mathlib: AlphaFilter add additional checks and updates methods

- setParameters() and setCutoffFreq() sanity check all input
 - on invalid configuration disable filter and leave in safe state
 - constrain cutoff frequency to Nyquist rather than disabling the filter
 - allow configuring only time constant directly
 - add new update() method with dt that also recomputes parameters if necessary
 - filter update don't allow invalid data (NAN, etc) to propagate

.github/workflows/sitl_tests.yml

@@ -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
 

.vscode/tasks.json

@@ -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",

CMakeLists.txt

@@ -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

ROMFS/px4fmu_common/init.d-posix/airframes/10017_jmavsim_iris

@@ -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
-

ROMFS/px4fmu_common/init.d-posix/airframes/10018_gazebo_iris_foggy_lidar

@@ -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
-

ROMFS/px4fmu_common/init.d-posix/airframes/10018_iris_foggy_lidar

@@ -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
+

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

@@ -41,3 +41,4 @@ param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
 
 param set SIH_VEHICLE_TYPE 0
+

ROMFS/px4fmu_common/init.d-posix/airframes/1010_gazebo_iris_opt_flow

@@ -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

ROMFS/px4fmu_common/init.d-posix/airframes/1010_iris_opt_flow

@@ -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

ROMFS/px4fmu_common/init.d-posix/airframes/1011_gazebo_iris_irlock

@@ -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

ROMFS/px4fmu_common/init.d-posix/airframes/1011_iris_irlock

@@ -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

ROMFS/px4fmu_common/init.d-posix/airframes/1012_gazebo_iris_rplidar

@@ -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
-

ROMFS/px4fmu_common/init.d-posix/airframes/1012_iris_rplidar

@@ -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
+

ROMFS/px4fmu_common/init.d-posix/airframes/1013_gazebo_iris_vision

@@ -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
-

ROMFS/px4fmu_common/init.d-posix/airframes/1013_iris_vision

@@ -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
+

ROMFS/px4fmu_common/init.d-posix/airframes/1015_gazebo_iris_obs_avoid

@@ -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
-

ROMFS/px4fmu_common/init.d-posix/airframes/1015_iris_obs_avoid

@@ -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
+

ROMFS/px4fmu_common/init.d-posix/airframes/1017_gazebo_iris_opt_flow_mockup

@@ -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

ROMFS/px4fmu_common/init.d-posix/airframes/1017_iris_opt_flow_mockup

@@ -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

ROMFS/px4fmu_common/init.d-posix/airframes/1018_iris_vision_velocity

@@ -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

ROMFS/px4fmu_common/init.d-posix/airframes/1019_gazebo_iris_dual_gps

@@ -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

ROMFS/px4fmu_common/init.d-posix/airframes/1019_iris_dual_gps

@@ -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

ROMFS/px4fmu_common/init.d-posix/airframes/1031_gazebo_plane_cam

@@ -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

ROMFS/px4fmu_common/init.d-posix/airframes/1031_plane_cam

@@ -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

ROMFS/px4fmu_common/init.d-posix/airframes/1032_gazebo_plane_catapult

@@ -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 RWTO_TKOFF 0
-

ROMFS/px4fmu_common/init.d-posix/airframes/1032_plane_catapult

@@ -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
+

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

@@ -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
+

ROMFS/px4fmu_common/init.d-posix/airframes/1038_gazebo_glider

@@ -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

ROMFS/px4fmu_common/init.d-posix/airframes/1038_glider

@@ -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

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

@@ -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

ROMFS/px4fmu_common/init.d-posix/airframes/1043_gazebo_standard_vtol_drop

@@ -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
-

ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop

@@ -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
+

ROMFS/px4fmu_common/init.d-posix/airframes/1044_gazebo_plane_lidar

@@ -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

ROMFS/px4fmu_common/init.d-posix/airframes/1044_plane_lidar

@@ -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
+

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

@@ -32,58 +32,54 @@
 ############################################################################
 
 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
+	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
 )

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

@@ -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
 

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -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)

Tools/simulation/flightgear/sitl_run.sh

@@ -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/"

Tools/simulation/gazebo/sitl_multiple_run.sh

@@ -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))

Tools/simulation/gazebo/sitl_run.sh

@@ -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}"

Tools/simulation/jmavsim/jmavsim_run.sh

@@ -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

Tools/simulation/jmavsim/sitl_run.sh

@@ -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

Tools/simulation/jsbsim/sitl_run.sh

@@ -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

Tools/simulation/sitl_multiple_run.sh

@@ -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

boards/px4/fmu-v5/src/toc.c

@@ -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 */
 

boards/px4/sitl/sitl.cmake

@@ -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.

launch/posix_sitl.launch

@@ -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"/>

launch/px4.launch

@@ -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)">

launch/single_vehicle_spawn.launch

@@ -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"/>

launch/single_vehicle_spawn_sdf.launch

@@ -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 -->

platforms/posix/Debug/launch_sitl_default.json.in

@@ -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",

platforms/posix/Debug/launch_sitl_ignition.json.in

@@ -15,7 +15,7 @@
             "environment": [
                 {
                     "name": "PX4_SIM_MODEL",
-                    "value": "ign_${input:PX4_SIM_MODEL}"
+                    "value": "${input:PX4_SIM_MODEL}"
                 }
             ],
             "externalConsole": false,

platforms/posix/src/px4/common/main.cpp

@@ -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.

platforms/posix/src/px4/common/px4_daemon/server.cpp

@@ -228,8 +228,6 @@ Server::_server_main()
 		_unlock();
 	}
 
-	std::string sock_path = get_socket_path(_instance_id);
-	unlink(sock_path.c_str());
 	close(_fd);
 }
 

src/lib/mathlib/math/Functions.hpp

@@ -271,6 +271,11 @@ inline bool isFinite(const float &value)
 	return PX4_ISFINITE(value);
 }
 
+inline bool isFinite(const matrix::Vector2f &value)
+{
+	return PX4_ISFINITE(value(0)) && PX4_ISFINITE(value(1));
+}
+
 inline bool isFinite(const matrix::Vector3f &value)
 {
 	return PX4_ISFINITE(value(0)) && PX4_ISFINITE(value(1)) && PX4_ISFINITE(value(2));

src/lib/mathlib/math/filter/AlphaFilter.hpp

@@ -56,6 +56,30 @@ public:
 
 	~AlphaFilter() = default;
 
+	// 0.01 to 10,000 Hz
+	static constexpr float MIN_FREQ_HZ = 0.01f;    // 0.01 Hz or 100s interval
+	static constexpr float MAX_FREQ_HZ = 10'000.f; // 10,000 Hz or 0.0001s interval
+
+	static constexpr float min_interval_s() { return 1.f / MAX_FREQ_HZ; }
+	static constexpr float max_interval_s() { return 1.f / MIN_FREQ_HZ; }
+
+	/**
+	 * Set filter parameter alpha directly without time abstraction
+	 *
+	 * @param alpha [0,1] filter weight for the previous state. High value - long time constant.
+	 */
+	bool setAlpha(const float alpha)
+	{
+		if (alpha < 0.f || alpha > 1.f || !PX4_ISFINITE(alpha)) {
+			// Invalid parameters, disable filter
+			disable();
+			return false;
+		}
+
+		_alpha = alpha;
+		return true;
+	}
+
 	/**
 	 * Set filter parameters for time abstraction
 	 *
@@ -64,42 +88,86 @@ public:
 	 * @param sample_interval interval between two samples
 	 * @param time_constant filter time constant determining convergence
 	 */
-	void setParameters(float sample_interval, float time_constant)
+	bool setParameters(const float sample_interval, const float time_constant)
 	{
-		const float denominator = time_constant + sample_interval;
-
-		if (denominator > FLT_EPSILON) {
-			setAlpha(sample_interval / denominator);
-		}
-	}
-
-	bool setCutoffFreq(float sample_freq, float cutoff_freq)
-	{
-		if ((sample_freq <= 0.f) || (cutoff_freq <= 0.f) || (cutoff_freq >= sample_freq / 2.f)
-		    || !isFinite(sample_freq) || !isFinite(cutoff_freq)) {
-
-			// Invalid parameters
+		if ((sample_interval <= 0.f) || !PX4_ISFINITE(sample_interval)
+		    || (time_constant <= 0.f) || !PX4_ISFINITE(time_constant)) {
+			// invalid parameters, disable filter
+			disable();
 			return false;
 		}
 
-		setParameters(1.f / sample_freq, 1.f / (2.f * M_PI_F * cutoff_freq));
-		_cutoff_freq = cutoff_freq;
-		return true;
+		_sample_interval = math::constrain(sample_interval, min_interval_s(), max_interval_s());
+		_time_constant = time_constant;
+
+		const float alpha = _sample_interval / (_sample_interval + _time_constant);
+
+		return setAlpha(alpha);
 	}
 
-	/**
-	 * Set filter parameter alpha directly without time abstraction
-	 *
-	 * @param alpha [0,1] filter weight for the previous state. High value - long time constant.
-	 */
-	void setAlpha(float alpha) { _alpha = alpha; }
+	bool setSampleAndCutoffFrequency(const float sample_freq, const float cutoff_freq)
+	{
+		if ((sample_freq <= 0.f) || !PX4_ISFINITE(sample_freq)
+		    || (cutoff_freq <= 0.f) || !PX4_ISFINITE(cutoff_freq)) {
+			// invalid parameters, disable filter
+			disable();
+			return false;
+		}
+
+		const float sample_freq_constrained = math::constrain(sample_freq, MIN_FREQ_HZ, MAX_FREQ_HZ);
+		const float cutoff_freq_constrained = math::constrain(cutoff_freq, MIN_FREQ_HZ, sample_freq_constrained / 2.f);
+
+		_sample_interval = 1.f / sample_freq_constrained;
+		_time_constant = 1.f / (2.f * M_PI_F * cutoff_freq_constrained);
+
+		const float alpha = _sample_interval / (_sample_interval + _time_constant);
+
+		return setAlpha(alpha);
+	}
+
+	bool setTimeConstant(const float time_constant)
+	{
+		if ((time_constant <= 0.f) || !PX4_ISFINITE(time_constant)) {
+			// Invalid parameters, disable filter
+			disable();
+			return false;
+		}
+
+		if ((fabsf(time_constant - _time_constant) / _time_constant) < 0.01f) {
+			// no change, do nothing
+			return true;
+		}
+
+		// time constant changed, update alpha
+		_time_constant = time_constant;
+		const float alpha = _sample_interval / (_sample_interval + _time_constant);
+
+		return setAlpha(alpha);
+	}
+
+	bool setCutoffFrequency(const float cutoff_freq)
+	{
+		const float time_constant = 1.f / (2.f * M_PI_F * cutoff_freq);
+		return setTimeConstant(time_constant);
+	}
 
 	/**
 	 * Set filter state to an initial value
 	 *
 	 * @param sample new initial value
 	 */
-	void reset(const T &sample) { _filter_state = sample; }
+	const T &reset(const T &sample = {})
+	{
+		_filter_state = sample;
+		return _filter_state;
+	}
+
+	void disable()
+	{
+		_alpha = 1.f;
+		_sample_interval = 1.f;
+		_time_constant = 0.f;
+	}
 
 	/**
 	 * Add a new raw value to the filter
@@ -112,13 +180,43 @@ public:
 		return _filter_state;
 	}
 
+	const T &update(const T &sample, const float dt)
+	{
+		if ((fabsf(dt - _sample_interval) / _sample_interval) > 0.01f) {
+			// update parameters if changed by more than 1%
+			if (!setParameters(dt, _time_constant)) {
+				// invalid new parameters, reset filter
+				return reset(sample);
+			}
+		}
+
+		_filter_state = updateCalculation(sample);
+		return _filter_state;
+	}
+
 	const T &getState() const { return _filter_state; }
-	float getCutoffFreq() const { return _cutoff_freq; }
 
-protected:
-	T updateCalculation(const T &sample) { return (1.f - _alpha) * _filter_state + _alpha * sample; }
+	float getCutoffFreq() const { return 1.f / (2.f * M_PI_F * _time_constant); }
+
+	const float &getSampleInterval() const { return _sample_interval; }
+	const float &getTimeConstant() const { return _time_constant; }
+
+private:
+	T updateCalculation(const T &sample)
+	{
+		// don't allow bad updates to propagate
+		const T ret = (1.f - _alpha) * _filter_state + _alpha * sample;
+
+		if (isFinite(ret)) {
+			return ret;
+		}
+
+		return {};
+	}
 
-	float _cutoff_freq{0.f};
-	float _alpha{0.f};
 	T _filter_state{};
+	float _alpha{1.f};
+
+	float _sample_interval{1.f};
+	float _time_constant{0.f};
 };

src/lib/mathlib/math/test/AlphaFilterTest.cpp

@@ -246,15 +246,19 @@ TEST(AlphaFilterTest, SetFrequencyTest)
 	AlphaFilter<float> _alpha_filter;
 	const float fs = .1f;
 
-	EXPECT_FALSE(_alpha_filter.setCutoffFreq(fs, 0.f));
-	EXPECT_FALSE(_alpha_filter.setCutoffFreq(fs, fs)); // Cutoff above Nyquist freq
-	EXPECT_FALSE(_alpha_filter.setCutoffFreq(0.f, fs / 4.f));
-	EXPECT_FALSE(_alpha_filter.setCutoffFreq(0.f, 0.f));
-	EXPECT_FALSE(_alpha_filter.setCutoffFreq(-fs, fs / 4.f));
-	EXPECT_FALSE(_alpha_filter.setCutoffFreq(-fs, -fs / 4.f));
-	EXPECT_FALSE(_alpha_filter.setCutoffFreq(fs, -fs / 4.f));
+	EXPECT_FALSE(_alpha_filter.setSampleAndCutoffFrequency(fs, 0.f));
 
-	EXPECT_TRUE(_alpha_filter.setCutoffFreq(fs, fs / 4.f));
+	// Cutoff above Nyquist freq
+	EXPECT_TRUE(_alpha_filter.setSampleAndCutoffFrequency(fs, fs));
+	EXPECT_FLOAT_EQ(_alpha_filter.getCutoffFreq(), fs / 2.f);
+
+	EXPECT_FALSE(_alpha_filter.setSampleAndCutoffFrequency(0.f, fs / 4.f));
+	EXPECT_FALSE(_alpha_filter.setSampleAndCutoffFrequency(0.f, 0.f));
+	EXPECT_FALSE(_alpha_filter.setSampleAndCutoffFrequency(-fs, fs / 4.f));
+	EXPECT_FALSE(_alpha_filter.setSampleAndCutoffFrequency(-fs, -fs / 4.f));
+	EXPECT_FALSE(_alpha_filter.setSampleAndCutoffFrequency(fs, -fs / 4.f));
+
+	EXPECT_TRUE(_alpha_filter.setSampleAndCutoffFrequency(fs, fs / 4.f));
 }
 
 TEST(AlphaFilterTest, ConvergenceTest)

src/modules/ekf2/EKF/ekf.cpp

@@ -176,13 +176,6 @@ bool Ekf::initialiseFilter()
 		}
 	}
 
-	if (_params.mag_fusion_type <= MagFuseType::MAG_3D) {
-		if (_mag_counter < _obs_buffer_length) {
-			// not enough mag samples accumulated
-			return false;
-		}
-	}
-
 	if (_baro_counter < _obs_buffer_length) {
 		// not enough baro samples accumulated
 		return false;
@@ -198,18 +191,25 @@ bool Ekf::initialiseFilter()
 	// calculate the initial magnetic field and yaw alignment
 	// but do not mark the yaw alignement complete as it needs to be
 	// reset once the leveling phase is done
-	if ((_params.mag_fusion_type <= MagFuseType::MAG_3D) && (_mag_counter != 0)) {
-		// rotate the magnetometer measurements into earth frame using a zero yaw angle
-		// the angle of the projection onto the horizontal gives the yaw angle
-		const Vector3f mag_earth_pred = updateYawInRotMat(0.f, _R_to_earth) * _mag_lpf.getState();
-		float yaw_new = -atan2f(mag_earth_pred(1), mag_earth_pred(0)) + getMagDeclination();
+	if (_params.mag_fusion_type <= MagFuseType::MAG_3D) {
+		if (_mag_counter > 1) {
+			// rotate the magnetometer measurements into earth frame using a zero yaw angle
+			// the angle of the projection onto the horizontal gives the yaw angle
+			const Vector3f mag_earth_pred = updateYawInRotMat(0.f, _R_to_earth) * _mag_lpf.getState();
+			float yaw_new = -atan2f(mag_earth_pred(1), mag_earth_pred(0)) + getMagDeclination();
 
-		// update quaternion states and corresponding covarainces
-		resetQuatStateYaw(yaw_new, 0.f, false);
+			// update the rotation matrix using the new yaw value
+			_R_to_earth = updateYawInRotMat(yaw_new, Dcmf(_state.quat_nominal));
+			_state.quat_nominal = _R_to_earth;
 
-		// set the earth magnetic field states using the updated rotation
-		_state.mag_I = _R_to_earth * _mag_lpf.getState();
-		_state.mag_B.zero();
+			// set the earth magnetic field states using the updated rotation
+			_state.mag_I = _R_to_earth * _mag_lpf.getState();
+			_state.mag_B.zero();
+
+		} else {
+			// not enough mag samples accumulated
+			return false;
+		}
 	}
 
 	// initialise the state covariance matrix now we have starting values for all the states

src/modules/ekf2/EKF/ekf.h

@@ -1071,8 +1071,7 @@ private:
 	// reset the quaternion states and covariances to the new yaw value, preserving the roll and pitch
 	// yaw : Euler yaw angle (rad)
 	// yaw_variance : yaw error variance (rad^2)
-	// update_buffer : true if the state change should be also applied to the output observer buffer
-	void resetQuatStateYaw(float yaw, float yaw_variance, bool update_buffer = true);
+	void resetQuatStateYaw(float yaw, float yaw_variance);
 
 	// Declarations used to control use of the EKF-GSF yaw estimator
 

src/modules/ekf2/EKF/ekf_helper.cpp

@@ -370,7 +370,7 @@ bool Ekf::realignYawGPS(const Vector3f &mag)
 		const float yaw_variance_new = sq(asinf(sineYawError));
 
 		// Apply updated yaw and yaw variance to states and covariances
-		resetQuatStateYaw(yaw_new, yaw_variance_new, true);
+		resetQuatStateYaw(yaw_new, yaw_variance_new);
 
 		// Use the last magnetometer measurements to reset the field states
 		_state.mag_B.zero();
@@ -458,7 +458,7 @@ bool Ekf::resetYawToEv()
 	const float yaw_new = getEulerYaw(_ev_sample_delayed.quat);
 	const float yaw_new_variance = fmaxf(_ev_sample_delayed.angVar, sq(1.0e-2f));
 
-	resetQuatStateYaw(yaw_new, yaw_new_variance, true);
+	resetQuatStateYaw(yaw_new, yaw_new_variance);
 	_R_ev_to_ekf.setIdentity();
 
 	return true;
@@ -1567,7 +1567,7 @@ void Ekf::stopFlowFusion()
 	}
 }
 
-void Ekf::resetQuatStateYaw(float yaw, float yaw_variance, bool update_buffer)
+void Ekf::resetQuatStateYaw(float yaw, float yaw_variance)
 {
 	// save a copy of the quaternion state for later use in calculating the amount of reset change
 	const Quatf quat_before_reset = _state.quat_nominal;
@@ -1593,16 +1593,14 @@ void Ekf::resetQuatStateYaw(float yaw, float yaw_variance, bool update_buffer)
 	}
 
 	// add the reset amount to the output observer buffered data
-	if (update_buffer) {
-		for (uint8_t i = 0; i < _output_buffer.get_length(); i++) {
-			_output_buffer[i].quat_nominal = _state_reset_status.quat_change * _output_buffer[i].quat_nominal;
-		}
-
-		// apply the change in attitude quaternion to our newest quaternion estimate
-		// which was already taken out from the output buffer
-		_output_new.quat_nominal = _state_reset_status.quat_change * _output_new.quat_nominal;
+	for (uint8_t i = 0; i < _output_buffer.get_length(); i++) {
+		_output_buffer[i].quat_nominal = _state_reset_status.quat_change * _output_buffer[i].quat_nominal;
 	}
 
+	// apply the change in attitude quaternion to our newest quaternion estimate
+	// which was already taken out from the output buffer
+	_output_new.quat_nominal = _state_reset_status.quat_change * _output_new.quat_nominal;
+
 	_last_static_yaw = NAN;
 
 	// capture the reset event
@@ -1618,7 +1616,7 @@ bool Ekf::resetYawToEKFGSF()
 		return false;
 	}
 
-	resetQuatStateYaw(_yawEstimator.getYaw(), _yawEstimator.getYawVar(), true);
+	resetQuatStateYaw(_yawEstimator.getYaw(), _yawEstimator.getYawVar());
 
 	// record a magnetic field alignment event to prevent possibility of the EKF trying to reset the yaw to the mag later in flight
 	_flt_mag_align_start_time = _imu_sample_delayed.time_us;

src/modules/ekf2/EKF/gps_yaw_fusion.cpp

@@ -216,7 +216,7 @@ bool Ekf::resetYawToGps()
 	const float measured_yaw = _gps_sample_delayed.yaw;
 
 	const float yaw_variance = sq(fmaxf(_params.gps_heading_noise, 1.e-2f));
-	resetQuatStateYaw(measured_yaw, yaw_variance, true);
+	resetQuatStateYaw(measured_yaw, yaw_variance);
 
 	_aid_src_gnss_yaw.time_last_fuse = _imu_sample_delayed.time_us;
 	_gnss_yaw_signed_test_ratio_lpf.reset(0.f);

src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp

@@ -183,7 +183,7 @@ void VehicleAngularVelocity::ResetFilters(const hrt_abstime &time_now_us)
 
 			// angular acceleration low pass
 			if ((_param_imu_dgyro_cutoff.get() > 0.f)
-			    && (_lp_filter_acceleration[axis].setCutoffFreq(_filter_sample_rate_hz, _param_imu_dgyro_cutoff.get()))) {
+			    && (_lp_filter_acceleration[axis].setSampleAndCutoffFrequency(_filter_sample_rate_hz, _param_imu_dgyro_cutoff.get()))) {
 				_lp_filter_acceleration[axis].reset(angular_acceleration_uncalibrated(axis));
 
 			} else {

src/modules/simulation/simulator_ignition_bridge/CMakeLists.txt

@@ -72,74 +72,21 @@ file(GLOB ign_worlds
 	${PX4_SOURCE_DIR}/Tools/simulation/ignition/worlds/*.sdf
 )
 
-# find corresponding airframes
-file(GLOB ign_airframes
-     RELATIVE ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes
-     ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes/*_ign_*
-)
-
-# remove any .post files
-foreach(ign_airframe IN LISTS ign_airframes)
-	if(ign_airframe MATCHES ".post")
-		list(REMOVE_ITEM ign_airframes ${ign_airframe})
-	endif()
-endforeach()
-list(REMOVE_DUPLICATES ign_airframes)
-
-foreach(ign_airframe IN LISTS ign_airframes)
-	set(model_only)
-	string(REGEX REPLACE ".*_ign_" "" model_only ${ign_airframe})
-
-	if(EXISTS "${PX4_SOURCE_DIR}/Tools/simulation/ignition/models/${model_only}")
-
-		if((EXISTS "${PX4_SOURCE_DIR}/Tools/simulation/ignition/models/${model_only}/model.sdf"))
-			#message(STATUS "Ignition SDF file found for ${model_only}")
-		else()
-			message(WARNING "Ignition no SDF file found for ${model_only}")
-		endif()
-
-	else()
-		message(WARNING "model directory ${PX4_SOURCE_DIR}/Tools/simulation/ignition/models/${model_only} not found")
-	endif()
-endforeach()
-
 foreach(model ${ign_models})
-
-	# match model to airframe
-	set(airframe_model_only)
-	set(airframe_sys_autostart)
-	set(ign_airframe_found)
-	foreach(ign_airframe IN LISTS ign_airframes)
-
-		string(REGEX REPLACE ".*_ign_" "" airframe_model_only ${ign_airframe})
-		string(REGEX REPLACE "_ign_.*" "" airframe_sys_autostart ${ign_airframe})
-
-		if(model STREQUAL ${airframe_model_only})
-			set(ign_airframe_found ${ign_airframe})
-			break()
-		endif()
-	endforeach()
-
-	if(ign_airframe_found)
-		#message(STATUS "ign model: ${model} (${airframe_model_only}), airframe: ${ign_airframe_found}, SYS_AUTOSTART: ${airframe_sys_autostart}")
-	else()
-		message(WARNING "ign missing model: ${model} (${airframe_model_only}), airframe: ${ign_airframe_found}, SYS_AUTOSTART: ${airframe_sys_autostart}")
-	endif()
-
 	foreach(world ${ign_worlds})
 
 		get_filename_component("world_name" ${world} NAME_WE)
 
 		if(world_name MATCHES "default")
 			add_custom_target(ign_${model}
-				COMMAND ${CMAKE_COMMAND} -E env PX4_SIM_MODEL=ign_${model} $<TARGET_FILE:px4>
+				COMMAND ${CMAKE_COMMAND} -E env PX4_SIM_MODEL=${model} $<TARGET_FILE:px4>
 				WORKING_DIRECTORY ${SITL_WORKING_DIR}
 				USES_TERMINAL
 				DEPENDS px4
 			)
 		else()
 			add_custom_target(ign_${model}_${world_name}
-				COMMAND ${CMAKE_COMMAND} -E env PX4_SIM_MODEL=ign_${model} PX4_SIM_WORLD=${world_name} $<TARGET_FILE:px4>
+				COMMAND ${CMAKE_COMMAND} -E env PX4_SIM_MODEL=${model} PX4_SIM_WORLD=${world_name} $<TARGET_FILE:px4>
 				WORKING_DIRECTORY ${SITL_WORKING_DIR}
 				USES_TERMINAL
 				DEPENDS px4
@@ -148,5 +95,7 @@ foreach(model ${ign_models})
 	endforeach()
 endforeach()
 
-# PX4_IGN_GAZEBO_MODELS, PX4_IGN_GAZEBO_WORLDS, IGN_GAZEBO_RESOURCE_PATH
+
+# TODO: PX4_IGN_MODELS_PATH
+# PX4_IGN_WORLDS_PATH
 configure_file(gazebo_env.sh.in ${PX4_BINARY_DIR}/rootfs/gazebo_env.sh)

src/modules/simulation/simulator_mavlink/sitl_targets_flightgear.cmake

@@ -24,20 +24,6 @@ if(ENABLE_LOCKSTEP_SCHEDULER STREQUAL "no")
 		tf-r1
 	)
 
-	# find corresponding airframes
-	file(GLOB flightgear_airframes
-		RELATIVE ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes
-		${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes/*_flightgear_*
-	)
-
-	# remove any .post files
-	foreach(flightgear_airframe IN LISTS flightgear_airframes)
-		if(flightgear_airframe MATCHES ".post")
-			list(REMOVE_ITEM flightgear_airframes ${flightgear_airframe})
-		endif()
-	endforeach()
-	list(REMOVE_DUPLICATES flightgear_airframes)
-
 	# default flightgear target
 	add_custom_target(flightgear
 		COMMAND ${PX4_SOURCE_DIR}/Tools/simulation/flightgear/sitl_run.sh $<TARGET_FILE:px4> "rascal" ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR}
@@ -47,28 +33,6 @@ if(ENABLE_LOCKSTEP_SCHEDULER STREQUAL "no")
 	)
 
 	foreach(model ${models})
-
-		# match model to airframe
-		set(airframe_model_only)
-		set(airframe_sys_autostart)
-		set(flightgear_airframe_found)
-		foreach(flightgear_airframe IN LISTS flightgear_airframes)
-
-			string(REGEX REPLACE ".*_flightgear_" "" airframe_model_only ${flightgear_airframe})
-			string(REGEX REPLACE "_flightgear_.*" "" airframe_sys_autostart ${flightgear_airframe})
-
-			if(model STREQUAL ${airframe_model_only})
-				set(flightgear_airframe_found ${flightgear_airframe})
-				break()
-			endif()
-		endforeach()
-
-		if(flightgear_airframe_found)
-			#message(STATUS "flightgear model: ${model} (${airframe_model_only}), airframe: ${flightgear_airframe_found}, SYS_AUTOSTART: ${airframe_sys_autostart}")
-		else()
-			message(WARNING "flightgear missing model: ${model} (${airframe_model_only}), airframe: ${flightgear_airframe_found}, SYS_AUTOSTART: ${airframe_sys_autostart}")
-		endif()
-
 		add_custom_target(flightgear_${model}
 			COMMAND ${PX4_SOURCE_DIR}/Tools/simulation/flightgear/sitl_run.sh $<TARGET_FILE:px4> ${model} ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR}
 			WORKING_DIRECTORY ${SITL_WORKING_DIR}

src/modules/simulation/simulator_mavlink/sitl_targets_gazebo.cmake

@@ -62,6 +62,7 @@ set(debuggers
 )
 
 set(models
+	none
 	believer
 	boat
 	cloudship
@@ -75,6 +76,7 @@ set(models
 	iris_opt_flow_mockup
 	iris_rplidar
 	iris_vision
+	nxp_cupcar
 	omnicopter
 	plane
 	plane_cam
@@ -83,6 +85,7 @@ set(models
 	px4vision
 	r1_rover
 	rover
+	shell
 	standard_vtol
 	standard_vtol_drop
 	tailsitter
@@ -105,62 +108,8 @@ set(worlds
 	yosemite
 )
 
-# find corresponding airframes
-file(GLOB gazebo_airframes
-     RELATIVE ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes
-     ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes/*_gazebo_*
-)
-
-# remove any .post files
-foreach(gazebo_airframe IN LISTS gazebo_airframes)
-	if(gazebo_airframe MATCHES ".post")
-		list(REMOVE_ITEM gazebo_airframes ${gazebo_airframe})
-	endif()
-endforeach()
-list(REMOVE_DUPLICATES gazebo_airframes)
-
-foreach(gazebo_airframe IN LISTS gazebo_airframes)
-	set(model_only)
-	string(REGEX REPLACE ".*_gazebo_" "" model_only ${gazebo_airframe})
-
-	if(EXISTS "${PX4_SOURCE_DIR}/Tools/simulation/gazebo/sitl_gazebo/models/${model_only}")
-
-		if((EXISTS "${PX4_SOURCE_DIR}/Tools/simulation/gazebo/sitl_gazebo/models/${model_only}/${model_only}.sdf")
-		OR (EXISTS "${PX4_SOURCE_DIR}/Tools/simulation/gazebo/sitl_gazebo/models/${model_only}/${model_only}.sdf.jinja"))
-			#message(STATUS "SDF file found for ${model_only}")
-		else()
-			message(WARNING "No SDF file found for ${model_only}")
-		endif()
-
-	else()
-		message(WARNING "model directory ${PX4_SOURCE_DIR}/Tools/simulation/gazebo/sitl_gazebo/models/${model_only} not found")
-	endif()
-endforeach()
-
 foreach(debugger ${debuggers})
 	foreach(model ${models})
-
-		# match model to airframe
-		set(airframe_model_only)
-		set(airframe_sys_autostart)
-		set(gazebo_airframe_found)
-		foreach(gazebo_airframe IN LISTS gazebo_airframes)
-
-			string(REGEX REPLACE ".*_gazebo_" "" airframe_model_only ${gazebo_airframe})
-			string(REGEX REPLACE "_gazebo_.*" "" airframe_sys_autostart ${gazebo_airframe})
-
-			if(model STREQUAL ${airframe_model_only})
-				set(gazebo_airframe_found ${gazebo_airframe})
-				break()
-			endif()
-		endforeach()
-
-		if(gazebo_airframe_found)
-			#message(STATUS "gazebo model: ${model} (${airframe_model_only}), airframe: ${gazebo_airframe_found}, SYS_AUTOSTART: ${airframe_sys_autostart}")
-		else()
-			message(WARNING "gazebo missing model: ${model} (${airframe_model_only}), airframe: ${gazebo_airframe_found}, SYS_AUTOSTART: ${airframe_sys_autostart}")
-		endif()
-
 		foreach(world ${worlds})
 			if(world STREQUAL "none")
 				if(debugger STREQUAL "none")

src/modules/simulation/simulator_mavlink/sitl_targets_jmavsim.cmake

@@ -1,33 +1,25 @@
+px4_add_git_submodule(TARGET git_jmavsim PATH "${PX4_SOURCE_DIR}/Tools/simulation/jmavsim/jMAVSim")
 
-find_program(JAVA_ANT_PATH "ant")
-find_package(Java)
+# create targets for each viewer/model/debugger combination
+set(debuggers
+	none
+	gdb
+	lldb
+	valgrind
+	callgrind
+)
 
-if(JAVA_ANT_PATH AND Java_JAVAC_EXECUTABLE AND Java_JAVA_EXECUTABLE)
+foreach(debugger ${debuggers})
+	if(debugger STREQUAL "none")
+		set(_targ_name "jmavsim")
+	else()
+		set(_targ_name "jmavsim_${debugger}")
+	endif()
 
-	px4_add_git_submodule(TARGET git_jmavsim PATH "${PX4_SOURCE_DIR}/Tools/simulation/jmavsim/jMAVSim")
-
-	add_custom_target(jmavsim_run_symlink ALL
-		COMMAND ${CMAKE_COMMAND} -E create_symlink ${PX4_SOURCE_DIR}/Tools/simulation/jmavsim/jmavsim_run.sh ${PX4_BINARY_DIR}/rootfs/jmavsim_run.sh
-		BYPRODUCTS ${PX4_BINARY_DIR}/rootfs/jmavsim_run.sh
-	)
-
-	# build_jmavsim
-	add_custom_command(
-		OUTPUT ${PX4_SOURCE_DIR}/Tools/simulation/jmavsim/jMAVSim/out/production/jmavsim_run.jar
-		COMMAND ${JAVA_ANT_PATH} create_run_jar copy_res
-		WORKING_DIRECTORY ${PX4_SOURCE_DIR}/Tools/simulation/jmavsim/jMAVSim/
-		USES_TERMINAL
-		DEPENDS git_jmavsim jmavsim_run_symlink
-		COMMENT "building jMAVSim"
-	)
-	add_custom_target(build_jmavsim DEPENDS ${PX4_SOURCE_DIR}/Tools/simulation/jmavsim/jMAVSim/out/production/jmavsim_run.jar)
-
-	# launch helper
-	add_custom_target(jmavsim_iris
-		COMMAND ${CMAKE_COMMAND} -E env PX4_SIM_MODEL=jmavsim_iris PX4_SIMULATOR=jmavsim $<TARGET_FILE:px4>
+	add_custom_target(${_targ_name}
+		COMMAND ${PX4_SOURCE_DIR}/Tools/simulation/jmavsim/sitl_run.sh $<TARGET_FILE:px4> ${debugger} ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR}
 		WORKING_DIRECTORY ${SITL_WORKING_DIR}
 		USES_TERMINAL
-		DEPENDS px4 git_jmavsim build_jmavsim jmavsim_run_symlink
+		DEPENDS px4 git_jmavsim
 	)
-
-endif()
+endforeach()

src/modules/simulation/simulator_mavlink/sitl_targets_jsbsim.cmake

@@ -1,113 +1,56 @@
 
+px4_add_git_submodule(TARGET git_jsbsim_bridge PATH "${PX4_SOURCE_DIR}/Tools/simulation/jsbsim/jsbsim_bridge")
 
-
-if(DEFINED ENV{JSBSIM_ROOT_DIR} )
-	set(JSBSIM_ROOT_DIR "$ENV{JSBSIM_ROOT_DIR}" )
-endif()
-
-find_path(JSBSIM_INCLUDE_DIR
-	NAMES
-		FGFDMExec.h
-	PATHS
-		${JSBSIM_ROOT_DIR}/include/JSBSim
-		/usr/include/JSBSim
-		/usr/local/include/JSBSim
+include(ExternalProject)
+ExternalProject_Add(jsbsim_bridge
+	SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/simulation/jsbsim/jsbsim_bridge
+	CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
+	BINARY_DIR ${PX4_BINARY_DIR}/build_jsbsim_bridge
+	INSTALL_COMMAND ""
+	DEPENDS git_jsbsim_bridge
+	USES_TERMINAL_CONFIGURE true
+	USES_TERMINAL_BUILD true
+	EXCLUDE_FROM_ALL true
+	BUILD_ALWAYS 1
 )
 
-if(JSBSIM_INCLUDE_DIR)
+# jsbsim: create targets for jsbsim
+set(models
+	rascal
+	quadrotor_x
+	hexarotor_x
+	malolo
+)
 
-	px4_add_git_submodule(TARGET git_jsbsim_bridge PATH "${PX4_SOURCE_DIR}/Tools/simulation/jsbsim/jsbsim_bridge")
+set(worlds
+	none
+	LSZH
+)
 
-	include(ExternalProject)
-	ExternalProject_Add(jsbsim_bridge
-		SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/simulation/jsbsim/jsbsim_bridge
-		CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
-		BINARY_DIR ${PX4_BINARY_DIR}/build_jsbsim_bridge
-		INSTALL_COMMAND ""
-		DEPENDS git_jsbsim_bridge
-		USES_TERMINAL_CONFIGURE true
-		USES_TERMINAL_BUILD true
-		EXCLUDE_FROM_ALL true
-		BUILD_ALWAYS 1
-	)
+# default jsbsim target
+add_custom_target(jsbsim
+	COMMAND ${PX4_SOURCE_DIR}/Tools/simulation/jsbsim/sitl_run.sh $<TARGET_FILE:px4> "rascal" "LSZH" ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR}
+	WORKING_DIRECTORY ${SITL_WORKING_DIR}
+	USES_TERMINAL
+	DEPENDS px4 jsbsim_bridge
+)
 
-	# jsbsim: create targets for jsbsim
-	set(models
-		rascal
-		quadrotor_x
-		hexarotor_x
-		malolo
-	)
-
-	set(worlds
-		none
-		LSZH
-	)
-
-
-	# find corresponding airframes
-	file(GLOB jsbsim_airframes
-		RELATIVE ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes
-		${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes/*_jsbsim_*
-	)
-
-	# remove any .post files
-	foreach(jsbsim_airframe IN LISTS jsbsim_airframes)
-		if(jsbsim_airframe MATCHES ".post")
-			list(REMOVE_ITEM jsbsim_airframes ${jsbsim_airframe})
-		endif()
-	endforeach()
-	list(REMOVE_DUPLICATES jsbsim_airframes)
-
-	# default jsbsim target
-	add_custom_target(jsbsim
-		COMMAND ${PX4_SOURCE_DIR}/Tools/simulation/jsbsim/sitl_run.sh $<TARGET_FILE:px4> "rascal" "LSZH" ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR}
-		WORKING_DIRECTORY ${SITL_WORKING_DIR}
-		USES_TERMINAL
-		DEPENDS px4 jsbsim_bridge
-	)
-
-	foreach(model ${models})
-
-		# match model to airframe
-		set(airframe_model_only)
-		set(airframe_sys_autostart)
-		set(jsbsim_airframe_found)
-		foreach(jsbsim_airframe IN LISTS jsbsim_airframes)
-
-			string(REGEX REPLACE ".*_jsbsim_" "" airframe_model_only ${jsbsim_airframe})
-			string(REGEX REPLACE "_jsbsim_.*" "" airframe_sys_autostart ${jsbsim_airframe})
-
-			if(model STREQUAL ${airframe_model_only})
-				set(jsbsim_airframe_found ${jsbsim_airframe})
-				break()
-			endif()
-		endforeach()
-
-		if(jsbsim_airframe_found)
-			#message(STATUS "jsbsim model: ${model} (${airframe_model_only}), airframe: ${jsbsim_airframe_found}, SYS_AUTOSTART: ${airframe_sys_autostart}")
+foreach(model ${models})
+	foreach(world ${worlds})
+		if(world STREQUAL "none")
+			add_custom_target(jsbsim_${model}
+				COMMAND ${PX4_SOURCE_DIR}/Tools/simulation/jsbsim/sitl_run.sh $<TARGET_FILE:px4> ${model} "LSZH" ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR}
+				WORKING_DIRECTORY ${SITL_WORKING_DIR}
+				USES_TERMINAL
+				DEPENDS px4 jsbsim_bridge
+			)
 		else()
-			message(WARNING "jsbsim missing model: ${model} (${airframe_model_only}), airframe: ${jsbsim_airframe_found}, SYS_AUTOSTART: ${airframe_sys_autostart}")
+			add_custom_target(jsbsim_${model}__${world}
+				COMMAND ${PX4_SOURCE_DIR}/Tools/simulation/jsbsim/sitl_run.sh $<TARGET_FILE:px4> ${model} ${world} ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR}
+				WORKING_DIRECTORY ${SITL_WORKING_DIR}
+				USES_TERMINAL
+				DEPENDS px4 jsbsim_bridge
+			)
 		endif()
-
-
-		foreach(world ${worlds})
-			if(world STREQUAL "none")
-				add_custom_target(jsbsim_${model}
-					COMMAND ${PX4_SOURCE_DIR}/Tools/simulation/jsbsim/sitl_run.sh $<TARGET_FILE:px4> ${model} "LSZH" ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR}
-					WORKING_DIRECTORY ${SITL_WORKING_DIR}
-					USES_TERMINAL
-					DEPENDS px4 jsbsim_bridge
-				)
-			else()
-				add_custom_target(jsbsim_${model}__${world}
-					COMMAND ${PX4_SOURCE_DIR}/Tools/simulation/jsbsim/sitl_run.sh $<TARGET_FILE:px4> ${model} ${world} ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR}
-					WORKING_DIRECTORY ${SITL_WORKING_DIR}
-					USES_TERMINAL
-					DEPENDS px4 jsbsim_bridge
-				)
-			endif()
-		endforeach()
 	endforeach()
-
-endif()
+endforeach()

src/modules/simulation/simulator_sih/CMakeLists.txt

@@ -55,45 +55,9 @@ if(PX4_PLATFORM MATCHES "posix")
 		xvert
 	)
 
-	# find corresponding airframes
-	file(GLOB sihsim_airframes
-		RELATIVE ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes
-		${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes/*_sihsim_*
-	)
-
-	# remove any .post files
-	foreach(sihsim_airframe IN LISTS sihsim_airframes)
-		if(sihsim_airframe MATCHES ".post")
-			list(REMOVE_ITEM sihsim_airframes ${sihsim_airframe})
-		endif()
-	endforeach()
-	list(REMOVE_DUPLICATES sihsim_airframes)
-
 	foreach(model ${models})
-
-		# match model to airframe
-		set(airframe_model_only)
-		set(airframe_sys_autostart)
-		set(sihsim_airframe_found)
-		foreach(sihsim_airframe IN LISTS sihsim_airframes)
-
-			string(REGEX REPLACE ".*_sihsim_" "" airframe_model_only ${sihsim_airframe})
-			string(REGEX REPLACE "_sihsim_.*" "" airframe_sys_autostart ${sihsim_airframe})
-
-			if(model STREQUAL ${airframe_model_only})
-				set(sihsim_airframe_found ${sihsim_airframe})
-				break()
-			endif()
-		endforeach()
-
-		if(sihsim_airframe_found)
-			#message(STATUS "sihsim model: ${model} (${airframe_model_only}), airframe: ${sihsim_airframe_found}, SYS_AUTOSTART: ${airframe_sys_autostart}")
-		else()
-			message(WARNING "sihsim missing model: ${model} (${airframe_model_only}), airframe: ${sihsim_airframe_found}, SYS_AUTOSTART: ${airframe_sys_autostart}")
-		endif()
-
 		add_custom_target(sihsim_${model}
-			COMMAND ${CMAKE_COMMAND} -E env PX4_SIM_MODEL=sihsim_${model} PX4_SIMULATOR=sihsim $<TARGET_FILE:px4>
+			COMMAND ${CMAKE_COMMAND} -E env PX4_SIM_MODEL=${model} PX4_SIMULATOR=sihsim $<TARGET_FILE:px4>
 			WORKING_DIRECTORY ${SITL_WORKING_DIR}
 			USES_TERMINAL
 			DEPENDS px4

test/mavsdk_tests/process_helper.py

@@ -275,6 +275,13 @@ class GzmodelspawnRunner(Runner):
                                       PX4_GAZEBO_MODELS,
                                       self.model, self.model + ".sdf")
 
+        elif os.path.isfile(os.path.join(workspace_dir,
+                                         PX4_GAZEBO_MODELS,
+                                         self.model, self.model + "-gen.sdf")):
+
+            model_path = os.path.join(workspace_dir,
+                                      PX4_GAZEBO_MODELS,
+                                      self.model, self.model + "-gen.sdf")
         else:
             raise Exception("Model not found")