[WIP] Run the ROMFS through a CPP with the boardconfig

Signed-off-by: Silvan <silvan@auterion.com>

.github/ISSUE_TEMPLATE/bug_report.yml

@@ -3,92 +3,45 @@ description: Create a report to help us improve
 title: "[Bug] "
 labels: ["bug-report"]
 body:
+  - type: markdown
+    attributes:
+      value: |
+        **Tips for a great bug report:**
+        - Describe what went wrong and what you expected
+        - Include a flight log link from [logs.px4.io](http://logs.px4.io/) if possible
+        - Mention your PX4 version, flight controller, and vehicle type if relevant
+
   - type: textarea
     attributes:
       label: Describe the bug
-      description: A clear and concise description of the bug.
+      description: A clear description of the bug and what you expected to happen.
+      placeholder: |
+        What happened and what did you expect instead?
+
+        Steps to reproduce (if applicable):
+        1.
+        2.
+        3.
     validations:
       required: true
 
   - type: textarea
     attributes:
-      label: To Reproduce
+      label: Flight Log / Additional Information
       description: |
-          Steps to reproduce the behavior.
-          1. Drone switched on '...'
-          2. Uploaded mission '....' (attach QGC mission file)
-          3. Took off '....'
-          4. See error
-    validations:
-      required: false
+        **Flight log** (highly recommended for flight-related issues):
+        - Upload to [PX4 Flight Review](http://logs.px4.io/) and paste the link
 
-  - type: textarea
-    attributes:
-      label: Expected behavior
-      description: A clear and concise description of what you expected to happen.
-    validations:
-      required: false
-
-  - type: textarea
-    attributes:
-      label: Screenshot / Media
-      description: Add screenshot / media if you have them
-
-  - type: textarea
-    attributes:
-      label: Flight Log
-      description: |
-          *Always* provide a link to the flight log file:
-          - Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/main/en/getting_started/flight_reporting.html)).
-          - Upload the log to the [PX4 Flight Review](http://logs.px4.io/)
-          - Share the link to the log (Copy and paste the URL of the log)
+        **Additional details** (if relevant):
+        - PX4 version (output of `ver all` in MAVLink Shell)
+        - Flight controller model
+        - Vehicle type (multicopter, fixed-wing, VTOL, etc.)
+        - Screenshots or media
       placeholder: |
-          # PASTE HERE THE LINK TO THE LOG
+        Flight log link:
+
+        Version:
+
+        Hardware:
     validations:
       required: false
-
-  - type: markdown
-    attributes:
-      value: |
-        ## Setup
-
-  - type: textarea
-    attributes:
-      label: Software Version
-      description: |
-          Which version of PX4 are you using?
-      placeholder: |
-          # If you don't know the version, paste the output of `ver all` in the MAVLink Shell of QGC
-    validations:
-      required: false
-
-  - type: input
-    attributes:
-      label: Flight controller
-      description: Specify your flight controller model (what type is it, where was it bought from, ...).
-    validations:
-      required: false
-
-  - type: dropdown
-    attributes:
-      label: Vehicle type
-      options:
-        - Multicopter
-        - Helicopter
-        - Fixed Wing
-        - Hybrid VTOL
-        - Airship/Balloon
-        - Rover
-        - Boat
-        - Submarine
-        - Other
-
-  - type: textarea
-    attributes:
-      label: How are the different components wired up (including port information)
-      description: Details about how all is wired.
-
-  - type: textarea
-    attributes:
-      label: Additional context
-      description: Add any other context about the problem here.

.github/ISSUE_TEMPLATE/config.yml

@@ -1,4 +1,4 @@
-blank_issues_enabled: false
+blank_issues_enabled: true
 contact_links:
   - name: Support Question
     url: https://docs.px4.io/main/en/contribute/support.html#forums-and-chat

.github/PULL_REQUEST_TEMPLATE.md

@@ -1,22 +1,9 @@
 <!--
 
-Thank you for your contribution!
-
-Get early feedback through
-- Dronecode Discord: https://discord.gg/dronecode
-- PX4 Discuss: http://discuss.px4.io/
-- opening a draft pr and sharing the link
-
--->
-
 ### Solved Problem
-When ... I found that ...
-
 Fixes #{Github issue ID}
 
 ### Solution
-- Add ... for ...
-- Refactor ...
 
 ### Changelog Entry
 For release notes:
@@ -27,11 +14,10 @@ Documentation: Need to clarify page ... / done, read docs.px4.io/...
 ```
 
 ### Alternatives
-We could also ...
 
 ### Test coverage
-- Unit/integration test: ...
-- Simulation/hardware testing logs: https://review.px4.io/
 
 ### Context
 Related links, screenshot before/after, video
+
+-->

.github/instructions/docs.en.instructions.md

@@ -0,0 +1,48 @@
+---
+applyTo: "docs/en/**"
+---
+
+# Review Guidelines docs/en Tree
+
+## File System & Structure
+
+- **Naming:** Use `lowercase_with_underscores` for all filenames. No spaces.
+- **Hierarchy:** Markdown files must reside exactly in a first-level category folder. 
+  - Valid: `docs/en/category/file.md`
+  - Invalid: `docs/en/category/subcategory/file.md`
+- **Text Files:** Any `.txt` or `.text` files must start with an underscore (e.g., `_notes.txt`).
+- **Assets:** All images/non-docs must be in `/docs/assets/`. Deep nesting is permitted here.
+- **Formats:** Prefer **SVG** for diagrams and **PNG** for screenshots. Flag JPG files.
+
+## Markdown & Style
+
+- **Headings:** Use Title Case ("First Letter Capitalisation"). 
+  - The Page Title must be the only H1 (`#`). All others must be `##` or lower.
+  - Do not apply bold or italic styling inside a heading.
+- **Formatting:** 
+  - **Bold:** Only for UI elements (buttons, menu items).
+  - **Italics (Emphasis):** For tool names (e.g., *QGroundControl*).
+  - **Inline Code:** Use backticks for file paths, parameters, and CLI commands (e.g., `prettier`).
+- **Structure:** End every line at the end of a sentence (Semantic Line Breaks).
+
+## Linking & Navigation
+
+- **Standard Links:** Use standard inline syntax: `[link text](../category/filename.md)`.
+  Note relative link. 
+- **Table Links:** To keep tables readable, use reference-style links.
+  - Definition: `[Link Name]: https://example.com` (placed below the table).
+  - Usage: `[Link Name]` within the table cell.
+- **Images:** All image links must include a descriptive, accessible alt-text in the brackets: `![Detailed description of the image content](../../assets/path/to/image.png)`.
+  Note that all images should be relative references to images stored in the assets folder, which should be two folders below the any markdown file (as they are stored in a "category" subfolder) 
+
+- **Standard Links:** Use standard inline syntax: `[link text](../category/filename.md)`. Note the use of relative links.
+- **Table Links:** To keep tables easier to edit, prefer reference-style links.
+  - Definition: `[Link Name]: https://example.com` (placed below the table).
+  - Usage: `[Link Name]` within the table cell.
+- **Images:** All image links must include a descriptive, accessible alt-text: `![Detailed description of the image content](../../assets/path/to/image.png)`.
+  - **Note:** All images must be relative references to the `/docs/assets/` folder. Since documents are nested in a category folder, this is usually two levels up (`../../assets/`).
+
+## Quality Control
+
+- **Prettier Check:** Ensure Prettier rules have been applied. If there is evidence of inconsistent indentation or spacing, request the author run `npx prettier --write .` before merging.
+- **Language:** Enforce **UK English** spelling and grammar.

.github/runs-on.yml

@@ -0,0 +1,24 @@
+runners:
+  x86-small-runner:
+    cpu: [1, 2]
+    ram: [1, 4]
+    disk: default
+    spot: price-capacity-optimized
+    image: ubuntu24-full-x64
+    extras: s3-cache
+  x86-firmware-builder:
+    cpu: [4, 8]
+    ram: [8, 16]
+    disk: default
+    family: ["c7i", "m7i", "r7i"]
+    spot: price-capacity-optimized
+    image: ubuntu24-full-x64
+    extras: s3-cache
+  arm64-firmware-builder:
+    cpu: [4, 8]
+    ram: [8, 16]
+    disk: default
+    family: ["c7g", "m7g", "r7g"]
+    spot: price-capacity-optimized
+    image: ubuntu24-full-arm64
+    extras: s3-cache

.github/workflows/build_all_targets.yml

@@ -26,11 +26,15 @@ concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}
   cancel-in-progress: true
 
+permissions:
+  contents: write
+  actions: read
+
 jobs:
   group_targets:
     name: Scan for Board Targets
     # runs-on: ubuntu-latest
-    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
     outputs:
       matrix: ${{ steps.set-matrix.outputs.matrix }}
       timestamp: ${{ steps.set-timestamp.outputs.timestamp }}
@@ -38,6 +42,14 @@ jobs:
     steps:
       - uses: actions/checkout@v4
 
+      - name: Cache Python pip
+        uses: actions/cache@v4
+        with:
+          path: ~/.cache/pip
+          key: ${{ runner.os }}-pip-${{ hashFiles('**./Tools/setup/requirements.txt') }}
+          restore-keys: |
+            ${{ runner.os }}-pip-
+
       - name: Update python packaging to avoid canonicalize_version() error
         run: |
             pip3 install -U packaging
@@ -48,12 +60,15 @@ jobs:
           path: "./Tools/setup/requirements.txt"
 
       - id: set-matrix
-        run: echo "::set-output name=matrix::$(./Tools/ci/generate_board_targets_json.py --group)"
+        name: Generate Build Matrix
+        run: echo "matrix=$(./Tools/ci/generate_board_targets_json.py --group)" >> $GITHUB_OUTPUT
 
       - id: set-timestamp
-        run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")"
+        name: Save Current Timestamp
+        run: echo "timestamp=$(date +"%Y%m%d%H%M%S")" >> $GITHUB_OUTPUT
 
       - id: set-branch
+        name: Save Current Branch Name
         run: |
           echo "branchname=${{
             github.event_name == 'pull_request' &&
@@ -70,7 +85,7 @@ jobs:
           echo "$(./Tools/ci/generate_board_targets_json.py --group --verbose)"
 
   setup:
-    name: Build Group [${{ matrix.group }}][${{ matrix.arch == 'nuttx' && 'x86' || 'arm64' }}]
+    name: Build [${{ matrix.runner }}][${{ matrix.group }}]
     # runs-on: ubuntu-latest
     runs-on: [runs-on,"runner=8cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",spot=false]
     needs: group_targets
@@ -80,6 +95,7 @@ jobs:
     container:
       image: ${{ matrix.container }}
     steps:
+      - uses: runs-on/action@v2
       - uses: actions/checkout@v4
         with:
           fetch-depth: 0
@@ -87,14 +103,24 @@ jobs:
       - name: Git ownership workaround
         run: git config --system --add safe.directory '*'
 
-      - name: Setup ccache
-        uses: actions/cache@v4
+      # ccache key breakdown:
+      # ccache-<system os>-<system arch>-<builder group>-
+      # ccache-<linux>-<arm64>-<aarch64-0>-
+      # ccache-<linux>-<x64>-<nuttx-0>-
+      - name: Cache Restore from Key
+        id: cc_restore
+        uses: actions/cache/restore@v4
         with:
           path: ~/.ccache
-          key: ${{ matrix.group }}-ccache-${{ needs.group_targets.outputs.timestamp }}
-          restore-keys: ${{ matrix.group }}-ccache-${{ needs.group_targets.outputs.timestamp }}
+          key: ${{ format('ccache-{0}-{1}-{2}', runner.os, matrix.runner, matrix.group) }}
+          restore-keys: |
+            ccache-${{ runner.os }}-${{ matrix.runner }}-${{ matrix.group }}-
+            ccache-${{ runner.os }}-${{ matrix.runner }}-
+            ccache-${{ runner.os }}-${{ matrix.runner }}-
+            ccache-${{ runner.os }}-
+            ccache-
 
-      - name: Configure ccache
+      - name: Cache Config and Stats
         run: |
             mkdir -p ~/.ccache
             echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
@@ -102,10 +128,11 @@ jobs:
             echo "compression_level = 6" >> ~/.ccache/ccache.conf
             echo "max_size = 120M" >> ~/.ccache/ccache.conf
             echo "hash_dir = false" >> ~/.ccache/ccache.conf
+            echo "compiler_check = content" >> ~/.ccache/ccache.conf
             ccache -s
             ccache -z
 
-      - name: Building [${{ matrix.group }}]
+      - name: Building Artifacts for [${{ matrix.targets }}]
         run: |
             ./Tools/ci/build_all_runner.sh ${{matrix.targets}} ${{matrix.arch}}
 
@@ -119,15 +146,27 @@ jobs:
           name: px4_${{matrix.group}}_build_artifacts
           path: artifacts/
 
+      - name: Cache Post Build Stats
+        if: always()
+        run: |
+            ccache -s
+            ccache -z
+
       - name: Cache Save
-        run: ccache -s
+        if: always()
+        uses: actions/cache/save@v4
+        with:
+          path: ~/.ccache
+          key: ${{ steps.cc_restore.outputs.cache-primary-key }}
 
   artifacts:
-    name: Upload Artifacts to S3
+    name: Upload Artifacts
     # runs-on: ubuntu-latest
     runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
     needs: [setup, group_targets]
-    if: contains(fromJSON('["main", "stable", "beta"]'), needs.group_targets.outputs.branchname)
+    if: startsWith(github.ref, 'refs/tags/v') || contains(fromJSON('["main","stable","beta"]'), needs.group_targets.outputs.branchname)
+    outputs:
+      uploadlocation: ${{ steps.upload-location.outputs.uploadlocation }}
     steps:
       - name: Download Artifacts
         uses: actions/download-artifact@v4
@@ -135,11 +174,36 @@ jobs:
           path: artifacts/
           merge-multiple: true
 
-      - name: Branch Name
+      - name: Choose Upload Location
+        id: upload-location
         run: |
-          echo "${{ needs.group_targets.outputs.branchname }}"
+          # Determine upload location based on branch or tag with the following considerations:
+          # Destination: AWS S3 bucket px4-travis in folder Firmware/
+          # - If branch is main -> upload to master/
+          #   - Older versions of QGC are hardocded to look for master/
+          # - If branch is stable or beta -> upload to stable/ or beta/
+          # - If a tag vX.Y.Z -> upload to vX.Y.Z/
+          #   - Also update stable/ to point to the same version
+          #.  - Older versions of QGC are hardocded to look for stable/
+          # - If a pull request -> do not upload
+          set -euo pipefail
 
-      - name: Uploading Artifacts to S3 [${{ needs.group_targets.outputs.branchname == 'main' && 'master' || needs.group_targets.outputs.branchname }}]
+          ref="${GITHUB_REF}"
+          branch=${{ needs.group_targets.outputs.branchname  }}
+          location="$branch"
+
+          if [[ "$branch" == "main" ]]; then
+            location="master"
+          fi
+
+          if [[ "$ref" == refs/tags/v[0-9]* ]]; then
+            tag="${ref#refs/tags/}"
+            location="$tag"
+          fi
+
+          echo "uploadlocation=$location" >> $GITHUB_OUTPUT
+
+      - name: Uploading Artifacts to S3 [${{ steps.upload-location.outputs.uploadlocation }}]
         uses: jakejarvis/s3-sync-action@master
         with:
           args: --acl public-read
@@ -149,25 +213,30 @@ jobs:
           AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
           AWS_REGION: 'us-west-1'
           SOURCE_DIR: artifacts/
-          DEST_DIR: Firmware/${{ needs.group_targets.outputs.branchname == 'main' && 'master' || needs.group_targets.outputs.branchname }}/
+          DEST_DIR: Firmware/${{ steps.upload-location.outputs.uploadlocation }}/
 
-  release:
-    name: Create Release and Upload Artifacts
-    permissions:
-      contents: write
-    # runs-on: ubuntu-latest
-    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
-    needs: [setup, group_targets]
-    if: startsWith(github.ref, 'refs/tags/')
-    steps:
-      - name: Download Artifacts
-        uses: actions/download-artifact@v4
+      # if we are uploading artifacts to a versioned folder
+      # we should also update the stable folder in the s3 bucket
+      - name: Uploading Artifacts to S3 [stable]
+        uses: jakejarvis/s3-sync-action@master
+        if: startsWith(github.ref, 'refs/tags/v')
         with:
-          path: artifacts/
-          merge-multiple: true
+          args: --acl public-read
+        env:
+          AWS_S3_BUCKET: 'px4-travis'
+          AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
+          AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
+          AWS_REGION: 'us-west-1'
+          SOURCE_DIR: artifacts/
+          DEST_DIR: Firmware/stable/
 
-      - name: Upload Binaries to Release
+      # if build is a release triggered by a versioned tag then create a github release
+      # and upload the build artifacts. A draft release is created so that the release
+      # can be reviewed before publishing
+      - name: Upload Artifacts to GitHub Release
         uses: softprops/action-gh-release@v2
+        if: startsWith(github.ref, 'refs/tags/v')
         with:
           draft: true
           files: artifacts/*.px4
+          name: ${{ steps.upload-location.outputs.uploadlocation }}

.github/workflows/compile_ubuntu.yml

@@ -29,7 +29,7 @@ jobs:
       fail-fast: false
       matrix:
         version: ['ubuntu:22.04', 'ubuntu:24.04']
-    runs-on: [runs-on,runner=8cpu-linux-x64,"image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=4cpu-linux-x64,"image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false]
     container:
       image: ${{ matrix.version }}
       volumes:

.github/workflows/dev_container.yml

@@ -39,7 +39,7 @@ jobs:
     name: Set Tags and Variables
     permissions:
       contents: read
-    runs-on: [runs-on,"runner=1cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    runs-on: [runs-on,"runner=1cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
     outputs:
       px4_version: ${{ steps.px4_version.outputs.px4_version }}
       meta_tags: ${{ steps.meta.outputs.tags }}
@@ -87,7 +87,7 @@ jobs:
           - platform: linux/amd64
             arch: amd64
             runner: x64
-    runs-on: [runs-on,"runner=8cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    runs-on: [runs-on,"runner=4cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
     steps:
       - uses: runs-on/action@v1
       - uses: actions/checkout@v4
@@ -130,15 +130,15 @@ jobs:
           load: false
           push: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
           provenance: false
-          cache-from: type=gha,version=1
-          cache-to: type=gha,version=1,mode=max
+          cache-from: type=gha,version=1,scope=${{ matrix.arch }}
+          cache-to: type=gha,version=1,mode=max,scope=${{ matrix.arch }}
 
   deploy:
     name: Deploy To Registry
     permissions:
       contents: read
       packages: write
-    runs-on: [runs-on,"runner=8cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    runs-on: [runs-on,"runner=4cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
     needs: [build, setup]
     if: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
     steps:

.github/workflows/docs_deploy.yml

@@ -1,23 +1,6 @@
-name: Docs - Deploy PX4 User Guide
+name: Docs - Deploy PX4 User Guide to Github pages (Manual)
 
 on:
-  push:
-    branches:
-      - 'main'
-      - 'release/**'
-    paths:
-      - 'docs/en/**'
-      - 'docs/uk/**'
-      - 'docs/zh/**'
-  pull_request:
-    branches:
-      - '**'
-    paths:
-      - 'docs/en/**'
-      - 'docs/uk/**'
-      - 'docs/zh/**'
-
-  # Allows you to run this workflow manually from the Actions tab
   workflow_dispatch:
 
 # Sets permissions of the GITHUB_TOKEN to allow deployment to GitHub Pages
@@ -37,7 +20,7 @@ env:
 
 jobs:
   build:
-    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
     steps:
       - uses: runs-on/action@v1
       - name: Checkout
@@ -72,7 +55,7 @@ jobs:
   deploy:
     if: ${{ github.event_name == 'push' || (github.event_name == 'pull_request' && github.event.pull_request.merged) || github.event_name == 'workflow_dispatch' }}
     needs: build
-    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
 
     steps:
       - name: Download Artifact

.github/workflows/docs_deploy_aws.yml

@@ -30,7 +30,7 @@ concurrency:
 
 jobs:
   build:
-    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
     outputs:
       branchname: ${{ steps.set-branch.outputs.branchname }}
       releaseversion: ${{ steps.set-version.outputs.releaseversion }}

.github/workflows/failsafe_sim.yml

@@ -48,6 +48,7 @@ jobs:
         run: |
           git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk
           cd _emscripten_sdk
+          git checkout 4.0.15
           ./emsdk install latest
           ./emsdk activate latest
 

.github/workflows/flash_analysis.yml

@@ -24,7 +24,7 @@ env:
 jobs:
   analyze_flash:
     name: Analyzing ${{ matrix.target }}
-    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
     container:
       image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
     strategy:
@@ -54,6 +54,7 @@ jobs:
         run: |
           make clean
           make distclean
+          make submodulesclean
 
       - name: If it's a PR checkout the base branch
         if: ${{ github.event.pull_request }}
@@ -97,7 +98,7 @@ jobs:
   # Track this issue https://github.com/PX4/PX4-Autopilot/issues/24408
   post_pr_comment:
     name: Publish Results
-    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}"]
     needs: [analyze_flash]
     env:
       V5X-SUMMARY-MAP-ABS: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-summary-map).vm-absolute) }}

.github/workflows/itcm_check.yml

@@ -22,7 +22,7 @@ concurrency:
 jobs:
   check_itcm:
     name: Checking ${{ matrix.target }}
-    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
     container:
       image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
     strategy:
@@ -41,6 +41,10 @@ jobs:
             scripts: >
               boards/nxp/tropic-community/nuttx-config/scripts/itcm_functions_includes.ld
               boards/nxp/tropic-community/nuttx-config/scripts/itcm_static_functions.ld
+          - target: nxp_mr-tropic
+            scripts: >
+              boards/nxp/mr-tropic/nuttx-config/scripts/itcm_functions_includes.ld
+              boards/nxp/mr-tropic/nuttx-config/scripts/itcm_static_functions.ld
     steps:
       - uses: actions/checkout@v4
         with:

.github/workflows/ros_integration_tests.yml

@@ -23,7 +23,7 @@ concurrency:
 
 jobs:
   build:
-    runs-on: [runs-on,runner=16cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
     container:
       image: px4io/px4-dev-ros2-galactic:2021-09-08
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined

.github/workflows/ros_translation_node.yml

@@ -21,7 +21,7 @@ concurrency:
 jobs:
   build_and_test:
     name: Build and test
-    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
     strategy:
       fail-fast: false
       matrix:

.github/workflows/sitl_tests.yml

@@ -24,7 +24,7 @@ concurrency:
 jobs:
   build:
     name: Testing PX4 ${{ matrix.config.model }}
-    runs-on: [runs-on,runner=16cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
     container:
       image: px4io/px4-dev-simulation-focal:2021-09-08
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
@@ -118,7 +118,7 @@ jobs:
           PX4_HOME_LON: ${{matrix.config.longitude}}
           PX4_HOME_ALT: ${{matrix.config.altitude}}
           PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-        run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 10 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose --force-color
+        run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 10 --abort-early --model ${{matrix.config.model}} test/mavsdk_tests/configs/sitl.json --verbose --force-color
         timeout-minutes: 45
 
       - name: Upload failed logs

.github/workflows/stale.yml

@@ -15,7 +15,7 @@ jobs:
           stale-issue-label: 'stale'
           stale-pr-label: 'stale'
           remove-stale-when-updated: true
-          stale-issue-message: 'This issue has been marked as stale due to 90 days of inactivity. If no further activity occurs, it will be automatically closed in 30 days. Please leave a comment, add a reaction, make an update, or remove the stale label if you’d like to keep it open.'
-          close-issue-message: 'This issue has been closed due to prolonged inactivity after being marked as stale. If you believe this was closed in error or the topic is still relevant, please feel free to reopen it or create a new issue.'
-          stale-pr-message: 'This PR was identified as stale and it will be closed in 30 days unless any activity is detected.'
-          close-pr-message: 'This pull request has been closed after being marked as stale with no further activity. Thank you for the time and effort you put into this contribution. If you’d like to continue the discussion or update the work, please feel free to reopen it or submit a new PR.'
+          stale-issue-message: ''
+          close-issue-message: 'This issue has been automatically closed due to 120 days of inactivity. If you believe this is still relevant, please feel free to reopen it or create a new issue.'
+          stale-pr-message: ''
+          close-pr-message: 'This pull request has been automatically closed due to 120 days of inactivity. If you would like to continue, please feel free to reopen it or submit a new PR.'

.github/workflows/sync_to_px4_msgs.yml

@@ -0,0 +1,62 @@
+name: Sync ROS 2 messages to px4_msgs
+on:
+  push:
+    branches:
+      - 'main'
+      - 'stable'
+      - 'beta'
+      - 'release/**'
+    paths:
+      - 'msg/**'
+      - 'srv/**'
+  workflow_dispatch:
+
+permissions:
+  contents: read
+
+jobs:
+  sync_to_px4_msgs:
+    if: github.repository == 'PX4/PX4-Autopilot'
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    steps:
+      - name: Checkout PX4 repo
+        uses: actions/checkout@v4
+
+      - name: Setup git credentials
+        run: |
+          git config --global user.name "${{ secrets.PX4BUILDBOT_USER }}"
+          git config --global user.email "${{ secrets.PX4BUILDBOT_EMAIL }}"
+
+      - name: Clone PX4_msgs repo
+        run: |
+          git clone https://${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}@github.com/PX4/px4_msgs.git
+
+      - name: Check out the same branch as the PX4 repo
+        run: |
+          cd px4_msgs
+          if git checkout ${{ github.ref_name }}; then
+            echo "Checked out existing branch"
+          else
+            git checkout -b ${{ github.ref_name }}
+          fi
+
+      - name: Copy ROS 2 messages
+        run: |
+          rm -f px4_msgs/msg/*.msg
+          rm -f px4_msgs/msg/versioned/*.msg
+          rm -f px4_msgs/srv/*.srv
+          rm -f px4_msgs/srv/versioned/*.srv
+          cp msg/*.msg px4_msgs/msg/
+          cp msg/versioned/*.msg px4_msgs/msg/ || true
+          cp srv/*.srv px4_msgs/srv/
+          cp srv/versioned/*.srv px4_msgs/srv/ || true
+
+      - name: Commit and push changes
+        run: |
+          cd px4_msgs
+          git status
+          git add .
+          git commit -a -m "Update to PX4 ${{ github.sha }}" || true
+          git push origin ${{ github.ref_name }} || true
+          cd ..
+          rm -rf px4_msgs

.gitmodules

@@ -103,3 +103,9 @@
 [submodule "src/drivers/ins/sbgecom/sbgECom"]
 	path = src/drivers/ins/sbgecom/sbgECom
 	url = https://github.com/PX4/sbgECom.git
+[submodule "src/modules/mc_raptor/blob"]
+	path = src/modules/mc_raptor/blob
+	url = https://github.com/rl-tools/px4-blob
+[submodule "src/lib/rl_tools/rl_tools"]
+	path = src/lib/rl_tools/rl_tools
+	url = https://github.com/rl-tools/rl-tools.git

.vscode/cmake-variants.yaml

@@ -6,6 +6,16 @@ CONFIG:
       buildType: RelWithDebInfo
       settings:
         CONFIG: px4_sitl_default
+    px4_sitl_raptor:
+      short: px4_sitl_raptor
+      buildType: RelWithDebInfo
+      settings:
+        CONFIG: px4_sitl_raptor
+    px4_sitl_raptor_debug:
+      short: px4_sitl_raptor_debug
+      buildType: Debug
+      settings:
+        CONFIG: px4_sitl_raptor
     px4_sitl_spacecraft:
       short: px4_sitl_spacecraft
       buildType: RelWithDebInfo
@@ -141,6 +151,11 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: ark_can-flow_canbootloader
+    ark_can-flow-mr_default:
+      short: ark_can-flow-mr_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_can-flow-mr_default
     ark_can-flow-mr_canbootloader:
       short: ark_can-flow-mr_canbootloader
       buildType: MinSizeRel
@@ -236,6 +251,16 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: ark_fpv_default
+    ark_mag_canbootloader:
+      short: ark_mag_canbootloader
+      buildType: MiniSizeRel
+      settings:
+        CONFIG: ark_mag_canbootloader
+    ark_mag_default:
+      short: ark_mag_default
+      buildType: MiniSizeRel
+      settings:
+        CONFIG: ark_mag_default
     ark_pi6x_bootloader:
       short: ark_pi6x_bootloader
       buildType: MinSizeRel
@@ -406,6 +431,16 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: micoair_h743-v2_default
+    micoair_h743-lite_bootloader:
+      short: micoair_h743-lite_bootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: micoair_h743-lite_bootloader
+    micoair_h743-lite_default:
+      short: micoair_h743-lite
+      buildType: MinSizeRel
+      settings:
+        CONFIG: micoair_h743-lite_default
     modalai_fc-v1_default:
       short: modalai_fc-v1
       buildType: MinSizeRel
@@ -456,6 +491,16 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: nxp_mr-canhubk3_fmu
+    nxp_mr-tropic_default:
+      short: nxp_mr-tropic_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: nxp_mr-tropic_default
+    nxp_mr-tropic_bootloader:
+      short: nxp_mr-tropic_bootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: nxp_mr-tropic_bootloader
     nxp_tropic-community_default:
       short: nxp_tropic-community_default
       buildType: MinSizeRel
@@ -486,3 +531,23 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: x-mav_ap-h743v2_default
+    svehicle_e2_bootloader:
+      short: svehicle_e2_bootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: svehicle_e2_bootloader
+    svehicle_e2_default:
+      short: svehicle_e2
+      buildType: MinSizeRel
+      settings:
+        CONFIG: svehicle_e2_default
+    x-mav_ap-h743r1_bootloader:
+      short: x-mav_ap-h743r1-boot
+      buildType: MinSizeRel
+      settings:
+        CONFIG: x-mav_ap-h743r1_bootloader
+    x-mav_ap-h743r1_default:
+      short: x-mav_ap-h743r1
+      buildType: MinSizeRel
+      settings:
+        CONFIG: x-mav_ap-h743r1_default

CMakeLists.txt

@@ -267,7 +267,7 @@ endif()
 
 set(package-contact "px4users@googlegroups.com")
 
-set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_C_STANDARD 11)
 set(CMAKE_C_STANDARD_REQUIRED ON)

Jenkinsfile

@@ -220,36 +220,6 @@ pipeline {
           }
         }
 
-        stage('PX4 ROS msgs') {
-          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
-          }
-          steps {
-            sh('export')
-            sh('make distclean; git clean -ff -x -d .')
-            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
-              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
-              // 'main' branch
-              sh('rm -f px4_msgs/msg/*.msg')
-              sh('rm -f px4_msgs/msg/versioned/*.msg')
-              sh('rm -f px4_msgs/srv/*.srv')
-              sh('rm -f px4_msgs/srv/versioned/*.srv')
-              sh('cp msg/*.msg px4_msgs/msg/')
-              sh('cp msg/versioned/*.msg px4_msgs/msg/ || true')
-              sh('cp srv/*.srv px4_msgs/srv/')
-              sh('cp srv/versioned/*.srv px4_msgs/srv/ || true')
-              sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
-              sh('cd px4_msgs; git push origin main || true')
-              sh('rm -rf px4_msgs')
-            }
-          }
-          when {
-            anyOf {
-              branch 'main'
-            }
-          }
-        }
-
         stage('S3') {
           agent {
             docker { image 'px4io/px4-dev-base-focal:2021-08-18' }

LICENSE

@@ -1,6 +1,6 @@
 BSD 3-Clause License
 
-Copyright (c) 2012 - 2023, PX4 Development Team
+Copyright (c) 2012 - 2025, PX4 Development Team
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

Makefile

@@ -325,6 +325,8 @@ bootloaders_update: \
 	ark_fmu-v6x_bootloader \
 	ark_fpv_bootloader \
 	ark_pi6x_bootloader \
+	auterion_fmu-v6s_bootloader \
+	auterion_fmu-v6x_bootloader \
 	cuav_nora_bootloader \
 	cuav_x7pro_bootloader \
 	cuav_7-nano_bootloader \
@@ -344,6 +346,7 @@ bootloaders_update: \
         micoair_h743_bootloader \
         micoair_h743-aio_bootloader \
 	micoair_h743-v2_bootloader \
+	micoair_h743-lite_bootloader \
 	modalai_fc-v2_bootloader \
 	mro_ctrl-zero-classic_bootloader \
 	mro_ctrl-zero-h7_bootloader \

ROMFS/CMakeLists.txt

@@ -85,10 +85,32 @@ endif()
 if(PX4_ETHERNET)
 	set(added_arguments ${added_arguments} --ethernet)
 endif()
+# Check if board has an rc.board_airframes file to filter airframes
+set(board_airframes_file "${PX4_BOARD_DIR}/init/rc.board_airframes")
+set(airframes_whitelist "")
+if(EXISTS "${board_airframes_file}")
+	message(STATUS "ROMFS: Using board-specific airframes list: ${board_airframes_file}")
+	file(STRINGS "${board_airframes_file}" airframes_whitelist)
+	# Remove comments and empty lines
+	list(FILTER airframes_whitelist EXCLUDE REGEX "^[ \t]*#")
+	list(FILTER airframes_whitelist EXCLUDE REGEX "^[ \t]*$")
+endif()
+
 # create list of relative romfs file names
 set(romfs_copy_files_relative)
 foreach(romfs_file IN LISTS romfs_copy_files)
 	string(REPLACE "${romfs_src_dir}/" "" romfs_file_rel ${romfs_file})
+
+	# If we have an airframes whitelist, filter airframe files
+	if(airframes_whitelist AND romfs_file_rel MATCHES "^init.d/airframes/")
+		# Extract just the filename
+		get_filename_component(airframe_name "${romfs_file_rel}" NAME)
+		# Check if it's in the whitelist
+		if(NOT "${airframe_name}" IN_LIST airframes_whitelist)
+			continue()
+		endif()
+	endif()
+
 	list(APPEND romfs_copy_files_relative ${romfs_file_rel})
 endforeach()
 # copy the ROMFS files by creating a tar and extracting it to the build
@@ -124,6 +146,11 @@ add_custom_command(
 		${romfs_copy_stamp}
 	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/*
 	COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file}
+	# Preprocess ROMFS files with KConfig definitions
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_romfs_preprocess.py
+		--romfs-dir ${romfs_gen_root_dir}
+		--kconfig-header ${PX4_BINARY_DIR}/px4_boardconfig.h
+		--cpp ${CMAKE_C_COMPILER}
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
 		--airframes-path ${romfs_gen_root_dir}/init.d
 		--start-script ${romfs_gen_root_dir}/init.d/rc.autostart
@@ -137,8 +164,10 @@ add_custom_command(
 		--params-file ${CONFIG_BOARD_PARAM_FILE}
 	COMMAND ${CMAKE_COMMAND} -E touch ${romfs_copy_stamp}
 	WORKING_DIRECTORY ${romfs_gen_root_dir}
-	DEPENDS ${romfs_tar_file}
-	COMMENT "ROMFS: copying, generating airframes"
+	DEPENDS
+		${romfs_tar_file}
+		${PX4_BINARY_DIR}/px4_boardconfig.h
+	COMMENT "ROMFS: copying, preprocessing, generating airframes"
 	)
 
 # copy extras into ROMFS

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

@@ -27,7 +27,6 @@ param set-default SIH_KDV 0.2
 param set-default SIH_VEHICLE_TYPE 1 	# sih as fixed wing
 param set-default RWTO_TKOFF 1  # enable takeoff from runway (as opposed to launched)
 
-param set-default CA_AIRFRAME 1
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

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

@@ -44,8 +44,6 @@ param set-default NAV_DLL_ACT 2
 
 param set-default RWTO_TKOFF 1
 
-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

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

@@ -46,8 +46,6 @@ param set-default NAV_DLL_ACT 2
 
 param set-default RWTO_TKOFF 1
 
-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

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

@@ -46,8 +46,6 @@ param set-default MIS_TAKEOFF_ALT 30
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
 
-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

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

@@ -31,8 +31,6 @@ param set-default NAV_DLL_ACT 2
 param set-default RWTO_TKOFF 1
 param set-default RWTO_PSP 8
 
-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

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

@@ -31,8 +31,6 @@ param set-default NAV_DLL_ACT 2
 param set-default RWTO_TKOFF 1
 param set-default RWTO_PSP 8
 
-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

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

@@ -30,8 +30,6 @@ param set-default NAV_DLL_ACT 2
 
 param set-default RWTO_TKOFF 1
 
-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

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

@@ -31,8 +31,6 @@ param set-default NAV_DLL_ACT 2
 param set-default RWTO_TKOFF 1
 param set-default RWTO_PSP 8
 
-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

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

@@ -38,8 +38,6 @@ param set-default NAV_DLL_ACT 2
 
 param set-default RWTO_TKOFF 1
 
-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

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

@@ -44,8 +44,6 @@ param set-default MIS_TAKEOFF_ALT 30
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
 
-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

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

@@ -35,8 +35,6 @@ param set-default RWTO_MAX_PITCH 20
 param set-default RWTO_PSP 8
 param set-default RWTO_AIRSPD_SCL 1.8
 
-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

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

@@ -35,8 +35,6 @@ param set-default NAV_DLL_ACT 2
 
 param set-default RWTO_TKOFF 1
 
-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

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

@@ -46,8 +46,6 @@ param set-default NAV_DLL_ACT 2
 
 param set-default RWTO_TKOFF 1
 
-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d-posix/airframes/17001_flightgear_tf-g1

@@ -43,8 +43,6 @@ param set-default FW_THR_TRIM 0.8
 param set-default FW_THR_IDLE 0
 param set-default COM_DISARM_PRFLT 0
 
-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d-posix/airframes/17002_flightgear_tf-g2

@@ -48,8 +48,6 @@ param set-default FW_THR_TRIM 0.8
 param set-default FW_THR_IDLE 0
 param set-default COM_DISARM_PRFLT 0
 
-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

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

@@ -53,8 +53,6 @@ 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

ROMFS/px4fmu_common/init.d-posix/airframes/4008_gz_advanced_plane

@@ -11,8 +11,6 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=advanced_plane}
 
 param set-default SIM_GZ_EN 1
 
-param set-default SENS_EN_ARSPDSIM 1
-
 param set-default FW_LND_ANG 8
 
 param set-default FW_PR_FF 0.08
@@ -48,8 +46,6 @@ param set-default NAV_DLL_ACT 2
 
 param set-default RWTO_TKOFF 1
 
-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 
 param set-default CA_SV_CS_COUNT 6

ROMFS/px4fmu_common/init.d-posix/airframes/4019_gz_x500_gimbal

@@ -19,5 +19,6 @@ param set-default MNT_MAN_PITCH 2
 param set-default MNT_MAN_YAW 3
 
 param set-default MNT_RANGE_ROLL 180
-param set-default MNT_RANGE_PITCH 180
+param set-default MNT_MAX_PITCH 45
+param set-default MNT_MIN_PITCH -135
 param set-default MNT_RANGE_YAW 720

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

@@ -26,7 +26,6 @@ param set-default TRIG_INTERFACE 3
 param set-default TRIG_MODE 4
 param set-default MNT_MODE_IN 4
 param set-default MNT_MODE_OUT 2
-param set-default MAV_PROTO_VER 2
 
 param set-default CA_AIRFRAME 0
 param set-default CA_ROTOR_COUNT 6

ROMFS/px4fmu_common/init.d-posix/airframes/70001_gz_atmos_dual

@@ -0,0 +1,167 @@
+#!/bin/sh
+#
+# @name KTH-ATMOS
+#
+# @type Free-Flyer
+# @class Spacecraft
+#
+# @output Motor1 back left thruster, +x thrust
+# @output Motor2 front left thruster, -x thrust
+# @output Motor3 back right thruster, +x thrust
+# @output Motor4 front right thruster, -x thrust
+# @output Motor5 front left thruster, +y thrust
+# @output Motor6 front right thruster, -y thrust
+# @output Motor7 back left thruster, +y thrust
+# @output Motor8 back right thruster, -y thrust
+#
+# @maintainer discower-io
+# @url https://atmos.discower.io
+#
+
+. ${R}etc/init.d/rc.sc_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=atmos_dual}
+
+param set-default SIM_GZ_EN 1
+
+param set-default SENS_EN_MAGSIM 1
+param set-default COM_ARM_CHK_ESCS 0  # We don't have ESCs
+param set-default FD_ESCS_EN 0
+
+param set-default CA_AIRFRAME 14
+param set-default MAV_TYPE 45
+
+param set-default CA_ROTOR_COUNT 8
+param set-default CA_R_REV 0
+
+# Auto to be provided by Custom Airframe
+param set-default CA_METHOD 0
+
+# Set proper failsafes
+param set-default COM_ACT_FAIL_ACT 0
+param set-default COM_LOW_BAT_ACT 0
+param set-default NAV_DLL_ACT 0
+param set-default GF_ACTION 1
+param set-default NAV_RCL_ACT 1
+
+# disable attitude failure detection
+param set-default FD_FAIL_P 0
+param set-default FD_FAIL_R 0
+
+param set-default CA_ROTOR0_PX -0.12
+param set-default CA_ROTOR0_PY -0.12
+param set-default CA_ROTOR0_PZ 0.0
+param set-default CA_ROTOR0_CT 1.4
+param set-default CA_ROTOR0_AX 1.0
+param set-default CA_ROTOR0_AY 0.0
+param set-default CA_ROTOR0_AZ 0.0
+
+param set-default CA_ROTOR1_PX 0.12
+param set-default CA_ROTOR1_PY -0.12
+param set-default CA_ROTOR1_PZ 0.0
+param set-default CA_ROTOR1_CT 1.4
+param set-default CA_ROTOR1_AX -1.0
+param set-default CA_ROTOR1_AY 0.0
+param set-default CA_ROTOR1_AZ 0.0
+
+param set-default CA_ROTOR2_PX -0.12
+param set-default CA_ROTOR2_PY 0.12
+param set-default CA_ROTOR2_PZ 0.0
+param set-default CA_ROTOR2_CT 1.4
+param set-default CA_ROTOR2_AX 1.0
+param set-default CA_ROTOR2_AY 0.0
+param set-default CA_ROTOR2_AZ 0.0
+
+param set-default CA_ROTOR3_PX 0.12
+param set-default CA_ROTOR3_PY 0.12
+param set-default CA_ROTOR3_PZ 0.0
+param set-default CA_ROTOR3_CT 1.4
+param set-default CA_ROTOR3_AX -1.0
+param set-default CA_ROTOR3_AY 0.0
+param set-default CA_ROTOR3_AZ 0.0
+
+param set-default CA_ROTOR4_PX 0.12
+param set-default CA_ROTOR4_PY -0.12
+param set-default CA_ROTOR4_PZ 0.0
+param set-default CA_ROTOR4_CT 1.4
+param set-default CA_ROTOR4_AX 0.0
+param set-default CA_ROTOR4_AY 1.0
+param set-default CA_ROTOR4_AZ 0.0
+
+param set-default CA_ROTOR5_PX 0.12
+param set-default CA_ROTOR5_PY 0.12
+param set-default CA_ROTOR5_PZ 0.0
+param set-default CA_ROTOR5_CT 1.4
+param set-default CA_ROTOR5_AX 0.0
+param set-default CA_ROTOR5_AY -1.0
+param set-default CA_ROTOR5_AZ 0.0
+
+param set-default CA_ROTOR6_PX -0.12
+param set-default CA_ROTOR6_PY -0.12
+param set-default CA_ROTOR6_PZ 0.0
+param set-default CA_ROTOR6_CT 1.4
+param set-default CA_ROTOR6_AX 0.0
+param set-default CA_ROTOR6_AY 1.0
+param set-default CA_ROTOR6_AZ 0.0
+
+param set-default CA_ROTOR7_PX -0.12
+param set-default CA_ROTOR7_PY 0.12
+param set-default CA_ROTOR7_PZ 0.0
+param set-default CA_ROTOR7_CT 1.4
+param set-default CA_ROTOR7_AX 0.0
+param set-default CA_ROTOR7_AY -1.0
+param set-default CA_ROTOR7_AZ 0.0
+
+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_EC_FUNC5 105
+param set-default SIM_GZ_EC_FUNC6 106
+param set-default SIM_GZ_EC_FUNC7 107
+param set-default SIM_GZ_EC_FUNC8 108
+param set-default SIM_GZ_EC_FUNC9 301
+param set-default SIM_GZ_EC_FUNC10 302
+param set-default SIM_GZ_EC_FUNC11 303
+param set-default SIM_GZ_EC_FUNC12 304
+
+param set-default SIM_GZ_EC_MIN1 0
+param set-default SIM_GZ_EC_MIN2 0
+param set-default SIM_GZ_EC_MIN3 0
+param set-default SIM_GZ_EC_MIN4 0
+param set-default SIM_GZ_EC_MIN5 0
+param set-default SIM_GZ_EC_MIN6 0
+param set-default SIM_GZ_EC_MIN7 0
+param set-default SIM_GZ_EC_MIN8 0
+param set-default SIM_GZ_EC_MIN9 1100
+param set-default SIM_GZ_EC_MIN10 1100
+param set-default SIM_GZ_EC_MIN11 1100
+param set-default SIM_GZ_EC_MIN12 1100
+
+param set-default SIM_GZ_EC_MAX1 10000
+param set-default SIM_GZ_EC_MAX2 10000
+param set-default SIM_GZ_EC_MAX3 10000
+param set-default SIM_GZ_EC_MAX4 10000
+param set-default SIM_GZ_EC_MAX5 10000
+param set-default SIM_GZ_EC_MAX6 10000
+param set-default SIM_GZ_EC_MAX7 10000
+param set-default SIM_GZ_EC_MAX8 10000
+param set-default SIM_GZ_EC_MAX9 1900
+param set-default SIM_GZ_EC_MAX10 1900
+param set-default SIM_GZ_EC_MAX11 1900
+param set-default SIM_GZ_EC_MAX12 1900
+
+# Controller Tunings
+param set SC_YAWRATE_P 3.335
+param set SC_YAWRATE_I 0.87
+param set SC_YAWRATE_D 0.15
+param set SC_YR_INT_LIM 0.2
+param set SC_YAW_P 3.0
+
+param set SPC_POS_P 0.20
+param set SPC_VEL_P 6.55
+param set SPC_VEL_I 0.0
+param set SPC_VEL_D 0.0
+param set SPC_VEL_MAX 12.0

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

@@ -118,6 +118,7 @@ px4_add_romfs_files(
 	60002_gz_uuv_bluerov2_heavy
 
 	70000_gz_atmos
+	70001_gz_atmos_dual
 
 	# [22000, 22999] Reserve for custom models
 )

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

@@ -159,24 +159,19 @@ if [ -n "${PX4_SIM_MODEL#*gz_}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ]; then
 	fi
 
 	# Set up camera to follow the model if requested
-	if [ -n "${PX4_GZ_FOLLOW}" ]; then
+	if [ -z "${PX4_GZ_NO_FOLLOW}" ]; then
 
 		echo "INFO  [init] Setting camera to follow ${MODEL_NAME_INSTANCE}"
 
-		# Set camera to follow the model
-		${gz_command} service -s "/gui/follow" --reqtype gz.msgs.StringMsg \
-				--reptype gz.msgs.Boolean --timeout 5000 \
-				--req "data: \"${MODEL_NAME_INSTANCE}\"" > /dev/null 2>&1
-
 		# Set default camera offset if not specified
 		follow_x=${PX4_GZ_FOLLOW_OFFSET_X:--2.0}
 		follow_y=${PX4_GZ_FOLLOW_OFFSET_Y:--2.0}
 		follow_z=${PX4_GZ_FOLLOW_OFFSET_Z:-2.0}
 
 		# Set camera offset
-		${gz_command} service -s "/gui/follow/offset" --reqtype gz.msgs.Vector3d \
-				--reptype gz.msgs.Boolean --timeout 5000 \
-				--req "x: ${follow_x}, y: ${follow_y}, z: ${follow_z}" > /dev/null 2>&1
+		${gz_command} topic -t /gui/track -m gz.msgs.CameraTrack \
+				-p "track_mode: FOLLOW, follow_target: {name: '${MODEL_NAME_INSTANCE}'},\
+				 follow_offset: {x: ${follow_x}, y: ${follow_y}, z: ${follow_z}}, follow_pgain: 1.0, track_pgain: 1.0"
 
 		echo "INFO  [init] Camera follow offset set to ${follow_x}, ${follow_y}, ${follow_z}"
 	fi
@@ -193,8 +188,14 @@ else
 	exit 1
 fi
 
-# Start sensor simulation manager for additional sensors not handled by gz
-if param compare -s SENS_EN_AGPSIM 1 || param compare -s SENS_EN_MAGSIM 1 || param compare -s SENS_EN_ARSPDSIM 1
+# NOTE: Only for rover_mecanum and spacecraft_2d. All other models have
+# the magnetometer sensor in the model.sdf.
+if param compare -s SENS_EN_MAGSIM 1
 then
-	sensor_sim_manager start
+	sensor_mag_sim start
+fi
+# NOTE: new gz has airspeed sensor, remove once added
+if param compare -s SENS_EN_ARSPDSIM 1
+then
+	sensor_airspeed_sim start
 fi

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

@@ -5,7 +5,6 @@
 param set-default EKF2_GPS_DELAY 10
 param set-default EKF2_MULTI_IMU 3
 param set-default SENS_IMU_MODE 0
-param set-default SIM_GZ_EN 1
 
 simulator_tcp_port=$((4560+px4_instance))
 
@@ -26,9 +25,3 @@ else
 	echo "INFO  [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOSTNAME}"
 	simulator_mavlink start -h "${PX4_SIM_HOSTNAME}" "${simulator_tcp_port}"
 fi
-
-# Start sensor simulation manager for additional sensors not handled by gz
-if param compare -s SENS_EN_AGPSIM 1 || param compare -s SENS_EN_MAGSIM 1 || param compare -s SENS_EN_ARSPDSIM 1
-then
-	sensor_sim_manager start
-fi

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

@@ -15,7 +15,22 @@ fi
 
 if simulator_sih start; then
 
-	sensor_sim_manager 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_AGPSIM 1
+	then
+		sensor_agp_sim start
+	fi
 
 else
 	echo "ERROR [init] simulator_sih failed to start"

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -126,15 +126,6 @@ then
 	set AUTOCNF yes
 fi
 
-# Allow overriding parameters via env variables: export PX4_PARAM_{name}={value}
-env | while IFS='=' read -r line; do
-  value=${line#*=}
-  name=${line%%=*}
-  case $name in
-    "PX4_PARAM_"*) param set "${name#PX4_PARAM_}" "$value" ;;
-  esac
-done
-
 # multi-instance setup
 # shellcheck disable=SC2154
 param set MAV_SYS_ID $((px4_instance+1))
@@ -173,7 +164,6 @@ param set-default COM_RC_IN_MODE 1
 param set-default EKF2_REQ_GPS_H 0.5
 
 param set-default IMU_GYRO_FFT_EN 1
-param set-default MAV_PROTO_VER 2 # Ensures QGC does not drop the first few packets after a SITL restart due to MAVLINK 1 packets
 
 param set-default -s MC_AT_EN 1
 
@@ -239,6 +229,15 @@ then
 	exit 1
 fi
 
+# Allow overriding parameters via env variables: export PX4_PARAM_{name}={value}
+env | while IFS='=' read -r line; do
+  value=${line#*=}
+  name=${line%%=*}
+  case $name in
+    "PX4_PARAM_"*) param set "${name#PX4_PARAM_}" "$value" ;;
+  esac
+done
+
 dataman start
 
 # only start the simulator if not in replay mode, as both control the lockstep time

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

@@ -14,7 +14,6 @@
 
 param set UAVCAN_ENABLE 0
 
-param set-default CA_AIRFRAME 1
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2

@@ -18,6 +18,8 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board px4_fmu-v6x exclude
+# @board ark_fmu-v6x exclude
 #
 
 . ${R}etc/init.d/rc.fw_defaults
@@ -40,8 +42,6 @@ param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
 param set-default FW_P_RMAX_NEG 20
 
-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2

@@ -16,6 +16,8 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board px4_fmu-v6x exclude
+# @board ark_fmu-v6x exclude
 #
 
 . ${R}etc/init.d/rc.fw_defaults
@@ -37,8 +39,6 @@ param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
 param set-default FW_P_RMAX_NEG 20
 
-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

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

@@ -10,7 +10,6 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-param set-default CA_AIRFRAME 1
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 param set-default CA_SV_CS_COUNT 4

ROMFS/px4fmu_common/init.d/airframes/2106_albatross

@@ -32,7 +32,6 @@ param set-default FW_WR_IMAX 0.8
 param set-default FW_WR_P 1
 param set-default FW_W_RMAX 0
 
-param set-default CA_AIRFRAME 1
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_SV_CS_COUNT 7
 param set-default CA_SV_CS0_TRQ_R -0.5

ROMFS/px4fmu_common/init.d/airframes/3000_generic_wing

@@ -10,8 +10,6 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.15
 param set-default CA_SV_CS_COUNT 2

ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision

@@ -7,6 +7,8 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board px4_fmu-v6x exclude
+# @board ark_fmu-v6x exclude
 #
 
 . ${R}etc/init.d/rc.mc_defaults
@@ -75,9 +77,6 @@ param set-default NAV_ACC_RAD 2
 param set-default RTL_DESCEND_ALT 5
 param set-default RTL_RETURN_ALT 5
 
-# Logging Parameters
-param set-default SDLOG_PROFILE 131
-
 # Sensors Parameters
 param set-default SENS_CM8JL65_CFG 104
 param set-default SENS_FLOW_MAXHGT 25

ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames

@@ -9,6 +9,7 @@
 # @board px4_fmu-v5x exclude
 # @board auterion_fmu-v6s exclude
 # @board ark_fmu-v6x exclude
+# @board auterion_fmu-v6x exclude
 # @board px4_fmu-v6x exclude
 # @board bitcraze_crazyflie exclude
 #

ROMFS/px4fmu_common/init.d/airframes/4020_holybro_px4vision_v1_5

@@ -7,6 +7,7 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board auterion_fmu-v6x exclude
 # @board px4_fmu-v6x exclude
 #
 
@@ -77,9 +78,6 @@ param set-default NAV_ACC_RAD 2
 param set-default RTL_DESCEND_ALT 5
 param set-default RTL_RETURN_ALT 5
 
-# Logging Parameters
-param set-default SDLOG_PROFILE 131
-
 # Sensors Parameters
 param set-default SENS_CM8JL65_CFG 202
 param set-default SENS_FLOW_MAXHGT 25

ROMFS/px4fmu_common/init.d/airframes/4041_beta75x

@@ -15,6 +15,7 @@
 # @board px4_fmu-v5x exclude
 # @board auterion_fmu-v6s exclude
 # @board ark_fmu-v6x exclude
+# @board auterion_fmu-v6x exclude
 # @board px4_fmu-v6x exclude
 # @board px4_fmu-v6xrt exclude
 # @board bitcraze_crazyflie exclude

ROMFS/px4fmu_common/init.d/airframes/4050_generic_250

@@ -29,9 +29,6 @@ param set-default MPC_MAN_TILT_MAX 60
 
 param set-default THR_MDL_FAC 0.3
 
-# enable high-rate logging profile (helps with tuning)
-param set-default SDLOG_PROFILE 19
-
 param set-default IMU_DGYRO_CUTOFF 50
 param set-default IMU_GYRO_CUTOFF 90
 

ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250

@@ -11,6 +11,8 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board px4_fmu-v6x exclude
+# @board ark_fmu-v6x exclude
 #
 
 . ${R}etc/init.d/rc.mc_defaults

ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2

@@ -9,6 +9,8 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board px4_fmu-v6x exclude
+# @board ark_fmu-v6x exclude
 #
 
 . ${R}etc/init.d/rc.mc_defaults

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

@@ -10,6 +10,7 @@
 # @board cuav_x7pro exclude
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5x exclude
+# @board auterion_fmu-v6x exclude
 # @board px4_fmu-v6x exclude
 #
 

ROMFS/px4fmu_common/init.d/airframes/4071_ifo

@@ -12,6 +12,7 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
+# @board auterion_fmu-v6x exclude
 # @board px4_fmu-v6x exclude
 # @board bitcraze_crazyflie exclude
 # @board cuav_x7pro exclude

ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s

@@ -10,6 +10,7 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
+# @board auterion_fmu-v6x exclude
 # @board px4_fmu-v6x exclude
 # @board bitcraze_crazyflie exclude
 # @board cuav_x7pro exclude

ROMFS/px4fmu_common/init.d/airframes/4601_droneblocks_dexi_5

@@ -14,6 +14,7 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
+# @board auterion_fmu-v6x exclude
 # @board px4_fmu-v6x exclude
 # @board bitcraze_crazyflie exclude
 # @board diatone_mamba-f405-mk2 exclude

ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21

@@ -13,6 +13,7 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
+# @board auterion_fmu-v6x exclude
 # @board px4_fmu-v6x exclude
 # @board diatone_mamba-f405-mk2 exclude
 #

ROMFS/px4fmu_common/init.d/airframes/51002_nxp_b3rb

@@ -0,0 +1,31 @@
+#!/bin/sh
+#
+# @name NXP B3RB Rover Ackermann
+#
+# @type Rover
+# @class Rover
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.rover_ackermann_defaults
+
+param set-default BAT1_N_CELLS 3
+
+# Set geometry & output configration
+param set-default PWM_MAIN_FUNC1 201
+param set-default PWM_MAIN_FUNC2 101
+param set-default PWM_MAIN_FUNC3 101
+param set-default PWM_MAIN_DIS1 1500
+param set-default PWM_MAIN_DIS2 0
+param set-default PWM_MAIN_DIS3 1500
+param set-default PWM_MAIN_MIN1 1000
+param set-default PWM_MAIN_MIN2 2500
+param set-default PWM_MAIN_MIN3 0
+param set-default PWM_MAIN_MAX1 2000
+param set-default PWM_MAIN_MAX2 2500
+param set-default PWM_MAIN_MAX3 50
+param set-default PWM_MAIN_TIM0 400
+param set-default PWM_MAIN_TIM1 400
+param set-default PWM_MAIN_TIM2 20000

ROMFS/px4fmu_common/init.d/airframes/6002_draco_r

@@ -12,7 +12,9 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
+# @board px4_fmu-v6x exclude
 # @board bitcraze_crazyflie exclude
+# @board ark_fmu-v6x exclude
 #
 
 . ${R}etc/init.d/rc.mc_defaults

ROMFS/px4fmu_common/init.d/airframes/70000_atmos

@@ -20,6 +20,9 @@
 
 . ${R}etc/init.d/rc.sc_defaults
 
+# Overwrite DDS AG IP to `192.168.0.1`
+param set-default UXRCE_DDS_AG_IP -1062731775
+
 param set-default CA_AIRFRAME 14
 param set-default MAV_TYPE 45
 

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

@@ -153,6 +153,7 @@ if(CONFIG_MODULES_ROVER_ACKERMANN)
 		# [51000, 51999] Ackermann rovers
 		51000_generic_rover_ackermann
 		51001_axial_scx10_2_trail_honcho
+		51002_nxp_b3rb
 	)
 endif()
 

ROMFS/px4fmu_common/init.d/rc.fw_defaults

@@ -10,6 +10,8 @@ set VEHICLE_TYPE fw
 # MAV_TYPE_FIXED_WING 1
 param set-default MAV_TYPE 1
 
+param set-default CA_AIRFRAME 1
+
 #
 # Default parameters for fixed wing UAVs.
 #
@@ -26,6 +28,7 @@ param set-default EKF2_MAG_ACCLIM 0
 param set-default EKF2_REQ_EPH 10
 param set-default EKF2_REQ_EPV 10
 param set-default EKF2_REQ_HDRIFT 0.5
+param set-default EKF2_REQ_PDOP 4
 param set-default EKF2_REQ_SACC 1
 param set-default EKF2_REQ_VDRIFT 1
 param set-default EKF2_RNG_QLTY_T 3

ROMFS/px4fmu_common/init.d/rc.mc_apps

@@ -41,3 +41,9 @@ if param compare -s MC_NN_EN 1
 then
 	mc_nn_control start
 fi
+
+
+if param compare -s MC_RAPTOR_ENABLE 1
+then
+	mc_raptor start
+fi

ROMFS/px4fmu_common/init.d/rc.sc_defaults

@@ -8,9 +8,6 @@ set VEHICLE_TYPE spacecraft
 # MAV_TYPE_SPACECRAFT_ORBITTER
 param set-default MAV_TYPE 45
 
-# Set micro-dds-client to use ethernet and IP-address 192.168.0.1
-param set-default UXRCE_DDS_AG_IP -1062731775
-
 # Disable preflight disarm to not interfere with external launching
 param set-default COM_DISARM_PRFLT -1
 param set-default CBRK_SUPPLY_CHK 894281

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -8,17 +8,24 @@
 #                           Begin Optional drivers                            #
 ###############################################################################
 
+%ifdef CONFIG_DRIVERS_BATT_SMBUS
 if param compare -s SENS_EN_BATT 1
 then
 	batt_smbus start -X
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_SMART_BATTERY_BATMON
 # Start batmon driver if enabled using BATMON_DRIVER_EN
 if param compare -s BATMON_DRIVER_EN 1
 then
 	batmon start -X  #start on external bus
 fi
+%endif
 
+
+%ifdef CONFIG_DRIVERS_PWM_INPUT
+%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_LL40LS
 # Sensors on the PWM interface bank
 if param compare -s SENS_EN_LL40LS 1
 then
@@ -27,92 +34,121 @@ then
 		ll40ls_pwm start
 	fi
 fi
+%endif
 
 # External automatic trigger system
 if param compare FD_EXT_ATS_EN 1
 then
 	pwm_input start
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_LL40LS
 # Lidar-Lite on I2C
 if param compare -s SENS_EN_LL40LS 2
 then
 	ll40ls start -X
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_MAPPYDOT
 # mappydot lidar sensor
 if param compare -s SENS_EN_MPDT 1
 then
 	mappydot start -X
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_MB12XX
 # mb12xx sonar sensor
 if param greater -s SENS_EN_MB12XX 0
 then
 	mb12xx start -X
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_PGA460
 # pga460 sonar sensor
 if param greater -s SENS_EN_PGA460 0
 then
 	pga460 start
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_I2C
 # Lightware i2c lidar sensor
 if param greater -s SENS_EN_SF1XX 0
 then
 	lightware_laser_i2c start -X
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_SRF05
 # Sensor HY-SRF05 or HC-SR05 ultrasonic sensor
 if param compare -s SENS_EN_SR05 1
 then
 	srf05 start
 fi
+%endif
 
 
+%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_TERARANGER
 # Teraranger one tof sensor
 if param greater -s SENS_EN_TRANGER 0
 then
 	teraranger start -X
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_OPTICAL_FLOW_PAA3905
 # paa3905 optical flow sensor (external SPI)
 if param greater -s SENS_EN_PAA3905 0
 then
 	paa3905 -S start
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_OPTICAL_FLOW_PAW3902
 # paw3902 optical flow sensor (external SPI)
 if param greater -s SENS_EN_PAW3902 0
 then
 	paw3902 -S start
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_OPTICAL_FLOW_PMW3901
 # pmw3901 optical flow sensor (external SPI)
 if param greater -s SENS_EN_PMW3901 0
 then
 	pmw3901 -S start
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L0X
 # vl53l0x i2c distance sensor
 if param compare -s SENS_EN_VL53L0X 1
 then
 	vl53l0x start -X
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L1X
 # vl53l1x i2c distance sensor
 if param compare -s SENS_EN_VL53L1X 1
 then
 	vl53l1x start -X
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_TF02PRO
 # tf02 pro i2c distance sensor
 if param compare -s SENS_EN_TF02PRO 1
 then
 	tf02pro start -X
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448
 # ADIS16448 spi external IMU
 if param compare -s SENS_EN_ADIS164X 1
 then
@@ -125,25 +161,33 @@ then
 		adis16448 -S start -R 4
 	fi
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16507
 # ADIS16507 spi external IMU
 if param greater -s SENS_EN_ADIS165X 0
 then
 	adis16507 -S start
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_IMU_MURATA_SCH16T
 # SCH16T spi external IMU
 if param compare -s SENS_EN_SCH16T 1
 then
 	sch16t -S start
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_ETS
 # Eagle Tree airspeed sensor external I2C
 if param compare -s SENS_EN_ETSASPD 1
 then
 	ets_airspeed start -X
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_SDP3X
 # Sensirion SDP3X differential pressure sensor external I2C
 if param compare -s SENS_EN_SDP3X 1
 then
@@ -153,92 +197,171 @@ then
 		sdp3x start -X -a 0x22
 	fi
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_TEMPERATURE_SENSOR_MCP9808
+# Microchip MCP9808 temperature sensor external I2C
+if param compare -s SENS_EN_MCP9808 1
+then
+	mcp9808 start -X
+fi
+%endif
+
+%ifdef CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS4515
 # TE MS4515 differential pressure sensor external I2C
 if param compare -s SENS_EN_MS4515 1
 then
 	ms4515 start -X
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS4525DO
 # TE MS4525DO differential pressure sensor external I2C
 if param compare -s SENS_EN_MS4525DO 1
 then
 	ms4525do start -X
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS5525DSO
 # TE MS5525DSO differential pressure sensor external I2C
 if param compare -s SENS_EN_MS5525DS 1
 then
 	ms5525dso start -X
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_ASP5033
 # TE ASP5033 differential pressure sensor external I2C
 if param compare -s SENS_EN_ASP5033 1
 then
 	asp5033 start -X
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_AUAV
 # AUAV absolute/differential pressure sensor external I2C
 if param greater -s SENS_EN_AUAVX 0
 then
 	auav start -D -X
 	auav start -A -X
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_HYGROMETER_SHT3X
 # SHT3x temperature and hygrometer sensor, external I2C
 if param compare -s SENS_EN_SHT3X 1
 then
 	sht3x start -X
 	sht3x start -X -a 0x45
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_IRLOCK
 # IR-LOCK sensor external I2C
 if param compare -s SENS_EN_IRLOCK 1
 then
 	irlock start -X
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_BAROMETER_GOERTEK_SPL06
 # SPL06 sensor external I2C
 if param compare -s SENS_EN_SPL06 1
 then
 	spl06 -X start
 	spl06 -X -a 0x77 start
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_BAROMETER_GOERTEK_SPA06
 # SPA06 sensor external I2C
 if param compare -s SENS_EN_SPA06 1
 then
 	spa06 -X start
 	spa06 -X -a 0x77 start
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_RPM_PCF8583
 # PCF8583 counter (RPM sensor)
 if param compare -s SENS_EN_PCF8583 1
 then
 	pcf8583 start -X
 	pcf8583 start -X -a 0x51
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_ADC_ADS7953
+# ADC sensor ADS7953 external SPI
+if param compare -s ADC_ADS7953_EN 1
+then
+	ads7953 start -S
+fi
+%endif
+
+%ifdef CONFIG_DRIVERS_ADC_TLA2528
+# ADC sensor tla2528 external I2C
+if param compare -s ADC_TLA2528_EN 1
+then
+	tla2528 start -X
+fi
+%endif
+
+%ifdef CONFIG_DRIVERS_TEMPERATURE_SENSOR_TMP102
+# Start TMP102 temperature sensor
+if param compare -s SENS_EN_TMP102 1
+then
+	tmp102 start -X
+fi
+%endif
+
+%ifdef COMMON_MAGNETOMETER
 # probe for optional external I2C devices
 if param compare SENS_EXT_I2C_PRB 1
 then
+%ifdef CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948
 	icm20948_i2c_passthrough -X -q start
+%endif
 
 	# compasses
+%ifdef CONFIG_DRIVERS_MAGNETOMETER_HMC5883
 	hmc5883 -T -X -q start
+%endif
+%ifdef CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC
 	iis2mdc -X -q start
+%endif
+%ifdef CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8308
 	ist8308 -X -q start
+%endif
+%ifdef CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310
 	ist8310 -X -q start
+%endif
+%ifdef CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL
 	if ! lis3mdl -X -q start
 	then
 		lis3mdl -X -q -a 0x1c start
 	fi
+%endif
+%ifdef CONFIG_DRIVERS_MAGNETOMETER_QMC5883L
 	qmc5883l -X -q start
+%endif
+%ifdef CONFIG_DRIVERS_MAGNETOMETER_QMC5883P
 	qmc5883p -X -q start
+%endif
+%ifdef CONFIG_DRIVERS_MAGNETOMETER_RM3100
 	rm3100 -X -q start
+%endif
+%ifdef CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM350
 	bmm350 -X -q start
+%endif
+%ifdef CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC
 	iis2mdc -X -q start
+%endif
 
 	# start last (wait for possible icm20948 passthrough mode)
+%ifdef CONFIG_DRIVERS_MAGNETOMETER_AKM_AK09916
 	ak09916 -X -q start
+%endif
 fi
+%endif

ROMFS/px4fmu_common/init.d/rcS

@@ -228,30 +228,26 @@ else
 	fi
 	unset BOARD_RC_ADDITIONAL_INIT
 
-	# Load airframe configuration based on SYS_AUTOSTART parameter
-	if ! param compare SYS_AUTOSTART 0
+	# Load airframe configuration based on SYS_AUTOSTART parameter if successful VEHICLE_TYPE gets set
+	# Run autogenerated ROMFS airframe script
+	. ${R}etc/init.d/rc.autostart
+
+	if [ ${VEHICLE_TYPE} = none ]
 	then
-		# rc.autostart directly run the right airframe script which sets the VEHICLE_TYPE
-		# Look for airframe in ROMFS
-		. ${R}etc/init.d/rc.autostart
-
-		if [ ${VEHICLE_TYPE} = none ]
+		# Run external airframe script on SD card
+		if [ $STORAGE_AVAILABLE = yes ]
 		then
-			# Use external startup file
-			if [ $STORAGE_AVAILABLE = yes ]
-			then
-				. ${R}etc/init.d/rc.autostart_ext
-			else
-				echo "ERROR [init] SD card not mounted - can't load external airframe"
-			fi
+			. ${R}etc/init.d/rc.autostart_ext
+		else
+			echo "ERROR [init] SD not mounted, skipping external airframe"
 		fi
+	fi
 
-		if [ ${VEHICLE_TYPE} = none ]
-		then
-			echo "ERROR [init] No airframe file found for SYS_AUTOSTART value"
-			param set SYS_AUTOSTART 0
-			tune_control play error
-		fi
+	if [ ${VEHICLE_TYPE} = none ]
+	then
+		echo "ERROR [init] No airframe file found for SYS_AUTOSTART value"
+		param set SYS_AUTOSTART 0
+		tune_control play error
 	fi
 
 	# Check parameter version and reset upon airframe configuration version mismatch.
@@ -269,12 +265,15 @@ else
 	# Start the tone_alarm driver.
 	# Needs to be started after the parameters are loaded (for CBRK_BUZZER).
 	#
+%ifdef CONFIG_DRIVERS_TONE_ALARM
 	tone_alarm start
+%endif
 
 	#
 	# Waypoint storage.
 	# REBOOTWORK this needs to start in parallel.
 	#
+%ifdef CONFIG_MODULES_DATAMAN
 	if param compare -s SYS_DM_BACKEND 1
 	then
 		dataman start -r
@@ -285,11 +284,14 @@ else
 			dataman start
 		fi
 	fi
+%endif
 
 	#
 	# Start the socket communication send_event handler.
 	#
+%ifdef CONFIG_MODULES_SEND_EVENT
 	send_event start
+%endif
 
 	#
 	# Start the hardfault streamer.
@@ -302,15 +304,25 @@ else
 	#
 	# Start the resource load monitor.
 	#
+%ifdef CONFIG_MODULES_LOAD_MON
 	load_mon start
+%endif
 
 	#
 	# Start system state indicator.
 	#
+%ifdef CONFIG_DRIVERS_LIGHTS_RGBLED
 	rgbled start -X -q
+%endif
+%ifdef CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C
 	rgbled_ncp5623c start -X -q
+%endif
+%ifdef CONFIG_DRIVERS_LIGHTS_RGBLED_LP5562
 	rgbled_lp5562 start -X -q
+%endif
+%ifdef CONFIG_DRIVERS_LIGHTS_RGBLED_IS31FL3195
 	rgbled_is31fl3195 start -X -q
+%endif
 
 	#
 	# Override parameters from user configuration file.
@@ -335,8 +347,21 @@ else
 		# start the simulator in hardware if needed
 		if param compare SYS_HITL 2
 		then
+%ifdef CONFIG_MODULES_SIMULATION_SIMULATOR_SIH
 			simulator_sih start
-			sensor_sim_manager start
+%endif
+%ifdef CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM
+			sensor_baro_sim start
+%endif
+%ifdef CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM
+			sensor_mag_sim start
+%endif
+%ifdef CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM
+			sensor_gps_sim start
+%endif
+%ifdef CONFIG_MODULES_SIMULATION_SENSOR_AGP_SIM
+			sensor_agp_sim start
+%endif
 		fi
 
 	else
@@ -353,43 +378,58 @@ else
 
 		. ${R}etc/init.d/rc.sensors
 
+%ifdef CONFIG_MODULES_SENSORS
+%ifdef CONFIG_MODULES_ESC_BATTERY
 		if param compare -s BAT1_SOURCE 2
 		then
 			esc_battery start
 		fi
+%endif
 
+%ifdef CONFIG_MODULES_BATTERY_STATUS
 		if ! param compare BAT1_SOURCE 1
 		then
 			battery_status start
 		fi
+%endif
+%endif
 
+%ifdef CONFIG_MODULES_SENSORS
 		sensors start
+%endif
 	fi
 
 	#
 	# state estimator selection
 	#
+%ifdef CONFIG_MODULES_EKF2
 	if param compare -s EKF2_EN 1
 	then
 		ekf2 start &
 	fi
+%endif
 
+%ifdef CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR
 	if param compare -s LPE_EN 1
 	then
 		local_position_estimator start
 	fi
+%endif
 
+%ifdef CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q
 	if param compare -s ATT_EN 1
 	then
 		attitude_estimator_q start
 	fi
+%endif
 
+%ifdef CONFIG_DRIVERS_PX4IO
 	#
 	# px4io
 	#
 	if px4io supported
 	then
-	# Check if PX4IO present and update firmware if needed.
+		# Check if PX4IO present and update firmware if needed.
 		if [ -f $IOFW ]
 		then
 			if ! px4io checkcrc ${IOFW}
@@ -419,40 +459,56 @@ else
 			fi
 		fi
 	fi
+%endif
 
 	# Heater driver for temperature regulated IMUs.
 	# The heater needs to start after px4io.
+%ifdef CONFIG_DRIVERS_HEATER
 	if param compare -s SENS_EN_THERMAL 1
 	then
 		heater start
 	fi
+%endif
 
 
 	#
 	# RC update (map raw RC input to calibrate manual control)
 	#  start before commander
 	#
+%ifdef CONFIG_MODULES_RC_UPDATE
 	rc_update start
+%endif
+%ifdef CONFIG_MODULES_MANUAL_CONTROL
 	manual_control start
+%endif
 
 	# Start camera trigger, capture and PPS before pwm_out as they might access
 	# pwm pins
+%ifdef CONFIG_DRIVERS_CAMERA_TRIGGER
 	if param greater -s TRIG_MODE 0
 	then
 		camera_trigger start
+%ifdef CONFIG_MODULES_CAMERA_FEEDBACK
 		camera_feedback start
+%endif
 	fi
+%endif
 	# PPS capture driver
+%ifdef CONFIG_DRIVERS_PPS_CAPTURE
 	if param greater -s PPS_CAP_ENABLE 0
 	then
 		pps_capture start
 	fi
+%endif
 	# RPM capture driver
+%ifdef CONFIG_DRIVERS_RPM_CAPTURE
 	if param greater -s RPM_CAP_ENABLE 0
 	then
 		rpm_capture start
 	fi
+%endif
 	# Camera capture driver
+%ifdef CONFIG_DRIVERS_CAMERA_CAPTURE
 	if param greater -s CAM_CAP_FBACK 0
 	then
 		if camera_capture start
@@ -460,25 +516,34 @@ else
 			camera_capture on
 		fi
 	fi
+%endif
 
 	#
 	# Commander
 	#
+%ifdef CONFIG_MODULES_COMMANDER
 	if param greater SYS_HITL 0
 	then
 		commander start -h
 
+%ifdef CONFIG_MODULES_SIMULATION_PWM_OUT_SIM
 		if ! pwm_out_sim start -m hil
 		then
 			tune_control play error
 		fi
+%endif
 
 	else
 		commander start
 
+%ifdef CONFIG_DRIVERS_DSHOT
 		dshot start
+%endif
+%ifdef CONFIG_DRIVERS_PWM_OUT
 		pwm_out start
+%endif
 	fi
+%endif
 
 	#
 	# Configure vehicle type specific parameters.
@@ -486,10 +551,12 @@ else
 	. ${R}etc/init.d/rc.vehicle_setup
 
 	# Pre-takeoff continuous magnetometer calibration
+%ifdef CONFIG_MODULES_MAG_BIAS_ESTIMATOR
 	if param compare -s MBE_ENABLE 1
 	then
 		mag_bias_estimator start
 	fi
+%endif
 
 	#
 	# Optional board mavlink streams: rc.board_mavlink
@@ -534,54 +601,67 @@ else
 	#
 	# Start the navigator.
 	#
+%ifdef CONFIG_MODULES_NAVIGATOR
 	navigator start
+%endif
 
+%ifdef CONFIG_MODULES_TEMPERATURE_COMPENSATION
 	#
 	# Start a thermal calibration if required.
 	#
-	set RC_THERMAL_CAL ${R}etc/init.d/rc.thermal_cal
-	if [ -f ${RC_THERMAL_CAL} ]
-	then
-		. ${RC_THERMAL_CAL}
-	fi
-	unset RC_THERMAL_CAL
+	. ${R}etc/init.d/rc.thermal_cal
+%endif
 
 	#
 	# Start gimbal to control mounts such as gimbals, disabled by default.
 	#
+%ifdef CONFIG_MODULES_GIMBAL
 	if param greater -s MNT_MODE_IN -1
 	then
 		gimbal start
 	fi
+%endif
 
 	# Blacksheep telemetry
+%ifdef CONFIG_DRIVERS_TELEMETRY_BST
 	if param compare -s TEL_BST_EN 1
 	then
 		bst start -X
 	fi
+%endif
 
+%ifdef CONFIG_MODULES_GYRO_FFT
 	if param compare -s IMU_GYRO_FFT_EN 1
 	then
 		gyro_fft start
 	fi
+%endif
 
+%ifdef CONFIG_MODULES_GYRO_CALIBRATION
 	if param compare -s IMU_GYRO_CAL_EN 1
 	then
 		gyro_calibration start
 	fi
+%endif
 
 	# Check for px4flow sensor
+%ifdef CONFIG_DRIVERS_OPTICAL_FLOW_PX4FLOW
 	if param compare -s SENS_EN_PX4FLOW 1
 	then
 		px4flow start -X &
 	fi
+%endif
 
+%ifdef CONFIG_MODULES_PAYLOAD_DELIVERER
 	payload_deliverer start
+%endif
 
+%ifdef CONFIG_MODULES_INTERNAL_COMBUSTION_ENGINE_CONTROL
 	if param compare -s ICE_EN 1
 	then
 		internal_combustion_engine_control start
 	fi
+%endif
 
 	#
 	# Optional board supplied extras: rc.board_extras
@@ -603,15 +683,12 @@ else
 		. $FEXTRAS
 	fi
 
+%ifdef CONFIG_MODULES_LOGGER
 	#
 	# Start the logger.
 	#
-	set RC_LOGGING ${R}etc/init.d/rc.logging
-	if [ -f ${RC_LOGGING} ]
-	then
-		. ${RC_LOGGING}
-	fi
-	unset RC_LOGGING
+	. ${R}etc/init.d/rc.logging
+%endif
 
 	#
 	# Set additional parameters and env variables for selected AUTOSTART.
@@ -632,6 +709,7 @@ else
 	#
 	# Check if UAVCAN is enabled, default to it for ESCs.
 	#
+%ifdef CONFIG_DRIVERS_UAVCAN
 	if param greater -s UAVCAN_ENABLE 0
 	then
 		# Start core UAVCAN module.
@@ -640,15 +718,27 @@ else
 			tune_control play error
 		fi
 	else
+%ifdef CONFIG_DRIVERS_CYPHAL
 		if param greater -s CYPHAL_ENABLE 0
 		then
 			cyphal start
 		fi
+%endif
 	fi
+%else
+%ifdef CONFIG_DRIVERS_CYPHAL
+	if param greater -s CYPHAL_ENABLE 0
+	then
+		cyphal start
+	fi
+%endif
+%endif
+%ifdef CONFIG_MODULES_ZENOH
 	if param greater -s ZENOH_ENABLE 0
 	then
 		zenoh start
 	fi
+%endif
 
 #
 # End of autostart.

Tools/astyle/astylerc

@@ -15,4 +15,4 @@ ignore-exclude-errors-x
 lineend=linux
 exclude=EASTL
 add-brackets
-max-code-length=120
+max-code-length=140

Tools/astyle/files_to_check_code_style.sh

@@ -21,11 +21,13 @@ exec find boards msg src platforms test \
     -path src/lib/crypto/monocypher -prune -o \
     -path src/lib/events/libevents -prune -o \
     -path src/lib/parameters/uthash -prune -o \
+    -path src/lib/rl_tools/rl_tools -prune -o \
     -path src/lib/wind_estimator/python/generated -prune -o \
     -path src/modules/ekf2/EKF/python/ekf_derivation/generated -prune -o \
     -path src/modules/ekf2/EKF/yaw_estimator/derivation/generated -prune -o \
     -path src/modules/gyro_fft/CMSIS_5 -prune -o \
     -path src/modules/mavlink/mavlink -prune -o \
+    -path src/modules/mc_raptor/blob -prune -o \
     -path test/fuzztest -prune -o \
     -path test/mavsdk_tests/catch2 -prune -o \
     -path src/lib/crypto/monocypher -prune -o \

Tools/auterion/remote_update_fmu.sh

@@ -7,6 +7,7 @@ fi
 
 ssh_port=22
 ssh_user=root
+ssh_opts="-o UserKnownHostsFile=/dev/null -o StrictHostKeyChecking=no"
 
 while getopts ":f:c:d:p:u:r" opt; do
 	case ${opt} in
@@ -67,7 +68,7 @@ target_file_name="update-dev.tar"
 if [ "$revert" == true ]; then
 	# revert to the release version which was originally deployed
 	cmd="cp $target_dir/update.tar $target_dir/$target_file_name"
-	ssh -t -p $ssh_port $ssh_user@$device "$cmd"
+	ssh $ssh_opts -t -p $ssh_port $ssh_user@$device "$cmd"
 else
 	# create custom update-dev.tar
 	tmp_dir="$(mktemp -d)"
@@ -105,11 +106,11 @@ else
 	$tar_name -C "$tmp_dir" --sort=name --owner=root:0 --group=root:0 --mtime='2019-01-01 00:00:00' -cvf $target_file_name $firmware_path $config_path
 
 	# send it to the target to start flashing
-	scp -P $ssh_port "$target_file_name" $ssh_user@"$device":$target_dir
+	scp $ssh_opts -P $ssh_port "$target_file_name" $ssh_user@"$device":$target_dir
 	popd &>/dev/null
 	rm -rf "$tmp_dir"
 fi
 
 # grab status output for flashing progress
 cmd="tail --follow=name $target_dir/update_status 2>/dev/null || true"
-ssh -t -p $ssh_port $ssh_user@$device "$cmd"
+ssh $ssh_opts -t -p $ssh_port $ssh_user@$device "$cmd"

Tools/check_submodules.sh

@@ -17,37 +17,12 @@ if [[ -f $1"/.git" || -d $1"/.git" ]]; then
 	SUBMODULE_STATUS=$(git submodule summary "$1")
 	STATUSRETVAL=$(echo $SUBMODULE_STATUS | grep -A20 -i "$1")
 	if ! [[ -z "$STATUSRETVAL" ]]; then
-		echo -e "\033[31mChecked $1 submodule, ACTION REQUIRED:\033[0m"
-		echo ""
-		echo -e "Different commits:"
+		echo -e "\033[33mWarning: $1 submodule has uncommitted changes:\033[0m"
 		echo -e "$SUBMODULE_STATUS"
 		echo ""
+		echo -e "To update submodules to the expected version, run:"
+		echo -e "   \033[94mgit submodule sync --recursive && git submodule update --init --recursive\033[0m"
 		echo ""
-		echo -e " *******************************************************************************"
-		echo -e " *   \033[31mIF YOU DID NOT CHANGE THIS FILE (OR YOU DON'T KNOW WHAT A SUBMODULE IS):\033[0m  *"
-		echo -e " *   \033[31mHit 'u' and <ENTER> to update ALL submodules and resolve this.\033[0m            *"
-		echo -e " *   (performs \033[94mgit submodule sync --recursive\033[0m                                  *"
-		echo -e " *    and \033[94mgit submodule update --init --recursive\033[0m )                            *"
-		echo -e " *******************************************************************************"
-		echo ""
-		echo ""
-		echo -e "   Only for EXPERTS:"
-		echo -e "   $1 submodule is not in the recommended version."
-		echo -e "   Hit 'y' and <ENTER> to continue the build with this version. Hit <ENTER> to resolve manually."
-		echo -e "   Use \033[94mgit add $1 && git commit -m 'Updated $1'\033[0m to choose this version (careful!)"
-		echo ""
-		read user_cmd
-		if [ "$user_cmd" == "y" ]; then
-			echo "Continuing build with manually overridden submodule.."
-		elif [ "$user_cmd" == "u" ]; then
-			git submodule sync --recursive -- $1
-			git submodule update --init --recursive -- $1 || true
-			git submodule update --init --recursive --force -- $1
-			echo "Submodule fixed, continuing build.."
-		else
-			echo "Build aborted."
-			exit 1
-		fi
 	fi
 else
 	git submodule --quiet sync --recursive --quiet -- $1

Tools/ci/generate_board_targets_json.py

@@ -25,15 +25,15 @@ parser.add_argument('-p', '--pretty', dest='pretty', action='store_true',
                     help='Pretty output instead of a single line')
 parser.add_argument('-g', '--groups', dest='group', action='store_true',
                     help='Groups targets')
-parser.add_argument('-f', '--filter', dest='filter', help='comma separated list of board names to use instead of all')
+parser.add_argument('-f', '--filter', dest='filter', help='comma separated list of build target name prefixes to include instead of all e.g. "px4_fmu-v5_"')
 
 args = parser.parse_args()
 verbose = args.verbose
 
-board_filter = []
+target_filter = []
 if args.filter:
-    for board in args.filter.split(','):
-        board_filter.append(board)
+    for target in args.filter.split(','):
+        target_filter.append(target)
 
 default_container = 'ghcr.io/px4/px4-dev:v1.16.0-rc1-258-g0369abd556'
 build_configs = []
@@ -144,7 +144,7 @@ for manufacturer in os.scandir(os.path.join(source_dir, '../boards')):
                 label = files.name[:-9]
                 target_name = manufacturer.name + '_' + board.name + '_' + label
 
-                if board_filter and not board_name in board_filter:
+                if target_filter and not any(target_name.startswith(f) for f in target_filter):
                     if verbose: print(f'excluding board {board_name} ({target_name})')
                     continue
 

Tools/module_config/generate_actuators_metadata.py

@@ -238,6 +238,7 @@ def get_actuator_output(yaml_config, output_functions, timer_config_file, verbos
             ( 'disarmed', 'Disarmed', 'DIS', False ),
             ( 'min', 'Minimum', 'MIN', False ),
             ( 'max', 'Maximum', 'MAX', False ),
+            ( 'center', 'Center\n(for Servos)', 'CENT', False ),
             ( 'failsafe', 'Failsafe', 'FAIL', True ),
             ]
         for key, label, param_suffix, advanced in standard_params_array:

Tools/module_config/generate_params.py

@@ -284,6 +284,9 @@ Note that non-motor outputs might already be active in prearm state if COM_PREAR
 '''
         minimum_description = \
 '''Minimum output value (when not disarmed).
+'''
+        center_description = \
+'''Servo Center output value (when not disarmed).
 '''
         maximum_description = \
 '''Maxmimum output value (when not disarmed).
@@ -296,6 +299,7 @@ When set to -1 (default), the value depends on the function (see {:}).
         standard_params_array = [
             ( 'disarmed', 'Disarmed', 'DIS', disarmed_description ),
             ( 'min', 'Minimum', 'MIN', minimum_description ),
+            ( 'center', 'Center', 'CENT', center_description ),
             ( 'max', 'Maximum', 'MAX', maximum_description ),
             ( 'failsafe', 'Failsafe', 'FAIL', failsafe_description ),
             ]
@@ -312,6 +316,10 @@ When set to -1 (default), the value depends on the function (see {:}).
                     standard_params[key]['default'] = -1
                     standard_params[key]['min'] = -1
 
+                if key == 'center':
+                    standard_params[key]['default'] = -1
+                    standard_params[key]['min'] = -1
+
                 param = {
                     'description': {
                         'short': channel_label+' ${i} '+label+' Value',

Tools/process_sensor_caldata.py

@@ -1656,9 +1656,9 @@ sensor_baro_0['pressure'] = median_filter(sensor_baro_0['pressure'])
 # fit data
 median_pressure = np.median(sensor_baro_0['pressure'])
 if noResample:
-    coef_baro_0_x = np.polyfit(temp_rel,100*(sensor_baro_0['pressure']-median_pressure),5) # convert from hPa to Pa
+    coef_baro_0_x = np.polyfit(temp_rel,(sensor_baro_0['pressure']-median_pressure),5) # pressure in Pascal
 else:
-    temperature, baro = resampleWithDeltaX(temp_rel,100*(sensor_baro_0['pressure']-median_pressure)) # convert from hPa to Pa
+    temperature, baro = resampleWithDeltaX(temp_rel,(sensor_baro_0['pressure']-median_pressure)) # pressure in Pascal
     coef_baro_0_x = np.polyfit(temperature,baro,5)
 
 baro_0_params['TC_B0_X5'] = coef_baro_0_x[0]
@@ -1675,7 +1675,7 @@ baro_0_x_resample = fit_coef_baro_0_x(temp_rel_resample)
 plt.figure(13,figsize=(20,13))
 
 # draw plots
-plt.plot(sensor_baro_0['temperature'],100*sensor_baro_0['pressure']-100*median_pressure,'b')
+plt.plot(sensor_baro_0['temperature'],sensor_baro_0['pressure']-median_pressure,'b')
 plt.plot(temp_resample,baro_0_x_resample,'r')
 plt.title('Baro 0 ({}) Bias vs Temperature'.format(baro_0_params['TC_B0_ID']))
 plt.ylabel('Z bias (Pa)')
@@ -1717,9 +1717,9 @@ if num_baros >= 2:
     # fit data
     median_pressure = np.median(sensor_baro_1['pressure'])
     if noResample:
-        coef_baro_1_x = np.polyfit(temp_rel,100*(sensor_baro_1['pressure']-median_pressure),5) # convert from hPa to Pa
+        coef_baro_1_x = np.polyfit(temp_rel,(sensor_baro_1['pressure']-median_pressure),5) # pressure in Pascal
     else:
-        temperature, baro = resampleWithDeltaX(temp_rel,100*(sensor_baro_1['pressure']-median_pressure)) # convert from hPa to Pa
+        temperature, baro = resampleWithDeltaX(temp_rel,(sensor_baro_1['pressure']-median_pressure)) # pressure in Pascal
         coef_baro_1_x = np.polyfit(temperature,baro,5)
 
     baro_1_params['TC_B1_X5'] = coef_baro_1_x[0]
@@ -1736,7 +1736,7 @@ if num_baros >= 2:
     plt.figure(14,figsize=(20,13))
 
     # draw plots
-    plt.plot(sensor_baro_1['temperature'],100*sensor_baro_1['pressure']-100*median_pressure,'b')
+    plt.plot(sensor_baro_1['temperature'],sensor_baro_1['pressure']-median_pressure,'b')
     plt.plot(temp_resample,baro_1_x_resample,'r')
     plt.title('Baro 1 ({}) Bias vs Temperature'.format(baro_1_params['TC_B1_ID']))
     plt.ylabel('Z bias (Pa)')
@@ -1778,9 +1778,9 @@ if num_baros >= 3:
     # fit data
     median_pressure = np.median(sensor_baro_2['pressure'])
     if noResample:
-        coef_baro_2_x = np.polyfit(temp_rel,100*(sensor_baro_2['pressure']-median_pressure),5) # convert from hPa to Pa
+        coef_baro_2_x = np.polyfit(temp_rel,(sensor_baro_2['pressure']-median_pressure),5) # pressure in Pascal
     else:
-        temperature, baro = resampleWithDeltaX(temp_rel,100*(sensor_baro_2['pressure']-median_pressure)) # convert from hPa to Pa
+        temperature, baro = resampleWithDeltaX(temp_rel,(sensor_baro_2['pressure']-median_pressure)) # pressure in Pascal
         coef_baro_2_x = np.polyfit(temperature,baro,5)
 
     baro_2_params['TC_B2_X5'] = coef_baro_2_x[0]
@@ -1797,7 +1797,7 @@ if num_baros >= 3:
     plt.figure(15,figsize=(20,13))
 
     # draw plots
-    plt.plot(sensor_baro_2['temperature'],100*sensor_baro_2['pressure']-100*median_pressure,'b')
+    plt.plot(sensor_baro_2['temperature'],sensor_baro_2['pressure']-median_pressure,'b')
     plt.plot(temp_resample,baro_2_x_resample,'r')
     plt.title('Baro 2 ({}) Bias vs Temperature'.format(baro_2_params['TC_B2_ID']))
     plt.ylabel('Z bias (Pa)')
@@ -1838,7 +1838,7 @@ if num_baros >= 4:
 
     # fit data
     median_pressure = np.median(sensor_baro_3['pressure'])
-    coef_baro_3_x = np.polyfit(temp_rel,100*(sensor_baro_3['pressure']-median_pressure),5) # convert from hPa to Pa
+    coef_baro_3_x = np.polyfit(temp_rel,(sensor_baro_3['pressure']-median_pressure),5) # pressure in Pascal
     baro_3_params['TC_B3_X5'] = coef_baro_3_x[0]
     baro_3_params['TC_B3_X4'] = coef_baro_3_x[1]
     baro_3_params['TC_B3_X3'] = coef_baro_3_x[2]
@@ -1853,7 +1853,7 @@ if num_baros >= 4:
     plt.figure(16,figsize=(20,13))
 
     # draw plots
-    plt.plot(sensor_baro_3['temperature'],100*sensor_baro_3['pressure']-100*median_pressure,'b')
+    plt.plot(sensor_baro_3['temperature'],sensor_baro_3['pressure']-median_pressure,'b')
     plt.plot(temp_resample,baro_3_x_resample,'r')
     plt.title('Baro 3 ({}) Bias vs Temperature'.format(baro_3_params['TC_B3_ID']))
     plt.ylabel('Z bias (Pa)')

Tools/px4moduledoc/srcparser.py

@@ -15,7 +15,7 @@ class ModuleDocumentation(object):
     # TOC in https://github.com/PX4/PX4-Autopilot/blob/main/docs/en/SUMMARY.md
     valid_categories = ['driver', 'estimator', 'controller', 'system',
                         'communication', 'command', 'template', 'simulation', 'autotune']
-    valid_subcategories = ['', 'camera', 'distance_sensor', 'imu', 'ins', 'airspeed_sensor',
+    valid_subcategories = ['', 'adc', 'camera', 'distance_sensor', 'imu', 'ins', 'airspeed_sensor',
                            'magnetometer', 'baro', 'optical_flow', 'radio_control','rpm_sensor', 'transponder']
 
     max_line_length = 80 # wrap lines that are longer than this

Tools/px_romfs_preprocess.py

@@ -0,0 +1,188 @@
+#!/usr/bin/env python3
+"""
+Preprocesses ROMFS files with C preprocessor to enable KConfig support.
+
+This script processes all rc* files in the ROMFS directory through the C preprocessor,
+allowing use of #ifdef, #ifndef, #if, #else, #endif directives with KConfig definitions.
+"""
+
+import argparse
+import os
+import subprocess
+import sys
+import tempfile
+from pathlib import Path
+
+
+def preprocess_file(file_path, kconfig_header, cpp_command):
+    """
+    Preprocess a single file through the C preprocessor.
+
+    Uses % as the preprocessor directive symbol (instead of #) to avoid conflicts
+    with shell comments. Converts %ifdef, %ifndef, %if, %else, %endif to
+    #ifdef, #ifndef, #if, #else, #endif before preprocessing.
+
+    Args:
+        file_path: Path to the file to preprocess
+        kconfig_header: Path to the px4_boardconfig.h header
+        cpp_command: C preprocessor command (usually the C compiler)
+    """
+    # Read original file
+    with open(file_path, 'r') as f:
+        original_content = f.read()
+
+    # Process the file line by line:
+    # 1. Remove shell comment lines (to avoid conflicts with CPP)
+    # 2. Convert % preprocessor directives to # directives
+    lines = original_content.split('\n')
+    converted_lines = []
+
+    for line in lines:
+        stripped = line.lstrip()
+
+        # Check if line starts with % followed by a preprocessor keyword
+        if stripped.startswith('%ifdef ') or stripped.startswith('%ifdef\t'):
+            # Preserve leading whitespace, convert %ifdef to #ifdef
+            converted_lines.append(line.replace('%ifdef', '#ifdef', 1))
+        elif stripped.startswith('%ifndef ') or stripped.startswith('%ifndef\t'):
+            converted_lines.append(line.replace('%ifndef', '#ifndef', 1))
+        elif stripped.startswith('%if '):
+            converted_lines.append(line.replace('%if', '#if', 1))
+        elif stripped.startswith('%elif '):
+            converted_lines.append(line.replace('%elif', '#elif', 1))
+        elif stripped.startswith('%else'):
+            converted_lines.append(line.replace('%else', '#else', 1))
+        elif stripped.startswith('%endif'):
+            converted_lines.append(line.replace('%endif', '#endif', 1))
+        elif stripped.startswith('#') and not stripped.startswith('#!'):
+            # Remove shell comment lines (but keep shebang)
+            # This prevents "# if ..." comments from being interpreted as "#if" by CPP
+            continue
+        else:
+            converted_lines.append(line)
+    converted_content = '\n'.join(converted_lines)
+
+    # Create temporary file with include directive and converted content
+    with tempfile.NamedTemporaryFile(mode='w', suffix='.in', delete=False) as tmp:
+        tmp.write(f'#include "{kconfig_header}"\n')
+        tmp.write(converted_content)
+        tmp_path = tmp.name
+
+    try:
+        # Run C preprocessor
+        # -P: don't generate #line directives
+        # -E: preprocess only
+        # -undef: don't predefine any non-standard macros
+        # -nostdinc: don't search standard include directories
+        # -x assembler-with-cpp: treat input as assembly (allows # comments to pass through)
+        result = subprocess.run(
+            [cpp_command, '-P', '-E', '-undef', '-nostdinc', '-x', 'assembler-with-cpp', tmp_path],
+            capture_output=True,
+            text=True,
+            check=True
+        )
+
+        preprocessed = result.stdout
+
+        # Clean up the output:
+        # 1. Remove empty lines at the beginning
+        # 2. Remove lines that are just whitespace
+        lines = preprocessed.split('\n')
+        cleaned_lines = []
+        started = False
+
+        for line in lines:
+            # Skip empty lines at the beginning
+            if not started and not line.strip():
+                continue
+            started = True
+            cleaned_lines.append(line)
+
+        # Remove trailing empty lines
+        while cleaned_lines and not cleaned_lines[-1].strip():
+            cleaned_lines.pop()
+
+        # Write preprocessed content back
+        with open(file_path, 'w') as f:
+            f.write('\n'.join(cleaned_lines))
+            if cleaned_lines:  # Add final newline if file is not empty
+                f.write('\n')
+
+        return True
+
+    except subprocess.CalledProcessError as e:
+        print(f"Error preprocessing {file_path}: {e}")
+        print(f"stderr: {e.stderr}")
+        return False
+    finally:
+        # Clean up temporary file
+        try:
+            os.unlink(tmp_path)
+        except:
+            pass
+
+
+def main():
+    parser = argparse.ArgumentParser(description='Preprocess ROMFS files with KConfig definitions')
+    parser.add_argument('--romfs-dir', required=True, help='ROMFS root directory')
+    parser.add_argument('--kconfig-header', required=True, help='Path to px4_boardconfig.h')
+    parser.add_argument('--cpp', required=True, help='C preprocessor command')
+    parser.add_argument('--pattern', default='rc*', help='File pattern to preprocess (default: rc*)')
+
+    args = parser.parse_args()
+
+    # Verify inputs
+    romfs_dir = Path(args.romfs_dir)
+    kconfig_header = Path(args.kconfig_header)
+
+    if not romfs_dir.exists():
+        print(f"Error: ROMFS directory not found: {romfs_dir}")
+        return 1
+
+    if not kconfig_header.exists():
+        print(f"Error: KConfig header not found: {kconfig_header}")
+        return 1
+
+    # Find all files to preprocess in init.d directory
+    init_d_dir = romfs_dir / 'init.d'
+    if not init_d_dir.exists():
+        print(f"Warning: init.d directory not found in {romfs_dir}")
+        return 0
+
+    # Find all rc* files (shell scripts)
+    files_to_process = []
+    for pattern in ['rc*', 'rcS']:
+        files_to_process.extend(init_d_dir.glob(pattern))
+
+    # Also check subdirectories like airframes
+    for subdir in init_d_dir.iterdir():
+        if subdir.is_dir():
+            for pattern in ['rc*']:
+                files_to_process.extend(subdir.glob(pattern))
+
+    # Remove duplicates and filter only files
+    files_to_process = list(set([f for f in files_to_process if f.is_file()]))
+
+    if not files_to_process:
+        print(f"Warning: No files matching pattern '{args.pattern}' found in {init_d_dir}")
+        return 0
+
+    print(f"Preprocessing {len(files_to_process)} ROMFS files with KConfig definitions...")
+
+    # Process each file
+    success_count = 0
+    for file_path in sorted(files_to_process):
+        rel_path = file_path.relative_to(romfs_dir)
+        print(f"  Processing: {rel_path}")
+        if preprocess_file(file_path, kconfig_header.absolute(), args.cpp):
+            success_count += 1
+        else:
+            print(f"  Warning: Failed to preprocess {rel_path}")
+
+    print(f"Successfully preprocessed {success_count}/{len(files_to_process)} files")
+
+    return 0 if success_count == len(files_to_process) else 1
+
+
+if __name__ == '__main__':
+    sys.exit(main())

Tools/px_uploader.py

@@ -98,40 +98,6 @@ class firmware(object):
 
     desc = {}
     image = bytes()
-    crctab = array.array('I', [
-        0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3,
-        0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988, 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91,
-        0x1db71064, 0x6ab020f2, 0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7,
-        0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, 0x14015c4f, 0x63066cd9, 0xfa0f3d63, 0x8d080df5,
-        0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172, 0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b,
-        0x35b5a8fa, 0x42b2986c, 0xdbbbc9d6, 0xacbcf940, 0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59,
-        0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423, 0xcfba9599, 0xb8bda50f,
-        0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924, 0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d,
-        0x76dc4190, 0x01db7106, 0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433,
-        0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, 0x7f6a0dbb, 0x086d3d2d, 0x91646c97, 0xe6635c01,
-        0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e, 0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457,
-        0x65b0d9c6, 0x12b7e950, 0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65,
-        0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, 0x4adfa541, 0x3dd895d7, 0xa4d1c46d, 0xd3d6f4fb,
-        0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0, 0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9,
-        0x5005713c, 0x270241aa, 0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f,
-        0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17, 0x2eb40d81, 0xb7bd5c3b, 0xc0ba6cad,
-        0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a, 0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683,
-        0xe3630b12, 0x94643b84, 0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1,
-        0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb, 0x196c3671, 0x6e6b06e7,
-        0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc, 0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5,
-        0xd6d6a3e8, 0xa1d1937e, 0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b,
-        0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, 0xdf60efc3, 0xa867df55, 0x316e8eef, 0x4669be79,
-        0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236, 0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f,
-        0xc5ba3bbe, 0xb2bd0b28, 0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d,
-        0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, 0x9c0906a9, 0xeb0e363f, 0x72076785, 0x05005713,
-        0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38, 0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21,
-        0x86d3d2d4, 0xf1d4e242, 0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777,
-        0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, 0x8f659eff, 0xf862ae69, 0x616bffd3, 0x166ccf45,
-        0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2, 0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db,
-        0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9,
-        0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf,
-        0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d])
-    crcpad = bytearray(b'\xff\xff\xff\xff')
 
     def __init__(self, path):
 
@@ -149,17 +115,15 @@ class firmware(object):
     def property(self, propname):
         return self.desc[propname]
 
-    def __crc32(self, bytes, state):
-        for byte in bytes:
-            index = (state ^ byte) & 0xff
-            state = self.crctab[index] ^ (state >> 8)
-        return state
-
     def crc(self, padlen):
-        state = self.__crc32(self.image, int(0))
-        for _ in range(len(self.image), (padlen - 1), 4):
-            state = self.__crc32(self.crcpad, state)
-        return state
+        state = 0xFFFFFFFF
+        state = zlib.crc32(self.image, state)
+        padding_length = padlen - len(self.image)
+        if padding_length > 0:
+            padding = b'\xff' * padding_length
+            state = zlib.crc32(padding, state)
+
+        return (state ^ 0xFFFFFFFF) & 0xFFFFFFFF
 
 
 class uploader:

Tools/setup/requirements.txt

@@ -6,6 +6,7 @@ future
 jinja2>=2.8
 jsonschema
 kconfiglib
+lark
 lxml
 matplotlib>=3.0
 numpy>=1.13
@@ -14,8 +15,8 @@ packaging
 pandas>=0.21
 pkgconfig
 psutil
+pycryptodome
 pygments
-wheel>=0.31.1
 pymavlink
 pyros-genmsg
 pyserial
@@ -24,7 +25,6 @@ pyyaml
 requests
 setuptools>=39.2.0
 six>=1.12.0
-toml>=0.9
 sympy>=1.10.1
-pycryptodome
-lark
+toml>=0.9
+wheel>=0.31.1

Tools/simulation/gazebo-classic/sitl_gazebo-classic

@@ -1 +1 @@
-Subproject commit 6697ab169ceab512dc706acea63df4c882662c60
+Subproject commit ac718b6fb2d6b337248e23702e75d6d1e2125054

Tools/simulation/gz

@@ -1 +1 @@
-Subproject commit b6127f4ec20de867e215fb5f78ae88b80f371909
+Subproject commit fe3fe236e36a3ed5bce01a7501347d20a466c407

Tools/upload_log.py

@@ -25,10 +25,6 @@ except ImportError as e:
     sys.exit(1)
 
 
-SERVER = 'https://logs.px4.io'
-#SERVER = 'http://localhost:5006' # for testing locally
-UPLOAD_URL = SERVER+'/upload'
-
 quiet = False
 
 def ask_value(text, default=None):
@@ -60,6 +56,8 @@ def main():
     parser = ArgumentParser(description=__doc__)
     parser.add_argument('--quiet', '-q', dest='quiet', action='store_true', default=False,
             help='Quiet mode: do not ask for values which were not provided as parameters')
+    parser.add_argument('--server', dest='server', type=str, default='https://logs.px4.io',
+                      help='Server URL (default: https://logs.px4.io), use http://localhost:5006 for testing locally')
     parser.add_argument("--description", dest="description", type=str,
                       help="Log description", default=None)
     parser.add_argument("--feedback", dest="feedback", type=str,
@@ -99,6 +97,9 @@ def main():
     else:
         email = args.email
 
+    server = args.server
+    upload_url = server + '/upload'
+
     payload = {'type': args.type, 'description': description,
                'feedback': feedback, 'email': email, 'source': args.source}
 
@@ -113,13 +114,13 @@ def main():
             print('Uploading '+file_name+'...')
 
         with open(file_name, 'rb') as f:
-            r = requests.post(UPLOAD_URL, data=payload, files={'filearg': f},
+            r = requests.post(upload_url, data=payload, files={'filearg': f},
                     allow_redirects=False)
             if r.status_code == 302: # redirect
                 if 'Location'  in r.headers:
                     plot_url = r.headers['Location']
                     if len(plot_url) > 0 and plot_url[0] == '/':
-                        plot_url = SERVER + plot_url
+                        plot_url = server + plot_url
                     print('URL: '+plot_url)
 
 

boards/3dr/ctrl-zero-h7-oem-revg/default.px4board

@@ -21,7 +21,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y

boards/3dr/ctrl-zero-h7-oem-revg/nuttx-config/scripts/script.ld

@@ -132,7 +132,6 @@ ENTRY(_stext)
  */
 EXTERN(abort)
 EXTERN(_bootdelay_signature)
-EXTERN(board_get_manifest)
 
 SECTIONS
 {

boards/3dr/ctrl-zero-h7-oem-revg/src/CMakeLists.txt

@@ -48,7 +48,6 @@ else()
 		i2c.cpp
 		init.c
 		led.c
-		mtd.cpp
 		spi.cpp
 		timer_config.cpp
 		usb.c

boards/accton-godwit/ga1/default.px4board

@@ -34,7 +34,6 @@ CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
-CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
 CONFIG_DRIVERS_RC_INPUT=y
@@ -67,7 +66,6 @@ CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
-CONFIG_MAVLINK_DIALECT="development"
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y

boards/accton-godwit/ga1/init/rc.board_defaults

@@ -3,19 +3,13 @@
 # board specific defaults
 #------------------------------------------------------------------------------
 
-# By disabling all 3 INA modules, we use the
-# i2c_launcher instead.
-param set - default SENS_EN_INA238 0
-param set - default SENS_EN_INA228 0
-param set - default SENS_EN_INA226 0
-
 # Mavlink ethernet (CFG 1000)
-param set - default MAV_2_CONFIG 1000
-param set - default MAV_2_BROADCAST 1
-param set - default MAV_2_MODE 0
-param set - default MAV_2_RADIO_CTL 0
-param set - default MAV_2_RATE 100000
-param set - default MAV_2_REMOTE_PRT 14550
-param set - default MAV_2_UDP_PRT 14550
+param set-default MAV_2_CONFIG 1000
+param set-default MAV_2_BROADCAST 1
+param set-default MAV_2_MODE 0
+param set-default MAV_2_RADIO_CTL 0
+param set-default MAV_2_RATE 100000
+param set-default MAV_2_REMOTE_PRT 14550
+param set-default MAV_2_UDP_PRT 14550
 
 safety_button start

boards/accton-godwit/ga1/src/CMakeLists.txt

@@ -71,6 +71,5 @@ else()
 			nuttx_arch # sdio
 			nuttx_drivers # sdio
 			px4_layer
-			platform_gpio_mcp23009
 	)
 endif()

boards/accton-godwit/ga1/src/init.cpp

@@ -74,7 +74,6 @@
 #include <px4_platform/gpio.h>
 #include <px4_platform/board_determine_hw_info.h>
 #include <px4_platform/board_dma_alloc.h>
-#include <px4_platform/gpio/mcp23009.hpp>
 
 /****************************************************************************
  * Pre-Processor Definitions
@@ -286,13 +285,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 #  endif /* CONFIG_MMCSD */
 
-	ret = mcp23009_register_gpios(3, 0x25);
-
-	if (ret != OK) {
-		led_on(LED_RED);
-		return ret;
-	}
-
 #endif /* !defined(BOOTLOADER) */
 
 	return OK;

boards/airmind/mindpx-v2/default.px4board

@@ -22,7 +22,6 @@ CONFIG_DRIVERS_IMU_ST_LSM303D=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_INPUT=y