setup: pass through Ubuntu setup script

- Add usage function - Add support for Ubuntu 22.04 - Update arm-none-eabi-gcc to version 10.3 - Remove jMAVSim / Java stuff - Remove FastRTPS / Java stuff - Fix some typos - Add Gazebo Ignition - Disable Gazebo for Ubuntu 18.04 - Fix some shellcheck issues - Cleanup apt caches in docker
ubuntu.sh: updated dependencies and output
2026-05-26 20:30:05 +08:00 · 2022-09-09 14:38:33 +12:00 · 2022-09-09 13:27:34 +12:00 · 2022-09-08 20:54:19 -04:00 · 2022-09-08 20:54:19 -04:00 · 2022-09-08 20:54:19 -04:00
175 changed files with 3368 additions and 18890 deletions
@@ -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:
    - '*'
@@ -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:
    - '*'
@@ -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-
@@ -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/')
@@ -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
-
@@ -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
@@ -79,7 +79,6 @@ px4_add_romfs_files(
 	17002_tf-g2
 	2507_cloudship

-	6001_x4
 	6011_typhoon_h480
 	6011_typhoon_h480.post
 )
@@ -20,7 +20,10 @@ elif [ "$PX4_SIMULATOR" = "ignition" ]; then
 		. ../gazebo_env.sh
 	fi

-	if ! ign service --info --service /world/${PX4_SIM_WORLD}/create | grep "ignition.msgs.EntityFactory"; then
+	ign_world=$( ign topic -l | grep -m 1 -e "/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
+
+	if [ -z $ign_world ]; then
+
 		# starting ign gazebo with ${PX4_SIM_WORLD} world
 		echo "INFO  [init] starting ign gazebo"

@@ -31,16 +34,37 @@ elif [ "$PX4_SIMULATOR" = "ignition" ]; then
 			ign gazebo --verbose=1 -r -s "${PX4_IGN_GAZEBO_WORLDS}/${PX4_SIM_WORLD}.sdf" &
 		fi
 	else
-		echo "INFO  [init] ign gazebo already running"
+		echo "INFO  [init] ign gazebo already running world: $ign_world"
+		PX4_SIM_WORLD=$ign_world
 	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
+	if [ -z $PX4_IGN_MODEL_POSE ]; then
+		# start ignition bridge without pose arg.
+		echo "WARN  [init] PX4_IGN_MODEL_POSE not set, spawning at origin."
+		if simulator_ignition_bridge start -m "${PX4_SIM_MODEL}" -w "${PX4_SIM_WORLD}"; then
+			sensor_baro_sim start
+			sensor_gps_sim start
+			sensor_mag_sim start
+		else
+			echo "ERROR  [init] ign gazebo failed to start"
+			exit 1
+		fi
 	else
-		echo "ERROR  [init] ign gazebo failed to start"
-		exit 1
+
+		# Clean potential input line formatting.
+		model_pose="$( echo ${PX4_IGN_MODEL_POSE} | sed -e 's/^[ \t]*//; s/[ \t]*$//; s/,/ /g; s/  / /g; s/ /,/g' )"
+		echo "INFO  [init] PX4_IGN_MODEL_POSE set, spawning at: ${model_pose}"
+
+		# start ignition bridge with pose arg.
+		if simulator_ignition_bridge start -p "${model_pose}"  -m "${PX4_SIM_MODEL}" -w "${PX4_SIM_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
+
 	fi

 else
@@ -262,6 +262,12 @@ 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

@@ -41,6 +41,7 @@ px4_add_romfs_files(
 	rc.boat_defaults
 	rc.fw_apps
 	rc.fw_defaults
+	rc.heli_defaults
 	rc.interface
 	rc.logging
 	rc.mc_apps
@@ -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

@@ -60,7 +60,6 @@ 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
@@ -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
@@ -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
@@ -505,6 +505,12 @@ 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
 	#
@@ -47,6 +47,8 @@ fi

 # Python dependencies
 echo "Installing PX4 Python3 dependencies"
+# We need to have future to install pymavlink later.
+python3 -m pip install future
 python3 -m pip install --user -r ${DIR}/requirements.txt

 # Optional, but recommended additional simulation tools:
@@ -2,20 +2,29 @@

 set -e

-## Bash script to setup PX4 development environment on Ubuntu LTS (20.04, 18.04, 16.04).
-## Can also be used in docker.
-##
-## Installs:
-## - Common dependencies and tools for nuttx, jMAVSim, Gazebo
-## - NuttX toolchain (omit with arg: --no-nuttx)
-## - jMAVSim and Gazebo9 simulator (omit with arg: --no-sim-tools)
-##
-## Not Installs:
-## - FastRTPS and FastCDR
+usage() {
+	echo "
+Bash script to set up the PX4 development environment on Ubuntu LTS versions
+- 22.04
+- 20.04
+- 18.04 (without simulation support)
+
+The script can be used directly or inside docker
+(use --from-docker when running inside docker).
+
+Installs:
+- Build dependencies
+- NuttX toolchain (omit with arg: --no-nuttx)
+- Gazebo Classic (omit with arg: --no-gazebo-classic)
+- Gazebo Ignition (omit with arg: --no-gazebo-ignition)
+"
+}

 INSTALL_NUTTX="true"
-INSTALL_SIM="true"
-INSTALL_ARCH=`uname -m`
+INSTALL_GAZEBO_CLASSIC="true"
+INSTALL_GAZEBO_IGNITION="true"
+INSTALL_ARCH=$(uname -m)
+INSIDE_DOCKER="false"

 # Parse arguments
 for arg in "$@"
@@ -24,38 +33,38 @@ do
 		INSTALL_NUTTX="false"
 	fi

-	if [[ $arg == "--no-sim-tools" ]]; then
-		INSTALL_SIM="false"
+	if [[ $arg == "--no-gazebo-classic" ]]; then
+		INSTALL_GAZEBO_CLASSIC="false"
+	fi
+
+	if [[ $arg == "--no-gazebo-ignition" ]]; then
+		INSTALL_GAZEBO_IGNITION="false"
+	fi
+
+	if [[ $arg == "--from-docker" ]]; then
+		INSIDE_DOCKER="true"
+	fi
+
+	if [[ $arg == "--help" ]]; then
+		usage
+		exit 0
 	fi

 done

-# detect if running in docker
-if [ -f /.dockerenv ]; then
-	echo "Running within docker, installing initial dependencies";
-	apt-get --quiet -y update && DEBIAN_FRONTEND=noninteractive apt-get --quiet -y install \
-		ca-certificates \
-		gnupg \
-		lsb-core \
-		sudo \
-		wget \
-		;
-fi
-
-# script directory
+# Script directory
 DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )

-# check requirements.txt exists (script not run in source tree)
+# Check requirements.txt exists (script not run in source tree)
 REQUIREMENTS_FILE="requirements.txt"
 if [[ ! -f "${DIR}/${REQUIREMENTS_FILE}" ]]; then
-	echo "FAILED: ${REQUIREMENTS_FILE} needed in same directory as ubuntu.sh (${DIR})."
-	return 1
+	echo "Failed: ${REQUIREMENTS_FILE} needed in same directory as ubuntu.sh (${DIR})."
+	exit 1
 fi


-# check ubuntu version
-# otherwise warn and point to docker?
-UBUNTU_RELEASE="`lsb_release -rs`"
+# Check ubuntu version
+UBUNTU_RELEASE=$(lsb_release -rs)

 if [[ "${UBUNTU_RELEASE}" == "14.04" ]]; then
 	echo "Ubuntu 14.04 is no longer supported"
@@ -65,24 +74,43 @@ elif [[ "${UBUNTU_RELEASE}" == "16.04" ]]; then
 	exit 1
 elif [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
 	echo "Ubuntu 18.04"
+	echo "Gazebo Classic and Gazebo Ignition omitted"
+	INSTALL_GAZEBO_IGNITION="false"
+	INSTALL_GAZEBO_CLASSIC="false"
 elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
 	echo "Ubuntu 20.04"
+elif [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
+	echo "Ubuntu 22.04"
 fi

+VERBOSE_BAR="================================================================================"
+echo
+echo $VERBOSE_BAR
+echo "⚡️ Starting PX4 Dependency Installer for Ubuntu ${UBUNTU_RELEASE} (${INSTALL_ARCH})"
+echo ""
+echo "Options:
+- Install NuttX toolchain: ${INSTALL_NUTTX}
+- Install Gazebo Classic:  ${INSTALL_GAZEBO_CLASSIC}
+- Install Gazebo Ignition: ${INSTALL_GAZEBO_IGNITION}"
+echo $VERBOSE_BAR
+echo

 echo
-echo "Installing PX4 general dependencies"
+echo $VERBOSE_BAR
+echo "🍻 Installing System Dependencies"
+echo $VERBOSE_BAR
+echo

 sudo apt-get update -y --quiet
 sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
-	astyle \
 	build-essential \
-	cmake \
-	cppcheck \
-	file \
 	g++ \
 	gcc \
 	gdb \
+	astyle \
+	cmake \
+	cppcheck \
+	file \
 	git \
 	lcov \
 	libxml2-dev \
@@ -98,34 +126,32 @@ sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends i
 	shellcheck \
 	unzip \
 	zip \
+	libssl-dev \
 	;

-# Python3 dependencies
+# Python 3 dependencies
 echo
-echo "Installing PX4 Python3 dependencies"
-if [ -n "$VIRTUAL_ENV" ]; then
-	# virtual environments don't allow --user option
-	python -m pip install -r ${DIR}/requirements.txt
-else
-	# older versions of Ubuntu require --user option
-	python3 -m pip install --user -r ${DIR}/requirements.txt
-fi
+echo $VERBOSE_BAR
+echo "🍻 Installing Python dependencies"
+echo $VERBOSE_BAR
+echo
+
+python3 -m pip install -r "$DIR"/requirements.txt

 # NuttX toolchain (arm-none-eabi-gcc)
 if [[ $INSTALL_NUTTX == "true" ]]; then

 	echo
-	echo "Installing NuttX dependencies"
+	echo $VERBOSE_BAR
+	echo "🍻 Installing NuttX dependencies"
+	echo $VERBOSE_BAR
+	echo

 	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 		automake \
 		binutils-dev \
 		bison \
-		build-essential \
 		flex \
-		g++-multilib \
-		gcc-multilib \
-		gdb-multiarch \
 		genromfs \
 		gettext \
 		gperf \
@@ -144,99 +170,108 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 		texinfo \
 		u-boot-tools \
 		util-linux \
-		vim-common \
+		g++-arm-linux-gnueabihf \
+		gcc-arm-linux-gnueabihf \
+		g++-aarch64-linux-gnu \
+		gcc-aarch64-linux-gnu \
 		;
-	if [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
+
+	if [[ "${UBUNTU_RELEASE}" == "20.04" ]] || [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
 		sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 		kconfig-frontends \
 		;
 	fi

-
 	if [ -n "$USER" ]; then
-		# add user to dialout group (serial port access)
-		sudo usermod -a -G dialout $USER
+		# Add user to dialout group (serial port access)
+		sudo usermod -a -G dialout "$USER"
 	fi

-	# arm-none-eabi-gcc
-	NUTTX_GCC_VERSION="9-2020-q2-update"
-	NUTTX_GCC_VERSION_SHORT="9-2020q2"
+	NUTTX_GCC_VERSION="10.3-2021.10"
+	echo
+	echo $VERBOSE_BAR
+	echo "🍻 Verifying arm-none-eabi-gcc version (${NUTTX_GCC_VERSION}), and installing if not found"
+	echo

-	source $HOME/.profile # load changed path for the case the script is reran before relogin
-	if [ $(which arm-none-eabi-gcc) ]; then
+	source "$HOME/.profile" # load changed path for the case the script is reran before relogin
+	if [ "$(which arm-none-eabi-gcc)" ]; then
 		GCC_VER_STR=$(arm-none-eabi-gcc --version)
-		GCC_FOUND_VER=$(echo $GCC_VER_STR | grep -c "${NUTTX_GCC_VERSION}")
 	fi

-	if [[ "$GCC_FOUND_VER" == "1" ]]; then
-		echo "arm-none-eabi-gcc-${NUTTX_GCC_VERSION} found, skipping installation"
+	if [[ $(echo "$GCC_VER_STR" | grep -c "${NUTTX_GCC_VERSION}") == "1" ]]; then
+		echo "📌 Skipping installation, the arm cross compiler was found"
+		echo $VERBOSE_BAR
+		echo

 	else
-		echo "Installing arm-none-eabi-gcc-${NUTTX_GCC_VERSION}";
-		wget -O /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 https://armkeil.blob.core.windows.net/developer/Files/downloads/gnu-rm/${NUTTX_GCC_VERSION_SHORT}/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-${INSTALL_ARCH}-linux.tar.bz2 && \
-			sudo tar -jxf /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 -C /opt/;
+		echo "📌 The arm cross compiler was not found";
+		echo " * Installing arm-none-eabi-gcc-${NUTTX_GCC_VERSION}";
+		# The arm cross compiler hosting provider is known to throttle download speeds
+		# for users who reach a certain limit of downloads in a given time frame
+		# for this reason we allow for using a previously downloaded file
+		# this is specially helpful when debugging this installer script
+		# from within a container COMPILER_PATH="/tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2"
+		COMPILER_NAME="gcc-arm-none-eabi-${NUTTX_GCC_VERSION}"
+		COMPILER_PATH="/tmp/$COMPILER_NAME-linux.tar.bz2"
+		if [ ! -f "$COMPILER_PATH" ]; then
+		wget -O "/tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 https://developer.arm.com/-/media/Files/downloads/gnu-rm/${NUTTX_GCC_VERSION}/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-${INSTALL_ARCH}-linux.tar.bz2"
+		fi
+		sudo tar -jxf $COMPILER_PATH -C /opt/;

 		# add arm-none-eabi-gcc to user's PATH
-		exportline="export PATH=/opt/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}/bin:\$PATH"
-
-		if grep -Fxq "$exportline" $HOME/.profile; then
+		exportline="export PATH=\"/opt/${COMPILER_NAME}/bin:\$PATH\""
+		if [[ $INSIDE_DOCKER == "true" ]]; then
+			# when running on a docker container its best to set the environment globally
+			# since we don't know which user is going to be running commands on the container
+			touch /etc/profile.d/px4env.sh
+			echo "$exportline" >> /etc/profile.d/px4env.sh
+		elif grep -Fxq "$exportline" "$HOME"/.profile; then
 			echo "${NUTTX_GCC_VERSION} path already set.";
 		else
-			echo $exportline >> $HOME/.profile;
+			echo "$exportline" >> "$HOME"/.profile;
 		fi
+		echo " * arm-none-eabi-gcc (${NUTTX_GCC_VERSION}) Installed successfully to /opt/${COMPILER_NAME}/bin"
+		echo $VERBOSE_BAR
+		echo
 	fi
 fi

-# Simulation tools
-if [[ $INSTALL_SIM == "true" ]]; then
-
-	echo
-	echo "Installing PX4 simulation dependencies"
-
+install_gazebo_common() {
 	# General simulation dependencies
 	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 		bc \
 		;

-	if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
-		java_version=11
-	elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
-		java_version=13
-	elif [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
-		java_version=11
-	else
-		java_version=14
-	fi
-	# Java (jmavsim or fastrtps)
-	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
-		ant \
-		openjdk-$java_version-jre \
-		openjdk-$java_version-jdk \
-		libvecmath-java \
-		;
+	# Installing Gazebo and dependencies
+	# Setup OSRF Gazebo repository
+	sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
+	wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
+	# Update list, since new gazebo-stable.list has been added
+	sudo apt-get update -y --quiet
+}

-	# Set Java 11 as default
-	sudo update-alternatives --set java $(update-alternatives --list java | grep "java-$java_version")
+# Gazebo Classic
+if [[ $INSTALL_GAZEBO_CLASSIC == "true" ]]; then

-	# Gazebo
-	if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
-		gazebo_version=9
-		gazebo_packages="gazebo$gazebo_version libgazebo$gazebo_version-dev"
-	elif [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
-		gazebo_packages="gazebo libgazebo-dev"
-	else
-		# default and Ubuntu 20.04
-		gazebo_version=11
-		gazebo_packages="gazebo$gazebo_version libgazebo$gazebo_version-dev"
-	fi
+	echo
+	echo $VERBOSE_BAR
+	echo "🍻 Installing Gazebo Classic"
+	echo

+	echo "  * Gazebo Classic (Version 11)"
+	echo $VERBOSE_BAR
+
+	install_gazebo_common
+
+	# Installing Gazebo and dependencies
+	# Setup OSRF Gazebo repository
 	sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
 	wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
 	# Update list, since new gazebo-stable.list has been added
 	sudo apt-get update -y --quiet
 	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 		dmidecode \
-		$gazebo_packages \
+		gazebo libgazebo-dev \
 		gstreamer1.0-plugins-bad \
 		gstreamer1.0-plugins-base \
 		gstreamer1.0-plugins-good \
@@ -257,7 +292,51 @@ if [[ $INSTALL_SIM == "true" ]]; then
 	fi
 fi

-if [[ $INSTALL_NUTTX == "true" ]]; then
+# Gazebo Ignition
+if [[ $INSTALL_GAZEBO_IGNITION == "true" ]]; then
+
 	echo
-	echo "Relogin or reboot computer before attempting to build NuttX targets"
+	echo $VERBOSE_BAR
+	echo "🍻 Installing Gazebo IGNITION"
+	echo
+
+	echo "  * Gazebo Ignition (Version 6 / Fortress)"
+	echo $VERBOSE_BAR
+
+	# We have likely done the common pieces already earlier.
+	if [[ $INSTALL_GAZEBO_CLASSIC != "true" ]]; then
+		install_gazebo_common
+	fi
+
+	#
+	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
+		ignition-fortress \
+		;
 fi
+
+
+if [[ $INSIDE_DOCKER == "true" ]]; then
+	# cleanup installation
+	rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
+fi
+
+if [[ $INSIDE_DOCKER == "false" ]] && [[ $INSTALL_NUTTX == "true" ]]; then
+	echo
+	echo $VERBOSE_BAR
+	echo "💡 We recommend you relogin/reboot before attempting to upload NuttX targets"
+	echo "   to be part of the dialout group to have access to serial ports."
+	echo $VERBOSE_BAR
+	echo
+fi
+
+echo
+echo
+echo $VERBOSE_BAR
+echo "⚡️ PX4 Dependency Installer ended successfully
+
+For more information on PX4 Autopilot check out our docs
+at https://docs.px4.io.
+If you find a bug please file an issue
+on https://github.com/PX4/PX4-Autopilot"
+echo $VERBOSE_BAR
+echo
@@ -1,529 +0,0 @@
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-  </library_images>
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-      <instance_effect url="#LEDIndicator_ncl1_1-fx"/>
-    </material>
-  </library_materials>
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-            <diffuse>
-              <texture texture="LEDIndicator_ncl1_2-image" texcoord="CHANNEL0">
-                <extra>
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-                    <wrapU sid="wrapU0">TRUE</wrapU>
-                    <wrapV sid="wrapV0">TRUE</wrapV>
-                    <blend_mode>ADD</blend_mode>
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-                </extra>
-              </texture>
-            </diffuse>
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-                  <scale>0.01 0.01 0.01</scale>
-                  <uri>meshes/spotlight.dae</uri>
-               </mesh>
-            </geometry>
-         </visual>
-         <visual name="right_flashlight_visual">
-            <pose frame="">-0.071985 -0.090826 0.066102 0.06 -4.8e-05 -1.87</pose>
-            <geometry>
-               <mesh>
-                  <scale>0.01 0.01 0.01</scale>
-                  <uri>meshes/spotlight.dae</uri>
-               </mesh>
-            </geometry>
-         </visual>
-         <light name="right_light_source" type="spot">
-            <pose frame="">-0.0 -0.11 0.07 3.131592653589795 -1.5107899999999999 2.841592653589791</pose>
-            <attenuation>
-               <range>15</range>
-               <linear>0</linear>
-               <constant>0.1</constant>
-               <quadratic>0.01</quadratic>
-            </attenuation>
-            <diffuse>0.8 0.8 0.5 1</diffuse>
-            <specular>0.8 0.8 0.5 1</specular>
-            <spot>
-               <inner_angle>1</inner_angle>
-               <outer_angle>1.1</outer_angle>
-               <falloff>1</falloff>
-            </spot>
-            <direction>0 0 -1</direction>
-            <cast_shadows>1</cast_shadows>
-         </light>
-         <light name="downward_flashlight_source" type="spot">
-            <pose frame="">0.03 0 0.09 -0.01 -1.3708026535897933 0</pose>
-            <attenuation>
-               <range>15</range>
-               <linear>0</linear>
-               <constant>0.1</constant>
-               <quadratic>0.01</quadratic>
-            </attenuation>
-            <diffuse>0.8 0.8 0.5 1</diffuse>
-            <specular>0.8 0.8 0.5 1</specular>
-            <spot>
-               <inner_angle>1</inner_angle>
-               <outer_angle>1.1</outer_angle>
-               <falloff>1</falloff>
-            </spot>
-            <direction>0 0 -1</direction>
-            <cast_shadows>1</cast_shadows>
-         </light>
-         <light name="left_flashlight_source" type="spot">
-            <pose frame="">-0.0 0.11 0.07 3.131592653589795 -1.5107899999999999 -2.841592653589791</pose>
-            <attenuation>
-               <range>15</range>
-               <linear>0</linear>
-               <constant>0.1</constant>
-               <quadratic>0.01</quadratic>
-            </attenuation>
-            <diffuse>0.8 0.8 0.5 1</diffuse>
-            <specular>0.8 0.8 0.5 1</specular>
-            <spot>
-               <inner_angle>1</inner_angle>
-               <outer_angle>1.1</outer_angle>
-               <falloff>1</falloff>
-            </spot>
-            <direction>0 0 -1</direction>
-            <cast_shadows>1</cast_shadows>
-         </light>
-         <sensor name="imu_sensor" type="imu">
-            <always_on>1</always_on>
-            <update_rate>250</update_rate>
-            <imu>
-               <angular_velocity>
-                  <x>
-                     <noise type="gaussian">
-                        <mean>0</mean>
-                        <stddev>0.009</stddev>
-                        <bias_mean>0.00075</bias_mean>
-                        <bias_stddev>0.005</bias_stddev>
-                        <dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
-                        <dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
-                        <precision>0.00025</precision>
-                     </noise>
-                  </x>
-                  <y>
-                     <noise type="gaussian">
-                        <mean>0</mean>
-                        <stddev>0.009</stddev>
-                        <bias_mean>0.00075</bias_mean>
-                        <bias_stddev>0.005</bias_stddev>
-                        <dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
-                        <dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
-                        <precision>0.00025</precision>
-                     </noise>
-                  </y>
-                  <z>
-                     <noise type="gaussian">
-                        <mean>0</mean>
-                        <stddev>0.009</stddev>
-                        <bias_mean>0.00075</bias_mean>
-                        <bias_stddev>0.005</bias_stddev>
-                        <dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
-                        <dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
-                        <precision>0.00025</precision>
-                     </noise>
-                  </z>
-               </angular_velocity>
-               <linear_acceleration>
-                  <x>
-                     <noise type="gaussian">
-                        <mean>0</mean>
-                        <stddev>0.021</stddev>
-                        <bias_mean>0.05</bias_mean>
-                        <bias_stddev>0.0075</bias_stddev>
-                        <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
-                        <dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
-                        <precision>0.005</precision>
-                     </noise>
-                  </x>
-                  <y>
-                     <noise type="gaussian">
-                        <mean>0</mean>
-                        <stddev>0.021</stddev>
-                        <bias_mean>0.05</bias_mean>
-                        <bias_stddev>0.0075</bias_stddev>
-                        <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
-                        <dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
-                        <precision>0.005</precision>
-                     </noise>
-                  </y>
-                  <z>
-                     <noise type="gaussian">
-                        <mean>0</mean>
-                        <stddev>0.021</stddev>
-                        <bias_mean>0.05</bias_mean>
-                        <bias_stddev>0.0075</bias_stddev>
-                        <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
-                        <dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
-                        <precision>0.005</precision>
-                     </noise>
-                  </z>
-               </linear_acceleration>
-            </imu>
-         </sensor>
-
-         <visual name="camera_mount_base_visual">
-            <pose>0.05 0 -0.030 0 0.0 0</pose>
-            <geometry>
-               <box>
-                  <size>0.06 0.06 0.006</size>
-               </box>
-            </geometry>
-         </visual>
-         <visual name="camera_mount_arm_visual">
-            <pose>0.08 0 -0.040 0 0.0 0</pose>
-            <geometry>
-               <cylinder>
-                  <radius>0.005</radius>
-                  <length>0.08</length>
-               </cylinder>
-            </geometry>
-         </visual>
-         <visual name="camera_mount_arm2_visual">
-            <pose>0.08 0 -0.08 0 1.57 0</pose>
-            <geometry>
-               <cylinder>
-                  <radius>0.01</radius>
-                  <length>0.025</length>
-               </cylinder>
-            </geometry>
-         </visual>
-         <visual name="camera_visual">
-            <pose>0.1 0 -0.08 0 0 0</pose>
-            <geometry>
-               <box>
-                  <size>0.02 0.025 0.025</size>
-               </box>
-            </geometry>
-         </visual>
-         <sensor name="camera_front" type="rgbd_camera">
-            <pose>0.2 0 0 0 +.785 0</pose>
-            <always_on>1</always_on>
-            <update_rate>20</update_rate>
-            <camera name="camera_front">
-               <horizontal_fov>1.0472</horizontal_fov>
-               <lens>
-                  <intrinsics>
-                     <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
-                     <fx>277.1</fx>
-                     <fy>277.1</fy>
-                     <!-- cx = ( width + 1 ) / 2 -->
-                     <cx>160.5</cx>
-                     <!-- cy = ( height + 1 ) / 2 -->
-                     <cy>120.5</cy>
-                     <s>0</s>
-                  </intrinsics>
-               </lens>
-               <distortion>
-                  <k1>0.0</k1>
-                  <k2>0.0</k2>
-                  <k3>0.0</k3>
-                  <p1>0.0</p1>
-                  <p2>0.0</p2>
-                  <center>0.5 0.5</center>
-               </distortion>
-               <image>
-                  <width>320</width>
-                  <height>240</height>
-                  <format>R8G8B8</format>
-               </image>
-               <clip>
-                  <near>0.01</near>
-                  <far>300</far>
-               </clip>
-               <depth_camera>
-                  <clip>
-                     <near>0.1</near>
-                     <far>10</far>
-                  </clip>
-               </depth_camera>
-               <noise>
-                  <type>gaussian</type>
-                  <mean>0</mean>
-                  <stddev>0.007</stddev>
-               </noise>
-            </camera>
-         </sensor>
-      </link>
-      <link name="rotor_0">
-         <pose frame="">0.247 0.1506 0.028 0.087267 0 0.523599</pose>
-         <inertial>
-            <pose frame="">0 0 0 0 -0 0</pose>
-            <mass>0.005</mass>
-            <inertia>
-               <ixx>9.75e-07</ixx>
-               <ixy>0</ixy>
-               <ixz>0</ixz>
-               <iyy>8.13545e-05</iyy>
-               <iyz>0</iyz>
-               <izz>8.22545e-05</izz>
-            </inertia>
-         </inertial>
-         <collision name="rotor_0_collision">
-            <pose frame="">0 0 0 0 -0 0</pose>
-            <geometry>
-               <cylinder>
-                  <length>0.005</length>
-                  <radius>0.1397</radius>
-               </cylinder>
-            </geometry>
-            <surface>
-               <contact>
-                  <ode />
-               </contact>
-               <friction>
-                  <ode />
-               </friction>
-            </surface>
-         </collision>
-         <visual name="rotor_0_visual">
-            <pose frame="">0 0 0 0 -0 0</pose>
-            <geometry>
-               <mesh>
-                  <scale>1 1 1</scale>
-                  <uri>meshes/neo11_propeller_ccw.dae</uri>
-               </mesh>
-            </geometry>
-            <material>
-               <diffuse>1 0 0 1</diffuse>
-               <script>
-                  <name>Gazebo/Red</name>
-                  <uri>file://media/materials/scripts/gazebo.material</uri>
-               </script>
-            </material>
-            <cast_shadows>0</cast_shadows>
-         </visual>
-         <gravity>1</gravity>
-         <velocity_decay />
-      </link>
-      <joint name="rotor_0_joint" type="revolute">
-         <child>rotor_0</child>
-         <parent>base_link</parent>
-         <axis>
-            <xyz>0.043578 -0.075479 0.996195</xyz>
-            <limit>
-               <lower>-1e+16</lower>
-               <upper>1e+16</upper>
-            </limit>
-            <dynamics>
-               <spring_reference>0</spring_reference>
-               <spring_stiffness>0</spring_stiffness>
-            </dynamics>
-            <use_parent_model_frame>1</use_parent_model_frame>
-         </axis>
-      </joint>
-      <link name="rotor_1">
-         <pose frame="">-0.00067 0.28929 0.028 0 -0.087267 0</pose>
-         <inertial>
-            <pose frame="">0 0 0 0 -0 0</pose>
-            <mass>0.005</mass>
-            <inertia>
-               <ixx>9.75e-07</ixx>
-               <ixy>0</ixy>
-               <ixz>0</ixz>
-               <iyy>8.13545e-05</iyy>
-               <iyz>0</iyz>
-               <izz>8.22545e-05</izz>
-            </inertia>
-         </inertial>
-         <collision name="rotor_1_collision">
-            <pose frame="">0 0 0 0 -0 0</pose>
-            <geometry>
-               <cylinder>
-                  <length>0.005</length>
-                  <radius>0.1397</radius>
-               </cylinder>
-            </geometry>
-            <surface>
-               <contact>
-                  <ode />
-               </contact>
-               <friction>
-                  <ode />
-               </friction>
-            </surface>
-         </collision>
-         <visual name="rotor_1_visual">
-            <pose frame="">0 0 0 0 -0 0</pose>
-            <geometry>
-               <mesh>
-                  <scale>1 1 1</scale>
-                  <uri>meshes/neo11_propeller_cw.dae</uri>
-               </mesh>
-            </geometry>
-            <material>
-               <diffuse>0 0 1 1</diffuse>
-               <script>
-                  <name>Gazebo/Blue</name>
-                  <uri>file://media/materials/scripts/gazebo.material</uri>
-               </script>
-            </material>
-            <cast_shadows>0</cast_shadows>
-         </visual>
-         <gravity>1</gravity>
-         <velocity_decay />
-      </link>
-      <joint name="rotor_1_joint" type="revolute">
-         <child>rotor_1</child>
-         <parent>base_link</parent>
-         <axis>
-            <xyz>-0.087156 0 0.996195</xyz>
-            <limit>
-               <lower>-1e+16</lower>
-               <upper>1e+16</upper>
-            </limit>
-            <dynamics>
-               <spring_reference>0</spring_reference>
-               <spring_stiffness>0</spring_stiffness>
-            </dynamics>
-            <use_parent_model_frame>1</use_parent_model_frame>
-         </axis>
-      </joint>
-      <link name="rotor_2">
-         <pose frame="">-0.2501 0.1454 0.028 0.087267 -0 2.61799</pose>
-         <inertial>
-            <pose frame="">0 0 0 0 -0 0</pose>
-            <mass>0.005</mass>
-            <inertia>
-               <ixx>9.75e-07</ixx>
-               <ixy>0</ixy>
-               <ixz>0</ixz>
-               <iyy>8.13545e-05</iyy>
-               <iyz>0</iyz>
-               <izz>8.22545e-05</izz>
-            </inertia>
-         </inertial>
-         <collision name="rotor_2_collision">
-            <pose frame="">0 0 0 0 -0 0</pose>
-            <geometry>
-               <cylinder>
-                  <length>0.005</length>
-                  <radius>0.1397</radius>
-               </cylinder>
-            </geometry>
-            <surface>
-               <contact>
-                  <ode />
-               </contact>
-               <friction>
-                  <ode />
-               </friction>
-            </surface>
-         </collision>
-         <visual name="rotor_2_visual">
-            <pose frame="">0 0 0 0 -0 0</pose>
-            <geometry>
-               <mesh>
-                  <scale>1 1 1</scale>
-                  <uri>meshes/neo11_propeller_ccw.dae</uri>
-               </mesh>
-            </geometry>
-            <material>
-               <diffuse>0 0 1 1</diffuse>
-               <script>
-                  <name>Gazebo/Blue</name>
-                  <uri>file://media/materials/scripts/gazebo.material</uri>
-               </script>
-            </material>
-            <cast_shadows>0</cast_shadows>
-         </visual>
-         <gravity>1</gravity>
-         <velocity_decay />
-      </link>
-      <joint name="rotor_2_joint" type="revolute">
-         <child>rotor_2</child>
-         <parent>base_link</parent>
-         <axis>
-            <xyz>0.043578 0.075479 0.996195</xyz>
-            <limit>
-               <lower>-1e+16</lower>
-               <upper>1e+16</upper>
-            </limit>
-            <dynamics>
-               <spring_reference>0</spring_reference>
-               <spring_stiffness>0</spring_stiffness>
-            </dynamics>
-            <use_parent_model_frame>1</use_parent_model_frame>
-         </axis>
-      </joint>
-      <link name="rotor_3">
-         <pose frame="">-0.2501 -0.1454 0.028 -0.087267 -0 -2.61799</pose>
-         <inertial>
-            <pose frame="">0 0 0 0 -0 0</pose>
-            <mass>0.005</mass>
-            <inertia>
-               <ixx>9.75e-07</ixx>
-               <ixy>0</ixy>
-               <ixz>0</ixz>
-               <iyy>8.13545e-05</iyy>
-               <iyz>0</iyz>
-               <izz>8.22545e-05</izz>
-            </inertia>
-         </inertial>
-         <collision name="rotor_3_collision">
-            <pose frame="">0 0 0 0 -0 0</pose>
-            <geometry>
-               <cylinder>
-                  <length>0.005</length>
-                  <radius>0.1397</radius>
-               </cylinder>
-            </geometry>
-            <surface>
-               <contact>
-                  <ode />
-               </contact>
-               <friction>
-                  <ode />
-               </friction>
-            </surface>
-         </collision>
-         <visual name="rotor_3_visual">
-            <pose frame="">0 0 0 0 -0 0</pose>
-            <geometry>
-               <mesh>
-                  <scale>1 1 1</scale>
-                  <uri>meshes/neo11_propeller_cw.dae</uri>
-               </mesh>
-            </geometry>
-            <material>
-               <diffuse>0 0 1 1</diffuse>
-               <script>
-                  <name>Gazebo/Blue</name>
-                  <uri>file://media/materials/scripts/gazebo.material</uri>
-               </script>
-            </material>
-            <cast_shadows>0</cast_shadows>
-         </visual>
-         <gravity>1</gravity>
-         <velocity_decay />
-      </link>
-      <joint name="rotor_3_joint" type="revolute">
-         <child>rotor_3</child>
-         <parent>base_link</parent>
-         <axis>
-            <xyz>0.043578 -0.075479 0.996195</xyz>
-            <limit>
-               <lower>-1e+16</lower>
-               <upper>1e+16</upper>
-            </limit>
-            <dynamics>
-               <spring_reference>0</spring_reference>
-               <spring_stiffness>0</spring_stiffness>
-            </dynamics>
-            <use_parent_model_frame>1</use_parent_model_frame>
-         </axis>
-      </joint>
-      <link name="rotor_4">
-         <pose frame="">-0.00067 -0.28929 0.028 -0 0.087267 -3.14159</pose>
-         <inertial>
-            <pose frame="">0 0 0 0 -0 0</pose>
-            <mass>0.005</mass>
-            <inertia>
-               <ixx>9.75e-07</ixx>
-               <ixy>0</ixy>
-               <ixz>0</ixz>
-               <iyy>8.13545e-05</iyy>
-               <iyz>0</iyz>
-               <izz>8.22545e-05</izz>
-            </inertia>
-         </inertial>
-         <collision name="rotor_4_collision">
-            <pose frame="">0 0 0 0 -0 0</pose>
-            <geometry>
-               <cylinder>
-                  <length>0.005</length>
-                  <radius>0.1397</radius>
-               </cylinder>
-            </geometry>
-            <surface>
-               <contact>
-                  <ode />
-               </contact>
-               <friction>
-                  <ode />
-               </friction>
-            </surface>
-         </collision>
-         <visual name="rotor_4_visual">
-            <pose frame="">0 0 0 0 -0 0</pose>
-            <geometry>
-               <mesh>
-                  <scale>1 1 1</scale>
-                  <uri>meshes/neo11_propeller_ccw.dae</uri>
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-            <material>
-               <diffuse>0 0 1 1</diffuse>
-               <script>
-                  <name>Gazebo/Blue</name>
-                  <uri>file://media/materials/scripts/gazebo.material</uri>
-               </script>
-            </material>
-            <cast_shadows>0</cast_shadows>
-         </visual>
-         <gravity>1</gravity>
-         <velocity_decay />
-      </link>
-      <joint name="rotor_4_joint" type="revolute">
-         <child>rotor_4</child>
-         <parent>base_link</parent>
-         <axis>
-            <xyz>-0.087156 -0 0.996195</xyz>
-            <limit>
-               <lower>-1e+16</lower>
-               <upper>1e+16</upper>
-            </limit>
-            <dynamics>
-               <spring_reference>0</spring_reference>
-               <spring_stiffness>0</spring_stiffness>
-            </dynamics>
-            <use_parent_model_frame>1</use_parent_model_frame>
-         </axis>
-      </joint>
-      <link name="rotor_5">
-         <pose frame="">0.247 -0.1506 0.028 -0.087267 0 -0.523599</pose>
-         <inertial>
-            <pose frame="">0 0 0 0 -0 0</pose>
-            <mass>0.005</mass>
-            <inertia>
-               <ixx>9.75e-07</ixx>
-               <ixy>0</ixy>
-               <ixz>0</ixz>
-               <iyy>8.13545e-05</iyy>
-               <iyz>0</iyz>
-               <izz>8.22545e-05</izz>
-            </inertia>
-         </inertial>
-         <collision name="rotor_5_collision">
-            <pose frame="">0 0 0 0 -0 0</pose>
-            <geometry>
-               <cylinder>
-                  <length>0.005</length>
-                  <radius>0.1397</radius>
-               </cylinder>
-            </geometry>
-            <surface>
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-                  <ode />
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-               <friction>
-                  <ode />
-               </friction>
-            </surface>
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-         <visual name="rotor_5_visual">
-            <pose frame="">0 0 0 0 -0 0</pose>
-            <geometry>
-               <mesh>
-                  <scale>1 1 1</scale>
-                  <uri>meshes/neo11_propeller_cw.dae</uri>
-               </mesh>
-            </geometry>
-            <material>
-               <diffuse>1 0 0 1</diffuse>
-               <script>
-                  <name>Gazebo/Red</name>
-                  <uri>file://media/materials/scripts/gazebo.material</uri>
-               </script>
-            </material>
-            <cast_shadows>0</cast_shadows>
-         </visual>
-         <gravity>1</gravity>
-         <velocity_decay />
-      </link>
-      <joint name="rotor_5_joint" type="revolute">
-         <child>rotor_5</child>
-         <parent>base_link</parent>
-         <axis>
-            <xyz>0.043578 0.075479 0.996195</xyz>
-            <limit>
-               <lower>-1e+16</lower>
-               <upper>1e+16</upper>
-            </limit>
-            <dynamics>
-               <spring_reference>0</spring_reference>
-               <spring_stiffness>0</spring_stiffness>
-            </dynamics>
-            <use_parent_model_frame>1</use_parent_model_frame>
-         </axis>
-      </joint>
-      <plugin filename="libignition-gazebo-imu-system.so" name="ignition::gazebo::systems::Imu" />
-      <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
-         <robotNamespace>x4</robotNamespace>
-         <jointName>rotor_0_joint</jointName>
-         <linkName>rotor_0</linkName>
-         <turningDirection>ccw</turningDirection>
-         <timeConstantUp>0.0182</timeConstantUp>
-         <timeConstantDown>0.0182</timeConstantDown>
-         <maxRotVelocity>1000.0</maxRotVelocity>
-         <motorConstant>1.269e-05</motorConstant>
-         <momentConstant>0.016754</momentConstant>
-         <commandSubTopic>command/motor_speed</commandSubTopic>
-         <motorNumber>0</motorNumber>
-         <rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
-         <rotorDragCoefficient>0</rotorDragCoefficient>
-         <rollingMomentCoefficient>0</rollingMomentCoefficient>
-         <rotorVelocitySlowdownSim>2</rotorVelocitySlowdownSim>
-         <motorType>velocity</motorType>
-      </plugin>
-      <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
-         <robotNamespace>x4</robotNamespace>
-         <jointName>rotor_1_joint</jointName>
-         <linkName>rotor_1</linkName>
-         <turningDirection>cw</turningDirection>
-         <timeConstantUp>0.0182</timeConstantUp>
-         <timeConstantDown>0.0182</timeConstantDown>
-         <maxRotVelocity>1000.0</maxRotVelocity>
-         <motorConstant>1.269e-05</motorConstant>
-         <momentConstant>0.016754</momentConstant>
-         <commandSubTopic>command/motor_speed</commandSubTopic>
-         <motorNumber>1</motorNumber>
-         <rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
-         <rotorDragCoefficient>0</rotorDragCoefficient>
-         <rollingMomentCoefficient>0</rollingMomentCoefficient>
-         <rotorVelocitySlowdownSim>2</rotorVelocitySlowdownSim>
-         <motorType>velocity</motorType>
-      </plugin>
-      <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
-         <robotNamespace>x4</robotNamespace>
-         <jointName>rotor_2_joint</jointName>
-         <linkName>rotor_2</linkName>
-         <turningDirection>ccw</turningDirection>
-         <timeConstantUp>0.0182</timeConstantUp>
-         <timeConstantDown>0.0182</timeConstantDown>
-         <maxRotVelocity>1000.0</maxRotVelocity>
-         <motorConstant>1.269e-05</motorConstant>
-         <momentConstant>0.016754</momentConstant>
-         <commandSubTopic>command/motor_speed</commandSubTopic>
-         <motorNumber>2</motorNumber>
-         <rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
-         <rotorDragCoefficient>0</rotorDragCoefficient>
-         <rollingMomentCoefficient>0</rollingMomentCoefficient>
-         <rotorVelocitySlowdownSim>2</rotorVelocitySlowdownSim>
-         <motorType>velocity</motorType>
-      </plugin>
-      <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
-         <robotNamespace>x4</robotNamespace>
-         <jointName>rotor_3_joint</jointName>
-         <linkName>rotor_3</linkName>
-         <turningDirection>cw</turningDirection>
-         <timeConstantUp>0.0182</timeConstantUp>
-         <timeConstantDown>0.0182</timeConstantDown>
-         <maxRotVelocity>1000.0</maxRotVelocity>
-         <motorConstant>1.269e-05</motorConstant>
-         <momentConstant>0.016754</momentConstant>
-         <commandSubTopic>command/motor_speed</commandSubTopic>
-         <motorNumber>3</motorNumber>
-         <rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
-         <rotorDragCoefficient>0</rotorDragCoefficient>
-         <rollingMomentCoefficient>0</rollingMomentCoefficient>
-         <rotorVelocitySlowdownSim>2</rotorVelocitySlowdownSim>
-         <motorType>velocity</motorType>
-      </plugin>
-      <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
-         <robotNamespace>x4</robotNamespace>
-         <jointName>rotor_4_joint</jointName>
-         <linkName>rotor_4</linkName>
-         <turningDirection>ccw</turningDirection>
-         <timeConstantUp>0.0182</timeConstantUp>
-         <timeConstantDown>0.0182</timeConstantDown>
-         <maxRotVelocity>1000.0</maxRotVelocity>
-         <motorConstant>1.269e-05</motorConstant>
-         <momentConstant>0.016754</momentConstant>
-         <commandSubTopic>command/motor_speed</commandSubTopic>
-         <motorNumber>4</motorNumber>
-         <rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
-         <rotorDragCoefficient>0</rotorDragCoefficient>
-         <rollingMomentCoefficient>0</rollingMomentCoefficient>
-         <rotorVelocitySlowdownSim>2</rotorVelocitySlowdownSim>
-         <motorType>velocity</motorType>
-      </plugin>
-      <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
-         <robotNamespace>x4</robotNamespace>
-         <jointName>rotor_5_joint</jointName>
-         <linkName>rotor_5</linkName>
-         <turningDirection>cw</turningDirection>
-         <timeConstantUp>0.0182</timeConstantUp>
-         <timeConstantDown>0.0182</timeConstantDown>
-         <maxRotVelocity>1000.0</maxRotVelocity>
-         <motorConstant>1.269e-05</motorConstant>
-         <momentConstant>0.016754</momentConstant>
-         <commandSubTopic>command/motor_speed</commandSubTopic>
-         <motorNumber>5</motorNumber>
-         <rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
-         <rotorDragCoefficient>0</rotorDragCoefficient>
-         <rollingMomentCoefficient>0</rollingMomentCoefficient>
-         <rotorVelocitySlowdownSim>2</rotorVelocitySlowdownSim>
-         <motorType>velocity</motorType>
-      </plugin>
-
-      <plugin filename="ignition-gazebo-odometry-publisher-system" name="ignition::gazebo::systems::OdometryPublisher">
-         <dimensions>3</dimensions>
-         <odom_frame>x4/odom</odom_frame>
-         <robot_base_frame>x4/base_footprint</robot_base_frame>
-      </plugin>
-   </model>
-</sdf>
@@ -0,0 +1,11 @@
+<?xml version="1.0"?>
+<model>
+  <name>x500-Base</name>
+  <version>1.0</version>
+  <sdf version="1.9">model.sdf</sdf>
+  <author>
+    <name>Benjamin Perseghetti</name>
+    <email>bperseghetti@rudislabs.com</email>
+  </author>
+  <description>Model of the NXP HoverGames Drone development kit (KIT-HGDRONEK66). The PX4 software compatible kit provides mechanical, RC remote and other components needed to evaluate the RDDRONE-FMUK66 reference design. The FMU includes 100Base-T1 Automotive Ethernet, dual CAN transceivers, as well as SE050 secure element, and works with add on boards NavQPlus, MR-T1ETH8, MR-T1ADAPT, and CAN-nodes such as UCANS32K1SIC.  Kit may be used with, and contains the components needed for the HoverGames.com coding challenges.</description>
+</model>
@@ -0,0 +1,516 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<sdf version='1.9'>
+  <model name='x500-Base'>
+    <pose>0 0 .24 0 0 0</pose>
+    <self_collide>false</self_collide>
+    <static>false</static>
+    <link name="base_link">
+      <inertial>
+        <mass>2.0</mass>
+        <inertia>
+          <ixx>0.02166666666666667</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.02166666666666667</iyy>
+          <iyz>0</iyz>
+          <izz>0.04000000000000001</izz>
+        </inertia>
+      </inertial>
+      <gravity>true</gravity>
+      <velocity_decay/>
+      <visual name="base_link_visual">
+        <pose>0 0 .025 0 0 3.141592654</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://x500-Base/meshes/NXP-HGD-CF.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="5010_motor_base_0">
+        <pose>0.174 0.174 .032 0 0 -.45</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://x500-Base/meshes/5010Base.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="5010_motor_base_1">
+        <pose>-0.174 0.174 .032 0 0 -.45</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://x500-Base/meshes/5010Base.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="5010_motor_base_2">
+        <pose>0.174 -0.174 .032 0 0 -.45</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://x500-Base/meshes/5010Base.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="5010_motor_base_3">
+        <pose>-0.174 -0.174 .032 0 0 -.45</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://x500-Base/meshes/5010Base.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="NXP_FMUK66_FRONT">
+        <pose>0.047 .001 .043 1 0 1.57</pose>
+        <cast_shadows>false</cast_shadows>
+        <geometry>
+          <plane>
+            <normal>0 0 1</normal>
+            <size>.013 .007</size>
+          </plane>
+        </geometry>
+        <material>
+          <diffuse>1.0 1.0 1.0</diffuse>
+          <specular>1.0 1.0 1.0</specular>
+          <pbr>
+            <metal>
+              <albedo_map>model://x500-Base/materials/textures/nxp.png</albedo_map>
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+      <visual name="NXP_FMUK66_TOP">
+        <pose>-0.023 0 .0515 0 0 -1.57</pose>
+        <cast_shadows>false</cast_shadows>
+        <geometry>
+          <plane>
+            <normal>0 0 1</normal>
+            <size>.013 .007</size>
+          </plane>
+        </geometry>
+        <material>
+          <diffuse>1.0 1.0 1.0</diffuse>
+          <specular>1.0 1.0 1.0</specular>
+          <pbr>
+            <metal>
+              <albedo_map>model://x500-Base/materials/textures/nxp.png</albedo_map>
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+      <visual name="RDDRONE_FMUK66_TOP">
+        <pose>-.03 0 .0515 0 0 -1.57</pose>
+        <cast_shadows>false</cast_shadows>
+        <geometry>
+          <plane>
+            <normal>0 0 1</normal>
+            <size>.032 .0034</size>
+          </plane>
+        </geometry>
+        <material>
+          <diffuse>1.0 1.0 1.0</diffuse>
+          <specular>1.0 1.0 1.0</specular>
+          <pbr>
+            <metal>
+              <albedo_map>model://x500-Base/materials/textures/rd.png</albedo_map>
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+      <collision name="base_link_collision_0">
+        <pose>0 0 .007 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.35355339059327373 0.35355339059327373 0.05</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <min_depth>0.001</min_depth>
+              <max_vel>0</max_vel>
+            </ode>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="base_link_collision_1">
+        <pose>0 -0.098 -.123 -0.35 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.015 0.015 0.21</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <min_depth>0.001</min_depth>
+              <max_vel>0</max_vel>
+            </ode>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="base_link_collision_2">
+        <pose>0 0.098 -.123 0.35 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.015 0.015 0.21</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <min_depth>0.001</min_depth>
+              <max_vel>0</max_vel>
+            </ode>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="base_link_collision_3">
+        <pose>0 -0.132 -.2195 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.25 0.015 0.015</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <min_depth>0.001</min_depth>
+              <max_vel>0</max_vel>
+            </ode>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="base_link_collision_4">
+        <pose>0 0.132 -.2195 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.25 0.015 0.015</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <min_depth>0.001</min_depth>
+              <max_vel>0</max_vel>
+            </ode>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <sensor name="imu_sensor" type="imu">
+        <always_on>1</always_on>
+        <update_rate>250</update_rate>
+      </sensor>
+    </link>
+    <link name="rotor_0">
+      <gravity>true</gravity>
+      <self_collide>false</self_collide>
+      <velocity_decay/>
+      <pose>0.174 -0.174 0.06 0 0 0</pose>
+      <inertial>
+          <mass>0.016076923076923075</mass>
+          <inertia>
+            <ixx>3.8464910483993325e-07</ixx>
+            <iyy>2.6115851691700804e-05</iyy>
+            <izz>2.649858234714004e-05</izz>
+          </inertia>
+        </inertial>
+      <visual name="rotor_0_visual">
+        <pose>-0.022 -0.14638461538461536 -0.016 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.8461538461538461 0.8461538461538461 0.8461538461538461</scale>
+            <uri>model://x500-Base/meshes/1345_prop_ccw.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/DarkGrey</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <visual name="rotor_0_visual_motor_bell">
+        <pose>0 0 -.032 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://x500-Base/meshes/5010Bell.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <collision name="rotor_0_collision">
+        <pose>0 0 0 0 0 0 </pose>
+        <geometry>
+          <box>
+            <size>0.2792307692307692 0.016923076923076923 0.0008461538461538462</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <min_depth>0.001</min_depth>
+              <max_vel>0</max_vel>
+            </ode>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+    </link>
+    <joint name="rotor_0_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>rotor_0</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+    <link name="rotor_1">
+      <gravity>true</gravity>
+      <self_collide>false</self_collide>
+      <velocity_decay/>
+      <pose>-0.174 0.174 0.06 0 0 0</pose>
+      <inertial>
+          <mass>0.016076923076923075</mass>
+          <inertia>
+            <ixx>3.8464910483993325e-07</ixx>
+            <iyy>2.6115851691700804e-05</iyy>
+            <izz>2.649858234714004e-05</izz>
+          </inertia>
+        </inertial>
+      <visual name="rotor_1_visual">
+        <pose>-0.022 -0.14638461538461536 -0.016 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.8461538461538461 0.8461538461538461 0.8461538461538461</scale>
+            <uri>model://x500-Base/meshes/1345_prop_ccw.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/DarkGrey</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <visual name="rotor_1_visual_motor_top">
+        <pose>0 0 -.032 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://x500-Base/meshes/5010Bell.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <collision name="rotor_1_collision">
+        <pose>0 0 0 0 0 0 </pose>
+        <geometry>
+          <box>
+            <size>0.2792307692307692 0.016923076923076923 0.0008461538461538462</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <min_depth>0.001</min_depth>
+              <max_vel>0</max_vel>
+            </ode>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+    </link>
+    <joint name="rotor_1_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>rotor_1</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+    <link name="rotor_2">
+      <gravity>true</gravity>
+      <self_collide>false</self_collide>
+      <velocity_decay/>
+      <pose>0.174 0.174 0.06 0 0 0</pose>
+      <inertial>
+          <mass>0.016076923076923075</mass>
+          <inertia>
+            <ixx>3.8464910483993325e-07</ixx>
+            <iyy>2.6115851691700804e-05</iyy>
+            <izz>2.649858234714004e-05</izz>
+          </inertia>
+        </inertial>
+      <visual name="rotor_2_visual">
+        <pose>-0.022 -0.14638461538461536 -0.016 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.8461538461538461 0.8461538461538461 0.8461538461538461</scale>
+            <uri>model://x500-Base/meshes/1345_prop_cw.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/DarkGrey</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <visual name="rotor_2_visual_motor_top">
+        <pose>0 0 -.032 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://x500-Base/meshes/5010Bell.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <collision name="rotor_2_collision">
+        <pose>0 0 0 0 0 0 </pose>
+        <geometry>
+          <box>
+            <size>0.2792307692307692 0.016923076923076923 0.0008461538461538462</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <min_depth>0.001</min_depth>
+              <max_vel>0</max_vel>
+            </ode>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+    </link>
+    <joint name="rotor_2_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>rotor_2</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+    <link name="rotor_3">
+      <gravity>true</gravity>
+      <self_collide>false</self_collide>
+      <velocity_decay/>
+      <pose>-0.174 -0.174 0.06 0 0 0</pose>
+      <inertial>
+          <mass>0.016076923076923075</mass>
+          <inertia>
+            <ixx>3.8464910483993325e-07</ixx>
+            <iyy>2.6115851691700804e-05</iyy>
+            <izz>2.649858234714004e-05</izz>
+          </inertia>
+        </inertial>
+      <visual name="rotor_3_visual">
+        <pose>-0.022 -0.14638461538461536 -0.016 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.8461538461538461 0.8461538461538461 0.8461538461538461</scale>
+            <uri>model://x500-Base/meshes/1345_prop_cw.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/DarkGrey</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <visual name="rotor_3_visual_motor_top">
+        <pose>0 0 -.032 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://x500-Base/meshes/5010Bell.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <collision name="rotor_3_collision">
+        <pose>0 0 0 0 0 0 </pose>
+        <geometry>
+          <box>
+            <size>0.2792307692307692 0.016923076923076923 0.0008461538461538462</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <min_depth>0.001</min_depth>
+              <max_vel>0</max_vel>
+            </ode>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+    </link>
+    <joint name="rotor_3_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>rotor_3</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+  </model>
+</sdf>
@@ -0,0 +1,11 @@
+<?xml version="1.0"?>
+<model>
+  <name>x500-Depth</name>
+  <version>1.0</version>
+  <sdf version="1.9">model.sdf</sdf>
+  <author>
+    <name>Benjamin Perseghetti</name>
+    <email>bperseghetti@rudislabs.com</email>
+  </author>
+  <description>Model of the NXP HoverGames Drone development kit (KIT-HGDRONEK66). The PX4 software compatible kit provides mechanical, RC remote and other components needed to evaluate the RDDRONE-FMUK66 reference design. The FMU includes 100Base-T1 Automotive Ethernet, dual CAN transceivers, as well as SE050 secure element, and works with add on boards NavQPlus, MR-T1ETH8, MR-T1ADAPT, and CAN-nodes such as UCANS32K1SIC.  Kit may be used with, and contains the components needed for the HoverGames.com coding challenges.</description>
+</model>
@@ -0,0 +1,85 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<sdf version='1.9'>
+  <model name='x500-Depth'>
+    <include merge='true'>
+      <uri>model://x500-Base</uri>
+    </include>
+    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
+      <robotNamespace>model/x500-Depth</robotNamespace>
+      <jointName>rotor_0_joint</jointName>
+      <linkName>rotor_0</linkName>
+      <turningDirection>ccw</turningDirection>
+      <timeConstantUp>0.0125</timeConstantUp>
+      <timeConstantDown>0.025</timeConstantDown>
+      <maxRotVelocity>1000.0</maxRotVelocity>
+      <motorConstant>8.54858e-06</motorConstant>
+      <momentConstant>0.016</momentConstant>
+      <commandSubTopic>command/motor_speed</commandSubTopic>
+      <motorNumber>0</motorNumber>
+      <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
+      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
+      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
+      <motorType>velocity</motorType>
+    </plugin>
+    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
+      <robotNamespace>model/x500-Depth</robotNamespace>
+      <jointName>rotor_1_joint</jointName>
+      <linkName>rotor_1</linkName>
+      <turningDirection>ccw</turningDirection>
+      <timeConstantUp>0.0125</timeConstantUp>
+      <timeConstantDown>0.025</timeConstantDown>
+      <maxRotVelocity>1000.0</maxRotVelocity>
+      <motorConstant>8.54858e-06</motorConstant>
+      <momentConstant>0.016</momentConstant>
+      <commandSubTopic>command/motor_speed</commandSubTopic>
+      <motorNumber>1</motorNumber>
+      <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
+      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
+      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
+      <motorType>velocity</motorType>
+    </plugin>
+    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
+      <robotNamespace>model/x500-Depth</robotNamespace>
+      <jointName>rotor_2_joint</jointName>
+      <linkName>rotor_2</linkName>
+      <turningDirection>cw</turningDirection>
+      <timeConstantUp>0.0125</timeConstantUp>
+      <timeConstantDown>0.025</timeConstantDown>
+      <maxRotVelocity>1000.0</maxRotVelocity>
+      <motorConstant>8.54858e-06</motorConstant>
+      <momentConstant>0.016</momentConstant>
+      <commandSubTopic>command/motor_speed</commandSubTopic>
+      <motorNumber>2</motorNumber>
+      <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
+      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
+      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
+      <motorType>velocity</motorType>
+    </plugin>
+    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
+      <robotNamespace>model/x500-Depth</robotNamespace>
+      <jointName>rotor_3_joint</jointName>
+      <linkName>rotor_3</linkName>
+      <turningDirection>cw</turningDirection>
+      <timeConstantUp>0.0125</timeConstantUp>
+      <timeConstantDown>0.025</timeConstantDown>
+      <maxRotVelocity>1000.0</maxRotVelocity>
+      <motorConstant>8.54858e-06</motorConstant>
+      <momentConstant>0.016</momentConstant>
+      <commandSubTopic>command/motor_speed</commandSubTopic>
+      <motorNumber>3</motorNumber>
+      <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
+      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
+      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
+      <motorType>velocity</motorType>
+    </plugin>
+    <include merge='true'>
+      <uri>https://fuel.gazebosim.org/1.0/RudisLaboratories/models/OakD-Lite</uri>
+      <pose>.12 .03 .242 0 0 0</pose>
+    </include>
+    <joint name="CameraJoint" type="fixed">
+      <parent>base_link</parent>
+      <child>OakD-Lite/base_link</child>
+      <pose relative_to="base_link">.12 .03 .242 0 0 0</pose>
+    </joint>
+  </model>
+</sdf>
@@ -2,7 +2,7 @@
 <model>
  <name>x500</name>
  <version>1.0</version>
-  <sdf version="1.6">model.sdf</sdf>
+  <sdf version="1.9">model.sdf</sdf>
  <author>
    <name>Benjamin Perseghetti</name>
    <email>bperseghetti@rudislabs.com</email>
@@ -1,520 +1,11 @@
 <?xml version="1.0" encoding="UTF-8"?>
-<sdf version='1.6'>
+<sdf version='1.9'>
  <model name='x500'>
-    <pose>0 0 .24 0 0 0</pose>
-    <self_collide>false</self_collide>
-    <static>false</static>
-    <link name="base_link">
-      <inertial>
-        <mass>2.0</mass>
-        <inertia>
-          <ixx>0.02166666666666667</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.02166666666666667</iyy>
-          <iyz>0</iyz>
-          <izz>0.04000000000000001</izz>
-        </inertia>
-      </inertial>
-      <gravity>true</gravity>
-      <velocity_decay/>
-      <visual name="base_link_visual">
-        <pose>0 0 .025 0 0 3.141592654</pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>model://x500/meshes/NXP-HGD-CF.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="5010_motor_base_0">
-        <pose>0.174 0.174 .032 0 0 -.45</pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>model://x500/meshes/5010Base.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="5010_motor_base_1">
-        <pose>-0.174 0.174 .032 0 0 -.45</pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>model://x500/meshes/5010Base.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="5010_motor_base_2">
-        <pose>0.174 -0.174 .032 0 0 -.45</pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>model://x500/meshes/5010Base.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="5010_motor_base_3">
-        <pose>-0.174 -0.174 .032 0 0 -.45</pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>model://x500/meshes/5010Base.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="NXP_FMUK66_FRONT">
-        <pose>0.047 .001 .043 1 0 1.57</pose>
-        <cast_shadows>false</cast_shadows>
-        <geometry>
-          <plane>
-            <normal>0 0 1</normal>
-            <size>.013 .007</size>
-          </plane>
-        </geometry>
-        <material>
-          <diffuse>1.0 1.0 1.0</diffuse>
-          <specular>1.0 1.0 1.0</specular>
-          <pbr>
-            <metal>
-              <albedo_map>model://x500/materials/textures/nxp.png</albedo_map>
-            </metal>
-          </pbr>
-        </material>
-      </visual>
-      <visual name="NXP_FMUK66_TOP">
-        <pose>-0.023 0 .0515 0 0 -1.57</pose>
-        <cast_shadows>false</cast_shadows>
-        <geometry>
-          <plane>
-            <normal>0 0 1</normal>
-            <size>.013 .007</size>
-          </plane>
-        </geometry>
-        <material>
-          <diffuse>1.0 1.0 1.0</diffuse>
-          <specular>1.0 1.0 1.0</specular>
-          <pbr>
-            <metal>
-              <albedo_map>model://x500/materials/textures/nxp.png</albedo_map>
-            </metal>
-          </pbr>
-        </material>
-      </visual>
-      <visual name="RDDRONE_FMUK66_TOP">
-        <pose>-.03 0 .0515 0 0 -1.57</pose>
-        <cast_shadows>false</cast_shadows>
-        <geometry>
-          <plane>
-            <normal>0 0 1</normal>
-            <size>.032 .0034</size>
-          </plane>
-        </geometry>
-        <material>
-          <diffuse>1.0 1.0 1.0</diffuse>
-          <specular>1.0 1.0 1.0</specular>
-          <pbr>
-            <metal>
-              <albedo_map>model://x500/materials/textures/rd.png</albedo_map>
-            </metal>
-          </pbr>
-        </material>
-      </visual>
-      <collision name="base_link_collision_0">
-        <pose>0 0 .007 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.35355339059327373 0.35355339059327373 0.05</size>
-          </box>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <min_depth>0.001</min_depth>
-              <max_vel>0</max_vel>
-            </ode>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-      <collision name="base_link_collision_1">
-        <pose>0 -0.098 -.123 -0.35 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.015 0.015 0.21</size>
-          </box>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <min_depth>0.001</min_depth>
-              <max_vel>0</max_vel>
-            </ode>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-      <collision name="base_link_collision_2">
-        <pose>0 0.098 -.123 0.35 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.015 0.015 0.21</size>
-          </box>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <min_depth>0.001</min_depth>
-              <max_vel>0</max_vel>
-            </ode>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-      <collision name="base_link_collision_3">
-        <pose>0 -0.132 -.2195 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.25 0.015 0.015</size>
-          </box>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <min_depth>0.001</min_depth>
-              <max_vel>0</max_vel>
-            </ode>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-      <collision name="base_link_collision_4">
-        <pose>0 0.132 -.2195 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.25 0.015 0.015</size>
-          </box>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <min_depth>0.001</min_depth>
-              <max_vel>0</max_vel>
-            </ode>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-      <sensor name="imu_sensor" type="imu">
-        <always_on>1</always_on>
-        <update_rate>250</update_rate>
-      </sensor>
-    </link>
-    <link name="rotor_0">
-      <gravity>true</gravity>
-      <self_collide>false</self_collide>
-      <velocity_decay/>
-      <pose>0.174 -0.174 0.06 0 0 0</pose>
-      <inertial>
-          <mass>0.016076923076923075</mass>
-          <inertia>
-            <ixx>3.8464910483993325e-07</ixx>
-            <iyy>2.6115851691700804e-05</iyy>
-            <izz>2.649858234714004e-05</izz>
-          </inertia>
-        </inertial>
-      <visual name="rotor_0_visual">
-        <pose>-0.022 -0.14638461538461536 -0.016 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <scale>0.8461538461538461 0.8461538461538461 0.8461538461538461</scale>
-            <uri>model://x500/meshes/1345_prop_ccw.stl</uri>
-          </mesh>
-        </geometry>
-        <material>
-          <script>
-            <name>Gazebo/DarkGrey</name>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-          </script>
-        </material>
-      </visual>
-      <visual name="rotor_0_visual_motor_bell">
-        <pose>0 0 -.032 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>model://x500/meshes/5010Bell.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <collision name="rotor_0_collision">
-        <pose>0 0 0 0 0 0 </pose>
-        <geometry>
-          <box>
-            <size>0.2792307692307692 0.016923076923076923 0.0008461538461538462</size>
-          </box>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <min_depth>0.001</min_depth>
-              <max_vel>0</max_vel>
-            </ode>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rotor_0_joint" type="revolute">
-      <parent>base_link</parent>
-      <child>rotor_0</child>
-      <axis>
-        <xyz>0 0 1</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rotor_1">
-      <gravity>true</gravity>
-      <self_collide>false</self_collide>
-      <velocity_decay/>
-      <pose>-0.174 0.174 0.06 0 0 0</pose>
-      <inertial>
-          <mass>0.016076923076923075</mass>
-          <inertia>
-            <ixx>3.8464910483993325e-07</ixx>
-            <iyy>2.6115851691700804e-05</iyy>
-            <izz>2.649858234714004e-05</izz>
-          </inertia>
-        </inertial>
-      <visual name="rotor_1_visual">
-        <pose>-0.022 -0.14638461538461536 -0.016 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <scale>0.8461538461538461 0.8461538461538461 0.8461538461538461</scale>
-            <uri>model://x500/meshes/1345_prop_ccw.stl</uri>
-          </mesh>
-        </geometry>
-        <material>
-          <script>
-            <name>Gazebo/DarkGrey</name>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-          </script>
-        </material>
-      </visual>
-      <visual name="rotor_1_visual_motor_top">
-        <pose>0 0 -.032 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>model://x500/meshes/5010Bell.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <collision name="rotor_1_collision">
-        <pose>0 0 0 0 0 0 </pose>
-        <geometry>
-          <box>
-            <size>0.2792307692307692 0.016923076923076923 0.0008461538461538462</size>
-          </box>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <min_depth>0.001</min_depth>
-              <max_vel>0</max_vel>
-            </ode>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rotor_1_joint" type="revolute">
-      <parent>base_link</parent>
-      <child>rotor_1</child>
-      <axis>
-        <xyz>0 0 1</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rotor_2">
-      <gravity>true</gravity>
-      <self_collide>false</self_collide>
-      <velocity_decay/>
-      <pose>0.174 0.174 0.06 0 0 0</pose>
-      <inertial>
-          <mass>0.016076923076923075</mass>
-          <inertia>
-            <ixx>3.8464910483993325e-07</ixx>
-            <iyy>2.6115851691700804e-05</iyy>
-            <izz>2.649858234714004e-05</izz>
-          </inertia>
-        </inertial>
-      <visual name="rotor_2_visual">
-        <pose>-0.022 -0.14638461538461536 -0.016 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <scale>0.8461538461538461 0.8461538461538461 0.8461538461538461</scale>
-            <uri>model://x500/meshes/1345_prop_cw.stl</uri>
-          </mesh>
-        </geometry>
-        <material>
-          <script>
-            <name>Gazebo/DarkGrey</name>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-          </script>
-        </material>
-      </visual>
-      <visual name="rotor_2_visual_motor_top">
-        <pose>0 0 -.032 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>model://x500/meshes/5010Bell.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <collision name="rotor_2_collision">
-        <pose>0 0 0 0 0 0 </pose>
-        <geometry>
-          <box>
-            <size>0.2792307692307692 0.016923076923076923 0.0008461538461538462</size>
-          </box>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <min_depth>0.001</min_depth>
-              <max_vel>0</max_vel>
-            </ode>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rotor_2_joint" type="revolute">
-      <parent>base_link</parent>
-      <child>rotor_2</child>
-      <axis>
-        <xyz>0 0 1</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rotor_3">
-      <gravity>true</gravity>
-      <self_collide>false</self_collide>
-      <velocity_decay/>
-      <pose>-0.174 -0.174 0.06 0 0 0</pose>
-      <inertial>
-          <mass>0.016076923076923075</mass>
-          <inertia>
-            <ixx>3.8464910483993325e-07</ixx>
-            <iyy>2.6115851691700804e-05</iyy>
-            <izz>2.649858234714004e-05</izz>
-          </inertia>
-        </inertial>
-      <visual name="rotor_3_visual">
-        <pose>-0.022 -0.14638461538461536 -0.016 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <scale>0.8461538461538461 0.8461538461538461 0.8461538461538461</scale>
-            <uri>model://x500/meshes/1345_prop_cw.stl</uri>
-          </mesh>
-        </geometry>
-        <material>
-          <script>
-            <name>Gazebo/DarkGrey</name>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-          </script>
-        </material>
-      </visual>
-      <visual name="rotor_3_visual_motor_top">
-        <pose>0 0 -.032 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>model://x500/meshes/5010Bell.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <collision name="rotor_3_collision">
-        <pose>0 0 0 0 0 0 </pose>
-        <geometry>
-          <box>
-            <size>0.2792307692307692 0.016923076923076923 0.0008461538461538462</size>
-          </box>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <min_depth>0.001</min_depth>
-              <max_vel>0</max_vel>
-            </ode>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rotor_3_joint" type="revolute">
-      <parent>base_link</parent>
-      <child>rotor_3</child>
-      <axis>
-        <xyz>0 0 1</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
-      </axis>
-    </joint>
-    <plugin filename="libignition-gazebo-imu-system.so" name="ignition::gazebo::systems::Imu" />
+    <include merge='true'>
+      <uri>model://x500-Base</uri>
+    </include>
    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
-      <robotNamespace>x500</robotNamespace>
+      <robotNamespace>model/x500</robotNamespace>
      <jointName>rotor_0_joint</jointName>
      <linkName>rotor_0</linkName>
      <turningDirection>ccw</turningDirection>
@@ -531,7 +22,7 @@
      <motorType>velocity</motorType>
    </plugin>
    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
-      <robotNamespace>x500</robotNamespace>
+      <robotNamespace>model/x500</robotNamespace>
      <jointName>rotor_1_joint</jointName>
      <linkName>rotor_1</linkName>
      <turningDirection>ccw</turningDirection>
@@ -548,7 +39,7 @@
      <motorType>velocity</motorType>
    </plugin>
    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
-      <robotNamespace>x500</robotNamespace>
+      <robotNamespace>model/x500</robotNamespace>
      <jointName>rotor_2_joint</jointName>
      <linkName>rotor_2</linkName>
      <turningDirection>cw</turningDirection>
@@ -565,7 +56,7 @@
      <motorType>velocity</motorType>
    </plugin>
    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
-      <robotNamespace>x500</robotNamespace>
+      <robotNamespace>model/x500</robotNamespace>
      <jointName>rotor_3_joint</jointName>
      <linkName>rotor_3</linkName>
      <turningDirection>cw</turningDirection>
@@ -582,4 +73,4 @@
      <motorType>velocity</motorType>
    </plugin>
  </model>
-</sdf>
+</sdf>
@@ -9,6 +9,7 @@
    <plugin name='ignition::gazebo::systems::UserCommands' filename='ignition-gazebo-user-commands-system'/>
    <plugin name='ignition::gazebo::systems::SceneBroadcaster' filename='ignition-gazebo-scene-broadcaster-system'/>
    <plugin name='ignition::gazebo::systems::Contact' filename='ignition-gazebo-contact-system'/>
+    <plugin name='ignition::gazebo::systems::Imu' filename='ignition-gazebo-imu-system'/>
    <plugin name='ignition::gazebo::systems::Sensors' filename='ignition-gazebo-sensors-system'>
      <render_engine>ogre2</render_engine>
    </plugin>
@@ -51,3 +51,5 @@ CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
 CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_FW_ATT_CONTROL=y
@@ -4,13 +4,17 @@ CONFIG_BOARD_ROMFSROOT="cannode"
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS1"
 CONFIG_DRIVERS_BOOTLOADERS=y
-CONFIG_DRIVERS_DISTANCE_SENSOR_TFMINI=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_LIGHTS_RGBLED=y
+CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
+CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
+CONFIG_MODULES_SENSORS=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
@@ -0,0 +1,43 @@
+#!/bin/sh
+#
+# board sensors init
+#------------------------------------------------------------------------------
+
+# Lidar-Lite on I2C
+if param compare -s SENS_EN_LL40LS 2
+then
+	ll40ls start -X
+fi
+
+# mappydot lidar sensor
+if param compare -s SENS_EN_MPDT 1
+then
+	mappydot start -X
+fi
+
+# mb12xx sonar sensor
+if param greater -s SENS_EN_MB12XX 0
+then
+	mb12xx start -X
+fi
+
+# Lightware i2c lidar sensor
+if param greater -s SENS_EN_SF1XX 0
+then
+	lightware_laser_i2c start -X
+fi
+
+# vl53l1x i2c distance sensor
+if param compare -s SENS_EN_VL53L1X 1
+then
+	vl53l1x start -X
+fi
+
+# compasses
+hmc5883 -T -X -q start
+ist8308 -X -q start
+ist8310 -X -q start
+lis2mdl -X -q start
+lis3mdl -X -q start
+qmc5883l -X -q start
+rm3100 -X -q start
@@ -43,17 +43,13 @@
 * Included Files
 ****************************************************************************************************/

+#include <px4_platform/board_ctrl.h>
 #include <px4_platform_common/px4_config.h>
 #include <nuttx/compiler.h>
 #include <stdint.h>

 #include <stm32_gpio.h>

-#if !defined(CONFIG_BUILD_FLAT)
-#include <sys/boardctl.h>
-#include <px4_platform/board_ctrl.h>
-#endif
-
 /****************************************************************************************************
 * Definitions
 ****************************************************************************************************/
@@ -229,20 +225,8 @@
 #define BOARD_INDICATE_EXTERNAL_LOCKOUT_STATE(enabled)  px4_arch_configgpio((enabled) ? GPIO_nARMED : GPIO_nARMED_INIT)
 #define BOARD_GET_EXTERNAL_LOCKOUT_STATE() px4_arch_gpioread(GPIO_nARMED)
 #else
-static inline void board_indicate_external_lockout_state(bool enable)
-{
-	platformioclockoutstate_t state = {enable};
-	boardctl(PLATFORMIOCINDICATELOCKOUT, (uintptr_t)&state);
-}
-
-static inline bool board_get_external_lockout_state(void)
-{
-	platformioclockoutstate_t state = {false};
-	boardctl(PLATFORMIOCGETLOCKOUT, (uintptr_t)&state);
-	return state.enabled;
-}
-#define BOARD_INDICATE_EXTERNAL_LOCKOUT_STATE(enabled) board_indicate_external_lockout_state(enabled)
-#define BOARD_GET_EXTERNAL_LOCKOUT_STATE() board_get_external_lockout_state()
+#define BOARD_INDICATE_EXTERNAL_LOCKOUT_STATE(enabled) boardctrl_indicate_external_lockout_state(enabled)
+#define BOARD_GET_EXTERNAL_LOCKOUT_STATE() boardctrl_get_external_lockout_state()
 #endif

 /* PWM
@@ -60,7 +60,7 @@ extern const int *_boot_signature;
 /* RD certificate signature follows the certificate */

 #define RDCTSIG_ADDR RDCT_END
-#define RDCTSIG_END ((const void *)((const uint8_t*)RDCT_ADDR+SIGNATURE_SIZE))
+#define RDCTSIG_END ((const void *)((const uint8_t*)RDCTSIG_ADDR+SIGNATURE_SIZE))

 /* The table of contents */

@@ -76,6 +76,7 @@ CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
+CONFIG_MODULES_PAYLOAD_DELIVERER=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
@@ -49,11 +49,11 @@ then
 	fi
 fi

-if ver hwtypecmp V5X000000 V5X000001 V5X000002 V5X001000
+if ver hwtypecmp V5X000000 V5X000001 V5X000002 V5X001000 V5X004000 V5X004001 V5X004002
 then
 	#FMUv5Xbase board orientation

-	if ver hwtypecmp V5X000000 V5X000001
+	if ver hwtypecmp V5X000000 V5X000001 V5X004000 V5X004001
 	then
 		# Internal SPI BMI088
 		bmi088 -A -R 4 -s start
@@ -113,4 +113,4 @@ then
 	fi

 fi
-unset HAVE_PM2
+unset HAVE_PM2
@@ -185,12 +185,15 @@
 #define GPIO_HW_REV_SENSE      /* PF5 */  ADC3_GPIO(15)
 #define GPIO_HW_VER_SENSE      /* PF4 */  ADC3_GPIO(14)
 #define HW_INFO_INIT_PREFIX           "V5X"
-#define BOARD_NUM_SPI_CFG_HW_VERSIONS 6
+#define BOARD_NUM_SPI_CFG_HW_VERSIONS 7
 // Base                   FMUM
 #define V5X00   HW_VER_REV(0x0,0x0) // FMUV5X,                         Rev 0
 #define V5X10   HW_VER_REV(0x1,0x0) // NO PX4IO,                       Rev 0
 #define V5X01   HW_VER_REV(0x0,0x1) // FMUV5X I2C2 BMP388,             Rev 1
 #define V5X02   HW_VER_REV(0x0,0x2) // FMUV5X,                         Rev 2
+#define V5X40   HW_VER_REV(0x4,0x0) // FMUV5X, HB CM4 base             Rev 0
+#define V5X41   HW_VER_REV(0x4,0x1) // FMUV5X I2C2 BMP388, HB CM4 base Rev 1
+#define V5X42   HW_VER_REV(0x4,0x2) // FMUV5X, HB CM4 base             Rev 2
 #define V5X50   HW_VER_REV(0x5,0x0) // FMUV5X, HB Mini                 Rev 0
 #define V5X51   HW_VER_REV(0x5,0x1) // FMUV5X I2C2 BMP388, HB Mini     Rev 1
 #define V5X52   HW_VER_REV(0x5,0x2) // FMUV5X, HB Mini                 Rev 2
@@ -94,6 +94,27 @@ static const px4_hw_mft_item_t hw_mft_list_v0500[] = {
 	},
 };

+static const px4_hw_mft_item_t hw_mft_list_v0540[] = {
+	{
+		//  PX4_MFT_PX4IO
+		.present     = 1,
+		.mandatory   = 1,
+		.connection  = px4_hw_con_onboard,
+	},
+	{
+		// PX4_MFT_USB
+		.present     = 1,
+		.mandatory   = 1,
+		.connection  = px4_hw_con_onboard,
+	},
+	{
+		// PX4_MFT_CAN2
+		.present     = 1,
+		.mandatory   = 1,
+		.connection  = px4_hw_con_onboard,
+	},
+};
+
 static const px4_hw_mft_item_t hw_mft_list_v0550[] = {
 	{
 		//  PX4_MFT_PX4IO
@@ -163,7 +184,10 @@ static px4_hw_mft_list_entry_t mft_lists[] = {
 	{V5X01, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // FMUV5X,                 Rev 1
 	{V5X02, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // FMUV5X,                 Rev 2
 	{V5X10, hw_mft_list_v0510, arraySize(hw_mft_list_v0510)}, // NO PX4IO,               Rev 0
-	{V5X50, hw_mft_list_v0550, arraySize(hw_mft_list_v0550)}, // FMUV5X,   HB Mini       Rev 0
+	//{V5X40, hw_mft_list_v0540, arraySize(hw_mft_list_v0540)}, // FMUV5X,  HB CM4 base    Rev 0, never shipped
+	{V5X41, hw_mft_list_v0540, arraySize(hw_mft_list_v0540)}, // FMUV5X,  HB CM4 base    Rev 1
+	{V5X42, hw_mft_list_v0540, arraySize(hw_mft_list_v0540)}, // FMUV5X,  HB CM4 base    Rev 2
+	//{V5X50, hw_mft_list_v0550, arraySize(hw_mft_list_v0550)}, // FMUV5X,   HB Mini       Rev 0, never shipped
 	{V5X51, hw_mft_list_v0550, arraySize(hw_mft_list_v0550)}, // FMUV5X,   HB Mini       Rev 1
 	{V5X52, hw_mft_list_v0550, arraySize(hw_mft_list_v0550)}, // FMUV5X,   HB Mini       Rev 2
 	{V5X90, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB,                 Rev 0
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (C) 2019 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2019-2022 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
@@ -106,7 +106,8 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 			initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
 		}),
 	}),
-	initSPIHWVersion(V5X50, {
+
+	initSPIHWVersion(V5X41, {
 		initSPIBus(SPI::Bus::SPI1, {
 			initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
 		}, {GPIO::PortI, GPIO::Pin11}),
@@ -130,6 +131,54 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}),
 	}),

+	initSPIHWVersion(V5X42, {
+		initSPIBus(SPI::Bus::SPI1, {
+			initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
+		}, {GPIO::PortI, GPIO::Pin11}),
+		initSPIBus(SPI::Bus::SPI2, {
+			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortH, GPIO::Pin12}),
+		}, {GPIO::PortD, GPIO::Pin15}),
+		initSPIBus(SPI::Bus::SPI3, {
+			initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}),
+		}, {GPIO::PortE, GPIO::Pin7}),
+		//  initSPIBus(SPI::Bus::SPI4, {
+		//    // no devices
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+		//  }, {GPIO::PortG, GPIO::Pin8}),
+		initSPIBus(SPI::Bus::SPI5, {
+			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
+		}),
+		initSPIBusExternal(SPI::Bus::SPI6, {
+			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
+			initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
+		}),
+	}),
+
+	// never shipped
+	//initSPIHWVersion(V5X50, {
+	//	initSPIBus(SPI::Bus::SPI1, {
+	//		initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
+	//	}, {GPIO::PortI, GPIO::Pin11}),
+	//	initSPIBus(SPI::Bus::SPI2, {
+	//		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortH, GPIO::Pin12}),
+	//	}, {GPIO::PortD, GPIO::Pin15}),
+	//	initSPIBus(SPI::Bus::SPI3, {
+	//		initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin8}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}),
+	//		initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin4}),
+	//	}, {GPIO::PortE, GPIO::Pin7}),
+	//	//  initSPIBus(SPI::Bus::SPI4, {
+	//	//    // no devices
+	//	// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+	//	//  }, {GPIO::PortG, GPIO::Pin8}),
+	//	initSPIBus(SPI::Bus::SPI5, {
+	//		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
+	//	}),
+	//	initSPIBusExternal(SPI::Bus::SPI6, {
+	//		initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
+	//		initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
+	//	}),
+	//}),
+
 	initSPIHWVersion(V5X51, {
 		initSPIBus(SPI::Bus::SPI1, {
 			initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
@@ -47,7 +47,7 @@ then
 	fi
 fi

-if ver hwtypecmp V6X000004 V6X001004 V6X005004
+if ver hwtypecmp V6X000004 V6X001004 V6X004004 V6X005004
 then
 	# Internal SPI bus ICM20649
 	icm20649 -s -R 6 start
@@ -60,7 +60,7 @@ fi
 # Internal SPI bus ICM42688p
 icm42688p -R 6 -s start

-if ver hwtypecmp V6X000003 V6X001003 V6X000004 V6X001004 V6X005003 V6X005004
+if ver hwtypecmp V6X000003 V6X001003 V6X003003 V6X000004 V6X001004 V6X004003 V6X004004 V6X005003 V6X005004
 then
 	# Internal SPI bus ICM-42670-P (hard-mounted)
 	icm42670p -R 10 -s start
@@ -88,4 +88,4 @@ fi
 # Baro on I2C3
 ms5611 -X start

-unset HAVE_PM2
+unset HAVE_PM2
@@ -213,7 +213,7 @@
 #define GPIO_HW_VER_SENSE      /* PH3 */  GPIO_ADC3_INP14
 #define HW_INFO_INIT_PREFIX    "V6X"

-#define BOARD_NUM_SPI_CFG_HW_VERSIONS 6 // Rev 0 and Rev 3,4 Sensor sets
+#define BOARD_NUM_SPI_CFG_HW_VERSIONS 7 // Rev 0 and Rev 3,4 Sensor sets
 //                 Base/FMUM
 #define V6X00   HW_VER_REV(0x0,0x0) // FMUV6X,                 Rev 0
 #define V6X01   HW_VER_REV(0x0,0x1) // FMUV6X,     BMI388 I2C2 Rev 1
@@ -222,8 +222,12 @@
 #define V6X10   HW_VER_REV(0x1,0x0) // NO PX4IO,               Rev 0
 #define V6X13   HW_VER_REV(0x1,0x3) // NO PX4IO,   Sensor Set  Rev 3
 #define V6X14   HW_VER_REV(0x1,0x4) // NO PX4IO,   Sensor Set  Rev 4
-#define V6X50   HW_VER_REV(0x5,0x0) // FMUV6X,                    HB Mini Rev 0
-#define V6X51   HW_VER_REV(0x5,0x1) // FMUV6X,     BMI388 I2C2    HB Mini Rev 1
+//#define V6X40   HW_VER_REV(0x4,0x0) // FMUV6X,                    HB CM4 base Rev 0 // never shipped
+//#define V6X41   HW_VER_REV(0x4,0x1) // FMUV6X,     BMI388 I2C2    HB CM4 base Rev 1 // never shipped
+#define V6X43   HW_VER_REV(0x4,0x3) // FMUV6X,     Sensor Set     HB CM4 base Rev 3
+#define V6X44   HW_VER_REV(0x4,0x4) // FMUV6X,     Sensor Set     HB CM4 base Rev 4
+//#define V6X50   HW_VER_REV(0x5,0x0) // FMUV6X,                    HB Mini Rev 0 // never shipped
+//#define V6X51   HW_VER_REV(0x5,0x1) // FMUV6X,     BMI388 I2C2    HB Mini Rev 1 // never shipped
 #define V6X53   HW_VER_REV(0x5,0x3) // FMUV6X,     Sensor Set     HB Mini Rev 3
 #define V6X54   HW_VER_REV(0x5,0x4) // FMUV6X,     Sensor Set     HB Mini Rev 4

@@ -115,6 +115,27 @@ static const px4_hw_mft_item_t hw_mft_list_v0610[] = {
 	},
 };

+static const px4_hw_mft_item_t hw_mft_list_v0640[] = {
+	{
+		//  PX4_MFT_PX4IO
+		.present     = 1,
+		.mandatory   = 1,
+		.connection  = px4_hw_con_onboard,
+	},
+	{
+		// PX4_MFT_USB
+		.present     = 1,
+		.mandatory   = 1,
+		.connection  = px4_hw_con_onboard,
+	},
+	{
+		// PX4_MFT_CAN2
+		.present     = 1,
+		.mandatory   = 1,
+		.connection  = px4_hw_con_onboard,
+	},
+};
+
 static const px4_hw_mft_item_t hw_mft_list_v0650[] = {
 	{
 		//  PX4_MFT_PX4IO
@@ -142,8 +163,12 @@ static px4_hw_mft_list_entry_t mft_lists[] = {
 	{V6X00, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)},
 	{V6X01, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2
 	{V6X03, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2, Sensor Set 3
-	{V6X50, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, //                       HB Mini
-	{V6X51, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // BMP388 moved to I2C2  HB Mini
+	//{V6X40, hw_mft_list_v0640, arraySize(hw_mft_list_v0640)}, //                       HB CM4 base           // never shipped
+	//{V6X41, hw_mft_list_v0640, arraySize(hw_mft_list_v0640)}, // BMP388 moved to I2C2  HB CM4 base           // never shipped
+	{V6X43, hw_mft_list_v0640, arraySize(hw_mft_list_v0640)}, // BMP388 moved to I2C2, HB CM4 base Sensor Set 3
+	{V6X44, hw_mft_list_v0640, arraySize(hw_mft_list_v0640)}, // BMP388 moved to I2C2, HB CM4 base Sensor Set 4
+	//{V6X50, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, //                       HB Mini               // never shipped
+	//{V6X51, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // BMP388 moved to I2C2  HB Mini               // never shipped
 	{V6X53, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // BMP388 moved to I2C2, HB Mini Sensor Set 3
 	{V6X54, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // BMP388 moved to I2C2, HB Mini Sensor Set 4
 	{V6X10, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO
@@ -84,9 +84,9 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}),
 	}),

-	initSPIHWVersion(V6X50, {
+	initSPIHWVersion(V6X43, {
 		initSPIBus(SPI::Bus::SPI1, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
+			initSPIDevice(DRV_IMU_DEVTYPE_ICM42670P, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
 		}, {GPIO::PortI, GPIO::Pin11}),
 		initSPIBus(SPI::Bus::SPI2, {
 			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
@@ -107,6 +107,54 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 			initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
 		}),
 	}),
+
+	initSPIHWVersion(V6X44, {
+		initSPIBus(SPI::Bus::SPI1, {
+			initSPIDevice(DRV_IMU_DEVTYPE_ICM42670P, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
+		}, {GPIO::PortI, GPIO::Pin11}),
+		initSPIBus(SPI::Bus::SPI2, {
+			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
+		}, {GPIO::PortF, GPIO::Pin4}),
+		initSPIBus(SPI::Bus::SPI3, {
+			initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}),
+		}, {GPIO::PortE, GPIO::Pin7}),
+		//  initSPIBus(SPI::Bus::SPI4, {
+		//    // no devices
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+		//  }, {GPIO::PortG, GPIO::Pin8}),
+		initSPIBus(SPI::Bus::SPI5, {
+			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
+		}),
+		initSPIBusExternal(SPI::Bus::SPI6, {
+			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
+			initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
+		}),
+	}),
+
+	// never shipped
+	//initSPIHWVersion(V6X50, {
+	//	initSPIBus(SPI::Bus::SPI1, {
+	//		initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
+	//	}, {GPIO::PortI, GPIO::Pin11}),
+	//	initSPIBus(SPI::Bus::SPI2, {
+	//		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
+	//	}, {GPIO::PortF, GPIO::Pin4}),
+	//	initSPIBus(SPI::Bus::SPI3, {
+	//		initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin8}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}),
+	//		initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
+	//	}, {GPIO::PortE, GPIO::Pin7}),
+	//	//  initSPIBus(SPI::Bus::SPI4, {
+	//	//    // no devices
+	//	// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+	//	//  }, {GPIO::PortG, GPIO::Pin8}),
+	//	initSPIBus(SPI::Bus::SPI5, {
+	//		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
+	//	}),
+	//	initSPIBusExternal(SPI::Bus::SPI6, {
+	//		initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
+	//		initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
+	//	}),
+	//}),
 	initSPIHWVersion(V6X04, {
 		initSPIBus(SPI::Bus::SPI1, {
 			initSPIDevice(DRV_IMU_DEVTYPE_ICM42670P, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
@@ -34,6 +34,7 @@ CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
+CONFIG_MODULES_PAYLOAD_DELIVERER=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_REPLAY=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -96,6 +96,7 @@ set(msg_files
 	gps_dump.msg
 	gps_inject_data.msg
 	health_report.msg
+	gripper.msg
 	heater_status.msg
 	home_position.msg
 	hover_thrust_estimate.msg
@@ -0,0 +1,7 @@
+## Used to command an actuation in the gripper, which is mapped to a specific output in the mixer module
+
+uint64 timestamp
+
+int8 command		# Commanded state for the gripper
+int8 COMMAND_GRAB = 0
+int8 COMMAND_RELEASE = 1
@@ -29,4 +29,6 @@ uint8 transition_switch          # VTOL transition switch: _HOVER, FORWARD_FLIGH
 uint8 photo_switch               # Photo trigger switch
 uint8 video_switch               # Photo trigger switch

+uint8 engage_main_motor_switch   # Engage the main motor (for helicopters)
+
 uint32 switch_changes            # number of switch changes
@@ -27,13 +27,14 @@ uint8 FUNCTION_FLTBTN_SLOT_3 = 23
 uint8 FUNCTION_FLTBTN_SLOT_4 = 24
 uint8 FUNCTION_FLTBTN_SLOT_5 = 25
 uint8 FUNCTION_FLTBTN_SLOT_6 = 26
+uint8 FUNCTION_ENGAGE_MAIN_MOTOR = 27

 uint8 FUNCTION_FLTBTN_SLOT_COUNT = 6

 uint64 timestamp_last_valid					# Timestamp of last valid RC signal
 float32[18] channels						# Scaled to -1..1 (throttle: 0..1)
 uint8 channel_count						# Number of valid channels
-int8[27] function						# Functions mapping
+int8[28] function						# Functions mapping
 uint8 rssi							# Receive signal strength index
 bool signal_lost						# Control signal lost, should be checked together with topic timeout
 uint32 frame_drop_count						# Number of dropped frames
@@ -57,6 +57,7 @@ uint16 VEHICLE_CMD_DO_FENCE_ENABLE=207			# Mission command to enable the geofenc
 uint16 VEHICLE_CMD_DO_PARACHUTE=208			# Mission command to trigger a parachute |action (0=disable, 1=enable, 2=release, for some systems see PARACHUTE_ACTION enum, not in general message set.)| Empty| Empty| Empty| Empty| Empty| Empty|
 uint16 VEHICLE_CMD_DO_MOTOR_TEST=209			# motor test command |Instance (1, ...)| throttle type| throttle| timeout [s]| Motor count | Test order| Empty|
 uint16 VEHICLE_CMD_DO_INVERTED_FLIGHT=210		# Change to/from inverted flight |inverted (0=normal, 1=inverted)| Empty| Empty| Empty| Empty| Empty| Empty|
+uint16 VEHICLE_CMD_DO_GRIPPER = 211			# Command to operate a gripper
 uint16 VEHICLE_CMD_DO_SET_CAM_TRIGG_INTERVAL=214	# Mission command to set TRIG_INTERVAL for this flight |Camera trigger distance (meters)| Shutter integration time (ms)| Empty| Empty| Empty| Empty| Empty|
 uint16 VEHICLE_CMD_DO_MOUNT_CONTROL_QUAT=220		# Mission command to control a camera or antenna mount, using a quaternion as reference. |q1 - quaternion param #1, w (1 in null-rotation)| q2 - quaternion param #2, x (0 in null-rotation)| q3 - quaternion param #3, y (0 in null-rotation)| q4 - quaternion param #4, z (0 in null-rotation)| Empty| Empty| Empty|
 uint16 VEHICLE_CMD_DO_GUIDED_MASTER=221			# set id of master controller |System ID| Component ID| Empty| Empty| Empty| Empty| Empty|
@@ -96,7 +97,7 @@ uint16 VEHICLE_CMD_ARM_AUTHORIZATION_REQUEST = 3001	# Request arm authorization
 uint16 VEHICLE_CMD_PAYLOAD_PREPARE_DEPLOY = 30001	# Prepare a payload deployment in the flight plan
 uint16 VEHICLE_CMD_PAYLOAD_CONTROL_DEPLOY = 30002	# Control a pre-programmed payload deployment
 uint16 VEHICLE_CMD_FIXED_MAG_CAL_YAW = 42006            # Magnetometer calibration based on provided known yaw. This allows for fast calibration using WMM field tables in the vehicle, given only the known yaw of the vehicle. If Latitude and longitude are both zero then use the current vehicle location.
-
+uint16 VEHICLE_CMD_DO_WINCH = 42600			# Command to operate winch.

 # PX4 vehicle commands (beyond 16 bit mavlink commands)
 uint32 VEHICLE_CMD_PX4_INTERNAL_START    = 65537        # start of PX4 internal only vehicle commands (> UINT16_MAX)
@@ -160,6 +161,10 @@ uint8 SPEED_TYPE_DESCEND_SPEED = 3
 int8 ARMING_ACTION_DISARM = 0
 int8 ARMING_ACTION_ARM = 1

+# param2 in VEHICLE_CMD_DO_GRIPPER
+uint8 GRIPPER_ACTION_RELEASE = 0
+uint8 GRIPPER_ACTION_GRAB = 1
+
 uint8 ORB_QUEUE_LENGTH = 8

 float32 param1			# Parameter 1, as defined by MAVLink uint16 VEHICLE_CMD enum.
@@ -40,6 +40,7 @@ if(NOT "${PX4_BOARD}" MATCHES "io-v2" AND NOT "${PX4_BOARD_LABEL}" MATCHES "boot
 endif()

 add_library(px4_platform
+	board_common.c
 	board_identity.c
 	events.cpp
 	external_reset_lockout.cpp
@@ -0,0 +1,54 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2022 Technology Innovation Institute. 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.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <px4_platform_common/micro_hal.h>
+
+#include "board_config.h"
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+#if defined(GPIO_OTGFS_VBUS) && \
+    (defined(CONFIG_BUILD_FLAT) || !defined(__PX4_NUTTX))
+
+/* Default implementation for POSIX and flat NUTTX if the VBUS pin exists */
+int board_read_VBUS_state(void)
+{
+	return (px4_arch_gpioread(GPIO_OTGFS_VBUS) ? 0 : 1);
+}
+#endif
@@ -509,18 +509,7 @@ static inline bool board_rc_invert_input(const char *device, bool invert) { retu
 *
 ************************************************************************************/

-#if defined(__PX4_NUTTX) && !defined(CONFIG_BUILD_FLAT)
-inline static int board_read_VBUS_state(void)
-{
-	platformiocvbusstate_t state = {false};
-	boardctl(PLATFORMIOCVBUSSTATE, (uintptr_t)&state);
-	return state.ret;
-}
-#elif defined(GPIO_OTGFS_VBUS)
-#  define board_read_VBUS_state() (px4_arch_gpioread(GPIO_OTGFS_VBUS) ? 0 : 1)
-#else
 int board_read_VBUS_state(void);
-#endif

 /************************************************************************************
 * Name: board_on_reset
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 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
@@ -64,8 +64,8 @@ struct px4_spi_bus_devices_t {

 struct px4_spi_bus_t {
 	px4_spi_bus_device_t devices[SPI_BUS_MAX_DEVICES];
-	int bus{-1}; ///< physical bus number (1, ...) (-1 means this is unused)
 	uint32_t power_enable_gpio{0}; ///< GPIO (if non-zero) to control the power of the attached devices on this bus (0 means power is off)
+	int8_t bus{-1}; ///< physical bus number (1, ...) (-1 means this is unused)
 	bool is_external; ///< static external configuration. Use px4_spi_bus_external() to check if a bus is really external
 	bool requires_locking; ///< whether the bus should be locked during transfers (true if NuttX drivers access the bus)
 };
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Julian Oes	115568eb82	setup: pass through Ubuntu setup script - Add usage function - Add support for Ubuntu 22.04 - Update arm-none-eabi-gcc to version 10.3 - Remove jMAVSim / Java stuff - Remove FastRTPS / Java stuff - Fix some typos - Add Gazebo Ignition - Disable Gazebo for Ubuntu 18.04 - Fix some shellcheck issues - Cleanup apt caches in docker	2022-09-09 14:38:33 +12:00
Ramon Roche	c89ae1d690	ubuntu.sh: updated dependencies and output I double checked each new dependency and made sure to build each target with the new install script as well as test FastRTPS and Simulations * removed unused dependencies * settled on the absolute most updated JDK we could possibly use given our dependencies (JDK 14) * added conditional support for use in a container environment via a new flag --from-docker * added multi-platform build tools for development	2022-09-09 13:27:34 +12:00
Julian Oes	ed10146e9f	fmu-v6: disable Rev 0, Rev 1 for HB Mini, and CM4 As I understand it, only Rev 3 and Rev 4 were shipped by HB for Mini and CM4, and are likely to be used for it. It would be nice to have all combinations but it requires quite some flash in the current implementation.	2022-09-08 20:54:19 -04:00
Julian Oes	f05fccebb7	fmu-v5x: disable rev0 for HB Mini and CM4 base As I understand it, only Rev 1 and Rev 2 were shipped by HB, and likely to be used for the Mini and CM4.	2022-09-08 20:54:19 -04:00
Julian Oes	6bd020e848	platforms: decrease flash usage by type for bus id My assumption is that the bus are numbered < 127. This saves about 100 bytes of flash.	2022-09-08 20:54:19 -04:00
vincentpoont2	4fe90322db	update fmu-v6x rc.board_sensors, add V6X004003	2022-09-08 20:54:19 -04:00
vincentpoont2	167c3da99d	update fmuv5x rc.board_sensors with V5X004000	2022-09-08 20:54:19 -04:00
Vincent Poon	70321ed610	update v5x rc.board_sensors add V5X004002	2022-09-08 20:54:19 -04:00
Vincentpoont2	f476ebdcbf	Correct BOARD_NUM_SPI_CFG_HW_VERSIONS at board_config.h	2022-09-08 20:54:19 -04:00
Vincentpoont2	9d5adf8bab	Fix Error on manifest.c	2022-09-08 20:54:19 -04:00
Vincentpoont2	e91295e5db	Fix Error on board_config.h Define on FMUv5X & FMUv6X	2022-09-08 20:54:19 -04:00
Vincentpoont2	b16a53018d	Add Holybro Pixhawk Pi CM4 Baseboard Support	2022-09-08 20:54:19 -04:00
Don Gagne	0987bb2e8e	Fix bug with yaw only reposition Fix formatting	2022-09-08 17:55:30 -04:00
Matthias Grob	da01dd9eeb	mission_block: explicitly (re)set the acceptance radius to default for takeoff items otherwise a previously adjusted or uninitialized radius from the last flight can cause problems during the new takeoff	2022-09-08 14:49:32 +02:00
Matthias Grob	b825b61a20	mission_block: minimal acceptance radius of 1mm to avoid float rounding errors leading to tiny acceptance radii getting considered	2022-09-08 14:49:32 +02:00
Ville Juven	9c204774f1	px4_userspace_init: Fix NULL dereference for px4_spi_buses in user space For targets that define the SPI buses via px4_spi_buses_all_hw, a call to px4_set_spi_buses_from_hw_version() is needed. Otherwise a NULL de-reference will occur when trying to access px4_spi_buses. Fixes a system crash in px4_fmu-v5_protected: up_assert: Assertion failed at file:armv7-m/arm_memfault.c line: 101 task: wq:lp_default	2022-09-08 07:05:11 +02:00
Justin	88bf1030b5	Update CI to use the main branches.	2022-09-07 20:03:19 -04:00
Ville Juven	d4cce452cf	modules/dataman: Increase stack size by 100B Fixes: WARN [load_mon] dataman low on stack! (276 bytes left) Seen on px4_fmu-v5_protected target.	2022-09-07 20:02:26 -04:00
Junwoo Hwang	2542b1bb26	Implement Pacakge delivery via Gripper during mission This feature allows user to use a Gripper type pacakge delivery mechanism on a drone to trigger the delivery during a mission via the mission item `DO_GRIPPER`. This is a minimal change that is intended to have simplest pacakge delivery feature on PX4, however the future scope would extend this feature out of Navigator, and rather move towards a federated PX4 (flight-mode flexibility) architecture. But until then, this will serve the purpose. Update Tools/sitl_gazebo submodule to remove sdf file overwrite error - There was an error happening due to .sdf file being overwritten, it was caused by a wrongfully added. sdf file. - This update pulls in the PR commit: https://github.com/Auterion/sitl_gazebo/pull/147 Initial cut on supporing PAYLOAD_PLACE mission item Tidy and comment on navigation.h to clarify mission item definition - Convert vehicle command ack subscription data type to SubscriptionData, to not care about having a dedicated struct for copying the latest data - Tidy and comment on navigation.h to clarify the definition of mission_item_s, which is confusing as it is an intergration of MAVLink Standard into PX4's internal Mission Item structure Rename mission_block's mission item reached function & cleanup navigator - Isolated Handle Vehicle Commands function inside the Navigator - Rename mission_block's mission item reached function to 'reached or completed', as the navigation command can also be an action (e.g. DO_SET_SERVO, which doesn't make sense to refer to as 'reached' when we have successfully done executed the command) Include MAVLink PR commit to include payload_drop message More changes to add payload_drop MAVLink message support - Comitting for testing purposes Add mission item payload_drop to vehicle command payload drop link - Now with a mission item with the nav_cmd set to 'payload drop', the appropriate 'payload drop' vehicle command will be issued Make Payload drop executable via Mission Plan Implement payload_drop module to simulate payload delivery - Simple module that acknowledges the payload drop vehicle command after certain time, to simulate a successful delivery Additional changes - payload drop module not working yet - Need to do more thread stuff to make it work :( Fix Payload Drop enum mismatch in vehicle_command enums - First functional Payload Drop Implementation MVP - Simple Ack & resuming mission from Navigator tested successfully Hold the position while executing payload drop mission item - Still the position hold is not solid, maybe I am missing something in the position setpoint part and all the internal implications of Navigator :( Add DO_WINCH command support Some fixes after rebase on develop branch - Some missed brackets - Some comment edits, etc Add DO_WINCH command support - Still has a problem of flying away from the waypoint while the DO_WINCH is being executed, probably position setpoint related stuff :( Apply braking of the vehicle for DO_WINCH command - Copies the behavior of NAV_CMD_DELAY, which executes a smooth, braking behavior when executing the delay because of the braking condition in `set_mission_items` function - This will not apply to Fixed wings - The payload deploy getting triggered may be too early, as right now as soon as the vehicle approaches the waypoint within the acceptance threshold, the payload gets deployed Add DO_GRIPPER support Implement Gripper actual Hardware triggering support - Currently not working, possibly in the mixer there's a bug - Implemented the publishing of actuator_controls_1 uORB topic - Implemented the test command for the payload_drop module, to test the grpiper functionality - Edited px4board file to include the payload_drop module - Added Holybro X500 V2 airframe file, to enable testing on X500 V2 - Created new Quad X Payload Delivery mixer, which maps the actuator controls 1 topic's data into the MAIN pin 5 output Make Payload Drop Gripper Work - Initialization of the Gripper position to CLOSED on Constructor of the payload_drop module - Setting the OPEN and CLOSED value to the appropriate actuator controls input Set vehicle_command_ack message's timestamp correctly - By not setting the timestamp, the ack commands were not correctly graphed in PlotJuggler! Rename payload drop module to payload deliverer - I think it's a more complex name (harder to type), but more generic Add Gripper class (WIP) Add Gripper class functionalities - Add gripper uORB message - Add gripper state machine Use Gripper class as main interface in payload_deliverer - Utilizes Gripper class functions for doing Gripper functionality Remove mixer based package delivery trigger logic - Remove custom mixer files that mapped actuator controls to outputs statically Additional improvements of the payload_deliverer Fix payload_deliverer module not starting - _task_id wasn't geting set appropriately in task_spawn function, which led to runtime failure Add Gripper Function to mixer_module - Still not showing up as function mapping in QGC, needs fix Add parameters to control gripper behavior - Now user can enable / disable gripper - Also select which type of gripper to use Applying review from nuno Remove timeout fetching from mission item and use gripper's timeout - Previously, it was planned to use a custom DO_GRIPPER and DO_WINCH MAVLink message definitions with information on timeout, but since now we are using original message definition, only relevant timeout information is defined in the payload_deliverer class - This change brings in the timeout parameter to the Navigator, which then sets the timeout in the mission_block class level, which then processes the timeout logic Make payload deployment work for Allmend test :P Support gripper open/close test commands in payload_deliverer Move enum definition for GRIPPER_ACTION to vehicle_command.msg Remove double call for ` ${R}etc/init.d/rc.vehicle_setup` - Was introduced during the rebase - Was causing module already running & uORB topic can't be advertised errors Fix format via `make format` command Modify S500 airframe file to use for control allocation usage - Added Control allocation related parameters as default to not have it reset every time the airframe is selected Implement mission specific payload deploy timeout and more changes Switch payload_deliverer to run on work queue Remove unnecessary files - Airframe changes from enabling control allocation are removed Address review comments - Remove debug messages - Remove unnecessary or verbose comments & code - Properly call parameter_update() function Switch payload_deliverer to scheduled interval work item & refactor - Switch to Schedeuled on Interval Work Item, as previous vehicle command subscription callback based behavior led to vehicle comamnd ack not being sent accordingly (since the Run() wouldn't be called unless there's a new vehicle command), leading to ack command not being sent out - Also, old vehicle commands were getting fetched due to the subscription callback as well, which was removed with this patch - Fix the wrong population of floating point param2 field of vehicle command by int8_t type gripper action by creating dedicated function - Refactor and add comments to increase readability Add gripper::grabbing() method and handle this in parameter update - Previously, the intermediate state 'grabbing' was not considered, and when the parameter update was called after the first initialization of the gripper, the grab() function was being called again, which would produce unnecessary duplicate vehicle command. - Also replaced direct .grab() access to sending vehicle comamnd, which unifies the gripper actuation mechanism through vehicle commands. Navigator: Change SubscriptionData to Subscription to reduce memory usage - Also removed unused vehicle command ack sub PayloadDeliverer: Remove unnecessary changes & Bring back vehicle_command sub cb	2022-09-07 08:11:52 +02:00
Matthias Grob	e115095f70	Functions: correct interpolate function for N points	2022-09-07 08:00:27 +02:00
Beat Küng	4087c27e84	control_allocator: handle saturation flags for helicopters	2022-09-07 08:00:27 +02:00
alexklimaj	aa8d594e9b	Add heli servo trim	2022-09-07 08:00:27 +02:00
Matthias Grob	667e99be81	Helicopter: fix unit test after default throttle curve was changed	2022-09-07 08:00:27 +02:00
Matthias Grob	115cf4d572	Helicopter: More intuitive yaw direction configuration for the common cases	2022-09-07 08:00:27 +02:00
Matthias Grob	f233f2167e	generic_250, px4vision: remove zero manual thrust without airmode When hitting zero thrust by stick there is 0 torque authority without airmode. So 0% minimum manual thrust should never be the default without airmode.	2022-09-07 08:00:27 +02:00
Matthias Grob	8a25d06ed7	heli_defaults: comment and spacing	2022-09-07 08:00:26 +02:00
Beat Küng	cecef7e3f6	control_allocator: update heli throttle + collective curve defaults	2022-09-07 08:00:26 +02:00
Beat Küng	d38c02fd6a	commander: increase maximum COM_SPOOLUP_TIME to 30s (for helis)	2022-09-07 08:00:26 +02:00
Beat Küng	2635e2c386	airframes: replace blade with generic helicopter	2022-09-07 08:00:26 +02:00
Beat Küng	7e75b497ae	helicopter: add switch to engage main motor For helicopters it's useful (e.g. during bringup) to be able to disable the main rotor while the tail is still controlled to safely land.	2022-09-07 08:00:26 +02:00
Matthias Grob	f32d931117	helicopter: add yaw sign parameter & expose settings in UI	2022-09-07 08:00:26 +02:00
Matthias Grob	349f152601	Helicopter: throttle spoolup upon arming Uses COM_SPOOLUP_TIME to slowly ramp the throttle and allow the tailrotor to compensate in a coordinated way based on the yaw compesation from throttle, see CA_HELI_YAW_TH_S. This coordinated spoolup is necessary to avoid unsafe yaw twitches because of the heli rotating until the correct compensation kicks in through the feedback controller.	2022-09-07 08:00:26 +02:00
Matthias Grob	7bf62373ae	Helicopter: refactor complicated throttle curve logic	2022-09-07 08:00:26 +02:00
Matthias Grob	2edb35b1b5	Functions: add gradual function with arbitrary number of corner points	2022-09-07 08:00:26 +02:00
Matthias Grob	6a9a049f1e	Helicopter: add unit testing for throttle curve	2022-09-07 08:00:26 +02:00
Matthias Grob	9ba6f4efb7	Helicopter: add yaw compensation from throttle CA_HELI_YAW_TH_S	2022-09-07 08:00:26 +02:00
Matthias Grob	554d965a2d	Helicopter: use absolute value for yaw compensation from collective pitch	2022-09-07 08:00:26 +02:00
Beat Küng	608ab9ff9c	control_allocator: extend description for CA_SP0_ANGx	2022-09-07 08:00:25 +02:00
Beat Küng	e346190e63	helicopter: use tail motor & add CA_HELI_YAW_CP_S	2022-09-07 08:00:25 +02:00
Julian Oes	5ece24cdc4	setup: attempt to fix macOS CI Somehow the wheel install of pymavlink fails without future, let's try to work around that.	2022-09-07 13:49:37 +12:00
Peter van der Perk	8f0c2f4146	UCANS32K1 Enable some sensors by default	2022-09-06 09:43:11 -04:00
bresch	92fbd86b46	ekf2: add gps altitude drift test	2022-09-05 10:28:37 -04:00
bresch	a2a5093881	ekf2: relax zero velocity update The ZVU is too strong and prevents the EKF from following variations in the height aiding sources, creating large innovations.	2022-09-05 10:28:37 -04:00
Daniel Agar	d996af4647	ekf2: pass gpsSample around where required - this minimizes potential misuse accessing _gps_sample_delayed and makes the dependency clear	2022-09-05 10:27:19 -04:00
RomanBapst	0c860fa227	airspeed_selector: don't declare wind estimate valid if estmator is not initialised Signed-off-by: RomanBapst <bapstroman@gmail.com>	2022-09-05 10:21:38 -04:00
Ville Juven	9ed35debec	board_ctrl: Clean up usage of VBUS, nARMED from user/kernelspace Move logic implemented in the header files to source files, this way it will be simpler to define which is compiled to kernel space and which to user space Also allows to remove some headers that pull in half the universe from the board definitions (which should just be pin definitions and no functionality)	2022-09-05 07:37:28 +02:00
Benjamin Perseghetti	a56f654651	Multi-Vehicle Ignition Gazebo Simulation (#20154 )	2022-09-04 21:10:29 -04:00
Daniel Agar	7bbdc220f5	ekf2: initialiseFilter() simplify mag heading init and resetQuatStateYaw - most of resetQuatStateYaw doesn't apply to initial heading init, so removing the special case keeps it simple	2022-09-02 08:46:10 -04:00
Ville Juven	e467d11990	boards/px4/fmu-v5/toc: The RD certificate signature points to the wrong place The signature end address is incorrect	2022-09-02 08:00:27 +02:00