,8 @@ else()
 		manifest.c
 		sdio.c
 		spi.cpp
+		spix_sync.c
+		spix_sync.h
 		timer_config.cpp
 		usb.c
 	)

boards/ark/fmu-v6x/src/board_config.h

@@ -125,7 +125,6 @@
 /* SPI */
 
 #define SPI6_nRESET_EXTERNAL1       /* PF10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN10)
-#define GPIO_SYNC                   /* PE9  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_100MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN9)
 
 /* I2C busses */
 
@@ -251,8 +250,20 @@
 
 /* PWM
  */
-#define DIRECT_PWM_OUTPUT_CHANNELS   9
+#define DIRECT_PWM_OUTPUT_CHANNELS   8
+#define BOARD_PWM_FREQ	             1024000
 
+#define GPIO_FMU_CH1                    /* PI0  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTI|GPIO_PIN0)
+#define GPIO_FMU_CH2                    /* PH12 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN12)
+#define GPIO_FMU_CH3                    /* PH11 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN11)
+#define GPIO_FMU_CH4                    /* PH10 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN10)
+#define GPIO_FMU_CH5                    /* PD13 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTD|GPIO_PIN13)
+#define GPIO_FMU_CH6                    /* PD14 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTD|GPIO_PIN14)
+#define GPIO_FMU_CH7                    /* PH6  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN6)
+#define GPIO_FMU_CH8                    /* PH9  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN9)
+
+#define GPIO_FMU_CAP                    /* PE11 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN11)
+#define GPIO_SPIX_SYNC                  /* PE9  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN9)
 
 /* Power supply control and monitoring GPIOs */
 
@@ -458,7 +469,6 @@
 		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
 		GPIO_VDD_3V3_SD_CARD_EN,          \
 		GPIO_PD15,                        \
-		GPIO_SYNC,                        \
 		SPI6_nRESET_EXTERNAL1,            \
 		GPIO_ETH_POWER_EN,                \
 		GPIO_NFC_GPIO,                    \
@@ -466,7 +476,17 @@
 		GPIO_nSAFETY_SWITCH_LED_OUT_INIT, \
 		GPIO_SAFETY_SWITCH_IN,            \
 		GPIO_PG6,                         \
-		GPIO_nARMED_INIT                  \
+		GPIO_nARMED_INIT,                 \
+		GPIO_FMU_CH1,     	          \
+		GPIO_FMU_CH2,     	          \
+		GPIO_FMU_CH3,     	          \
+		GPIO_FMU_CH4,     	          \
+		GPIO_FMU_CH5,     	          \
+		GPIO_FMU_CH6,     	          \
+		GPIO_FMU_CH7,     	          \
+		GPIO_FMU_CH8,     	          \
+		GPIO_FMU_CAP,     	          \
+		GPIO_SPIX_SYNC                    \
 	}
 
 #define BOARD_ENABLE_CONSOLE_BUFFER
@@ -474,7 +494,8 @@
 #define PX4_I2C_BUS_MTD      4,5
 
 
-#define BOARD_NUM_IO_TIMERS 5
+#define BOARD_NUM_IO_TIMERS  3
+#define BOARD_SPIX_SYNC_FREQ 32000
 
 __BEGIN_DECLS