Add airframe

Add advanced plane
2026-06-04 02:20:05 +08:00 · 2022-08-31 17:54:23 +02:00 · 2022-08-31 17:44:27 +02:00
137 changed files with 2206 additions and 3389 deletions
@@ -81,7 +81,7 @@ jobs:
      env:
        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
        DONT_RUN: 1
-      run: make px4_sitl_default sitl_gazebo mavsdk_tests
+      run: make px4_sitl_default gazebo mavsdk_tests
    - name: ccache post-run mavsdk_tests
      run: ccache -s

@@ -49,6 +49,45 @@
                "group": "test"
            }
        },
+        {
+            "label": "jmavsim build",
+            "type": "shell",
+            "command": "ant create_run_jar copy_res",
+            "options": {
+                "cwd": "${workspaceFolder}/Tools/simulation/jmavsim/jMAVSim"
+            },
+            "problemMatcher": [],
+            "presentation":{
+                "echo": true,
+                "reveal": "never",
+                "focus": false,
+                "panel": "shared",
+                "showReuseMessage": false,
+                "clear": false,
+            }
+        },
+        {
+            "label": "jmavsim",
+            "type": "shell",
+            "dependsOn": "jmavsim build",
+            "command": "java -Djava.ext.dirs= -jar jmavsim_run.jar -r 250 -lockstep -tcp localhost:4560 -qgc",
+            "options": {
+                "cwd": "${workspaceFolder}/Tools/simulation/jmavsim/jMAVSim/out/production",
+                "env": {
+                    "PX4_SIM_SPEED_FACTOR": "1"
+                }
+            },
+            "isBackground": true,
+            "presentation": {
+                "echo": true,
+                "reveal": "never",
+                "focus": false,
+                "panel": "shared",
+                "showReuseMessage": false,
+                "clear": false
+            },
+            "problemMatcher": []
+        },
        {
            "label": "jmavsim kill",
            "type": "shell",
@@ -296,10 +296,7 @@ if(${PX4_PLATFORM} STREQUAL "posix")
 	set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 	set(CMAKE_ENABLE_EXPORTS ON)

-	if(CMAKE_BUILD_TYPE MATCHES "Coverage")
-		include(coverage)
-	endif()
-
+	include(coverage)
 	include(sanitizers)

 	# Define GNU standard installation directories
@@ -129,59 +129,57 @@ else
 	BUILD_DIR_SUFFIX :=
 endif

-CMAKE_ARGS ?=
-
 # additional config parameters passed to cmake
 ifdef EXTERNAL_MODULES_LOCATION
-	override CMAKE_ARGS += -DEXTERNAL_MODULES_LOCATION:STRING=$(EXTERNAL_MODULES_LOCATION)
+	CMAKE_ARGS += -DEXTERNAL_MODULES_LOCATION:STRING=$(EXTERNAL_MODULES_LOCATION)
 endif

 ifdef PX4_CMAKE_BUILD_TYPE
-	override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=${PX4_CMAKE_BUILD_TYPE}
+	CMAKE_ARGS += -DCMAKE_BUILD_TYPE=${PX4_CMAKE_BUILD_TYPE}
 else

 	# Address Sanitizer
 	ifdef PX4_ASAN
-		override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=AddressSanitizer
+		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=AddressSanitizer
 	endif

 	# Memory Sanitizer
 	ifdef PX4_MSAN
-		override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=MemorySanitizer
+		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=MemorySanitizer
 	endif

 	# Thread Sanitizer
 	ifdef PX4_TSAN
-		override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=ThreadSanitizer
+		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=ThreadSanitizer
 	endif

 	# Undefined Behavior Sanitizer
 	ifdef PX4_UBSAN
-		override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=UndefinedBehaviorSanitizer
+		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=UndefinedBehaviorSanitizer
 	endif

 	# Fuzz Testing
 	ifdef PX4_FUZZ
-		override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=FuzzTesting
+		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=FuzzTesting
 	endif

 endif

 # Pick up specific Python path if set
 ifdef PYTHON_EXECUTABLE
-	override CMAKE_ARGS += -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
+	CMAKE_ARGS += -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
 endif

 # Check if the microRTPS agent is to be built
 ifdef BUILD_MICRORTPS_AGENT
-  override CMAKE_ARGS += -DBUILD_MICRORTPS_AGENT=ON
+  CMAKE_ARGS += -DBUILD_MICRORTPS_AGENT=ON
 endif

 # Functions
 # --------------------------------------------------------------------
 # describe how to build a cmake config
 define cmake-build
-	$(eval override CMAKE_ARGS += -DCONFIG=$(1))
+	$(eval CMAKE_ARGS += -DCONFIG=$(1))
 	@$(eval BUILD_DIR = "$(SRC_DIR)/build/$(1)")
 	@# check if the desired cmake configuration matches the cache then CMAKE_CACHE_CHECK stays empty
 	@$(call cmake-cache-check)
@@ -385,7 +383,7 @@ format:
 .PHONY: rostest python_coverage

 tests:
-	$(eval override CMAKE_ARGS += -DTESTFILTER=$(TESTFILTER))
+	$(eval CMAKE_ARGS += -DTESTFILTER=$(TESTFILTER))
 	$(eval ARGS += test_results)
 	$(eval ASAN_OPTIONS += color=always:check_initialization_order=1:detect_stack_use_after_return=1)
 	$(eval UBSAN_OPTIONS += color=always)
@@ -1,34 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL
-#
-# @type Quadrotor Wide
-#
-# @maintainer Julian Oes <julian@oes.ch>
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=jmavsim}
-
-param set-default CA_AIRFRAME 0
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.1515
-param set-default CA_ROTOR0_PY 0.245
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.1515
-param set-default CA_ROTOR1_PY -0.1875
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.1515
-param set-default CA_ROTOR2_PY -0.245
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.1515
-param set-default CA_ROTOR3_PY 0.1875
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default 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
-
@@ -1,33 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (foggy_lidar)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-
-param set-default CA_AIRFRAME 0
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.1515
-param set-default CA_ROTOR0_PY 0.245
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.1515
-param set-default CA_ROTOR1_PY -0.1875
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.1515
-param set-default CA_ROTOR2_PY -0.245
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.1515
-param set-default CA_ROTOR3_PY 0.1875
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default 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
-
-param set-default EKF2_RNG_A_HMAX 10
-
@@ -0,0 +1,11 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (foggy_lidar)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d-posix/airframes/10016_iris
+
+param set-default EKF2_RNG_A_HMAX 10
+
@@ -41,3 +41,4 @@ param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104

 param set SIH_VEHICLE_TYPE 0
+
@@ -1,47 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (Optical Flow)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-
-param set-default CA_AIRFRAME 0
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.1515
-param set-default CA_ROTOR0_PY 0.245
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.1515
-param set-default CA_ROTOR1_PY -0.1875
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.1515
-param set-default CA_ROTOR2_PY -0.245
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.1515
-param set-default CA_ROTOR3_PY 0.1875
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default 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
-
-# EKF2
-param set-default EKF2_AID_MASK 2
-param set-default EKF2_GPS_CTRL 0
-param set-default EKF2_EVP_NOISE 0.05
-param set-default EKF2_EVA_NOISE 0.05
-
-# LPE: Flow-only mode
-param set-default LPE_FUSION 242
-param set-default LPE_FAKE_ORIGIN 1
-
-param set-default MPC_ALT_MODE 2
-
-param set-default SENS_FLOW_ROT 6
-param set-default SENS_FLOW_MINHGT 0.7
-param set-default SENS_FLOW_MAXHGT 3.0
-param set-default SENS_FLOW_MAXR 2.5
@@ -0,0 +1,25 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (Optical Flow)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d-posix/airframes/10016_iris
+
+# EKF2
+param set-default EKF2_AID_MASK 2
+param set-default EKF2_GPS_CTRL 0
+param set-default EKF2_EVP_NOISE 0.05
+param set-default EKF2_EVA_NOISE 0.05
+
+# LPE: Flow-only mode
+param set-default LPE_FUSION 242
+param set-default LPE_FAKE_ORIGIN 1
+
+param set-default MPC_ALT_MODE 2
+
+param set-default SENS_FLOW_ROT 6
+param set-default SENS_FLOW_MINHGT 0.7
+param set-default SENS_FLOW_MAXHGT 3.0
+param set-default SENS_FLOW_MAXR 2.5
@@ -1,38 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (irlock)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-
-param set-default CA_AIRFRAME 0
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.1515
-param set-default CA_ROTOR0_PY 0.245
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.1515
-param set-default CA_ROTOR1_PY -0.1875
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.1515
-param set-default CA_ROTOR2_PY -0.245
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.1515
-param set-default CA_ROTOR3_PY 0.1875
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default 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
-
-# enable fusion of landing target velocity
-param set-default LTEST_MODE 1
-param set-default PLD_HACC_RAD 0.1
-param set-default RTL_PLD_MD 2
-
-# Start up Landing Target Estimator module
-landing_target_estimator start
@@ -0,0 +1,16 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (irlock)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d-posix/airframes/10016_iris
+
+# enable fusion of landing target velocity
+param set-default LTEST_MODE 1
+param set-default PLD_HACC_RAD 0.1
+param set-default RTL_PLD_MD 2
+
+# Start up Landing Target Estimator module
+landing_target_estimator start
@@ -1,33 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (rplidar)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-
-param set-default CA_AIRFRAME 0
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.1515
-param set-default CA_ROTOR0_PY 0.245
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.1515
-param set-default CA_ROTOR1_PY -0.1875
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.1515
-param set-default CA_ROTOR2_PY -0.245
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.1515
-param set-default CA_ROTOR3_PY 0.1875
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default 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
-
-param set-default LPE_FUSION 242
-
@@ -0,0 +1,11 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (rplidar)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d-posix/airframes/10016_iris
+
+param set-default LPE_FUSION 242
+
@@ -1,42 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (Vision)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-
-param set-default CA_AIRFRAME 0
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.1515
-param set-default CA_ROTOR0_PY 0.245
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.1515
-param set-default CA_ROTOR1_PY -0.1875
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.1515
-param set-default CA_ROTOR2_PY -0.245
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.1515
-param set-default CA_ROTOR3_PY 0.1875
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default 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
-
-# EKF2: Vision position and heading
-param set-default EKF2_AID_MASK 24
-param set-default EKF2_EV_DELAY 5
-param set-default EKF2_GPS_CTRL 0
-
-# LPE: Vision + baro
-param set-default LPE_FUSION 132
-
-# AEQ: External heading set to use vision input
-param set-default ATT_EXT_HDG_M 1
-
@@ -0,0 +1,20 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (Vision)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d-posix/airframes/10016_iris
+
+# EKF2: Vision position and heading
+param set-default EKF2_AID_MASK 24
+param set-default EKF2_EV_DELAY 5
+param set-default EKF2_GPS_CTRL 0
+
+# LPE: Vision + baro
+param set-default LPE_FUSION 132
+
+# AEQ: External heading set to use vision input
+param set-default ATT_EXT_HDG_M 1
+
@@ -1,34 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (Obstacle Avoidance)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-
-param set-default CA_AIRFRAME 0
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.1515
-param set-default CA_ROTOR0_PY 0.245
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.1515
-param set-default CA_ROTOR1_PY -0.1875
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.1515
-param set-default CA_ROTOR2_PY -0.245
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.1515
-param set-default CA_ROTOR3_PY 0.1875
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default 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
-
-param set-default COM_OBS_AVOID 1
-param set-default MPC_XY_CRUISE 5.0
-
@@ -0,0 +1,12 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (Obstacle Avoidance)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d-posix/airframes/10016_iris
+
+param set-default COM_OBS_AVOID 1
+param set-default MPC_XY_CRUISE 5.0
+
@@ -1,40 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (Optical Flow)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-
-param set-default CA_AIRFRAME 0
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.1515
-param set-default CA_ROTOR0_PY 0.245
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.1515
-param set-default CA_ROTOR1_PY -0.1875
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.1515
-param set-default CA_ROTOR2_PY -0.245
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.1515
-param set-default CA_ROTOR3_PY 0.1875
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default 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
-
-# EKF2
-param set-default EKF2_AID_MASK 2
-param set-default EKF2_GPS_CTRL 0
-
-# LPE: Flow-only mode
-param set-default LPE_FUSION 242
-param set-default LPE_FAKE_ORIGIN 1
-
-param set-default MPC_ALT_MODE 2
@@ -0,0 +1,18 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (Optical Flow)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d-posix/airframes/10016_iris
+
+# EKF2
+param set-default EKF2_AID_MASK 2
+param set-default EKF2_GPS_CTRL 0
+
+# LPE: Flow-only mode
+param set-default LPE_FUSION 242
+param set-default LPE_FAKE_ORIGIN 1
+
+param set-default MPC_ALT_MODE 2
@@ -0,0 +1,13 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (Vision Velocity)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d-posix/airframes/10016_iris
+
+# EKF2: Vision velocity and heading
+param set-default EKF2_AID_MASK 272
+param set-default EKF2_EV_DELAY 5
+param set-default EKF2_GPS_CTRL 0
@@ -1,33 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (Dual GPS)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-
-param set-default CA_AIRFRAME 0
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.1515
-param set-default CA_ROTOR0_PY 0.245
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.1515
-param set-default CA_ROTOR1_PY -0.1875
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.1515
-param set-default CA_ROTOR2_PY -0.245
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.1515
-param set-default CA_ROTOR3_PY 0.1875
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default 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
-
-# EKF2: Multi GPS blending
-param set-default SENS_GPS_MASK 7
@@ -0,0 +1,11 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (Dual GPS)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d-posix/airframes/10016_iris
+
+# EKF2: Multi GPS blending
+param set-default SENS_GPS_MASK 7
@@ -1,81 +0,0 @@
-#!/bin/sh
-#
-# @name Plane SITL with camera
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-param set-default EKF2_MAG_ACCLIM 0
-param set-default EKF2_MAG_YAWLIM 0
-
-param set-default FW_LND_AIRSPD_SC 1
-param set-default FW_LND_ANG 8
-
-param set-default FW_L1_PERIOD 12
-
-param set-default FW_PR_P 0.9
-param set-default FW_PR_FF 0.5
-param set-default FW_PR_I 0.5
-param set-default TRIM_PITCH -0.15
-
-param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MIN -15
-
-param set-default FW_RR_FF 0.5
-param set-default FW_RR_P 0.3
-param set-default FW_RR_I 0.5
-
-param set-default FW_YR_FF 0.5
-param set-default FW_YR_P 0.6
-param set-default FW_YR_I 0.5
-
-param set-default FW_SPOILERS_LND 0.4
-
-param set-default FW_THR_MAX 0.6
-param set-default FW_THR_MIN 0.05
-param set-default FW_THR_TRIM 0.25
-
-param set-default FW_T_CLMB_MAX 8
-param set-default FW_T_SINK_MAX 2.7
-param set-default FW_T_SINK_MIN 2.2
-
-param set-default FW_W_EN 1
-
-param set-default MIS_LTRMIN_ALT 30
-param set-default MIS_TAKEOFF_ALT 30
-
-param set-default NAV_ACC_RAD 15
-param set-default NAV_DLL_ACT 2
-
-param set-default RWTO_TKOFF 1
-
-param set-default CA_AIRFRAME 1
-
-param set-default CA_ROTOR_COUNT 1
-param set-default CA_ROTOR0_PX 0.3
-
-param set-default CA_SV_CS_COUNT 6
-param set-default CA_SV_CS0_TRQ_R -0.5
-param set-default CA_SV_CS0_TYPE 1
-param set-default CA_SV_CS1_TRQ_R 0.5
-param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
-param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
-param set-default CA_SV_CS3_TYPE 4
-param set-default CA_SV_CS4_TYPE 9
-param set-default CA_SV_CS5_TYPE 10
-param set-default PWM_MAIN_FUNC3 204
-param set-default PWM_MAIN_FUNC4 205
-param set-default PWM_MAIN_FUNC5 101
-param set-default PWM_MAIN_FUNC6 201
-param set-default PWM_MAIN_FUNC7 202
-param set-default PWM_MAIN_FUNC8 203
-param set-default PWM_MAIN_FUNC9 206
-param set-default PWM_MAIN_REV 256
-
-# Camera trigger interface is MAVLink
-param set-default TRIG_INTERFACE 3
-
-# Distance trigger mode enabled
-param set-default TRIG_MODE 4
@@ -0,0 +1,12 @@
+#!/bin/sh
+#
+# @name Plane SITL with camera
+#
+
+. ${R}etc/init.d-posix/airframes/1030_plane
+
+# Camera trigger interface is MAVLink
+param set-default TRIG_INTERFACE 3
+
+# Distance trigger mode enabled
+param set-default TRIG_MODE 4
@@ -0,0 +1,9 @@
+#!/bin/sh
+#
+# @name Plane SITL with catapult
+#
+
+. ${R}etc/init.d-posix/airframes/1030_plane
+
+param set-default RWTO_TKOFF 0
+
@@ -63,3 +63,4 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
+
@@ -1,78 +0,0 @@
-#!/bin/sh
-#
-# @name Plane SITL with catapult
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-param set-default EKF2_MAG_ACCLIM 0
-param set-default EKF2_MAG_YAWLIM 0
-
-param set-default FW_LND_AIRSPD_SC 1
-param set-default FW_LND_ANG 8
-
-param set-default FW_L1_PERIOD 12
-
-param set-default FW_PR_P 0.9
-param set-default FW_PR_FF 0.5
-param set-default FW_PR_I 0.5
-param set-default TRIM_PITCH -0.15
-
-param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MIN -15
-
-param set-default FW_RR_FF 0.5
-param set-default FW_RR_P 0.3
-param set-default FW_RR_I 0.5
-
-param set-default FW_YR_FF 0.5
-param set-default FW_YR_P 0.6
-param set-default FW_YR_I 0.5
-
-param set-default FW_SPOILERS_LND 0.4
-
-param set-default FW_THR_MAX 0.6
-param set-default FW_THR_MIN 0.05
-param set-default FW_THR_TRIM 0.25
-
-param set-default FW_T_CLMB_MAX 8
-param set-default FW_T_SINK_MAX 2.7
-param set-default FW_T_SINK_MIN 2.2
-
-param set-default FW_W_EN 1
-
-param set-default MIS_LTRMIN_ALT 30
-param set-default MIS_TAKEOFF_ALT 30
-
-param set-default NAV_ACC_RAD 15
-param set-default NAV_DLL_ACT 2
-
-param set-default RWTO_TKOFF 1
-
-param set-default CA_AIRFRAME 1
-
-param set-default CA_ROTOR_COUNT 1
-param set-default CA_ROTOR0_PX 0.3
-
-param set-default CA_SV_CS_COUNT 6
-param set-default CA_SV_CS0_TRQ_R -0.5
-param set-default CA_SV_CS0_TYPE 1
-param set-default CA_SV_CS1_TRQ_R 0.5
-param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
-param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
-param set-default CA_SV_CS3_TYPE 4
-param set-default CA_SV_CS4_TYPE 9
-param set-default CA_SV_CS5_TYPE 10
-param set-default PWM_MAIN_FUNC3 204
-param set-default PWM_MAIN_FUNC4 205
-param set-default PWM_MAIN_FUNC5 101
-param set-default PWM_MAIN_FUNC6 201
-param set-default PWM_MAIN_FUNC7 202
-param set-default PWM_MAIN_FUNC8 203
-param set-default PWM_MAIN_FUNC9 206
-param set-default PWM_MAIN_REV 256
-
-param set-default FW_THR_TRIM 0.0
-param set-default RWTO_TKOFF 0
@@ -0,0 +1,9 @@
+#!/bin/sh
+#
+# @name Plane SITL with catapult
+#
+
+. ${R}etc/init.d-posix/airframes/1030_plane
+
+param set-default FW_THR_TRIM 0.0
+param set-default RWTO_TKOFF 0
@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# @name Plane SITL with catapult
+# @name Plane SITL
 #

 . ${R}etc/init.d/rc.fw_defaults
@@ -73,6 +73,3 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
-
-param set-default RWTO_TKOFF 0
-
@@ -1,65 +0,0 @@
-#!/bin/sh
-#
-# @name Plane SITL
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-param set-default FW_LND_AIRSPD_SC 1.1
-param set-default FW_LND_ANG 5
-param set-default FW_LND_FL_PMIN 9.5
-param set-default FW_LND_FL_PMAX 20
-param set-default FW_LND_FLALT 5
-
-param set-default FW_L1_PERIOD 25
-
-param set-default FW_PR_FF 0.40
-param set-default FW_PR_I 0.05
-param set-default FW_PR_P 0.05
-
-param set-default FW_R_TC 0.45
-param set-default FW_RR_FF 0.40
-param set-default FW_RR_I 0.132
-param set-default FW_RR_P 0.085
-
-param set-default FW_W_EN 1
-
-param set-default MIS_LTRMIN_ALT 30
-param set-default MIS_TAKEOFF_ALT 20
-param set-default MIS_DIST_1WP 2500
-param set-default MIS_DIST_WPS 10000
-
-param set-default NAV_ACC_RAD 15
-param set-default NAV_DLL_ACT 2
-
-param set-default RWTO_TKOFF 1
-
-param set-default RWTO_MAX_PITCH 20
-
-param set-default RWTO_PSP 8
-param set-default RWTO_AIRSPD_SCL 1.8
-
-param set-default CA_AIRFRAME 1
-
-param set-default CA_ROTOR_COUNT 1
-param set-default CA_ROTOR0_PX 0.3
-
-param set-default CA_SV_CS_COUNT 6
-param set-default CA_SV_CS0_TRQ_R -0.5
-param set-default CA_SV_CS0_TYPE 1
-param set-default CA_SV_CS1_TRQ_R 0.5
-param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
-param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
-param set-default CA_SV_CS3_TYPE 4
-param set-default CA_SV_CS4_TYPE 9
-param set-default CA_SV_CS5_TYPE 10
-param set-default PWM_MAIN_FUNC3 204
-param set-default PWM_MAIN_FUNC4 205
-param set-default PWM_MAIN_FUNC5 101
-param set-default PWM_MAIN_FUNC6 201
-param set-default PWM_MAIN_FUNC7 202
-param set-default PWM_MAIN_FUNC8 203
-param set-default PWM_MAIN_FUNC9 206
-param set-default PWM_MAIN_REV 256
@@ -1,93 +0,0 @@
-#!/bin/sh
-#
-# @name Standard VTOL
-#
-# @type Standard VTOL
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-# TODO: Enable motor failure detection when the
-# VTOL no longer reports 0A for all ESCs in SITL
-param set-default FD_ACT_EN 0
-param set-default FD_ACT_MOT_TOUT 500
-
-param set-default CA_AIRFRAME 2
-
-param set-default CA_ROTOR_COUNT 5
-param set-default CA_ROTOR0_PX 0.1515
-param set-default CA_ROTOR0_PY 0.245
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.1515
-param set-default CA_ROTOR1_PY -0.1875
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.1515
-param set-default CA_ROTOR2_PY -0.245
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.1515
-param set-default CA_ROTOR3_PY 0.1875
-param set-default CA_ROTOR3_KM -0.05
-param set-default CA_ROTOR4_AX 1.0
-param set-default CA_ROTOR4_AZ 0.0
-param set-default CA_ROTOR4_PX 0.2
-
-param set-default CA_SV_CS_COUNT 3
-param set-default CA_SV_CS0_TYPE 1
-param set-default CA_SV_CS0_TRQ_R -0.5
-param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS1_TRQ_R 0.5
-param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS2_TRQ_P 1.0
-param set-default 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
-param set-default PWM_MAIN_FUNC5 105
-param set-default PWM_MAIN_FUNC6 201
-param set-default PWM_MAIN_FUNC7 202
-param set-default PWM_MAIN_FUNC8 203
-
-param set-default FW_L1_PERIOD 12
-param set-default FW_PR_FF 0.2
-param set-default FW_PR_P 0.9
-param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MIN -15
-param set-default FW_RR_FF 0.1
-param set-default FW_RR_P 0.3
-param set-default FW_THR_TRIM 0.25
-param set-default FW_THR_MAX 0.6
-param set-default FW_THR_MIN 0.05
-param set-default FW_T_CLMB_MAX 8
-param set-default FW_T_SINK_MAX 2.7
-param set-default FW_T_SINK_MIN 2.2
-
-param set-default MC_ROLLRATE_P 0.3
-param set-default MC_YAW_P 1.6
-
-param set-default MIS_TAKEOFF_ALT 10
-
-param set-default MPC_ACC_HOR_MAX 2
-param set-default MPC_XY_P 0.8
-param set-default MPC_XY_VEL_P_ACC 3
-param set-default MPC_XY_VEL_I_ACC 4
-param set-default MPC_XY_VEL_D_ACC 0.1
-
-param set-default NAV_ACC_RAD 5
-
-param set-default VT_FWD_THRUST_EN 4
-param set-default VT_F_TRANS_THR 0.75
-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 1234
-param set-default VT_B_TRANS_DUR 8
-param set-default VT_TYPE 2
-
-
-# Gimbal
-param set-default PWM_MAIN_FUNC9 420
-param set-default PWM_MAIN_FUNC10 421
-param set-default PWM_MAIN_FUNC11 422
-
-param set-default RC_MAP_AUX1 8
-param set-default RC_MAP_AUX2 9
-param set-default RC_MAP_AUX3 10
-
@@ -0,0 +1,18 @@
+#!/bin/sh
+#
+# @name Standard VTOL
+#
+# @type Standard VTOL
+#
+
+. ${R}etc/init.d-posix/airframes/1040_standard_vtol
+
+# Gimbal
+param set-default PWM_MAIN_FUNC9 420
+param set-default PWM_MAIN_FUNC10 421
+param set-default PWM_MAIN_FUNC11 422
+
+param set-default RC_MAP_AUX1 8
+param set-default RC_MAP_AUX2 9
+param set-default RC_MAP_AUX3 10
+
@@ -1,78 +0,0 @@
-#!/bin/sh
-#
-# @name Plane SITL with downward facing LIDAR.
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-param set-default EKF2_MAG_ACCLIM 0
-param set-default EKF2_MAG_YAWLIM 0
-
-param set-default FW_LND_AIRSPD_SC 1
-param set-default FW_LND_ANG 8
-
-param set-default FW_L1_PERIOD 12
-
-param set-default FW_PR_P 0.9
-param set-default FW_PR_FF 0.5
-param set-default FW_PR_I 0.5
-param set-default TRIM_PITCH -0.15
-
-param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MIN -15
-
-param set-default FW_RR_FF 0.5
-param set-default FW_RR_P 0.3
-param set-default FW_RR_I 0.5
-
-param set-default FW_YR_FF 0.5
-param set-default FW_YR_P 0.6
-param set-default FW_YR_I 0.5
-
-param set-default FW_SPOILERS_LND 0.4
-
-param set-default FW_THR_MAX 0.6
-param set-default FW_THR_MIN 0.05
-param set-default FW_THR_TRIM 0.25
-
-param set-default FW_T_CLMB_MAX 8
-param set-default FW_T_SINK_MAX 2.7
-param set-default FW_T_SINK_MIN 2.2
-
-param set-default FW_W_EN 1
-
-param set-default MIS_LTRMIN_ALT 30
-param set-default MIS_TAKEOFF_ALT 30
-
-param set-default NAV_ACC_RAD 15
-param set-default NAV_DLL_ACT 2
-
-param set-default RWTO_TKOFF 1
-
-param set-default CA_AIRFRAME 1
-
-param set-default CA_ROTOR_COUNT 1
-param set-default CA_ROTOR0_PX 0.3
-
-param set-default CA_SV_CS_COUNT 6
-param set-default CA_SV_CS0_TRQ_R -0.5
-param set-default CA_SV_CS0_TYPE 1
-param set-default CA_SV_CS1_TRQ_R 0.5
-param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
-param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
-param set-default CA_SV_CS3_TYPE 4
-param set-default CA_SV_CS4_TYPE 9
-param set-default CA_SV_CS5_TYPE 10
-param set-default PWM_MAIN_FUNC3 204
-param set-default PWM_MAIN_FUNC4 205
-param set-default PWM_MAIN_FUNC5 101
-param set-default PWM_MAIN_FUNC6 201
-param set-default PWM_MAIN_FUNC7 202
-param set-default PWM_MAIN_FUNC8 203
-param set-default PWM_MAIN_FUNC9 206
-param set-default PWM_MAIN_REV 256
-
-
-param set-default FW_LND_USETER 1
@@ -0,0 +1,9 @@
+#!/bin/sh
+#
+# @name Plane SITL with downward facing LIDAR.
+#
+
+. ${R}etc/init.d-posix/airframes/1030_plane
+
+param set-default FW_LND_USETER 1
+
@@ -32,58 +32,55 @@
 ############################################################################

 px4_add_romfs_files(
-	1010_gazebo_iris_opt_flow
-	1010_gazebo_iris_opt_flow.post
-	1011_gazebo_iris_irlock
-	1012_gazebo_iris_rplidar
-	1013_gazebo_iris_vision
-	1013_gazebo_iris_vision.post
-	1015_gazebo_iris_obs_avoid
-	1015_gazebo_iris_obs_avoid.post
-	1017_gazebo_iris_opt_flow_mockup
-	1019_gazebo_iris_dual_gps
-	1021_gazebo_uuv_hippocampus
-	1022_gazebo_uuv_bluerov2_heavy
-	1030_gazebo_plane
-	1031_gazebo_plane_cam
-	1032_gazebo_plane_catapult
-	1033_jsbsim_rascal
-	1034_flightgear_rascal-electric
-	1035_gazebo_techpod
-	1036_jsbsim_malolo
-	1037_gazebo_believer
-	1038_gazebo_glider
-	1039_flightgear_rascal
-	1040_gazebo_standard_vtol
-	1041_gazebo_tailsitter
-	1042_gazebo_tiltrotor
-	1043_gazebo_standard_vtol_drop
-	1044_gazebo_plane_lidar
-	1060_gazebo_rover
-	1061_gazebo_r1_rover
-	1062_flightgear_tf-r1
-	1070_gazebo_boat
+	10016_iris
+	10018_iris_foggy_lidar
+	10019_omnicopter
+	10030_px4vision
+	10040_quadx
+	10041_airplane
+	10042_xvert
+	1010_iris_opt_flow
+	1010_iris_opt_flow.post
+	1011_iris_irlock
+	1012_iris_rplidar
+	1013_iris_vision
+	1013_iris_vision.post
+	1015_iris_obs_avoid
+	1015_iris_obs_avoid.post
+	1017_iris_opt_flow_mockup
+	1018_iris_vision_velocity
+	1019_iris_dual_gps
+	1021_uuv_hippocampus
+	1022_uuv_bluerov2_heavy
+	1030_plane
+	1031_plane_cam
+	1032_plane_catapult
+	1033_rascal
+	1034_rascal-electric
+	1035_techpod
+	1036_malolo
+	1037_believer
+	1038_glider
+	1039_advanced_plane
+	1040_standard_vtol
+	1041_tailsitter
+	1042_tiltrotor
+	1043_standard_vtol_drop
+	1044_plane_lidar
+	1060_rover
+	1061_r1_rover
+	1062_tf-r1
+	1070_boat
+	3010_quadrotor_x
+	3011_hexarotor_x

-	2507_gazebo_cloudship
+	4001_x500

-	3010_jsbsim_quadrotor_x
-	3011_jsbsim_hexarotor_x
+	17001_tf-g1
+	17002_tf-g2
+	2507_cloudship

-	4001_ign_x500
-
-	6001_ign_x4
-	6011_gazebo_typhoon_h480
-	6011_gazebo_typhoon_h480.post
-
-	10016_gazebo_iris
-	10017_jmavsim_iris
-	10018_gazebo_iris_foggy_lidar
-	10019_gazebo_omnicopter
-	10030_gazebo_px4vision
-	10040_sihsim_quadx
-	10041_sihsim_airplane
-	10042_sihsim_xvert
-
-	17001_flightgear_tf-g1
-	17002_flightgear_tf-g2
+	6001_x4
+	6011_typhoon_h480
+	6011_typhoon_h480.post
 )
@@ -6,8 +6,6 @@ param set-default IMU_INTEG_RATE 250

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

-	echo "INFO  [init] SIH simulator"
-
 	if ! simulator_sih start; then
 		echo "ERROR  [init] simulator_sih failed to start"
 		exit 1
@@ -15,8 +13,6 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"

 elif [ "$PX4_SIMULATOR" = "ignition" ]; then

-	echo "INFO  [init] Ignition Gazebo simulator"
-
 	# source generated gazebo_env.sh for IGN_GAZEBO_RESOURCE_PATH
 	if [ -f gazebo_env.sh ]; then
 		. ./gazebo_env.sh
@@ -38,7 +34,7 @@ elif [ "$PX4_SIMULATOR" = "ignition" ]; then
 		echo "INFO  [init] ign gazebo already running"
 	fi

-	if simulator_ignition_bridge start -m "${PX4_SIM_MODEL#*ign_}" -w "${PX4_SIM_WORLD}"; then
+	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
@@ -47,19 +43,6 @@ elif [ "$PX4_SIMULATOR" = "ignition" ]; then
 		exit 1
 	fi

-elif [ "$PX4_SIM_MODEL" = "jmavsim_iris" ] || [ "$PX4_SIMULATOR" = "jmavsim" ]; then
-
-	echo "INFO  [init] jMAVSim simulator"
-
-	if jps | grep -i jmavsim; then
-		kill $(jps | grep -i jmavsim | awk '{print $1}') || true
-		sleep 1
-	fi
-
-	./jmavsim_run.sh -l -r 250 &
-
-	simulator_mavlink start -h localhost $((4560+px4_instance))
-
 else
 	# otherwise start simulator (mavlink) module
 	simulator_tcp_port=$((4560+px4_instance))
@@ -70,15 +53,15 @@ else
 	if [ -z "${PX4_SIM_HOSTNAME}" ]; then

 		if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
-			echo "INFO  [init] PX4_SIM_HOSTNAME: localhost"
+			echo "PX4 SIM HOST: localhost"
 			simulator_mavlink start -c $simulator_tcp_port
 		else
-			echo "INFO  [init] PX4_SIM_HOSTNAME: $PX4_SIM_HOST_ADDR"
+			echo "PX4 SIM HOST: $PX4_SIM_HOST_ADDR"
 			simulator_mavlink start -t $PX4_SIM_HOST_ADDR $simulator_tcp_port
 		fi

 	else
-		echo "INFO  [init] PX4_SIM_HOSTNAME: $PX4_SIM_HOSTNAME"
+		echo "PX4 SIM HOST: $PX4_SIM_HOSTNAME"
 		simulator_mavlink start -h $PX4_SIM_HOSTNAME $simulator_tcp_port
 	fi

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

-#set -e
+set -e

 # PX4 commands need the 'px4-' prefix in bash.
 # (px4-alias.sh is expected to be in the PATH)
@@ -22,7 +22,7 @@ echo build_path: $build_path
 rootfs="$build_path/rootfs" # this is the working directory
 mkdir -p "$rootfs"

-export PX4_SIM_MODEL=flightgear_${model}
+export PX4_SIM_MODEL=${model}

 echo "FG setup"
 cd "${src_path}/Tools/simulation/flightgear/flightgear_bridge/"
@@ -1,6 +1,6 @@
 #!/bin/bash
 # run multiple instances of the 'px4' binary, with the gazebo SITL simulation
-# It assumes px4 is already built, with 'make px4_sitl_default sitl_gazebo'
+# It assumes px4 is already built, with 'make px4_sitl_default gazebo'

 # The simulator is expected to send to TCP port 4560+i for i in [0, N-1]
 # For example gazebo can be run like this:
@@ -69,7 +69,7 @@ num_vehicles=${NUM_VEHICLES:=3}
 world=${WORLD:=empty}
 target=${TARGET:=px4_sitl_default}
 vehicle_model=${VEHICLE_MODEL:="iris"}
-export PX4_SIM_MODEL=gazebo_${vehicle_model}
+export PX4_SIM_MODEL=${vehicle_model}

 echo ${SCRIPT}
 SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
@@ -126,7 +126,7 @@ else

 		m=0
 		while [ $m -lt ${target_number} ]; do
-			export PX4_SIM_MODEL=gazebo_${target_vehicle}
+			export PX4_SIM_MODEL=${target_vehicle}
 			spawn_model ${target_vehicle}${LABEL} $n $target_x $target_y
 			m=$(($m + 1))
 			n=$(($n + 1))
@@ -67,7 +67,7 @@ fi
 # be running from last time
 pkill -x gazebo || true

-export PX4_SIM_MODEL=gazebo_${model}
+export PX4_SIM_MODEL=${model}
 export PX4_SIM_WORLD=${world}

 SIM_PID=0
@@ -75,6 +75,10 @@ SIM_PID=0
 if [ -x "$(command -v gazebo)" ]; then
 	# Get the model name
 	model_name="${model}"
+	# Check if a 'modelname-gen.sdf' file exist for the models using jinja and generating the SDF files
+	if [ -f "${src_path}/Tools/simulation/gazebo/sitl_gazebo/models/${model}/${model}-gen.sdf" ]; then
+		model_name="${model}-gen"
+	fi

 	# Set the plugin path so Gazebo finds our model and sim
 	source "$src_path/Tools/simulation/gazebo/setup_gazebo.bash" "${src_path}" "${build_path}"
@@ -2,8 +2,7 @@

 set -e

-SCRIPT_DIR=$(dirname $(readlink -f "$BASH_SOURCE"))
-
+SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
 cd "$SCRIPT_DIR/jMAVSim"

 port=4560
@@ -74,4 +73,4 @@ fi
 ant create_run_jar copy_res
 cd out/production

-java -XX:GCTimeRatio=20 --illegal-access=permit -Djava.ext.dirs= -jar jmavsim_run.jar $device $extra_args
+java -XX:GCTimeRatio=20 -Djava.ext.dirs= -jar jmavsim_run.jar $device $extra_args
@@ -0,0 +1,67 @@
+#!/usr/bin/env bash
+
+set -e
+
+if [ "$#" -lt 3 ]; then
+	echo usage: sitl_run.sh sitl_bin debugger src_path build_path
+	exit 1
+fi
+
+sitl_bin="$1"
+debugger="$2"
+src_path="$3"
+build_path="$4"
+
+echo SITL ARGS
+
+echo sitl_bin: $sitl_bin
+echo debugger: $debugger
+echo src_path: $src_path
+echo build_path: $build_path
+
+rootfs="$build_path/rootfs" # this is the working directory
+mkdir -p "$rootfs"
+
+# To disable user input
+if [[ -n "$NO_PXH" ]]; then
+	no_pxh=-d
+else
+	no_pxh=""
+fi
+
+jmavsim_pid=`ps aux | grep java | grep "\-jar jmavsim_run.jar" | awk '{ print $2 }'`
+if [ -n "$jmavsim_pid" ]; then
+	kill $jmavsim_pid
+fi
+
+export PX4_SIM_MODEL="iris"
+
+# Start Java simulator
+"$src_path"/Tools/simulation/jmavsim/jmavsim_run.sh -r 250 -l &
+SIM_PID=$!
+
+pushd "$rootfs" >/dev/null
+
+# Do not exit on failure now from here on because we want the complete cleanup
+set +e
+
+sitl_command="\"$sitl_bin\" $no_pxh \"$build_path\"/etc"
+
+echo SITL COMMAND: $sitl_command
+
+if [ "$debugger" == "lldb" ]; then
+	eval lldb -- $sitl_command
+elif [ "$debugger" == "gdb" ]; then
+	eval gdb --args $sitl_command
+elif [ "$debugger" == "valgrind" ]; then
+	eval valgrind --track-origins=yes --leak-check=full -v $sitl_command
+elif [ "$debugger" == "callgrind" ]; then
+	eval valgrind --tool=callgrind -v $sitl_command
+else
+	eval $sitl_command
+fi
+
+popd >/dev/null
+
+pkill -9 -P $SIM_PID
+kill -9 $SIM_PID
@@ -37,7 +37,7 @@ else
 	no_pxh=""
 fi

-export PX4_SIM_MODEL=jsbsim_${model}
+export PX4_SIM_MODEL=${model}
 export PX4_SIM_WORLD=${world}

 # This is needed for aircraft namespace mapping
@@ -19,7 +19,7 @@ pkill -x px4 || true

 sleep 1

-export PX4_SIM_MODEL=gazebo_iris
+export PX4_SIM_MODEL=iris

 n=0
 while [ $n -lt $sitl_num ]; do
@@ -166,10 +166,6 @@
 		GPIO_nVDD_5V_PERIPH_EN,           \
 		GPIO_nVDD_5V_PERIPH_OC,           \
 		GPIO_nVDD_5V_HIPOWER_OC,          \
-		PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C1_SCL), \
-		PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C1_SDA), \
-		PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C2_SCL), \
-		PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C2_SDA), \
 		PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D0), \
 		PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D1), \
 		PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D2), \
@@ -1,3 +1,5 @@
+set(config_sitl_viewer jmavsim CACHE STRING "viewer for sitl")
+set_property(CACHE config_sitl_viewer PROPERTY STRINGS "jmavsim;none")

 # If the environment variable 'replay' is defined, we are building with replay
 # support. In this case, we enable the orb publisher rules.
@@ -14,7 +14,7 @@
    <arg name="vehicle" default="iris"/>
    <arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
    <arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/>
-    <env name="PX4_SIM_MODEL" value="gazebo_$(arg vehicle)" />
+    <env name="PX4_SIM_MODEL" value="$(arg vehicle)" />

    <!-- gazebo configs -->
    <arg name="gui" default="true"/>
@@ -9,7 +9,7 @@
    <arg name="ID" default="0"/>
    <arg name="interactive" default="true"/>

-    <env name="PX4_SIM_MODEL" value="gazebo_$(arg vehicle)" />
+    <env name="PX4_SIM_MODEL" value="$(arg vehicle)" />
    <arg unless="$(arg interactive)" name="px4_command_arg1" value="-d"/>
    <arg     if="$(arg interactive)" name="px4_command_arg1" value=""/>
    <node name="sitl_$(arg ID)" pkg="px4" type="px4" output="screen" args="$(find px4)/build/px4_sitl_default/etc -s etc/init.d-posix/rcS -i $(arg ID) $(arg px4_command_arg1)">
@@ -13,7 +13,7 @@
    <arg name="est" default="ekf2"/>
    <arg name="vehicle" default="iris"/>
    <arg name="ID" default="1"/>
-    <env name="PX4_SIM_MODEL" value="gazebo_$(arg vehicle)" />
+    <env name="PX4_SIM_MODEL" value="$(arg vehicle)" />
    <arg name="mavlink_udp_port" default="14560"/>
    <arg name="mavlink_tcp_port" default="4560"/>
    <arg name="gst_udp_port" default="5600"/>
@@ -13,7 +13,7 @@
    <arg name="est" default="ekf2"/>
    <arg name="vehicle" default="plane"/>
    <arg name="ID" default="1"/>
-    <env name="PX4_SIM_MODEL" value="gazebo_$(arg vehicle)" />
+    <env name="PX4_SIM_MODEL" value="$(arg vehicle)" />
    <arg name="mavlink_udp_port" default="14560"/>
    <arg name="mavlink_tcp_port" default="4560"/>
    <!-- PX4 configs -->
@@ -118,4 +118,5 @@ bool parachute_system_healthy
 bool avoidance_system_required                    # Set to true if avoidance system is enabled via COM_OBS_AVOID parameter
 bool avoidance_system_valid                       # Status of the obstacle avoidance system

+bool battery_healthy                	# set if battery is available and not low

@@ -7,7 +7,6 @@ uint64 timestamp				# time since system start (microseconds)
 uint32 mode_req_angular_velocity
 uint32 mode_req_attitude
 uint32 mode_req_local_position
-uint32 mode_req_local_position_relaxed
 uint32 mode_req_global_position
 uint32 mode_req_local_alt
 uint32 mode_req_mission
@@ -24,11 +23,18 @@ bool angular_velocity_valid
 bool attitude_valid
 bool local_altitude_valid
 bool local_position_valid		# set to true by the commander app if the quality of the local position estimate is good enough to use for navigation
-bool local_position_valid_relaxed	# Local position with reduced accuracy requirements (e.g. flying with optical flow)
 bool local_velocity_valid		# set to true by the commander app if the quality of the local horizontal velocity data is good enough to use for navigation
 bool global_position_valid		# set to true by the commander app if the quality of the global position estimate is good enough to use for navigation
 bool gps_position_valid
 bool home_position_valid		# indicates a valid home position (a valid home position is not always a valid launch)
+bool escs_error		      		# set to true if one or more ESCs reporting esc_status are offline
+bool escs_failure		      	# set to true if one or more ESCs reporting esc_status has a failure
+
+bool position_reliant_on_gps
+bool position_reliant_on_optical_flow
+bool position_reliant_on_vision_position
+
+bool dead_reckoning

 bool offboard_control_signal_lost

@@ -36,8 +42,3 @@ bool rc_signal_found_once
 bool rc_calibration_in_progress
 bool vtol_transition_failure                        # Set to true if vtol transition failed

-bool battery_low_remaining_time
-bool battery_unhealthy
-
-uint8 battery_warning
-
@@ -117,6 +117,7 @@ __END_DECLS

 #include <inttypes.h>
 #include <stdint.h>
+#include <sys/cdefs.h>
 #include <stdio.h>
 #include <stdarg.h>

@@ -375,28 +376,15 @@ __END_DECLS
 /****************************************************************************
 * Messages that should never be filtered or compiled out
 ****************************************************************************/
-#if defined(PRINTF_LOG)
-#define PX4_INFO(FMT, ...) 	printf(FMT "\n", ##__VA_ARGS__)
-#else
 #define PX4_INFO(FMT, ...) 	__px4_log_modulename(_PX4_LOG_LEVEL_INFO, FMT, ##__VA_ARGS__)
-#endif

-#if defined(__NUTTX) || defined(PRINTF_LOG)
+#ifdef __NUTTX
 #define PX4_INFO_RAW		printf
 #else
 #define PX4_INFO_RAW(FMT, ...) 	__px4_log_raw(_PX4_LOG_LEVEL_INFO, FMT, ##__VA_ARGS__)
 #endif

-#if defined(PRINTF_LOG)
-/****************************************************************************
- * Direct printf output for minimized dependencies
- ****************************************************************************/
-#define PX4_PANIC(FMT, ...)	printf("Panic: " FMT "\n", ##__VA_ARGS__)
-#define PX4_ERR(FMT, ...)	printf("Error: " FMT "\n", ##__VA_ARGS__)
-#define PX4_WARN(FMT, ...) 	printf("Warn: " FMT "\n", ##__VA_ARGS__)
-#define PX4_DEBUG(FMT, ...) 	printf(FMT "\n", ##__VA_ARGS__)
-
-#elif defined(TRACE_BUILD)
+#if defined(TRACE_BUILD)
 /****************************************************************************
 * Extremely Verbose settings for a Trace build
 ****************************************************************************/
@@ -14,7 +14,7 @@
            "environment": [
                {
                    "name": "PX4_SIM_MODEL",
-                    "value": "sih_quadx"
+                    "value": "quadx"
                }
            ],
            "externalConsole": false,
@@ -58,7 +58,7 @@
            "environment": [
                {
                    "name": "PX4_SIM_MODEL",
-                    "value": "gazebo_${input:PX4_SIM_MODEL}"
+                    "value": "${input:PX4_SIM_MODEL}"
                }
            ],
            "externalConsole": false,
@@ -103,9 +103,10 @@
            "environment": [
                {
                    "name": "PX4_SIM_MODEL",
-                    "value": "jmavsim_iris"
+                    "value": "iris"
                }
            ],
+            "preLaunchTask": "jmavsim",
            "postDebugTask": "jmavsim kill",
            "linux": {
                "MIMode": "gdb",
@@ -15,7 +15,7 @@
            "environment": [
                {
                    "name": "PX4_SIM_MODEL",
-                    "value": "ign_${input:PX4_SIM_MODEL}"
+                    "value": "${input:PX4_SIM_MODEL}"
                }
            ],
            "externalConsole": false,
@@ -54,10 +54,10 @@
            "id": "PX4_SIM_MODEL",
            "description": "PX4_SIM_MODEL",
            "options": [
-              "x500",
+              "x3",
              "x4"
            ],
-            "default": "x500"
+            "default": "x3"
          }
    ]
 }
@@ -37,7 +37,6 @@
 * High-resolution timer with callouts and timekeeping.
 */

-#include <px4_platform_common/atomic.h>
 #include <px4_platform_common/time.h>
 #include <px4_platform_common/posix.h>
 #include <px4_platform_common/defines.h>
@@ -53,7 +52,6 @@

 #if defined(ENABLE_LOCKSTEP_SCHEDULER)
 #include <lockstep_scheduler/lockstep_scheduler.h>
-static LockstepScheduler lockstep_scheduler {};
 #endif

 // Intervals in usec
@@ -79,11 +77,22 @@ __EXPORT uint32_t latency_counters[LATENCY_BUCKET_COUNT + 1];
 static px4_sem_t 	_hrt_lock;
 static struct work_s	_hrt_work;

+static hrt_abstime px4_timestart_monotonic = 0;
+
+#if defined(ENABLE_LOCKSTEP_SCHEDULER)
+static LockstepScheduler *lockstep_scheduler = new LockstepScheduler();
+#endif
+
 static void hrt_latency_update();

 static void hrt_call_reschedule();
 static void hrt_call_invoke();

+hrt_abstime hrt_absolute_time_offset()
+{
+	return px4_timestart_monotonic;
+}
+
 static void hrt_lock()
 {
 	// loop as the wait may be interrupted by a signal
@@ -127,8 +136,8 @@ hrt_abstime hrt_absolute_time()
 {
 #if defined(ENABLE_LOCKSTEP_SCHEDULER)
 	// optimized case (avoid ts_to_abstime) if lockstep scheduler is used
-	return lockstep_scheduler.get_absolute_time();
-
+	const uint64_t abstime = lockstep_scheduler->get_absolute_time();
+	return abstime - px4_timestart_monotonic;
 #else // defined(ENABLE_LOCKSTEP_SCHEDULER)
 	struct timespec ts;
 	px4_clock_gettime(CLOCK_MONOTONIC, &ts);
@@ -467,7 +476,8 @@ int px4_clock_gettime(clockid_t clk_id, struct timespec *tp)
 {
 	if (clk_id == CLOCK_MONOTONIC) {
 #if defined(ENABLE_LOCKSTEP_SCHEDULER)
-		abstime_to_ts(tp, lockstep_scheduler.get_absolute_time());
+		const uint64_t abstime = lockstep_scheduler->get_absolute_time();
+		abstime_to_ts(tp, abstime - px4_timestart_monotonic);
 		return 0;
 #else // defined(ENABLE_LOCKSTEP_SCHEDULER)
 #if defined(__PX4_DARWIN)
@@ -491,60 +501,71 @@ int px4_clock_settime(clockid_t clk_id, const struct timespec *ts)
 		return system_clock_settime(clk_id, ts);

 	} else {
-		lockstep_scheduler.set_absolute_time(ts_to_abstime(ts));
+		const uint64_t time_us = ts_to_abstime(ts);
+
+		if (px4_timestart_monotonic == 0) {
+			px4_timestart_monotonic = time_us;
+		}
+
+		lockstep_scheduler->set_absolute_time(time_us);
 		return 0;
 	}
 }

+
 int px4_usleep(useconds_t usec)
 {
-	if (lockstep_scheduler.get_absolute_time() == 0) {
-		// Until the time is set by the simulator, we fallback to the normal usleep
+	if (px4_timestart_monotonic == 0) {
+		// Until the time is set by the simulator, we fallback to the normal
+		// usleep;
 		return system_usleep(usec);
 	}

-	const uint64_t time_finished = lockstep_scheduler.get_absolute_time() + usec;
+	const uint64_t time_finished = lockstep_scheduler->get_absolute_time() + usec;

-	return lockstep_scheduler.usleep_until(time_finished);
+	return lockstep_scheduler->usleep_until(time_finished);
 }

 unsigned int px4_sleep(unsigned int seconds)
 {
-	if (lockstep_scheduler.get_absolute_time() == 0) {
-		// Until the time is set by the simulator, we fallback to the normal sleep
+	if (px4_timestart_monotonic == 0) {
+		// Until the time is set by the simulator, we fallback to the normal
+		// sleep;
 		return system_sleep(seconds);
 	}

-	const uint64_t time_finished = lockstep_scheduler.get_absolute_time() + ((uint64_t)seconds * 1000000);
+	const uint64_t time_finished = lockstep_scheduler->get_absolute_time() +
+				       ((uint64_t)seconds * 1000000);

-	return lockstep_scheduler.usleep_until(time_finished);
+	return lockstep_scheduler->usleep_until(time_finished);
 }

 int px4_pthread_cond_timedwait(pthread_cond_t *cond,
 			       pthread_mutex_t *mutex,
 			       const struct timespec *ts)
 {
-	const uint64_t scheduled = ts_to_abstime(ts);
-	return lockstep_scheduler.cond_timedwait(cond, mutex, scheduled);
+	const uint64_t time_us = ts_to_abstime(ts);
+	const uint64_t scheduled = time_us + px4_timestart_monotonic;
+	return lockstep_scheduler->cond_timedwait(cond, mutex, scheduled);
 }

 int px4_lockstep_register_component()
 {
-	return lockstep_scheduler.components().register_component();
+	return lockstep_scheduler->components().register_component();
 }

 void px4_lockstep_unregister_component(int component)
 {
-	lockstep_scheduler.components().unregister_component(component);
+	lockstep_scheduler->components().unregister_component(component);
 }

 void px4_lockstep_progress(int component)
 {
-	lockstep_scheduler.components().lockstep_progress(component);
+	lockstep_scheduler->components().lockstep_progress(component);
 }

 void px4_lockstep_wait_for_components()
 {
-	lockstep_scheduler.components().wait_for_components();
+	lockstep_scheduler->components().wait_for_components();
 }
 #endif
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (C) 2015-2022 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2015-2018 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
@@ -345,33 +345,22 @@ int main(int argc, char **argv)

 		ret = run_startup_script(commands_file, absolute_binary_path, instance);

-		if (ret == 0) {
-			// We now block here until we need to exit.
-			if (pxh_off) {
-				wait_to_exit();
-
-			} else {
-				px4_daemon::Pxh pxh;
-				pxh.run_pxh();
-			}
-		}
-
-		// delete lock
-		const std::string file_lock_path = std::string(LOCK_FILE_PATH) + '-' + std::to_string(instance);
-		int fd_flock = open(file_lock_path.c_str(), O_RDWR, 0666);
-
-		if (fd_flock >= 0) {
-			unlink(file_lock_path.c_str());
-			flock(fd_flock, LOCK_UN);
-			close(fd_flock);
-		}
-
 		if (ret != 0) {
 			return PX4_ERROR;
 		}

+		// We now block here until we need to exit.
+		if (pxh_off) {
+			wait_to_exit();
+
+		} else {
+			px4_daemon::Pxh pxh;
+			pxh.run_pxh();
+		}
+
 		std::string cmd("shutdown");
 		px4_daemon::Pxh::process_line(cmd, true);
+
 	}

 	return PX4_OK;
@@ -464,7 +453,7 @@ void register_sig_handler()
 	// SIGINT
 	struct sigaction sig_int {};
 	sig_int.sa_handler = sig_int_handler;
-	sig_int.sa_flags = 0; // not SA_RESTART!
+	sig_int.sa_flags = 0;// not SA_RESTART!

 	// SIGPIPE
 	// We want to ignore if a PIPE has been closed.
@@ -228,8 +228,6 @@ Server::_server_main()
 		_unlock();
 	}

-	std::string sock_path = get_socket_path(_instance_id);
-	unlink(sock_path.c_str());
 	close(_fd);
 }

@@ -235,6 +235,11 @@ __EXPORT extern void	hrt_call_delay(struct hrt_call *entry, hrt_abstime delay);
 */
 __EXPORT extern void	hrt_init(void);

+#ifdef __PX4_POSIX
+
+__EXPORT extern hrt_abstime hrt_absolute_time_offset(void);
+
+#endif
 #if defined(ENABLE_LOCKSTEP_SCHEDULER)

 __EXPORT extern int px4_lockstep_register_component(void);
@@ -49,7 +49,6 @@ AK09916::AK09916(const I2CSPIDriverConfig &config) :

 AK09916::~AK09916()
 {
-	perf_free(_reset_perf);
 	perf_free(_transfer_perf);
 	perf_free(_bad_register_perf);
 	perf_free(_bad_transfer_perf);
@@ -65,8 +64,6 @@ int AK09916::init()
 		return ret;
 	}

-	_retries = 2;
-
 	return Reset() ? 0 : -1;
 }

@@ -82,7 +79,6 @@ void AK09916::print_status()
 {
 	I2CSPIDriverBase::print_status();

-	perf_print_counter(_reset_perf);
 	perf_print_counter(_transfer_perf);
 	perf_print_counter(_bad_register_perf);
 	perf_print_counter(_bad_transfer_perf);
@@ -112,7 +108,6 @@ void AK09916::RunImpl()
 {
 	switch (_state) {
 	case STATE::RESET:
-		perf_count(_reset_perf);
 		// CNTL3 SRST: Soft reset
 		RegisterWrite(Register::CNTL3, CNTL3_BIT::SRST);
 		_reset_timestamp = hrt_absolute_time();
@@ -184,8 +179,6 @@ void AK09916::RunImpl()
 					const int16_t z = combine(buffer.HZH, buffer.HZL);

 					// sensor's frame is +X forward (X), +Y right (Y), +Z down (Z)
-					_px4_mag.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf)
-								 + perf_event_count(_magnetic_sensor_overflow_perf));
 					_px4_mag.update(timestamp_sample, x, y, z);

 					success = true;
@@ -97,7 +97,6 @@ private:

 	PX4Magnetometer _px4_mag;

-	perf_counter_t _reset_perf{perf_alloc(PC_COUNT, MODULE_NAME": reset")};
 	perf_counter_t _transfer_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": transfer")};
 	perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad register")};
 	perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")};
@@ -106,8 +106,8 @@
                            "description": "Distance sensor"
                        },
                        "128": {
-                            "name": "remote_control",
-                            "description": "Remote Control (RC or Joystick)"
+                            "name": "manual_control_input",
+                            "description": "RC or virtual joystick input"
                        },
                        "256": {
                            "name": "motors_escs",
@@ -198,6 +198,10 @@
                        "536870912": {
                            "name": "gyro",
                            "description": "Gyroscope"
+                        },
+                        "1073741824": {
+                            "name": "remote_control",
+                            "description": "Remote Control"
                        }
                    }
                },
@@ -23,7 +23,7 @@ enum class params : uint16_t {
 static constexpr param_info_s parameters[] = {
 {% for param in params %}
 	{
-		.name = "{{ param.attrib["name"] }}",
+		"{{ param.attrib["name"] }}",
 	{%- if param.attrib["type"] == "FLOAT" %}
 		.val = {{ "{" }} .f = {{ param.attrib["default"] }} {{ "}" }},
 	{%- elif param.attrib["type"] == "INT32" %}
@@ -41,6 +41,7 @@
 #include <stdlib.h>
 #include <stdio.h>
 #include <string.h>
+#include <sys/queue.h>
 #include <drivers/drv_hrt.h>
 #include <math.h>
 #include <pthread.h>
@@ -39,6 +39,6 @@ target_include_directories(ArmStateMachine PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
 target_link_libraries(ArmStateMachine PUBLIC health_and_arming_checks)

 px4_add_functional_gtest(SRC ArmStateMachineTest.cpp
-	LINKLIBS ArmStateMachine health_and_arming_checks hysteresis sensor_calibration ArmAuthorization mode_util
+	LINKLIBS ArmStateMachine health_and_arming_checks sensor_calibration ArmAuthorization mode_util
 	)

@@ -50,7 +50,6 @@ px4_add_module(
 		esc_calibration.cpp
 		factory_calibration_storage.cpp
 		gyro_calibration.cpp
-		HomePosition.cpp
 		level_calibration.cpp
 		lm_fit.cpp
 		mag_calibration.cpp
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Jaeyoung Lim	fcc0c79c01	Add airframe	2022-08-31 17:54:23 +02:00
Jaeyoung Lim	86706ce218	Add advanced plane	2022-08-31 17:44:27 +02:00