UAVCAN: publish CAN frames to uORB (ORB_ID(can_frame_out))

- can frames published to ORB_ID(can_frame_in) are injected
sensors: fix accel/gyro/mag calibration offset units
2026-05-24 03:57:35 +08:00 · 2022-10-09 13:18:38 -04:00 · 2022-10-09 13:02:38 -04:00 · 2022-10-09 12:41:06 -04:00 · 2022-10-06 09:49:05 -04:00 · 2022-10-06 08:44:36 -04:00
932 changed files with 24741 additions and 38124 deletions
@@ -42,6 +42,8 @@ pipeline {
                     "ark_can-gps_default",
                     "ark_can-rtk-gps_canbootloader",
                     "ark_can-rtk-gps_default",
+                     "ark_fmu-v6x_bootloader",
+                     "ark_fmu-v6x_default",
                     "atl_mantis-edu_default",
                     "av_x-v1_default",
                     "bitcraze_crazyflie_default",
@@ -69,6 +71,7 @@ pipeline {
                     "modalai_fc-v1_default",
                     "modalai_fc-v1_rtps",
                     "modalai_fc-v2_default",
+                     "modalai_voxl2-io_default",
                     "mro_ctrl-zero-f7_default",
                     "mro_ctrl-zero-f7-oem_default",
                     "mro_ctrl-zero-h7-oem_default",
@@ -771,8 +771,6 @@ void checkStatus() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf latency"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ps"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm info -d /dev/pwm_output0"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm info -d /dev/pwm_output1" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm_out status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
@@ -857,7 +855,6 @@ void printTopics() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_0" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_1" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_2" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_3" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_outputs" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener adc_report" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener airspeed_validated" || true'
@@ -919,7 +916,6 @@ void printTopics() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener system_power" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener task_stack_info" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener telemetry_status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener test_motor" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener trajectory_setpoint" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener tune_control" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_acceleration" || true'
@@ -19,9 +19,8 @@
 *.jar    binary
 *.xml    text eol=lf

-# PX4 mixers, msgs, etc
+# PX4 msgs, etc
 *.bin    binary
-*.mix    text eol=lf
 *.msg    text eol=lf
 *.config text eol=lf
 *.sdf    text eol=lf
@@ -3,7 +3,7 @@ name: Checks
 on:
  push:
    branches:
-    - 'master'
+    - 'main'
  pull_request:
    branches:
    - '*'
@@ -3,7 +3,7 @@ name: Clang Tidy
 on:
  push:
    branches:
-    - 'master'
+    - 'main'
  pull_request:
    branches:
    - '*'
@@ -3,7 +3,7 @@ name: Linux Targets
 on:
  push:
    branches:
-    - 'master'
+    - 'main'
  pull_request:
    branches:
    - '*'
@@ -3,7 +3,7 @@ name: Linux ARM64 Targets
 on:
  push:
    branches:
-    - 'master'
+    - 'main'
  pull_request:
    branches:
    - '*'
@@ -3,7 +3,7 @@ name: MacOS build
 on:
  push:
    branches:
-    - 'master'
+    - 'main'
  pull_request:
    branches:
    - '*'
@@ -3,7 +3,7 @@ name: Nuttx Targets
 on:
  push:
    branches:
-    - 'master'
+    - 'main'
  pull_request:
    branches:
    - '*'
@@ -21,6 +21,7 @@ jobs:
          ark_can-gps,
          ark_can-rtk-gps,
          ark_cannode,
+          ark_fmu-v6x,
          atl_mantis-edu,
          av_x-v1,
          bitcraze_crazyflie,
@@ -3,7 +3,7 @@ name: Deploy metadata for all targets
 on:
  push:
    branches:
-    - 'master'
+    - 'main'
    - 'release/*'
    - 'pr-metadata-test'

@@ -3,7 +3,7 @@ name: MAVROS Mission Tests
 on:
  push:
    branches:
-    - 'master'
+    - 'main'
  pull_request:
    branches:
    - '*'
@@ -3,7 +3,7 @@ name: MAVROS Offboard Tests
 on:
  push:
    branches:
-    - 'master'
+    - 'main'
  pull_request:
    branches:
    - '*'
@@ -3,7 +3,7 @@ name: Metadata
 on:
  push:
    branches:
-    - 'master'
+    - 'main'
    - 'release/*'
    - 'pr-metadata-test'

@@ -3,7 +3,7 @@ name: Python CI Checks
 on:
  push:
    branches:
-    - 'master'
+    - 'main'
  pull_request:
    branches:
    - '*'
@@ -3,7 +3,7 @@ name: SITL Tests
 on:
  push:
    branches:
-    - 'master'
+    - 'main'
  pull_request:
    branches:
    - '*'
@@ -93,7 +93,6 @@ rules.ninja
 /googletest-*/
 /logs
 /mavsdk_tests
-/test_mixer_multirotor
 /unit-*
 /uORB/
 DartConfiguration.tcl
@@ -9,15 +9,15 @@
 [submodule "Tools/simulation/jmavsim/jMAVSim"]
 	path = Tools/simulation/jmavsim/jMAVSim
 	url = https://github.com/PX4/jMAVSim.git
-	branch = master
+	branch = main
 [submodule "Tools/simulation/gazebo/sitl_gazebo"]
 	path = Tools/simulation/gazebo/sitl_gazebo
 	url = https://github.com/PX4/PX4-SITL_gazebo.git
-	branch = master
+	branch = main
 [submodule "src/drivers/gps/devices"]
 	path = src/drivers/gps/devices
 	url = https://github.com/PX4/PX4-GPSDrivers.git
-	branch = master
+	branch = main
 [submodule "src/modules/micrortps_bridge/micro-CDR"]
 	path = src/modules/micrortps_bridge/micro-CDR
 	url = https://github.com/PX4/Micro-CDR.git
@@ -53,6 +53,7 @@
 [submodule "src/lib/events/libevents"]
 	path = src/lib/events/libevents
 	url = https://github.com/mavlink/libevents.git
+	branch = main
 [submodule "src/lib/crypto/libtomcrypt"]
 	path = src/lib/crypto/libtomcrypt
 	url = https://github.com/PX4/libtomcrypt.git
@@ -11,7 +11,7 @@ matrix:
      dist: xenial
      # In order to stay under the coverity rate limit, we only run this weekly
      # and not on push which is configured in travis-ci settings.
-      if: branch = master
+      if: branch = main

 before_install:
    - echo -n | openssl s_client -connect scan.coverity.com:443 | sed -ne '/-BEGIN CERTIFICATE-/,/-END CERTIFICATE-/p' | sudo tee -a /etc/ssl/certs/ca-
@@ -6,11 +6,6 @@ CONFIG:
      buildType: RelWithDebInfo
      settings:
        CONFIG: px4_sitl_default
-    px4_sitl_ign:
-      short: px4_sitl_ign
-      buildType: RelWithDebInfo
-      settings:
-        CONFIG: px4_sitl_ign
    px4_sitl_rtps:
      short: px4_sitl_rtps
      buildType: RelWithDebInfo
@@ -136,6 +131,16 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: ark_cannode_canbootloader
+    ark_fmu-v6x_bootloader:
+      short: ark_fmu-v6x_bootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_fmu-v6x_bootloader
+    ark_fmu-v6x_default:
+      short: ark_fmu-v6x_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_fmu-v6x_default
    atl_mantis-edu_default:
      short: atl_mantis-edu
      buildType: MinSizeRel
@@ -231,6 +236,11 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: modalai_fc-v2_default
+    modalai_voxl2-io_default:
+      short: modalai_voxl2-io
+      buildType: MinSizeRel
+      settings:
+        CONFIG: modalai_voxl2-io_default
    mro_ctrl-zero-f7_default:
      short: mro_ctrl-zero-f7
      buildType: MinSizeRel
@@ -56,15 +56,17 @@
            "options": {
                "cwd": "${workspaceFolder}/Tools/simulation/jmavsim/jMAVSim"
            },
-            "problemMatcher": [],
-            "presentation":{
+            "presentation": {
                "echo": true,
                "reveal": "never",
+                "revealProblems": "onProblem",
                "focus": false,
-                "panel": "shared",
+                "panel": "dedicated",
                "showReuseMessage": false,
                "clear": false,
-            }
+                "close": true
+            },
+            "problemMatcher": []
        },
        {
            "label": "jmavsim",
@@ -81,24 +83,28 @@
            "presentation": {
                "echo": true,
                "reveal": "never",
+                "revealProblems": "onProblem",
                "focus": false,
-                "panel": "shared",
+                "panel": "dedicated",
                "showReuseMessage": false,
-                "clear": false
+                "clear": false,
+                "close": true
            },
            "problemMatcher": []
        },
        {
            "label": "jmavsim kill",
            "type": "shell",
-            "command": "kill $(ps aux | grep jmavsim | grep -v 'grep' | awk '{print $2}')",
+            "command": "kill $(ps aux | grep jmavsim | grep -v 'grep' | awk '{print $2}') || true",
            "presentation": {
-                "echo": false,
+                "echo": true,
                "reveal": "never",
+                "revealProblems": "onProblem",
                "focus": false,
-                "panel": "shared",
+                "panel": "dedicated",
                "showReuseMessage": false,
-                "clear": false
+                "clear": false,
+                "close": true
            },
            "problemMatcher": [],
            "dependsOn":["px4_sitl_cleanup"]
@@ -110,15 +116,17 @@
            "options": {
                "cwd": "${workspaceFolder}"
            },
-            "problemMatcher": [],
-            "presentation":{
+            "presentation": {
                "echo": true,
-                "reveal": "always",
+                "reveal": "never",
+                "revealProblems": "onProblem",
                "focus": false,
-                "panel": "shared",
+                "panel": "dedicated",
                "showReuseMessage": false,
                "clear": false,
-            }
+                "close": true
+            },
+            "problemMatcher": [],
        },
        {
            "label": "gazebo start",
@@ -132,15 +140,17 @@
                    "PX4_SIM_SPEED_FACTOR": "1"
                }
            },
-            "command": "gzserver --verbose ${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/worlds/${input:gazeboWorld}.world",
+            "command": "gzserver --verbose ${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/worlds/empty.world",
            "isBackground": true,
            "presentation": {
                "echo": true,
                "reveal": "never",
+                "revealProblems": "onProblem",
                "focus": false,
-                "panel": "shared",
+                "panel": "dedicated",
                "showReuseMessage": false,
-                "clear": false
+                "clear": false,
+                "close": true
            },
            "problemMatcher": [
                {
@@ -172,15 +182,17 @@
                    "PX4_SIM_SPEED_FACTOR": "1"
                }
            },
-            "command": "gz model --verbose --spawn-file=${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/models/${input:gazeboModel}/${input:gazeboModel}.sdf --model-name=${input:gazeboModel} -x 1.01 -y 0.98 -z 0.83",
+            "command": "gz model --verbose --spawn-file=${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/models/iris/iris.sdf --model-name=iris -x 1.01 -y 0.98 -z 0.83",
            "isBackground": false,
            "presentation": {
                "echo": true,
                "reveal": "never",
+                "revealProblems": "onProblem",
                "focus": false,
-                "panel": "shared",
+                "panel": "dedicated",
                "showReuseMessage": false,
-                "clear": false
+                "clear": false,
+                "close": true
            },
            "problemMatcher": [
                {
@@ -206,39 +218,23 @@
            "options": {
                "cwd": "${workspaceFolder}",
                "env": {
-                    "IGN_GAZEBO_RESOURCE_PATH": "${workspaceFolder}/Tools/simulation/ignition/models",
-                    "PX4_SIM_SPEED_FACTOR": "1"
+                    "IGN_GAZEBO_RESOURCE_PATH": "${workspaceFolder}/Tools/simulation/gz/models",
                }
            },
-            "command": "ign gazebo -v 4 -r ${workspaceFolder}/Tools/simulation/ignition/worlds/${input:ignWorld}.sdf",
+            "command": "ign gazebo -v 4 -r ${workspaceFolder}/Tools/simulation/gz/worlds/${input:gzWorld}.sdf",
            "isBackground": true,
            "presentation": {
                "echo": true,
-                "reveal": "never",
+                "reveal": "always",
                "revealProblems": "onProblem",
-                "focus": false,
+                "focus": true,
                "panel": "dedicated",
                "showReuseMessage": false,
                "clear": false,
-                "close": true
+                "close": false
            },
-            "problemMatcher": [
-                {
-                    "pattern": [
-                        {
-                            "regexp": ".",
-                            "file": 1,
-                            "location": 2,
-                            "message": 3
-                        }
-                    ],
-                    "background": {
-                        "activeOnStart": true,
-                        "beginsPattern": ".",
-                        "endsPattern": ".",
-                    }
-                }
-            ]
+            "problemMatcher": [],
+            "dependsOn":["ign gazebo kill"]
        },
        {
            "label": "gazebo kill",
@@ -260,7 +256,7 @@
        {
            "label": "ign gazebo kill",
            "type": "shell",
-            "command": "pkill -9 -f ign || true",
+            "command": "pkill -9 -f 'ign gazebo' || true",
            "presentation": {
                "echo": true,
                "reveal": "never",
@@ -346,46 +342,12 @@
    "inputs": [
        {
            "type": "pickString",
-            "id": "ignWorld",
-            "description": "Ignition world",
+            "id": "gzWorld",
+            "description": "gz world",
            "options": [
                "default"
            ],
            "default": "default"
-        },
-        {
-            "type": "pickString",
-            "id": "gazeboModel",
-            "description": "gazebo model",
-            "options": [
-              "iris",
-              "typhoon_h480",
-              "plane",
-              "plane_catapult",
-              "plane_lidar",
-              "standard_vtol",
-              "tailsitter",
-              "tiltrotor",
-              "r1_rover",
-              "boat"
-            ],
-            "default": "iris"
-        },
-        {
-            "type": "pickString",
-            "id": "gazeboWorld",
-            "description": "gazebo world",
-            "options": [
-                "baylands",
-                "empty",
-                "ksql_airport",
-                "mcmillan_airfield",
-                "sonoma_raceway",
-                "warehouse",
-                "windy",
-                "yosemite"
-            ],
-            "default": "empty"
        }
    ]
 }
@@ -414,7 +414,6 @@ if(BUILD_TESTING)
 			DEPENDS
 				px4
 				examples__dyn_hello
-				test_mixer_multirotor
 			USES_TERMINAL
 			COMMENT "Running tests"
 			WORKING_DIRECTORY ${PX4_BINARY_DIR})
@@ -297,10 +297,10 @@ pipeline {
            sh('make distclean; git clean -ff -x -d .')
            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
-              // 'master' branch
+              // 'main' branch
              sh('./msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
              sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
-              sh('cd px4_msgs; git push origin master || true')
+              sh('cd px4_msgs; git push origin main || true')
              // 'ros1' branch
              sh('cd px4_msgs; git checkout ros1')
              sh('./msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
@@ -320,8 +320,10 @@ px4io_update:
 	@$(MAKE) --no-print-directory px4_io-v2_default
 	@$(MAKE) --no-print-directory cubepilot_io-v2_default
 	# px4_io-v2_default
+	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/ark/fmu-v6x/extras/px4_io-v2_default.bin
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/holybro/durandal-v1/extras/px4_io-v2_default.bin
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/holybro/pix32v5/extras/px4_io-v2_default.bin
+	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/mro/x21/extras/px4_io-v2_default.bin
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/mro/x21-777/extras/px4_io-v2_default.bin
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v2/extras/px4_io-v2_default.bin
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v3/extras/px4_io-v2_default.bin
@@ -335,7 +337,7 @@ px4io_update:
 	cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
 	git status

-bootloaders_update: cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader holybro_kakuteh7_bootloader matek_h743_bootloader matek_h743-mini_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-classic_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6c_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader
+bootloaders_update: ark_fmu-v6x_bootloader cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader holybro_kakuteh7_bootloader matek_h743_bootloader matek_h743-mini_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-classic_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6c_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader
 	git status

 .PHONY: coverity_scan
@@ -32,7 +32,6 @@
 ############################################################################

 add_subdirectory(init.d)
-add_subdirectory(mixers)
 # TODO: make this configurable from the board config, or better combine
 if("${PX4_BOARD}" MATCHES "sitl")
 	add_subdirectory(init.d-posix)
@@ -30,4 +30,3 @@ param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
-
@@ -0,0 +1,70 @@
+#!/bin/sh
+#
+# @name Advanced Plane SITL
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0
+
+param set-default FW_LND_AIRSPD_SC 1
+param set-default FW_LND_ANG 8
+param set-default FW_THR_LND_MAX 0
+
+param set-default FW_L1_PERIOD 12
+
+param set-default FW_MAN_P_MAX 30
+
+param set-default FW_PSP_OFF 2
+param set-default FW_P_LIM_MAX 32
+param set-default FW_P_LIM_MIN -15
+
+param set-default FW_SPOILERS_LND 0.4
+
+param set-default FW_THR_MIN 0.05
+param set-default FW_THR_TRIM 0.25
+
+param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_SINK_MAX 2.7
+param set-default FW_T_SINK_MIN 2.2
+
+param set-default FW_W_EN 1
+
+param set-default MIS_LTRMIN_ALT 30
+param set-default MIS_TAKEOFF_ALT 30
+
+param set-default NAV_ACC_RAD 15
+param set-default NAV_DLL_ACT 2
+
+param set-default RWTO_TKOFF 1
+
+#param set-default SYS_CTRL_ALLOC 1
+param set-default CA_AIRFRAME 1
+
+param set-default CA_ROTOR_COUNT 1
+param set-default CA_ROTOR0_PX 0.3
+
+param set-default CA_SV_CS_COUNT 6
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TYPE 4
+param set-default CA_SV_CS4_TYPE 9
+param set-default CA_SV_CS5_TYPE 10
+param set-default PWM_MAIN_FUNC3 204
+param set-default PWM_MAIN_FUNC4 205
+param set-default PWM_MAIN_FUNC5 101
+param set-default PWM_MAIN_FUNC6 201
+param set-default PWM_MAIN_FUNC7 202
+param set-default PWM_MAIN_FUNC8 203
+param set-default PWM_MAIN_FUNC9 206
+param set-default PWM_MAIN_REV 256
+
+
+set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
+set MIXER custom
@@ -61,6 +61,7 @@ param set-default FW_T_CLMB_MAX 8
 param set-default FW_T_SINK_MAX 2.7
 param set-default FW_T_SINK_MIN 2.2

+param set-default MC_AIRMODE 1
 param set-default MC_ROLLRATE_P 0.3
 param set-default MC_YAW_P 1.6

@@ -76,8 +77,6 @@ param set-default NAV_ACC_RAD 5

 param set-default VT_FWD_THRUST_EN 4
 param set-default VT_F_TRANS_THR 0.75
-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_B_TRANS_DUR 8
 param set-default VT_TYPE 2

@@ -58,6 +58,7 @@ param set-default FW_T_SINK_MAX 2.7
 param set-default FW_T_SINK_MIN 2.2
 param set-default FW_T_TAS_TC 2

+param set-default MC_AIRMODE 1
 param set-default MC_ROLLRATE_P 0.3

 param set-default MPC_ACC_HOR_MAX 2
@@ -34,8 +34,6 @@ param set-default CA_SV_CS1_TYPE 2
 param set-default CA_SV_CS2_TRQ_P 1.0
 param set-default CA_SV_CS2_TYPE 3
 param set-default CA_SV_CS_COUNT 3
-param set-default CA_SV_TL0_CT 0
-param set-default CA_SV_TL1_CT 0
 param set-default CA_SV_TL_COUNT 2

 param set-default PWM_MAIN_FUNC1 101
@@ -62,6 +60,7 @@ param set-default FW_T_CLMB_MAX 8
 param set-default FW_T_SINK_MAX 2.7
 param set-default FW_T_SINK_MIN 2.2

+param set-default MC_AIRMODE 1
 param set-default MC_YAWRATE_P 0.3
 param set-default MC_YAWRATE_I 0.3

@@ -1,17 +1,15 @@
 #!/bin/sh
 #
-# @name Ignition Gazebo X3
+# @name Gazebo x500
 #
 # @type Quadrotor
 #

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

-PX4_SIMULATOR=${PX4_SIMULATOR:=ignition}
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500}
-PX4_SIM_WORLD=${PX4_SIM_WORLD:=default}
-
-param set-default SYS_CTRL_ALLOC 1

 param set-default CA_AIRFRAME 0
 param set-default CA_ROTOR_COUNT 4
@@ -32,19 +30,19 @@ param set-default CA_ROTOR3_PX -0.13
 param set-default CA_ROTOR3_PY 0.20
 param set-default CA_ROTOR3_KM -0.05

-param set-default SIM_IGN_FUNC1 101
-param set-default SIM_IGN_FUNC2 102
-param set-default SIM_IGN_FUNC3 103
-param set-default SIM_IGN_FUNC4 104
+param set-default SIM_GZ_FUNC1 101
+param set-default SIM_GZ_FUNC2 102
+param set-default SIM_GZ_FUNC3 103
+param set-default SIM_GZ_FUNC4 104

-param set-default SIM_IGN_MIN1 150
-param set-default SIM_IGN_MIN2 150
-param set-default SIM_IGN_MIN3 150
-param set-default SIM_IGN_MIN4 150
+param set-default SIM_GZ_MIN1 150
+param set-default SIM_GZ_MIN2 150
+param set-default SIM_GZ_MIN3 150
+param set-default SIM_GZ_MIN4 150

-param set-default SIM_IGN_MAX1 1000
-param set-default SIM_IGN_MAX2 1000
-param set-default SIM_IGN_MAX3 1000
-param set-default SIM_IGN_MAX4 1000
+param set-default SIM_GZ_MAX1 1000
+param set-default SIM_GZ_MAX2 1000
+param set-default SIM_GZ_MAX3 1000
+param set-default SIM_GZ_MAX4 1000

 param set-default MPC_THR_HOVER 0.60
@@ -1,80 +0,0 @@
-#!/bin/sh
-#
-# @name Ignition Gazebo X4
-#
-# @type Quadrotor
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=ignition}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=x4}
-PX4_SIM_WORLD=${PX4_SIM_WORLD:=default}
-
-param set-default SYS_CTRL_ALLOC 1
-
-param set-default CA_AIRFRAME 0
-param set-default CA_ROTOR_COUNT 6
-
-param set-default CA_ROTOR0_PX  0.25
-param set-default CA_ROTOR0_PY -0.15
-param set-default CA_ROTOR0_KM  0.05
-
-param set-default CA_ROTOR1_PX  0.00
-param set-default CA_ROTOR1_PY -0.29
-param set-default CA_ROTOR1_KM -0.05
-
-param set-default CA_ROTOR2_PX -0.25
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM  0.05
-
-param set-default CA_ROTOR3_PX -0.25
-param set-default CA_ROTOR3_PY  0.15
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default CA_ROTOR4_PX  0.00
-param set-default CA_ROTOR4_PY  0.29
-param set-default CA_ROTOR4_KM  0.05
-
-param set-default CA_ROTOR5_PX  0.25
-param set-default CA_ROTOR5_PY  0.15
-param set-default CA_ROTOR5_KM -0.05
-
-param set-default SIM_IGN_FUNC1 101
-param set-default SIM_IGN_FUNC2 102
-param set-default SIM_IGN_FUNC3 103
-param set-default SIM_IGN_FUNC4 104
-param set-default SIM_IGN_FUNC5 105
-param set-default SIM_IGN_FUNC6 106
-
-param set-default SIM_IGN_MIN1 150
-param set-default SIM_IGN_MIN2 150
-param set-default SIM_IGN_MIN3 150
-param set-default SIM_IGN_MIN4 150
-param set-default SIM_IGN_MIN5 150
-param set-default SIM_IGN_MIN6 150
-
-param set-default SIM_IGN_MAX1 1000
-param set-default SIM_IGN_MAX2 1000
-param set-default SIM_IGN_MAX3 1000
-param set-default SIM_IGN_MAX4 1000
-param set-default SIM_IGN_MAX5 1000
-param set-default SIM_IGN_MAX6 1000
-
-
-param set-default MC_PITCHRATE_D 0.0016
-param set-default MC_PITCHRATE_I 0.2500
-param set-default MC_PITCHRATE_P 0.1831
-param set-default MC_PITCH_P 5.216
-
-param set-default MC_ROLLRATE_D 0.0022
-param set-default MC_ROLLRATE_I 0.2095
-param set-default MC_ROLLRATE_P 0.1570
-param set-default MC_ROLL_P 6.081
-
-param set-default MC_YAWRATE_D 0.0009
-param set-default MC_YAWRATE_I 0.1800
-param set-default MC_YAWRATE_P 0.1773
-param set-default MC_YAW_P 5.386490
-
-param set-default MPC_THR_HOVER 0.61
@@ -61,6 +61,7 @@ px4_add_romfs_files(
 	1036_malolo
 	1037_believer
 	1038_glider
+	1039_advanced_plane
 	1040_standard_vtol
 	1041_tailsitter
 	1042_tiltrotor
@@ -79,7 +80,6 @@ px4_add_romfs_files(
 	17002_tf-g2
 	2507_cloudship

-	6001_x4
 	6011_typhoon_h480
 	6011_typhoon_h480.post
 )
@@ -6,12 +6,18 @@ param set-default IMU_INTEG_RATE 250

 if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0" ]; then

-	if ! simulator_sih start; then
+	if simulator_sih start; then
+
+		sensor_baro_sim start
+		sensor_gps_sim start
+		sensor_mag_sim start
+
+	else
 		echo "ERROR  [init] simulator_sih failed to start"
 		exit 1
 	fi

-elif [ "$PX4_SIMULATOR" = "ignition" ]; then
+elif [ "$PX4_SIMULATOR" = "gz" ]; then

 	# source generated gazebo_env.sh for IGN_GAZEBO_RESOURCE_PATH
 	if [ -f gazebo_env.sh ]; then
@@ -20,26 +26,95 @@ elif [ "$PX4_SIMULATOR" = "ignition" ]; then
 		. ../gazebo_env.sh
 	fi

-	if ! ign service --info --service /world/${PX4_SIM_WORLD}/create | grep "ignition.msgs.EntityFactory"; then
-		# starting ign gazebo with ${PX4_SIM_WORLD} world
-		echo "INFO  [init] starting ign gazebo"
-
-		if [ -z $HEADLESS ]; then
-			ign gazebo --verbose=1 -r "${PX4_IGN_GAZEBO_WORLDS}/${PX4_SIM_WORLD}.sdf" &
+# shellcheck disable=SC2236
+	if [ ! -z $PX4_GZ_VERBOSE ]; then
+		if [ "$PX4_GZ_VERBOSE" -le "4" ] && [ "$PX4_GZ_VERBOSE" -ge "1" ]; then
+			gz_verbose=$PX4_GZ_VERBOSE
 		else
-			# starting ign gazebo headless
-			ign gazebo --verbose=1 -r -s "${PX4_IGN_GAZEBO_WORLDS}/${PX4_SIM_WORLD}.sdf" &
+			gz_verbose=4
+			echo "WARN  [init] PX4_GZ_VERBOSE was passed: $PX4_GZ_VERBOSE, not in range [1,4], defaulting to: $gz_verbose."
 		fi
+		echo "INFO  [init] PX4_GZ_VERBOSE set to $gz_verbose."
 	else
-		echo "INFO  [init] ign gazebo already running"
+		gz_verbose=1
+		echo "INFO  [init] PX4_GZ_VERBOSE not explicitly set, defaulting to: $gz_verbose."
 	fi

-	if simulator_ignition_bridge start -m "${PX4_SIM_MODEL}" -w "${PX4_SIM_WORLD}"; then
-		sensor_baro_sim start
-		sensor_gps_sim start
-		sensor_mag_sim start
+	gz_world=$( ign topic -l | grep -m 1 -e "/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
+	
+	gz_version_major=$( ign gazebo --versions | sed 's/\..*//g' )
+	gz_version_minor=$( ign gazebo --versions | sed 's/'"${gz_version_major}"\.'//; s/\..*//g' )
+	gz_version_point=$( ign gazebo --versions | sed 's/'"${gz_version_major}"\.'//; s/'"${gz_version_minor}"\.'//')
+
+	if [ "$gz_version_major" -gt "6" ] || { [ "$gz_version_major" -eq "6" ] && [ "$gz_version_minor" -gt "12" ]; } || { [ "$gz_version_major" -eq "6" ] && [ "$gz_version_minor" -eq "12" ] && [ "$gz_version_point" -gt "0" ]; }; then
+		echo "INFO  [init] using latest version of MultiCopterMotor plugin."
 	else
-		echo "ERROR  [init] ign gazebo failed to start"
+		echo "WARN  [init] using older version of MultiCopterMotor plugin, please update to latest gazebo > 6.12.0."
+		if [ "$PX4_SIM_MODEL" = "x500" ]; then
+			PX4_SIM_MODEL="x500-Legacy"
+			echo "WARN  [init] setting PX4_SIM_MODEL -> $PX4_SIM_MODEL from x500 till gazebo > 6.12.0"
+		fi
+	fi
+
+	if [ -z $gz_world ]; then
+
+		# starting ign gazebo with ${PX4_GZ_WORLD} world
+		echo "INFO  [init] starting ign gazebo"
+# shellcheck disable=SC2153
+		ign gazebo --verbose=$gz_verbose -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &
+
+		if [ -z $HEADLESS ]; then
+			# HEADLESS not set, starting ign gazebo gui
+			ign gazebo -g &
+		fi
+	else
+		echo "INFO  [init] ign gazebo already running world: $gz_world"
+		PX4_GZ_WORLD=$gz_world
+	fi
+
+# shellcheck disable=SC2236
+	if [ ! -z $PX4_GZ_MODEL ] && [ -z $PX4_GZ_MODEL_NAME ]; then
+
+# shellcheck disable=SC2236
+		if [ ! -z $PX4_GZ_MODEL_POSE ]; then
+			# Clean potential input line formatting.
+			model_pose="$( echo ${PX4_GZ_MODEL_POSE} | sed -e 's/^[ \t]*//; s/[ \t]*$//; s/,/ /g; s/  / /g; s/ /,/g' )"
+			echo "INFO  [init] PX4_GZ_MODEL_POSE set, spawning at: ${model_pose}"
+		else
+			echo "WARN  [init] PX4_GZ_MODEL_POSE not set, spawning at origin."
+			model_pose="0,0,0,0,0,0"
+		fi
+		# start gz bridge with pose arg.
+		if gz_bridge start -p "${model_pose}"  -m "${PX4_GZ_MODEL}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
+			sensor_baro_sim start
+			sensor_gps_sim start
+			sensor_mag_sim start
+		else
+			echo "ERROR  [init] ign gazebo failed to start"
+			exit 1
+		fi
+	elif [ ! -z $PX4_GZ_MODEL_NAME ] && [ -z $PX4_GZ_MODEL ]; then
+		if gz_bridge start -n "${PX4_GZ_MODEL_NAME}" -w "${PX4_GZ_WORLD}"; then
+			sensor_baro_sim start
+			sensor_gps_sim start
+			sensor_mag_sim start
+		else
+			echo "ERROR  [init] ign gazebo failed to start"
+			exit 1
+		fi
+	elif [ ! -z $PX4_SIM_MODEL ] && [ -z $PX4_GZ_MODEL_NAME ] && [ -z $PX4_GZ_MODEL ]; then
+		echo "WARN  [init] PX4_GZ_MODEL_NAME or PX4_GZ_MODEL not set using PX4_SIM_MODEL."
+		if gz_bridge start -m "${PX4_SIM_MODEL}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
+			sensor_baro_sim start
+			sensor_gps_sim start
+			sensor_mag_sim start
+		else
+			echo "ERROR  [init] ign gazebo failed to start"
+			exit 1
+		fi
+
+	else
+		echo "ERROR  [init] failed to pass only PX4_GZ_MODEL_NAME or PX4_GZ_MODEL"
 		exit 1
 	fi

@@ -1,6 +1,9 @@
 #!/bin/sh

-set -e
+# Un comment and use set +e to ignore and set -e to enable 'exit on error control'
+set +e
+# Un comment the line below to help debug scripts by printing a trace of the script commands
+#set -x

 # PX4 commands need the 'px4-' prefix in bash.
 # (px4-alias.sh is expected to be in the PATH)
@@ -23,16 +26,6 @@ then
 fi

 # initialize script variables
-set IO_PRESENT                  no
-set MIXER                       skip
-set MIXER_AUX                   none
-set MIXER_FILE                  none
-set OUTPUT_MODE                 sim
-set EXTRA_MIXER_MODE            none
-set PWM_OUT                     none
-set PWM_AUX_OUT                 none
-set SDCARD_MIXERS_PATH          etc/mixers
-set USE_IO                      no
 set VEHICLE_TYPE                none
 set LOGGER_ARGS                 ""
 set LOGGER_BUF                  1000
@@ -62,7 +55,7 @@ then
 	# shellcheck disable=SC2012
 	REQUESTED_AUTOSTART=$(ls "${R}etc/init.d-posix/airframes" | sed -n 's/^\([0-9][0-9]*\)_'${PX4_SIM_MODEL}'$/\1/p')
 	if [ -z "$REQUESTED_AUTOSTART" ]; then
-		echo "ERROR  [init] Unknown model $PX4_SIM_MODEL (not found by name on ${R}etc/init.d-posix/airframes)"
+		echo "ERROR [init] Unknown model $PX4_SIM_MODEL (not found by name on ${R}etc/init.d-posix/airframes)"
 		exit 1
 	else
 		SYS_AUTOSTART=$REQUESTED_AUTOSTART
@@ -72,18 +65,45 @@ fi

 # Load parameters
 set PARAM_FILE parameters.bson
-param select $PARAM_FILE
+set PARAM_BACKUP_FILE parameters_backup.bson

-if [ -f $PARAM_FILE ]
-then
-	if param load
+param select $PARAM_FILE
+if [ -f $PARAM_FILE ]; then
+
+	if ! param import
 	then
-		echo "[param] Loaded: $PARAM_FILE"
-	else
-		echo "[param] FAILED loading $PARAM_FILE"
+		echo "ERROR [init] param import failed"
+
+		param dump $PARAM_FILE
+
+		# try to make a backup copy
+		cp $PARAM_FILE param_import_fail.bson
+
+		# try importing from backup file
+		if [ -f $PARAM_BACKUP_FILE ]
+		then
+			echo "[init] importing from parameter backup"
+
+			# dump current backup file contents for comparison
+			param dump $PARAM_BACKUP_FILE
+
+			param import $PARAM_BACKUP_FILE
+
+			# overwrite invalid $PARAM_FILE with backup
+			cp $PARAM_BACKUP_FILE $PARAM_FILE
+		fi
+
+		param status
 	fi
+
+elif [ -f $PARAM_BACKUP_FILE ]; then
+	echo "ERROR [init] primary param file $PARAM_FILE unavailable, using backup $PARAM_BACKUP_FILE"
+	param import $PARAM_BACKUP_FILE
 fi

+param select-backup $PARAM_BACKUP_FILE
+
+
 # exit early when the minimal shell is requested
 [ $RUN_MINIMAL_SHELL = yes ] && exit 0

@@ -227,10 +247,14 @@ manual_control start
 sensors start
 commander start

-# Configure vehicle type specific parameters.
-# Note: rc.vehicle_setup is the entry point for rc.interface,
-#       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
+if ! pwm_out_sim start -m sim
+then
+	tune_control play error
+fi
+
 #
+# Configure vehicle type specific parameters.
+# Note: rc.vehicle_setup is the entry point for all vehicle type specific setup.
 . ${R}etc/init.d/rc.vehicle_setup

 navigator start
@@ -262,6 +286,12 @@ then
 	gyro_calibration start
 fi

+# Payload deliverer module if gripper is enabled
+if param compare -s PD_GRIPPER_EN 1
+then
+	payload_deliverer start
+fi
+
 #user defined mavlink streams for instances can be in PATH
 . px4-rc.mavlink

@@ -41,7 +41,7 @@ px4_add_romfs_files(
 	rc.boat_defaults
 	rc.fw_apps
 	rc.fw_defaults
-	rc.interface
+	rc.heli_defaults
 	rc.logging
 	rc.mc_apps
 	rc.mc_defaults
@@ -38,7 +38,6 @@ param set-default MIS_YAW_TMT 10
 param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_THR_MIN 0.1
-param set-default MPC_TKO_SPEED 1
 param set-default MPC_XY_P 0.8
 param set-default MPC_XY_VEL_D_ACC 0.1
 param set-default MPC_XY_VEL_I_ACC 4
@@ -55,8 +54,6 @@ param set-default RTL_RETURN_ALT 30
 param set-default SDLOG_DIRS_MAX 7

 param set-default VT_F_TRANS_THR 0.75
-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_TYPE 2

 param set-default CA_AIRFRAME 2
@@ -99,8 +99,6 @@ param set-default MPC_YAWRAUTO_MAX 20

 param set-default NAV_LOITER_RAD 100

-param set-default PWM_AUX_DISARM 950
-
 param set-default PWM_MAIN_DIS5 1500
 param set-default PWM_MAIN_DIS6 1500
 param set-default PWM_MAIN_DIS7 900
@@ -116,8 +114,6 @@ param set-default MAV_1_FORWARD 1
 param set-default SER_TEL2_BAUD 57600

 param set-default VT_TYPE 2
-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_F_TRANS_THR 1
 param set-default VT_PITCH_MIN 8
 param set-default VT_FW_QC_P 55
@@ -126,7 +122,6 @@ param set-default VT_TRANS_MIN_TM 15
 param set-default VT_B_TRANS_DUR 8
 param set-default VT_FWD_THRUST_SC 4
 param set-default VT_F_TRANS_DUR 1
-param set-default VT_IDLE_PWM_MC 1025
 param set-default VT_B_REV_OUT 0.5
 param set-default VT_B_TRANS_THR 0.7
 param set-default VT_TRANS_TIMEOUT 22
@@ -65,7 +65,6 @@ param set-default COM_SPOOLUP_TIME 1.5
 param set-default MPC_THR_HOVER 0.45
 param set-default MPC_TILTMAX_AIR 25
 param set-default MPC_TKO_RAMP_T 1.8
-param set-default MPC_TKO_SPEED 1
 param set-default MPC_VEL_MANUAL 3
 param set-default MPC_XY_CRUISE 3
 param set-default MPC_XY_VEL_MAX 3.5
@@ -76,7 +75,6 @@ param set-default NAV_ACC_RAD 3

 param set-default PWM_MAIN_DIS3 1000
 param set-default PWM_MAIN_MIN3 1120
-param set-default PWM_MAIN_MIN 950

 param set-default SENS_BOARD_ROT 4

@@ -86,10 +84,7 @@ param set-default VT_B_DEC_MSS 1.5
 param set-default VT_B_TRANS_DUR 12
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_FWD_THRUST_SC 1.2
-param set-default VT_FW_MOT_OFFID 5678
 param set-default VT_F_TR_OL_TM 8
-param set-default VT_IDLE_PWM_MC 1000
-param set-default VT_MOT_ID 5678
 param set-default VT_PSHER_RMP_DT 2
 param set-default VT_TRANS_MIN_TM 4
 param set-default VT_TYPE 2
@@ -16,10 +16,7 @@

 param set-default MAV_TYPE 21

-param set-default VT_IDLE_PWM_MC 1100
 param set-default VT_TYPE 1
-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 24

 param set-default CA_AIRFRAME 3
 param set-default CA_ROTOR_COUNT 4
@@ -1,55 +1,27 @@
 #!/bin/sh
 #
-# @name Blade 130X
+# @name Generic Helicopter (Tail ESC)
 #
 # @type Helicopter
 # @class Copter
 #
-# @maintainer Bart Slinger <bartslinger@gmail.com>
-#
-# @output Motor1 main motor
-# @output Servo1 front swashplate servo
-# @output Servo2 right swashplate servo
-# @output Servo3 left swashplate servo
-# @output Servo4 tail-rotor servo
-#
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
 #

-. ${R}etc/init.d/rc.mc_defaults
-
-# Configure as helicopter
-param set-default MAV_TYPE 4
+. ${R}etc/init.d/rc.heli_defaults


-
-param set-default ATT_BIAS_MAX 0
-
-param set-default CBRK_IO_SAFETY 22027
-
-param set-default MC_ROLL_P 5
+# Disable PID gains for initial setup. These should be enabled after setting the FF gain.
+# P is expected to be lower than FF.
 param set-default MC_ROLLRATE_P 0
 param set-default MC_ROLLRATE_I 0
 param set-default MC_ROLLRATE_D 0
-param set-default MC_ROLLRATE_FF 0.15
+param set-default MC_ROLLRATE_FF 0.1
 param set-default MC_PITCHRATE_P 0
 param set-default MC_PITCHRATE_I 0
 param set-default MC_PITCHRATE_D 0
-param set-default MC_PITCHRATE_FF 0.15
-param set-default MC_YAW_P 3
-param set-default MC_YAWRATE_P 0.1
-param set-default MC_YAWRATE_I 0
-param set-default MC_ROLLRATE_MAX 720
-param set-default MC_PITCHRATE_MAX 720
-param set-default MC_YAWRATE_MAX 400
-param set-default MC_ACRO_R_MAX 360
-param set-default MC_ACRO_P_MAX 360
-
-param set-default MPC_THR_MIN 0.06
-param set-default MPC_MANTHR_MIN 0.06
-
-param set-default PWM_MAIN_MIN 1075
+param set-default MC_PITCHRATE_FF 0.1

 param set-default CA_AIRFRAME 10

@@ -24,9 +24,6 @@
 param set-default BAT1_CAPACITY 3300
 param set-default BAT1_N_CELLS 3

-param set-default PWM_AUX_RATE 50
-param set-default PWM_MAIN_RATE 50
-
 param set-default SENS_BOARD_ROT 4

 param set-default FW_AIRSPD_MAX 20
@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# @name PX4 Vision DevKit Platform
+# @name PX4 Vision Dev Kit v1
 #
 # @type Quadrotor x
 # @class Copter
@@ -60,11 +60,9 @@ param set-default CP_DIST 6
 param set-default MPC_ACC_DOWN_MAX 5
 param set-default MPC_ACC_HOR_MAX 10
 param set-default MPC_ACC_UP_MAX 4
-param set-default MPC_MANTHR_MIN 0
 param set-default MPC_MAN_Y_MAX 120
 param set-default MPC_TILTMAX_AIR 45
 param set-default MPC_THR_HOVER 0.3
-param set-default MPC_TKO_SPEED 1
 param set-default MPC_VEL_MANUAL 5
 param set-default MPC_XY_CRUISE 5
 param set-default MPC_XY_VEL_MAX 5
@@ -81,9 +79,6 @@ param set-default CP_GO_NO_DATA 1
 # Navigator Parameters
 param set-default NAV_ACC_RAD 2

-# use oneshot motor output protocol
-param set-default PWM_MAIN_RATE 0
-
 # RTL Parameters
 param set-default RTL_DESCEND_ALT 5
 param set-default RTL_RETURN_ALT 5
@@ -0,0 +1,126 @@
+#!/bin/sh
+#
+# @name PX4 Vision Dev Kit v1.5
+#
+# @type Quadrotor x
+# @class Copter
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+# Commander Parameters
+param set-default COM_OBS_AVOID 1
+param set-default COM_DISARM_LAND 0.5
+
+# EKF2 parameters
+param set-default EKF2_AID_MASK 35
+param set-default EKF2_IMU_POS_X 0.02
+param set-default EKF2_GPS_POS_X 0.055
+param set-default EKF2_GPS_POS_Z -0.15
+param set-default EKF2_MIN_RNG 0.03
+param set-default EKF2_OF_POS_X 0.055
+param set-default EKF2_OF_POS_Y 0.02
+param set-default EKF2_OF_POS_Z 0.065
+param set-default EKF2_REQ_HDRIFT 0.3
+param set-default EKF2_REQ_SACC 1
+param set-default EKF2_REQ_VDRIFT 0.3
+param set-default EKF2_RNG_A_HMAX 8
+param set-default EKF2_RNG_A_VMAX 2
+param set-default EKF2_RNG_POS_X 0.055
+param set-default EKF2_RNG_POS_Y -0.01
+param set-default EKF2_RNG_POS_Z 0.065
+param set-default EKF2_PCOEF_XP -0.25
+param set-default EKF2_PCOEF_YN -0.55
+param set-default EKF2_PCOEF_YP -0.55
+
+# MAVLink parameters
+param set-default MAV_0_CONFIG 101
+param set-default MAV_1_CONFIG 102
+param set-default MAV_1_RATE 80000
+param set-default MAV_1_MODE 9
+param set-default SER_TEL1_BAUD 921600
+
+# Vehicle attitude PID tuning
+param set-default MC_ACRO_EXPO 0
+param set-default MC_ACRO_EXPO_Y 0
+param set-default MC_ACRO_P_MAX 200
+param set-default MC_ACRO_R_MAX 200
+param set-default MC_ACRO_SUPEXPO 0
+param set-default MC_ACRO_SUPEXPOY 0
+param set-default MC_ACRO_Y_MAX 150
+param set-default MC_PITCHRATE_D 0.0015
+param set-default MC_ROLLRATE_D 0.0015
+param set-default MC_YAWRATE_P 0.3
+
+# Position Control Tuning
+param set-default CP_DIST 6
+param set-default MPC_ACC_DOWN_MAX 5
+param set-default MPC_ACC_HOR_MAX 10
+param set-default MPC_ACC_UP_MAX 4
+param set-default MPC_MANTHR_MIN 0
+param set-default MPC_MAN_Y_MAX 120
+param set-default MPC_TILTMAX_AIR 45
+param set-default MPC_THR_HOVER 0.3
+param set-default MPC_VEL_MANUAL 5
+param set-default MPC_XY_CRUISE 5
+param set-default MPC_XY_VEL_MAX 5
+param set-default MPC_XY_VEL_P_ACC 1.58
+param set-default MPC_XY_TRAJ_P 0.3
+param set-default MPC_Z_TRAJ_P 0.3
+param set-default MPC_Z_VEL_P_ACC 5
+param set-default MPC_Z_VEL_I_ACC 3
+param set-default MPC_LAND_ALT1 3
+param set-default MPC_LAND_ALT2 1
+param set-default MPC_POS_MODE 3
+param set-default CP_GO_NO_DATA 1
+
+# Navigator Parameters
+param set-default NAV_ACC_RAD 2
+
+# RTL Parameters
+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
+param set-default SENS_FLOW_MINHGT 0.5
+param set-default IMU_GYRO_CUTOFF 100
+param set-default SENS_TFLOW_CFG 103
+
+# Power Parameters
+param set-default BAT1_N_CELLS 4
+param set-default BAT1_A_PER_V 36.364
+param set-default BAT1_V_DIV 18.182
+
+# Circuit breakers
+param set-default CBRK_IO_SAFETY 22027
+
+param set-default THR_MDL_FAC 0.3
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.15
+param set-default CA_ROTOR0_PY 0.15
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.15
+param set-default CA_ROTOR1_PY -0.15
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.15
+param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.15
+param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_KM -0.05
+
+# Outputs
+param set-default PWM_AUX_FUNC1 101
+param set-default PWM_AUX_FUNC2 102
+param set-default PWM_AUX_FUNC3 103
+param set-default PWM_AUX_FUNC4 104
+
@@ -42,8 +42,6 @@ param set-default MC_YAW_P 4
 param set-default MPC_MANTHR_MIN 0
 param set-default MPC_MAN_TILT_MAX 60

-param set-default DSHOT_CONFIG 600
-
 param set-default SYS_HAS_BARO 0
 param set-default SYS_HAS_MAG 0

@@ -26,7 +26,6 @@ param set-default MC_ROLLRATE_MAX 1600
 param set-default MC_PITCHRATE_MAX 1600
 param set-default MC_YAWRATE_MAX 1000

-param set-default MPC_MANTHR_MIN 0
 param set-default MPC_MAN_TILT_MAX 60

 param set-default THR_MDL_FAC 0.3
@@ -44,8 +44,6 @@ param set-default MPC_THR_HOVER 0.25
 param set-default MPC_THR_MIN 0.05
 param set-default MPC_Z_VEL_I_ACC 1.7

-param set-default PWM_MAIN_MIN 1050
-
 param set-default THR_MDL_FAC 0.3

 param set-default CA_ROTOR_COUNT 4
@@ -32,7 +32,6 @@ param set-default IMU_DGYRO_CUTOFF 90
 param set-default IMU_GYRO_CUTOFF 100

 # System
-param set-default PWM_MAIN_MIN 1100

 param set-default SENS_BOARD_ROT 10

@@ -54,7 +53,6 @@ param set-default MPC_XY_VEL_P_ACC 2.6
 param set-default MPC_XY_VEL_I_ACC 1.2
 param set-default MPC_XY_VEL_D_ACC 0.2
 param set-default MPC_TKO_RAMP_T 1
-param set-default MPC_TKO_SPEED 1.1
 param set-default MPC_VEL_MANUAL 3

 param set-default BAT1_SOURCE 0
@@ -62,7 +62,6 @@ param set-default MPC_XY_VEL_P_ACC 2.6
 param set-default MPC_XY_VEL_I_ACC 1.2
 param set-default MPC_XY_VEL_D_ACC 0.2
 param set-default MPC_TKO_RAMP_T 1
-param set-default MPC_TKO_SPEED 1.1
 param set-default MPC_VEL_MANUAL 3

 param set-default BAT1_SOURCE 0
@@ -61,7 +61,6 @@ param set-default IMU_GYRO_CUTOFF 100
 param set-default THR_MDL_FAC 0.25

 # System
-param set-default PWM_MAIN_MIN 1100
 param set-default PWM_MAIN_DIS5 980
 param set-default PWM_MAIN_DIS6 980

@@ -57,6 +57,7 @@ px4_add_romfs_files(
 	4016_holybro_px4vision
 	4017_nxp_hovergames
 	4019_x500_v2
+	4020_holybro_px4vision_v1_5
 	4040_reaper
 	4041_beta75x
 	4050_generic_250
@@ -48,13 +48,10 @@ fi
 #                        End Estimator Group Selection                        #
 ###############################################################################

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

 #
 # Start Airship Attitude Controller.
@@ -9,9 +9,3 @@ set VEHICLE_TYPE airship

 # MAV_TYPE_AIRSHIP 7
 param set-default MAV_TYPE 7
-
-#
-# This is the gimbal pass mixer.
-#
-set MIXER_AUX pass
-set PWM_AUX_OUT 1234
@@ -2,7 +2,6 @@
 #
 # External airframe startup script (on SD card)
 #
-set SDCARD_MIXERS_PATH ${SDCARD_EXT_PATH}/mixers

 if [ -e ${SDCARD_EXT_PATH}/rc.autostart ]
 then
@@ -20,22 +20,3 @@ param set-default NAV_ACC_RAD 2

 # Temporary.
 param set-default NAV_FW_ALT_RAD 1000
-
-#
-# Enable servo output on pins 3 and 4 (steering and thrust)
-# but also include 1+2 as they form together one output group
-# and need to be set together.
-#
-set PWM_OUT 1234
-
-#
-# PWM Hz - 50 Hz is the normal rate in RC cars, higher rates
-# may damage analog servos.
-#
-set PWM_MAIN_RATE 50
-
-#
-# This is the gimbal pass mixer.
-#
-set MIXER_AUX pass
-set PWM_AUX_OUT 1234
@@ -10,13 +10,10 @@
 #
 ekf2 start &

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

 #
 # Start attitude controller.
@@ -46,17 +46,7 @@ param set-default MIS_DIST_WPS 5000
 param set-default MIS_LTRMIN_ALT 25
 param set-default MIS_TAKEOFF_ALT 25

-param set-default PWM_MAIN_RATE 50
-
 #
 # FW takeoff acceleration can easily exceed ublox GPS 2G default.
 #
 param set-default GPS_UBX_DYNMODEL 8
-
-#
-# This is the gimbal pass mixer.
-#
-set MIXER_AUX pass
-
-set PWM_AUX_RATE 50
-set PWM_AUX_OUT 1234
@@ -0,0 +1,17 @@
+#!/bin/sh
+#
+# Helicopter default parameters.
+#
+# NOTE: Script variables are declared/initialized/unset in the rcS script.
+#
+
+# Inherit from mc
+. ${R}etc/init.d/rc.mc_defaults
+
+param set-default MAV_TYPE 4
+
+param set-default COM_PREARM_MODE 2
+param set-default COM_SPOOLUP_TIME 10
+
+# No need for minimum collective pitch (or airmode) to keep torque authority
+param set-default MPC_MANTHR_MIN 0
@@ -1,284 +0,0 @@
-#!/bin/sh
-#
-# Script to configure control interfaces.
-#
-#
-# NOTE: environment variable references:
-#  If the dollar sign ('$') is followed by a left bracket ('{') then the
-#  variable name is terminated with the right bracket character ('}').
-#  Otherwise, the variable name goes to the end of the argument.
-#
-
-set OUTPUT_CMD pwm_out
-set MIXER_AUX_FILE none
-set MIXER_EXTRA_FILE none
-
-set OUTPUT_DEV none
-set OUTPUT_AUX_DEV /dev/pwm_output1
-set OUTPUT_EXTRA_DEV /dev/pwm_output0
-
-# set these before starting the modules
-if [ $PWM_AUX_OUT != none ]
-then
-
-	param set PWM_AUX_OUT ${PWM_AUX_OUT}
-fi
-
-
-if [ $PWM_OUT != none ]
-then
-	param set PWM_MAIN_OUT ${PWM_OUT}
-fi
-
-#
-# If mount (gimbal) control is enabled and output mode is AUX, set the aux
-# mixer to mount (override the airframe-specific MIXER_AUX setting).
-#
-if param greater -s MNT_MODE_IN -1
-then
-        if param compare -s MNT_MODE_OUT 0
-        then
-                set MIXER_AUX mount
-        fi
-fi
-
-#
-# Set the default output mode if none was set.
-#
-if [ $OUTPUT_MODE = none -a $OUTPUT_MODE != skip ]
-then
-	if [ $USE_IO = yes ]
-	then
-		# Enable IO output only if IO is present.
-		if [ $IO_PRESENT = yes ]
-		then
-			set OUTPUT_MODE io
-			if param greater -s DSHOT_CONFIG 0
-			then
-				set OUTPUT_CMD dshot
-			fi
-		fi
-	else
-		if param greater -s DSHOT_CONFIG 0
-		then
-			set OUTPUT_MODE dshot
-			set OUTPUT_CMD dshot
-		else
-			set OUTPUT_MODE pwm_out
-		fi
-	fi
-fi
-
-#
-# If OUTPUT_MODE = none then something is wrong with setup and we shouldn't try to enable output.
-#
-if [ $OUTPUT_MODE != none -a $OUTPUT_MODE != skip ]
-then
-
-	if [ $OUTPUT_MODE = hil -o $OUTPUT_MODE = sim ]
-	then
-		if ! pwm_out_sim start -m $OUTPUT_MODE
-		then
-			tune_control play error
-		fi
-	fi
-
-	if [ $OUTPUT_MODE = uavcan_esc ]
-	then
-		if param compare UAVCAN_ENABLE 0
-		then
-			param set UAVCAN_ENABLE 3
-		fi
-	fi
-
-	#
-	# Start IO for PWM output or RC input if needed.
-	#
-	if [ $IO_PRESENT = yes ]
-	then
-		if ! px4io start
-		then
-			echo "PX4IO start failed"
-			tune_control play -t 18 # PROG_PX4IO_ERR
-		fi
-	fi
-
-	if [ $OUTPUT_MODE = $OUTPUT_CMD -o $OUTPUT_MODE = io ]
-	then
-		if param compare SYS_CTRL_ALLOC 1
-		then
-			pwm_out start
-			dshot start
-		else
-			if ! $OUTPUT_CMD start
-			then
-				echo "$OUTPUT_CMD start failed"
-				tune_control play error
-			fi
-		fi
-	fi
-fi
-
-if [ $MIXER != none -a $MIXER != skip ]
-then
-	#
-	# Load main mixer.
-	#
-	if [ $MIXER_AUX = none -a $USE_IO = yes ]
-	then
-		set MIXER_AUX ${MIXER}
-	fi
-
-	if [ "$MIXER_FILE" = none ]
-	then
-		if [ -f ${SDCARD_MIXERS_PATH}/${MIXER}.main.mix ]
-		then
-			# Use the mixer file from the SD-card if it exists.
-			set MIXER_FILE ${SDCARD_MIXERS_PATH}/${MIXER}.main.mix
-		else
-			# Try out the old convention, for backward compatibility.
-			if [ -f ${SDCARD_MIXERS_PATH}/${MIXER}.mix ]
-			then
-				set MIXER_FILE ${SDCARD_MIXERS_PATH}/${MIXER}.mix
-			else
-				set MIXER_FILE /etc/mixers/${MIXER}.main.mix
-			fi
-		fi
-	fi
-
-	set OUTPUT_DEV /dev/pwm_output0
-
-	if [ $OUTPUT_MODE = uavcan_esc ]
-	then
-		set OUTPUT_DEV /dev/uavcan/esc
-	fi
-
-	if mixer load ${OUTPUT_DEV} ${MIXER_FILE}
-	then
-		echo "INFO  [init] Mixer: ${MIXER_FILE} on ${OUTPUT_DEV}"
-
-	else
-		echo "ERROR  [init] Failed loading mixer: ${MIXER_FILE}"
-		tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
-	fi
-
-else
-	if [ $MIXER != skip ]
-	then
-		echo "ERROR  [init] Mixer undefined"
-		tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
-	fi
-fi
-
-if [ $MIXER_AUX != none ]
-then
-	#
-	# Load aux mixer.
-	#
-	if [ -f ${SDCARD_MIXERS_PATH}/${MIXER_AUX}.aux.mix ]
-	then
-		set MIXER_AUX_FILE ${SDCARD_MIXERS_PATH}/${MIXER_AUX}.aux.mix
-	else
-
-		if [ -f /etc/mixers/${MIXER_AUX}.aux.mix ]
-		then
-			set MIXER_AUX_FILE /etc/mixers/${MIXER_AUX}.aux.mix
-		fi
-	fi
-
-	if [ $MIXER_AUX_FILE != none ]
-	then
-		# Append aux mixer to main device.
-		if param greater SYS_HITL 0
-		then
-			if mixer append ${OUTPUT_DEV} ${MIXER_AUX_FILE}
-			then
-				echo "INFO  [init] Mixer: ${MIXER_AUX_FILE} appended to ${OUTPUT_DEV}"
-			else
-				echo "ERROR  [init] Failed appending mixer: ${MIXER_AUX_FILE}"
-			fi
-		fi
-		if [ -e $OUTPUT_AUX_DEV -a $OUTPUT_MODE != hil ]
-		then
-			if mixer load ${OUTPUT_AUX_DEV} ${MIXER_AUX_FILE}
-			then
-				echo "INFO  [init] Mixer: ${MIXER_AUX_FILE} on ${OUTPUT_AUX_DEV}"
-			else
-				echo "ERROR  [init] Failed loading mixer: ${MIXER_AUX_FILE}"
-			fi
-		else
-			echo "INFO  [init] setting PWM_AUX_OUT none"
-			set PWM_AUX_OUT none
-		fi
-
-		# for DShot do not configure pwm values
-		if [ $OUTPUT_CMD != dshot ]
-		then
-			# Set min / max for aux out and rates.
-			if [ $PWM_AUX_OUT != none ]
-			then
-				# Set PWM_AUX output frequency.
-				if [ $PWM_AUX_RATE != none ]
-				then
-					pwm rate -c ${PWM_AUX_OUT} -r ${PWM_AUX_RATE} -d ${OUTPUT_AUX_DEV}
-				fi
-			fi
-		fi
-	fi
-fi
-
-if [ $OUTPUT_MODE = pwm_out -o $OUTPUT_MODE = io ]
-then
-	if [ $PWM_OUT != none -a $PWM_MAIN_RATE != none ]
-	then
-		# Set PWM output frequency.
-		if ! param compare SYS_CTRL_ALLOC 1
-		then
-			pwm rate -c ${PWM_OUT} -r ${PWM_MAIN_RATE}
-		fi
-	fi
-fi
-
-if [ $EXTRA_MIXER_MODE != none ]
-then
-
-	if [ -f ${SDCARD_MIXERS_PATH}/${MIXER_EXTRA}.aux.mix ]
-	then
-		# Use the mixer file from the SD-card if it exists.
-		set MIXER_EXTRA_FILE ${SDCARD_MIXERS_PATH}/${MIXER_EXTRA}.aux.mix
-	else
-		# Try out the old convention, for backward compatibility.
-		if [ -f ${SDCARD_MIXERS_PATH}/${MIXER_EXTRA}.mix ]
-		then
-			set MIXER_EXTRA_FILE ${SDCARD_MIXERS_PATH}/${MIXER_EXTRA}.mix
-		else
-			set MIXER_EXTRA_FILE /etc/mixers/${MIXER_EXTRA}.aux.mix
-		fi
-	fi
-
-
-	if mixer load ${OUTPUT_EXTRA_DEV} ${MIXER_EXTRA_FILE}
-	then
-		echo "INFO  [init] Mixer: ${MIXER_EXTRA_FILE} on ${OUTPUT_EXTRA_DEV}"
-	else
-		echo "ERROR  [init] Failed loading mixer: ${MIXER_EXTRA_FILE}"
-		tune_control play -t 20
-	fi
-
-	if [ $PWM_EXTRA_OUT != none ]
-	then
-		# Set PWM output frequency.
-		if [ $PWM_EXTRA_RATE != none ]
-		then
-			pwm rate -c ${PWM_EXTRA_OUT} -r ${PWM_EXTRA_RATE}
-		fi
-	fi
-fi
-
-unset OUTPUT_CMD
-unset MIXER_AUX_FILE
-unset MIXER_EXTRA_FILE
-
-unset OUTPUT_DEV
-unset OUTPUT_AUX_DEV
-unset OUTPUT_EXTRA_DEV
@@ -48,13 +48,10 @@ fi
 #                        End Estimator Group Selection                        #
 ###############################################################################

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

 #
 # Start Multicopter Rate Controller.
@@ -20,19 +20,4 @@ param set-default NAV_ACC_RAD 2
 param set-default RTL_RETURN_ALT 30
 param set-default RTL_DESCEND_ALT 10

-param set-default PWM_MAIN_MAX 1950
-param set-default PWM_MAIN_MIN 1075
-param set-default PWM_MAIN_RATE 400
-
 param set-default GPS_UBX_DYNMODEL 6
-
-#
-# This is the gimbal pass mixer.
-#
-set MIXER_AUX pass
-
-set MIXER quad_x
-
-set PWM_OUT 1234
-
-set PWM_AUX_OUT 1234
@@ -12,13 +12,10 @@ ekf2 start &
 #attitude_estimator_q start
 #local_position_estimator start

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

 #
 # Start attitude controllers.
@@ -21,22 +21,3 @@ param set-default NAV_LOITER_RAD 2

 # Temporary.
 param set-default NAV_FW_ALT_RAD 1000
-
-#
-# Enable servo output on pins 3 and 4 (steering and thrust)
-# but also include 1+2 as they form together one output group
-# and need to be set together.
-#
-set PWM_OUT 1234
-
-#
-# PWM Hz - 50 Hz is the normal rate in RC cars, higher rates
-# may damage analog servos.
-#
-set PWM_MAIN_RATE 50
-
-#
-# This is the gimbal pass mixer.
-#
-set MIXER_AUX pass
-set PWM_AUX_OUT 1234
@@ -15,13 +15,10 @@ ekf2 start &
 #                        End Estimator Group Selection                        #
 ###############################################################################

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

 #
 # Start UUV Attitude Controller.
@@ -9,24 +9,3 @@ set VEHICLE_TYPE uuv

 # MAV_TYPE_SUBMARINE 12
 param set-default MAV_TYPE 12
-
-param set-default PWM_MAIN_MAX 1950
-param set-default PWM_MAIN_MIN 1050
-param set-default PWM_MAIN_DISARM 1500
-
-#
-# PWM Hz - 50 Hz is the normal rate in RC cars, boats etc,
-# higher rates may damage analog servos.
-#
-set PWM_MAIN_RATE 50
-
-#
-# Enable servo output on pins 1-4
-set PWM_OUT 1234
-
-#
-# This is the gimbal pass mixer.
-#
-set MIXER_AUX pass
-set PWM_AUX_OUT 1234
-set PWM_AUX_RATE 50
@@ -10,14 +10,6 @@
 #
 if [ $VEHICLE_TYPE = fw ]
 then
-	if [ $MIXER = none ]
-	then
-		echo "FW mixer undefined"
-	fi
-
-	# Load mixer and configure outputs.
-	. ${R}etc/init.d/rc.interface
-
 	# Start standard fixedwing apps.
 	. ${R}etc/init.d/rc.fw_apps
 fi
@@ -27,14 +19,6 @@ fi
 #
 if [ $VEHICLE_TYPE = mc ]
 then
-	if [ $MIXER = none ]
-	then
-		echo "MC mixer undefined"
-	fi
-
-	# Load mixer and configure outputs.
-	. ${R}etc/init.d/rc.interface
-
 	# Start standard multicopter apps.
 	. ${R}etc/init.d/rc.mc_apps
 fi
@@ -44,14 +28,6 @@ fi
 #
 if [ $VEHICLE_TYPE = rover ]
 then
-	if [ $MIXER = none ]
-	then
-		echo "rover mixer undefined"
-	fi
-
-	# Load mixer and configure outputs.
-	. ${R}etc/init.d/rc.interface
-
 	# Start standard UGV apps.
 	. ${R}etc/init.d/rc.rover_apps
 fi
@@ -61,14 +37,6 @@ fi
 #
 if [ $VEHICLE_TYPE = vtol ]
 then
-	if [ $MIXER = none ]
-	then
-		echo "VTOL mixer undefined"
-	fi
-
-	# Load mixer and configure outputs.
-	. ${R}etc/init.d/rc.interface
-
 	# Start standard vtol apps.
 	. ${R}etc/init.d/rc.vtol_apps
 fi
@@ -78,14 +46,6 @@ fi
 #
 if [ $VEHICLE_TYPE = airship ]
 then
-	if [ $MIXER = none ]
-	then
-		echo "Airship mixer undefined"
-	fi
-
-	# Load mixer and configure outputs.
-	. ${R}etc/init.d/rc.interface
-
 	# Start airship apps.
 	. ${R}etc/init.d/rc.airship_apps
 fi
@@ -95,14 +55,6 @@ fi
 #
 if [ $VEHICLE_TYPE = uuv ]
 then
-	if [ $MIXER = none ]
-	then
-		echo "UUV mixer undefined"
-	fi
-
-	# Load mixer and configure outputs.
-	. ${R}etc/init.d/rc.interface
-
 	# Start standard vtol apps.
 	. ${R}etc/init.d/rc.uuv_apps
 fi
@@ -15,13 +15,10 @@ ekf2 start &
 #                        End Estimator group selection                        #
 ###############################################################################

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

 airspeed_selector start

@@ -36,9 +36,6 @@ param set-default MC_YAW_P 2
 param set-default MC_YAWRATE_MAX 120
 param set-default MPC_MAN_Y_MAX 90

-param set-default PWM_AUX_RATE 50
-param set-default PWM_MAIN_RATE 400
-
 param set-default RTL_TYPE 1

 param set-default WV_EN 1
@@ -25,29 +25,15 @@ set FCONFIG /fs/microsd/etc/config.txt
 set FEXTRAS /fs/microsd/etc/extras.txt
 set FRC /fs/microsd/etc/rc.txt
 set IOFW "/etc/extras/px4_io-v2_default.bin"
-set IO_PRESENT no
 set LOGGER_ARGS ""
 set LOGGER_BUF 8
-set MIXER skip
-set MIXER_AUX none
-set MIXER_FILE none
-set MIXER_EXTRA none
-set OUTPUT_MODE none
 set PARAM_FILE ""
-set PWM_OUT none
-set PWM_MAIN_RATE p:PWM_MAIN_RATE
-set PWM_AUX_OUT none
-set PWM_AUX_RATE p:PWM_AUX_RATE
-set PWM_EXTRA_OUT none
-set PWM_EXTRA_RATE p:PWM_EXTRA_RATE
-set EXTRA_MIXER_MODE none
+set PARAM_BACKUP_FILE ""
 set RC_INPUT_ARGS ""
 set SDCARD_AVAILABLE no
 set SDCARD_EXT_PATH /fs/microsd/ext_autostart
 set SDCARD_FORMAT no
-set SDCARD_MIXERS_PATH /fs/microsd/etc/mixers
 set STARTUP_TUNE 1
-set USE_IO no
 set VEHICLE_TYPE none

 #
@@ -108,6 +94,7 @@ then
 	fi

 	set PARAM_FILE /fs/microsd/params
+	set PARAM_BACKUP_FILE "/fs/microsd/parameters_backup.bson"
 fi

 #
@@ -147,27 +134,32 @@ else

 		if [ -d "/fs/microsd" ]
 		then
-			dmesg >> /fs/microsd/param_import_fail.txt &
-
 			# try to make a backup copy
-			cp $PARAM_FILE /fs/microsd/param_import_fail.bson &
-		fi
+			cp $PARAM_FILE /fs/microsd/param_import_fail.bson

-		# try importing from backup file
-		if [ -f "/fs/microsd/parameters_backup.bson" ]
-		then
-			echo "[init] importing from parameter backup"
+			# try importing from backup file
+			if [ -f $PARAM_BACKUP_FILE ]
+			then
+				echo "[init] importing from parameter backup"

-			# dump current backup file contents for comparison
-			param dump /fs/microsd/parameters_backup.bson
+				# dump current backup file contents for comparison
+				param dump $PARAM_BACKUP_FILE

-			param import /fs/microsd/parameters_backup.bson
+				param import $PARAM_BACKUP_FILE
+
+				# overwrite invalid $PARAM_FILE with backup
+				cp $PARAM_BACKUP_FILE $PARAM_FILE
+			fi
+
+			param status
+
+			dmesg >> /fs/microsd/param_import_fail.txt &
 		fi
 	fi

 	if [ $SDCARD_AVAILABLE = yes ]
 	then
-		param select-backup /fs/microsd/parameters_backup.bson
+		param select-backup $PARAM_BACKUP_FILE
 	fi

 	if ver hwcmp PX4_FMU_V5X PX4_FMU_V6X
@@ -236,7 +228,7 @@ else
 	# Waypoint storage.
 	# REBOOTWORK this needs to start in parallel.
 	#
-	if param compare SYS_DM_BACKEND 1
+	if param compare -s SYS_DM_BACKEND 1
 	then
 		dataman start -r
 	else
@@ -278,13 +270,8 @@ else
 	if param greater -s UAVCAN_ENABLE 0
 	then
 		# Start core UAVCAN module.
-		if uavcan start
+		if ! uavcan start
 		then
-			if param greater UAVCAN_ENABLE 2
-			then
-				set OUTPUT_MODE uavcan_esc
-			fi
-		else
 			tune_control play error
 		fi
 	else
@@ -295,22 +282,15 @@ else
 	fi

 	#
-	# Check if PX4IO present and update firmware if needed.
-	# Assumption IOFW set to firmware file and IO_PRESENT = no
+	# Start IO for PWM output or RC input if enabled
 	#
-
-	if [ -f $IOFW ]
+	if param compare -s SYS_USE_IO 1
 	then
-		# Check for the mini using build with px4io fw file
-		# but not a px4IO
-		if ver hwtypecmp V5004000 V5006000
+		# Check if PX4IO present and update firmware if needed.
+		if [ -f $IOFW ]
 		then
-			param set SYS_USE_IO 0
-		else
-			if px4io checkcrc ${IOFW}
+			if ! px4io checkcrc ${IOFW}
 			then
-				set IO_PRESENT yes
-			else
 				# tune Program PX4IO
 				tune_control play -t 16 # tune 16 = PROG_PX4IO

@@ -321,7 +301,6 @@ else
 					if px4io checkcrc ${IOFW}
 					then
 						tune_control play -t 17 # tune 17 = PROG_PX4IO_OK
-						set IO_PRESENT yes
 					else
 						tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
 					fi
@@ -330,20 +309,12 @@ else
 				fi
 			fi
 		fi
-	fi

-	#
-	# Set USE_IO flag.
-	#
-	if param compare -s SYS_USE_IO 1
-	then
-		set USE_IO yes
-	fi
-
-	if [ $USE_IO = yes -a $IO_PRESENT = no ]
-	then
-		echo "PX4IO not found"
-		set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
+		if ! px4io start
+		then
+			echo "PX4IO start failed"
+			set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
+		fi
 	fi

 	#
@@ -353,13 +324,38 @@ else
 	rc_update start
 	manual_control start

+	# Start camera trigger, capture and PPS before pwm_out as they might access
+	# pwm pins
+	if param greater -s TRIG_MODE 0
+	then
+		camera_trigger start
+		camera_feedback start
+	fi
+	# PPS capture driver
+	if param greater -s PPS_CAP_ENABLE 0
+	then
+		pps_capture start
+	fi
+	# Camera capture driver
+	if param greater -s CAM_CAP_FBACK 0
+	then
+		if camera_capture start
+		then
+			camera_capture on
+		fi
+	fi
+
 	#
 	# Sensors System (start before Commander so Preflight checks are properly run).
 	# Commander needs to be this early for in-air-restarts.
 	#
 	if param greater SYS_HITL 0
 	then
-		set OUTPUT_MODE hil
+		if ! pwm_out_sim start -m hil
+		then
+			tune_control play error
+		fi
+
 		sensors start -h
 		commander start -h
 		# disable GPS
@@ -369,6 +365,8 @@ else
 		if param compare SYS_HITL 2
 		then
 			simulator_sih start
+			sensor_baro_sim start
+			sensor_mag_sim start
 		fi

 	else
@@ -397,13 +395,14 @@ else

 		sensors start
 		commander start
+
+		dshot start
+		pwm_out start
 	fi

 	#
 	# Configure vehicle type specific parameters.
-	# Note: rc.vehicle_setup is the entry point for rc.interface,
-	#       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
-	#
+	# Note: rc.vehicle_setup is the entry point for all vehicle type specific setup.
 	. ${R}etc/init.d/rc.vehicle_setup

 	# Pre-takeoff continuous magnetometer calibration
@@ -412,12 +411,6 @@ else
 		mag_bias_estimator start
 	fi

-	if param greater -s TRIG_MODE 0
-	then
-		camera_trigger start
-		camera_feedback start
-	fi
-
 	#
 	# Optional board mavlink streams: rc.board_mavlink
 	#
@@ -435,26 +428,8 @@ else
 	#
 	. ${R}etc/init.d/rc.serial

-	if [ $IO_PRESENT = no ]
-	then
-		# Must be started after the serial config is read
-		rc_input start $RC_INPUT_ARGS
-	fi
-
-	# PPS capture driver (before pwm_out)
-	if param greater -s PPS_CAP_ENABLE 0
-	then
-		pps_capture start
-	fi
-
-	# Camera capture driver (before pwm_out)
-	if param greater -s CAM_CAP_FBACK 0
-	then
-		if camera_capture start
-		then
-			camera_capture on
-		fi
-	fi
+	# Must be started after the serial config is read
+	rc_input start $RC_INPUT_ARGS

 	#
 	# Play the startup tune (if not disabled or there is an error)
@@ -505,6 +480,12 @@ else
 		px4flow start -X &
 	fi

+	# Payload deliverer module if gripper is enabled
+	if param compare -s PD_GRIPPER_EN 1
+	then
+		payload_deliverer start
+	fi
+
 	#
 	# Optional board supplied extras: rc.board_extras
 	#
@@ -558,28 +539,16 @@ unset R
 unset FCONFIG
 unset FEXTRAS
 unset FRC
-unset IO_PRESENT
 unset IOFW
 unset LOGGER_ARGS
 unset LOGGER_BUF
-unset MIXER
-unset MIXER_AUX
-unset MIXER_FILE
-unset OUTPUT_MODE
 unset PARAM_FILE
-unset PWM_AUX_OUT
-unset PWM_AUX_RATE
-unset PWM_MAIN_RATE
-unset PWM_OUT
-unset PWM_EXTRA_OUT
-unset PWM_EXTRA_RATE
+unset PARAM_BACKUP_FILE
 unset RC_INPUT_ARGS
 unset SDCARD_AVAILABLE
 unset SDCARD_EXT_PATH
 unset SDCARD_FORMAT
-unset SDCARD_MIXERS_PATH
 unset STARTUP_TUNE
-unset USE_IO
 unset VEHICLE_TYPE

 #
@@ -1,88 +0,0 @@
-# @board px4_fmu-v2 exclude
-Aileron/rudder/elevator/throttle/wheel/flaps mixer for PX4FMU
-=======================================================
-
-This file defines mixers suitable for controlling a fixed wing aircraft with
-aileron, rudder, elevator, throttle and steerable wheel controls using PX4FMU.
-The configuration assumes the aileron servo(s) are connected to PX4FMU servo
-output 0 and 1, the elevator to output 2, the rudder to output 3, the throttle
-to output 4 and the wheel to output 5.
-
-Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps).
-
-Aileron mixer (roll + spoiler)
---------------------------------
-
-This mixer assumes that the aileron servos are set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 2
-S: 0 0  10000  10000      0 -10000  10000
-S: 0 5  10000  10000      0 -10000  10000
-
-M: 2
-S: 0 0  10000  10000      0 -10000  10000
-S: 0 5 -10000 -10000      0 -10000  10000
-
-Elevator mixer
------------
-Two scalers total (output, roll).
-
-This mixer assumes that the elevator servo is set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 1
-S: 0 1  -10000  -10000      0 -10000  10000
-
-Rudder mixer
------------
-Two scalers total (output, yaw).
-
-This mixer assumes that the rudder servo is set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 1
-S: 0 2  10000  10000      0 -10000  10000
-
-Motor speed mixer
-----------------
-Two scalers total (output, thrust).
-
-This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
-range.  Inputs below zero are treated as zero.
-
-M: 1
-S: 0 3      0  20000 -10000 -10000  10000
-
-Wheel mixer
------------
-Two scalers total (output, yaw).
-
-This mixer assumes that the wheel servo is set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 1
-S: 0 2  10000  10000      0 -10000  10000
-
-
-Flaps / gimbal / payload mixer for last three channels,
-using the payload control group
-----------------------------------------------------
-
-M: 1
-S: 0 4  10000  10000      0 -10000  10000
-
-M: 1
-S: 2 0  10000  10000      0 -10000  10000
-
-M: 1
-S: 2 2  10000  10000      0 -10000  10000
@@ -1,77 +0,0 @@
-# @board px4_fmu-v2 exclude
-Aileron/v-tail/throttle/wheel/flaps mixer for PX4FMU
-=======================================================
-
-This file defines mixers suitable for controlling a fixed wing aircraft with
-aileron, v-tail (rudder, elevator), throttle, steerable wheel and flaps
-using PX4FMU.
-The configuration assumes the aileron servos are connected to PX4FMU servo
-output 0 and 1, the tail servos to output 2 and 3, the throttle
-to output 4, the wheel to output 5 and the flaps to output 6 and 7.
-
-Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon).
-
-Aileron mixer (roll + spoiler)
---------------------------------
-
-This mixer assumes that the aileron servos are set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 2
-S: 0 0  10000  10000      0 -10000  10000
-S: 0 5  10000  10000      0 -10000  10000
-
-M: 2
-S: 0 0  10000  10000      0 -10000  10000
-S: 0 5 -10000 -10000      0 -10000  10000
-
-V-tail mixers
-------------
-Three scalers total (output, roll, pitch).
-
-On the assumption that the two tail servos are physically reversed, the pitch
-input is inverted between the two servos.
-
-M: 2
-S: 0 2  -7000  -7000      0 -10000  10000
-S: 0 1  -8000  -8000      0 -10000  10000
-
-M: 2
-S: 0 2  -7000  -7000      0 -10000  10000
-S: 0 1   8000   8000      0 -10000  10000
-
-Motor speed mixer
-----------------
-Two scalers total (output, thrust).
-
-This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
-range.  Inputs below zero are treated as zero.
-
-M: 1
-S: 0 3      0  20000 -10000 -10000  10000
-
-Wheel mixer
------------
-Two scalers total (output, yaw).
-
-This mixer assumes that the wheel servo is set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 1
-S: 0 2 -10000 -10000      0 -10000  10000
-
-Flaps mixer
------------
-Flap servos are physically reversed.
-
-M: 1
-S: 0 4      0   5000 -10000 -10000  10000
-
-M: 1
-S: 0 4      0  -5000  10000 -10000  10000
-
@@ -1,71 +0,0 @@
-# @board px4_fmu-v2 exclude
-Aileron/v-tail/throttle/wheel/flaps mixer for PX4FMU
-=======================================================
-
-This file defines mixers suitable for controlling a fixed wing aircraft with
-aileron, v-tail (rudder, elevator), throttle, steerable wheel and flaps
-using PX4FMU.
-The configuration assumes the aileron servos are connected to PX4FMU servo
-output 0 and 1, the tail servos to output 2 and 3, the throttle
-to output 4, the wheel to output 5 and the flaps to output 6 and 7.
-
-Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch), 2 (yaw), 3 (thrust) 4 (flaps), 5 (spoiler).
-
-Aileron mixer (roll + spoiler)
---------------------------------
-
-This mixer assumes that the aileron servos are set up mechanically reversed.
-
-M: 2
-S: 0 0 -10000 -10000      0 -10000  10000
-S: 0 5  10000  10000      0 -10000  10000
-
-M: 2
-S: 0 0 -10000 -10000      0 -10000  10000
-S: 0 5 -10000 -10000      0 -10000  10000
-
-V-tail mixers
-------------
-Three scalers total (output, roll, pitch).
-
-M: 2
-S: 0 2   7000   7000      0 -10000  10000
-S: 0 1  -8000  -8000      0 -10000  10000
-
-M: 2
-S: 0 2   7000   7000      0 -10000  10000
-S: 0 1   8000   8000      0 -10000  10000
-
-Motor speed mixer
-----------------
-Two scalers total (output, thrust).
-
-This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
-range.  Inputs below zero are treated as zero.
-
-M: 1
-S: 0 3      0  20000 -10000 -10000  10000
-
-Wheel mixer
------------
-Two scalers total (output, yaw).
-
-This mixer assumes that the wheel servo is set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 1
-S: 0 2 -10000 -10000      0 -10000  10000
-
-Flaps mixer
------------
-Flap servos are physically reversed.
-
-M: 1
-S: 0 4      0   5000 -10000 -10000  10000
-
-M: 1
-S: 0 4      0  -5000  10000 -10000  10000
-
@@ -1,77 +0,0 @@
-# @board px4_fmu-v2 exclude
-Aileron/rudder/elevator/throttle mixer for PX4FMU
-==================================================
-
-This file defines mixers suitable for controlling a fixed wing aircraft with
-aileron, rudder, elevator and throttle controls using PX4FMU. The configuration
-assumes the aileron servo(s) are connected to PX4FMU servo output 0, the
-elevator to output 1, the rudder to output 2 and the throttle to output 3.
-
-Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch) and 3 (thrust).
-
-CH1: Aileron mixer
-------------
-Two scalers total (output, roll).
-
-This mixer assumes that the aileron servos are set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-As there is only one output, if using two servos adjustments to compensate for
-differences between the servos must be made mechanically.  To obtain the correct
-motion using a Y  cable, the servos can be positioned reversed from one another.
-
-M: 1
-S: 0 0  10000  10000      0 -10000  10000
-
-CH2: Elevator mixer
------------
-Two scalers total (output, roll).
-
-This mixer assumes that the elevator servo is set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 1
-S: 0 1  -10000  -10000      0 -10000  10000
-
-CH3: Rudder mixer
------------
-Two scalers total (output, yaw).
-
-This mixer assumes that the rudder servo is set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 1
-S: 0 2  10000  10000      0 -10000  10000
-
-CH4: Motor speed mixer
-----------------
-Two scalers total (output, thrust).
-
-This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
-range.  Inputs below zero are treated as zero.
-
-M: 1
-S: 0 3      0  20000 -10000 -10000  10000
-
-CH5: Flaps mixer
------------
-Flaps are controlled automatically in position control and auto
-but can also be controlled manually
-
-M: 1
-O: 5000 10000 0 -10000 10000
-S: 0 4 10000 10000 0 -10000 10000
-
-Ch6: Landing gear mixer
------------
-By default pass-through of gear switch
-
-M: 1
-S: 3 5 10000 10000 0 -10000 10000
@@ -1,77 +0,0 @@
-# @board px4_fmu-v2 exclude
-Aileron/Elevator/Throttle/Rudder/Gear/Flaps mixer
-==================================================
-
-This file defines mixers suitable for controlling a fixed wing aircraft with
-aileron, rudder, elevator, throttle, gear, flaps controls. The configuration
-assumes the aileron servo(s) are connected to output 0, the elevator to
-output 1, the throttle to output 2 and the rudder to output 3.
-
-Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch), 2 (thrust), 3 (yaw), 4 (flaps), 7 (landing gear)
-
-CH1: Aileron mixer
-------------
-Two scalers total (output, roll).
-
-This mixer assumes that the aileron servos are set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-As there is only one output, if using two servos adjustments to compensate for
-differences between the servos must be made mechanically.  To obtain the correct
-motion using a Y  cable, the servos can be positioned reversed from one another.
-
-M: 1
-S: 0 0   10000   10000      0  -10000  10000
-
-CH2: Elevator mixer
------------
-Two scalers total (output, roll).
-
-This mixer assumes that the elevator servo is set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 1
-S: 0 1  -10000  -10000      0  -10000  10000
-
-CH3: Motor speed mixer
-----------------
-Two scalers total (output, thrust).
-
-This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
-range.  Inputs below zero are treated as zero.
-
-M: 1
-S: 0 3       0  20000  -10000  -10000  10000
-
-CH4: Rudder mixer
------------
-Two scalers total (output, yaw).
-
-This mixer assumes that the rudder servo is set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 1
-S: 0 2   10000  10000       0  -10000  10000
-
-CH5: Flaps mixer
------------
-Flaps are controlled automatically in position control and auto
-but can also be controlled manually
-
-M: 1
-O:        5000  10000       0  -10000  10000
-S: 0 4   10000  10000       0  -10000  10000
-
-CH6: Landing gear mixer
------------
-By default pass-through of gear switch
-
-M: 1
-S: 3 5    10000 10000       0  -10000  10000
@@ -1,49 +0,0 @@
-# @board px4_fmu-v2 exclude
-Helicopter 120 degree Cyclic-Collective-Pitch Mixing (CCPM) for PX4FMU
-==================================================
-
-
-Output 0 - Rear Servo Mixer
----------------
-
-Rear Servo = Collective (Thrust - 3) + Elevator (Pitch - 1)
-
-M: 2
-S: 0 3  10000  10000      0 -10000  10000
-S: 0 1  10000  10000      0 -10000  10000
-
-
-Output 1 - Left Servo Mixer
-----------------
-Left Servo = Collective (Thurst - 3) - 0.5 * Elevator (Pitch - 1) + 0.866 * Aileron (Roll - 0)
-
-M: 3
-S: 0 3  -10000  -10000      0 -10000  10000
-S: 0 1   -5000   -5000      0 -10000  10000
-S: 0 0    8660    8660      0 -10000  10000
-
-
-Output 2 - Right Servo Mixer
----------------
-Right Servo = Collective (Thurst - 3) - 0.5 * Elevator (Pitch - 1) - 0.866 * Aileron (Roll - 0)
-
-
-M: 3
-S: 0 3  -10000  -10000      0 -10000  10000
-S: 0 1   -5000   -5000      0 -10000  10000
-S: 0 0   -8660   -8660      0 -10000  10000
-
-Output 3 - Tail Servo Mixer
----------------
-Tail Servo = Yaw (control index = 2)
-
-M: 1
-S: 0 2  10000  10000      0 -10000  10000
-
-
-Output 4 - Motor speed mixer
-----------------
-This would be the motor speed control output from governor power demand- not sure what index to use here?
-
-M: 1
-S: 0 4      0  20000 -10000 -10000  10000
@@ -1,80 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2018 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-px4_add_romfs_files(
-	AAERTWF.main.mix
-	AAVVTWFF.main.mix
-	AAVVTWFF_vtail.main.mix
-	AERT.main.mix
-	AETRFG.main.mix
-	CCPM.main.mix
-	cloudship.main.mix
-	coax.main.mix
-	dodeca_bottom_cox.aux.mix
-	dodeca_top_cox.main.mix
-	fw_generic_wing.main.mix
-	generic_diff_rover.main.mix
-	hexa_cox.main.mix
-	hexa_+.main.mix
-	hexa_x.main.mix
-	IO_pass.main.mix
-	mount.aux.mix
-	mount_legs.aux.mix
-	octo_cox.main.mix
-	octo_cox_w.main.mix
-	octo_+.main.mix
-	octo_x.main.mix
-	pass.aux.mix
-	quad_dc.main.mix
-	quad_h.main.mix
-	quad_+.main.mix
-	quad_+_vtol.main.mix
-	quad_w.main.mix
-	quad_x_cw.main.mix
-	quad_x.main.mix
-	quad_x_vtol.main.mix
-	quad_x_vtol_AAERT.main.mix
-	rover_diff_and_servo.main.mix
-	rover_generic.main.mix
-	standard_vtol_hitl.main.mix
-	tilt_quad.aux.mix
-	tilt_quad.main.mix
-	tri_y_yaw+.main.mix
-	tri_y_yaw-.main.mix
-	vtol_AAERT.aux.mix
-	vtol_AAVVT.aux.mix
-	vtol_TTTTAAER.aux.mix
-	vtol_delta.aux.mix
-	vtol_tailsitter_duo.main.mix
-	vtol_tailsitter_duo_sat.main.mix
-)
@@ -1,31 +0,0 @@
-# @board px4_fmu-v2 exclude
-Passthrough mixer for PX4IO
-============================
-
-This file defines passthrough mixers suitable for testing.
-
-Channel group 0, channels 0-7 are passed directly through to the outputs.
-
-M: 1
-S: 0 0  10000  10000      0 -10000  10000
-
-M: 1
-S: 0 1  10000  10000      0 -10000  10000
-
-M: 1
-S: 0 2  10000  10000      0 -10000  10000
-
-M: 1
-S: 0 3  10000  10000      0 -10000  10000
-
-M: 1
-S: 0 4  10000  10000      0 -10000  10000
-
-M: 1
-S: 0 5  10000  10000      0 -10000  10000
-
-M: 1
-S: 0 6  10000  10000      0 -10000  10000
-
-M: 1
-S: 0 7  10000  10000      0 -10000  10000
@@ -1,49 +0,0 @@
-Thrust tilt/ Starboard Thrust / Port Thrust / Tail Thrust mixer for PX4FMU
-=======================================================
-
-# @board px4_fmu-v2 exclude
-
-This file defines mixers suitable for controlling an airship with
-a thrust tilt, starboard and port thruster and a tail thruster using PX4FMU.
-The configuration assumes the starboard thruster is connected to PX4FMU
-output 1, port thruster to output 2, tilt servo to output 3, and the
-tail thruster to output 4.
-
-Inputs to the mixer come from channel group 0 (vehicle attitude),
-channels 0 (roll), 1 (pitch), 2 (yaw) and 3 (thrust).
-
-Starboard and port thruster mixer
-----------------
-Two scalers total (output, thrust).
-
-By default mixer output is normalized. The input is in the (0 - 1) range.
-
-M: 1
-S: 0 3      0  20000 -10000 -10000  10000
-
-M: 1
-S: 0 3      0  20000 -10000 -10000  10000
-
-Servo controlling tilt mixer
------------
-Two scalers total (output, tilt angle).
-
-This mixer assumes that the tilt servo is set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 1
-S: 0 1  10000  10000      0 -10000  10000
-
-Tail thruster mixer
------------
-Two scalers total (output, yaw).
-
-This mixer assumes that the tail thruster is set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the motor movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 1
-S: 0 2  10000  10000   0      -10000  10000
@@ -1,30 +0,0 @@
-# @board px4_fmu-v2 exclude
-Coaxial helicopter mixer
- Two servomotors act on the swashplate (90 degree angle on the swashplate, decoupled effect on roll and pitch).
- No collective pitch.
- One motor per rotor.
-===========================
-
-Left swashplate servomotor, pitch axis
-------------
-M: 1
-S: 0 1  -10000  -10000      0 -10000  10000
-
-Right swashplate servomotor, roll axis
-------------
-M: 1
-S: 0 0  10000  10000      0 -10000  10000
-
-Upper rotor (CCW)
-Mixing between yaw and thrust
-------------
-M: 2
-S: 0 2  10000  10000      0 -10000  10000
-S: 0 3      0  20000 -10000 -10000  10000
-
-Lower rotor (CW)
-Mixing between yaw and thrust
-------------
-M: 2
-S: 0 2  -10000  -10000      0 -10000  10000
-S: 0 3      0  20000 -10000 -10000  10000
@@ -1,4 +0,0 @@
-# Dodeca Cox
-# @board px4_fmu-v2 exclude
-
-R: 6a
@@ -1,4 +0,0 @@
-# Dodeca Cox
-# @board px4_fmu-v2 exclude
-
-R: 6m
@@ -1,47 +0,0 @@
-# @board px4_fmu-v2 exclude
-Generic wing mixer
-===========================
-
-This file defines mixers suitable for controlling a delta wing aircraft.
-The configuration assumes the elevon servos are connected to servo
-outputs 0 and 1 and the motor speed control to output 3. Output 2 is
-assumed to be unused.
-
-Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch) and 3 (thrust).
-
-See the README for more information on the scaler format.
-
-Elevon mixers
-------------
-Three scalers total (output, roll, pitch).
-
-On the assumption that the two elevon servos are physically reversed, the pitch
-input is inverted between the two servos.
-
-The scaling factor for roll inputs is adjusted to implement differential travel
-for the elevons.
-
-M: 2
-S: 0 0  -8000  -8000      0 -10000  10000
-S: 0 1   6000   6000      0 -10000  10000
-
-M: 2
-S: 0 0  -8000  -8000      0 -10000  10000
-S: 0 1  -6000  -6000      0 -10000  10000
-
-Output 2
--------
-This mixer is empty.
-
-Z:
-
-Motor speed mixer
-----------------
-Two scalers total (output, thrust).
-
-This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
-range.  Inputs below zero are treated as zero.
-
-M: 1
-S: 0 3      0  20000 -10000 -10000  10000
@@ -1,26 +0,0 @@
-# @board px4_fmu-v2 exclude
-Generic differential-drive rover
-===========================
-
-This mixer is suitable for controlling any differential-drive rover. That is,
-a rover where the left wheels and right wheels are driven independently,
-allowing turning in place. It outputs to channels 0 (left wheels) and
-1 (right wheels)
-
-Inputs to the mixer come from channel group 0 (vehicle attitude), channels 2 (yaw), and 3 (thrust).
-
-See the README for more information on the scaler format.
-
-
-Throttle of left wheels of rover on Output 0
---------------------------------------
-M: 2
-S: 0 2    10000   10000      0  -10000  10000
-S: 0 3    10000   10000      0  -10000  10000
-
-
-Throttle of right wheels of rover on Output 1
---------------------------------------
-M: 2
-S: 0 2   -10000  -10000      0  -10000  10000
-S: 0 3    10000   10000      0  -10000  10000
@@ -1,4 +0,0 @@
-# @board px4_fmu-v2 exclude
-# Hexa +
-
-R: 6+
@@ -1,4 +0,0 @@
-# @board px4_fmu-v2 exclude
-# Hexa coaxial
-
-R: 6c
@@ -1,5 +0,0 @@
-# @board px4_fmu-v2 exclude
-# Hexa X
-
-R: 6x
-
@@ -1,20 +0,0 @@
-# @board px4_fmu-v2 exclude
-# Mount Mixer (e.g. Gimbal, servo-controlled gimbal, etc...)
-
-
-# pitch
-M: 1
-S: 2 1  10000  10000      0 -10000  10000
-
-# roll
-M: 1
-S: 2 0  10000  10000      0 -10000  10000
-
-# yaw
-M: 1
-S: 2 2  10000  10000      0 -10000  10000
-
-# Shutter/retract
-M: 1
-S: 2 3  10000  10000      0 -10000  10000
-
@@ -1,23 +0,0 @@
-# @board px4_fmu-v2 exclude
-
-# Roll channel for mount
-M: 1
-S: 2 0  10000  10000      0 -10000  10000
-
-# Pitch channel for mount
-M: 1
-S: 2 1  10000  10000      0 -10000  10000
-
-# Yaw channel for mount
-M: 1
-S: 2 2  10000  10000      0 -10000  10000
-
-
-# mixer for left leg
-M: 1
-S: 0 7      0  20000 -10000 -10000  10000
-
-# mixer for right leg
-M: 1
-S: 0 7      0  20000 -10000 -10000  10000
-
@@ -1,4 +0,0 @@
-# @board px4_fmu-v2 exclude
-# Octo +
-
-R: 8+
@@ -1,4 +0,0 @@
-# @board px4_fmu-v2 exclude
-# Octo coaxial
-
-R: 8c
@@ -1,4 +0,0 @@
-# Octo coaxial with wide arms
-# @board px4_fmu-v2 exclude
-
-R: 8cw
@@ -1,4 +0,0 @@
-# @board px4_fmu-v2 exclude
-# Octo X
-
-R: 8x
@@ -1,18 +0,0 @@
-# @board px4_fmu-v2 exclude
-# Manual pass through mixer for servo outputs 1-4
-
-# AUX1 channel (select RC channel with RC_MAP_AUX1 param)
-M: 1
-S: 3 5  10000  10000      0 -10000  10000
-
-# AUX2 channel (select RC channel with RC_MAP_AUX2 param)
-M: 1
-S: 3 6  10000  10000      0 -10000  10000
-
-# AUX3 channel (select RC channel with RC_MAP_AUX3 param)
-M: 1
-S: 3 7  10000  10000      0 -10000  10000
-
-# FLAPS channel (select RC channel with RC_MAP_FLAPS param)
-M: 1
-S: 3 4  10000  10000      0 -10000  10000
@@ -1,17 +0,0 @@
-# @board px4_fmu-v2 exclude
-Multirotor mixer for PX4FMU
-===========================
-
-This file defines a single mixer for a quadrotor in the + configuration. All controls
-are mixed 100%.
-
-R: 4+
-
-Gimbal / payload mixer for last two channels
-----------------------------------------------------
-
-M: 1
-S: 3 5  10000  10000      0 -10000  10000
-
-M: 1
-S: 3 6  10000  10000      0 -10000  10000
@@ -1,25 +0,0 @@
-# @board px4_fmu-v2 exclude
-Mixer for Tailsitter with + motor configuration and elevons
-===========================================================
-
-This file defines a single mixer for tailsitter with motors in X configuration.  All controls
-are mixed 100%.
-
-R: 4+
-
-# mixer for the elevons
-M: 2
-S: 1 0  10000  10000      0 -10000  10000
-S: 1 1  10000  10000      0 -10000  10000
-
-M: 2
-S: 1 0   10000   10000    0 -10000  10000
-S: 1 1  -10000  -10000    0 -10000  10000
-
-# mixer for canard surface
-M: 1
-S: 1 1  -10000  -10000    0 -10000  10000
-
-# mixer for rudder
-M: 1
-S: 1 2  -10000  -10000    0 -10000  10000
@@ -1,7 +0,0 @@
-# @board px4_fmu-v2 exclude
-Multirotor mixer
-===========================
-
-This file defines a single mixer for a quadrotor in DC wide arms configuration.  All controls are mixed 100%.
-
-R: 4dc
@@ -1,17 +0,0 @@
-# @board px4_fmu-v2 exclude
-Multirotor mixer for PX4FMU
-===========================
-
-This file defines a single mixer for a quadrotor in the H configuration.  All controls
-are mixed 100%.
-
-R: 4h
-
-Gimbal / payload mixer for last two channels
-----------------------------------------------------
-
-M: 1
-S: 3 5  10000  10000      0 -10000  10000
-
-M: 1
-S: 3 6  10000  10000      0 -10000  10000
@@ -1,16 +0,0 @@
-# @board px4_fmu-v2 exclude
-Multirotor mixer for PX4FMU
-===========================
-
-This file defines a single mixer for a quadrotor with a wide configuration.  All controls are mixed 100%.
-
-R: 4w
-
-Gimbal / payload mixer for last two channels
-----------------------------------------------------
-
-M: 1
-S: 3 5  10000  10000      0 -10000  10000
-
-M: 1
-S: 3 6  10000  10000      0 -10000  10000
@@ -1,17 +0,0 @@
-# @board px4_fmu-v2 exclude
-R: 4x
-
-AUX1 Passthrough
-M: 1
-S: 3 5  10000  10000      0 -10000  10000
-
-AUX2 Passthrough
-M: 1
-S: 3 6  10000  10000      0 -10000  10000
-
-Failsafe outputs
-The following outputs are set to their disarmed value
-during normal operation and to their failsafe falue in case
-of flight termination.
-Z:
-Z:
@@ -1,4 +0,0 @@
-# @board px4_fmu-v2 exclude
-# Quad X with clock-wise motor assigment
-
-R: 4xcw
@@ -1,19 +0,0 @@
-Mixer for Tailsitter with x motor configuration and elevons
-===========================================================
-# @board px4_fmu-v2 exclude
-# @board omnibus_f4sd exclude
-
-This file defines a single mixer for tailsitter with motors in X configuration.  All controls
-are mixed 100%.
-
-R: 4x
-
-# left elevon
-M: 2
-S: 1 0 -5000 -5000      0 -10000  10000
-S: 1 1  5000  5000      0 -10000  10000
-
-# right elevon
-M: 2
-S: 1 0  -5000  -5000    0 -10000  10000
-S: 1 1  -5000  -5000    0 -10000  10000
--- a/Show More
+++ b/Show More