uORB: generate ORBTypeMap and example usage (uORB::Publication2)

logger: limit default estimator_optical_flow_vel logging
Flow: adjust default optical flow delay based on pmw3901
2026-05-26 12:50:05 +08:00 · 2020-10-27 10:22:45 -04:00 · 2020-10-26 14:10:25 -04:00 · 2020-10-26 14:10:25 -04:00 · 2020-10-26 14:10:25 -04:00 · 2020-10-26 14:10:25 -04:00
505 changed files with 10668 additions and 6488 deletions
@@ -106,7 +106,7 @@ jobs:

    - name: Upload logs to flight review
      if: failure()
-      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ./build/px4_sitl_default/tmp/rootfs/log/*/*.ulg
+      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ${GITHUB_WORKSPACE}/build/px4_sitl_default/tmp_mavsdk_tests/rootfs/log/*/*.ulg

    - name: Upload px4 binary
      if: failure()
@@ -14,7 +14,7 @@ set +e
 # NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
 #
 #------------------------------------------------------------------------------
-
+set R /
 #
 # Mount the procfs.
 #
@@ -57,7 +57,7 @@ fi
 #
 # Optional board defaults: rc.board_defaults
 #
-set BOARD_RC_DEFAULTS /etc/init.d/rc.board_defaults
+set BOARD_RC_DEFAULTS ${R}etc/init.d/rc.board_defaults
 if [ -f $BOARD_RC_DEFAULTS ]
 then
 	echo "Board defaults: ${BOARD_RC_DEFAULTS}"
@@ -83,7 +83,7 @@ fi
 #
 # board sensors: rc.sensors
 #
-set BOARD_RC_SENSORS /etc/init.d/rc.board_sensors
+set BOARD_RC_SENSORS ${R}etc/init.d/rc.board_sensors
 if [ -f $BOARD_RC_SENSORS ]
 then
 	echo "Board sensors: ${BOARD_RC_SENSORS}"
@@ -95,7 +95,7 @@ unset BOARD_RC_SENSORS
 # Start UART/Serial device drivers.
 # Note: rc.serial is auto-generated from Tools/serial/generate_config.py
 #
-. /etc/init.d/rc.serial
+. ${R}etc/init.d/rc.serial

 # Check for flow sensor
 if param compare SENS_EN_PX4FLOW 1
@@ -104,3 +104,4 @@ then
 fi

 uavcannode start
+unset R
@@ -7,6 +7,6 @@
 # @maintainer Julian Oes <julian@oes.ch>
 #

-sh /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults

 set MIXER quad_w
@@ -6,7 +6,7 @@
 # @type Quadrotor
 #

-sh /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -6,6 +6,6 @@
 # @type Quadrotor
 #

-sh /etc/init.d/airframes/4016_holybro_px4vision
+. ${R}etc/init.d/airframes/4016_holybro_px4vision

 set MIXER quad_x
@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #

-sh /etc/init.d-posix/airframes/10016_iris
+. ${R}etc/init.d-posix/airframes/10016_iris

 if [ $AUTOCNF = yes ]
 then
@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #

-sh /etc/init.d-posix/airframes/10016_iris
+. ${R}etc/init.d-posix/airframes/10016_iris

 if [ $AUTOCNF = yes ]
 then
@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #

-sh /etc/init.d-posix/airframes/10016_iris
+. ${R}etc/init.d-posix/airframes/10016_iris

 if [ $AUTOCNF = yes ]
 then
@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #

-sh /etc/init.d-posix/airframes/10016_iris
+. ${R}etc/init.d-posix/airframes/10016_iris

 if [ $AUTOCNF = yes ]
 then
@@ -5,7 +5,7 @@
 # @type Quadrotor
 #

-sh /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #

-sh /etc/init.d-posix/airframes/10016_iris
+. ${R}etc/init.d-posix/airframes/10016_iris

 if [ $AUTOCNF = yes ]
 then
@@ -5,4 +5,4 @@
 # @type Quadrotor Wide
 #

-sh /etc/init.d-posix/airframes/10016_iris
+. ${R}etc/init.d-posix/airframes/10016_iris
@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #

-sh /etc/init.d-posix/airframes/10016_iris
+. ${R}etc/init.d-posix/airframes/10016_iris

 if [ $AUTOCNF = yes ]
 then
@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #

-sh /etc/init.d-posix/airframes/10016_iris
+. ${R}etc/init.d-posix/airframes/10016_iris

 if [ $AUTOCNF = yes ]
 then
@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #

-sh /etc/init.d-posix/airframes/10016_iris
+. ${R}etc/init.d-posix/airframes/10016_iris

 if [ $AUTOCNF = yes ]
 then
@@ -3,7 +3,7 @@
 # @name UUV
 #

-sh /etc/init.d/rc.uuv_defaults
+. ${R}etc/init.d/rc.uuv_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -3,7 +3,7 @@
 # @name Hippocampus UUV
 #

-sh /etc/init.d/rc.uuv_defaults
+. ${R}etc/init.d/rc.uuv_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -3,7 +3,7 @@
 # @name Plane SITL
 #

-sh /etc/init.d/rc.fw_defaults
+. ${R}etc/init.d/rc.fw_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -3,7 +3,7 @@
 # @name Plane SITL with camera
 #

-sh /etc/init.d-posix/airframes/1030_plane
+. ${R}etc/init.d-posix/airframes/1030_plane

 if [ $AUTOCNF = yes ]
 then
@@ -3,7 +3,7 @@
 # @name Plane SITL with catapult
 #

-sh /etc/init.d-posix/airframes/1030_plane
+. ${R}etc/init.d-posix/airframes/1030_plane

 if [ $AUTOCNF = yes ]
 then
@@ -3,7 +3,7 @@
 # @name Plane SITL with downward facing LIDAR.
 #

-sh /etc/init.d-posix/airframes/1030_plane
+. ${R}etc/init.d-posix/airframes/1030_plane

 if [ $AUTOCNF = yes ]
 then
@@ -3,7 +3,7 @@
 # @name Plane SITL
 #

-sh /etc/init.d/rc.fw_defaults
+. ${R}etc/init.d/rc.fw_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -3,7 +3,7 @@
 # @name Plane SITL
 #

-sh /etc/init.d/rc.fw_defaults
+. ${R}etc/init.d/rc.fw_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -0,0 +1,47 @@
+#!/bin/sh
+#
+# @name Plane SITL
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set EKF2_ARSP_THR 8
+	param set EKF2_FUSE_BETA 1
+	param set EKF2_MAG_ACCLIM 0
+	param set EKF2_MAG_YAWLIM 0
+
+	param set FW_LND_AIRSPD_SC 1
+	param set FW_LND_ANG 8
+	param set FW_THR_LND_MAX 0
+
+	param set FW_L1_PERIOD 15
+
+	param set FW_P_TC 0.5
+	param set FW_PR_FF 0.40
+	param set FW_PR_I 0.05
+	param set FW_PR_P 0.05
+
+	param set FW_R_TC 0.7
+	param set FW_RR_FF 0.20
+	param set FW_RR_I 0.02
+	param set FW_RR_P 0.22
+
+	param set FW_L1_PERIOD 12
+
+	param set FW_W_EN 1
+
+	param set MIS_LTRMIN_ALT 30
+	param set MIS_TAKEOFF_ALT 30
+
+	param set NAV_ACC_RAD 15
+	param set NAV_DLL_ACT 2
+	param set NAV_LOITER_RAD 50
+
+	param set RWTO_TKOFF 1
+
+fi
+
+set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
+set MIXER custom
@@ -0,0 +1,56 @@
+#!/bin/sh
+#
+# @name Plane SITL
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set EKF2_ARSP_THR 8
+	param set EKF2_FUSE_BETA 1
+	#param set EKF2_MAG_ACCLIM 0
+	#param set EKF2_MAG_YAWLIM 0
+
+	param set FW_LND_AIRSPD_SC 1.1
+	param set FW_LND_ANG 5
+	param set FW_THR_LND_MAX 0
+	param set FW_LND_HHDIST 30
+	param set FW_LND_FL_PMIN 9.5
+	param set FW_LND_FL_PMAX 20
+	param set FW_LND_FLALT 5
+	param set FW_LND_TLALT 15
+
+	param set FW_L1_PERIOD 25
+
+	param set FW_P_TC 0.4
+	param set FW_PR_FF 0.40
+	param set FW_PR_I 0.05
+	param set FW_PR_P 0.05
+
+	param set FW_R_TC 0.45
+	param set FW_RR_FF 0.40
+	param set FW_RR_I 0.132
+	param set FW_RR_P 0.085
+
+	param set FW_W_EN 1
+
+	param set MIS_LTRMIN_ALT 30
+	param set MIS_TAKEOFF_ALT 20
+	param set MIS_DIST_1WP 2500
+	param set MIS_DIST_WPS 10000
+
+	param set NAV_ACC_RAD 15
+	param set NAV_DLL_ACT 2
+	param set NAV_LOITER_RAD 50
+
+	param set RWTO_TKOFF 1
+	param set RWTO_MAX_PITCH 20
+	param set RWTO_MAX_ROLL 10
+	param set RWTO_PSP 8
+	param set RWTO_AIRSPD_SCL 1.8
+
+fi
+
+set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
+set MIXER custom
@@ -5,7 +5,7 @@
 # @type Standard VTOL
 #

-sh /etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d/rc.vtol_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -14,6 +14,9 @@ then
 	param set FW_AIRSPD_TRIM 16
 	param set FW_L1_PERIOD 12

+	param set FW_RR_FF 0.1
+	param set FW_RR_P 0.01
+
 	param set MC_ROLLRATE_P 0.3

 	param set MIS_LTRMIN_ALT 10
@@ -22,7 +25,7 @@ then

 	param set MPC_ACC_HOR_MAX 2
 	param set MPC_ACC_HOR_MAX 2
-	param set MPC_THR_MIN 0.1
+	param set MPC_THR_HOVER 0.58
 	param set MPC_TKO_SPEED 1
 	param set MPC_XY_P 0.8
 	param set MPC_XY_VEL_P_ACC 3
@@ -5,7 +5,7 @@
 # @type VTOL Quad Tailsitter
 #

-sh /etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d/rc.vtol_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -5,7 +5,7 @@
 # @type VTOL Tiltrotor
 #

-sh /etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d/rc.vtol_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -3,7 +3,7 @@
 # @name Rover
 #

-sh /etc/init.d/rc.rover_defaults
+. ${R}etc/init.d/rc.rover_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -4,7 +4,7 @@
 # @type Rover
 # @class Rover

-sh /etc/init.d/rc.rover_defaults
+. ${R}etc/init.d/rc.rover_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -8,7 +8,7 @@
 # @maintainer ThunderFly s.r.o.
 #

-sh /etc/init.d/rc.rover_defaults
+. ${R}etc/init.d/rc.rover_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -3,7 +3,7 @@
 # @name Boat
 #

-sh /etc/init.d/rc.boat_defaults
+. ${R}etc/init.d/rc.boat_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -10,7 +10,7 @@
 #
 #

-sh /etc/init.d/rc.fw_defaults
+. ${R}etc/init.d/rc.fw_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -9,7 +9,7 @@
 # @output MAIN3 port thruster
 # @output MAIN4 tail thruster

-sh /etc/init.d/rc.airship_defaults
+. ${R}etc/init.d/rc.airship_defaults

 set MIXER cloudship
 set PWM_OUT 1234
@@ -7,6 +7,6 @@
 # @maintainer Jaeyoung Lim <jaeyoung@auterion.com>
 #

-sh /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults

 set MIXER quad_w
@@ -7,7 +7,7 @@
 # @maintainer Jaeyoung Lim <jaeyoung@auterion.com>
 #

-sh /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -5,7 +5,7 @@
 # @type Hexarotor x
 #

-sh /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -57,6 +57,8 @@ px4_add_romfs_files(
 	1033_plane_lidar
 	1033_rascal
 	1034_rascal-electric
+	1035_techpod
+	1036_malolo
 	1040_standard_vtol
 	1041_tailsitter
 	1042_tiltrotor
@@ -15,7 +15,7 @@ SCRIPT_DIR="$(CDPATH='' cd -- "$(dirname -- "$0")" && pwd)"
 # shellcheck disable=SC2154
 if [ "$replay_mode" = "ekf2" ]
 then
-	sh etc/init.d-posix/rc.replay
+	. ${R}etc/init.d-posix/rc.replay
 	exit 0
 fi

@@ -123,10 +123,12 @@ then

 	param set BAT_N_CELLS 4

-	param set CAL_ACC0_ID 1311244
-	param set CAL_ACC1_ID 1311500
-	param set CAL_GYRO0_ID 1311244
-	param set CAL_GYRO1_ID 1311500
+	param set CAL_ACC0_ID 1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
+	param set CAL_ACC1_ID 1310996 # 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
+	param set CAL_ACC2_ID 1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
+	param set CAL_GYRO0_ID 1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
+	param set CAL_GYRO1_ID 1310996 # 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
+	param set CAL_GYRO2_ID 1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
 	param set CAL_MAG0_ID 197388
 	param set CAL_MAG1_ID 197644

@@ -136,32 +138,9 @@ then
 	# Don't require RC calibration and configuration
 	param set COM_RC_IN_MODE 1

-	param set EKF2_ANGERR_INIT 0.01
-	param set EKF2_GBIAS_INIT 0.01
-
-	# Prevent high accel bias
-	param set COM_ARM_EKF_AB 0.005
-
 	# Speedup SITL startup
 	param set EKF2_REQ_GPS_H 0.5

-	# LPE: GPS only mode
-	param set LPE_FUSION 145
-
-	param set MC_PITCH_P 6
-	param set MC_PITCHRATE_P 0.2
-	param set MC_ROLL_P 6
-	param set MC_ROLLRATE_P 0.2
-
-	param set MPC_Z_VEL_P_ACC 12.0
-	param set MPC_Z_VEL_I_ACC 3.0
-	param set MPC_XY_P 0.8
-	param set MPC_XY_VEL_P_ACC 4.0
-	param set MPC_XY_VEL_I_ACC 0.4
-	param set MPC_XY_VEL_D_ACC 0.32
-
-	param set RTL_RETURN_ALT 30
-
 	# By default log from boot until first disarm.
 	param set SDLOG_MODE 1
 	# enable default, estimator replay and vision/avoidance logging profiles
@@ -197,7 +176,8 @@ fi

 # Autostart ID
 autostart_file=''
-for f in etc/init.d-posix/airframes/"$(param show -q SYS_AUTOSTART)"_*
+# shellcheck disable=SC2231
+for f in ${R}etc/init.d-posix/airframes/"$(param show -q SYS_AUTOSTART)"_*
 do
 	filename=$(basename "$f")
 	case "$filename" in
@@ -214,7 +194,7 @@ if [ ! -e "$autostart_file" ]; then
 	exit 1
 fi

-sh "$autostart_file"
+. "$autostart_file"

 #
 # If autoconfig parameter was set, reset it and save parameters.
@@ -253,7 +233,7 @@ fi
 # Note: rc.vehicle_setup is the entry point for rc.interface,
 #       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
 #
-sh etc/init.d/rc.vehicle_setup
+. ${R}etc/init.d/rc.vehicle_setup

 # GCS link
 mavlink start -x -u $udp_gcs_port_local -r 4000000
@@ -274,7 +254,7 @@ mavlink start -x -u $udp_offboard_port_local -r 4000000 -m onboard -o $udp_offbo
 mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote

 # execute autostart post script if any
-[ -e "$autostart_file".post ] && sh "$autostart_file".post
+[ -e "$autostart_file".post ] && . "$autostart_file".post

 # Run script to start logging
 if param compare SYS_MC_EST_GROUP 2
@@ -283,7 +263,7 @@ then
 else
 	set LOGGER_ARGS "-p vehicle_attitude"
 fi
-sh etc/init.d/rc.logging
+. ${R}etc/init.d/rc.logging

 mavlink boot_complete
 replay trystart
@@ -36,6 +36,7 @@ add_subdirectory(airframes)
 px4_add_romfs_files(
 	rc.airship_apps
 	rc.airship_defaults
+	rc.boat_defaults
 	rc.fw_apps
 	rc.fw_defaults
 	rc.interface
@@ -15,7 +15,7 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #

-. /etc/init.d/rc.fw_defaults
+. ${R}etc/init.d/rc.fw_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -23,7 +23,7 @@
 # @board bitcraze_crazyflie exclude
 #

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

 if [ $AUTOCNF = yes ]
 then
@@ -21,7 +21,7 @@
 # @board bitcraze_crazyflie exclude
 #

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

 if [ $AUTOCNF = yes ]
 then
@@ -23,7 +23,7 @@
 # @board bitcraze_crazyflie exclude
 #

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

 if [ $AUTOCNF = yes ]
 then
@@ -23,7 +23,7 @@
 # @board bitcraze_crazyflie exclude
 #

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

 if [ $AUTOCNF = yes ]
 then
@@ -8,7 +8,7 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #

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

 set MIXER quad_x
 set PWM_OUT 1234
@@ -8,7 +8,7 @@
 # @maintainer Roman Bapst <roman@auterion.com>
 #

-. /etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d/rc.vtol_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -22,7 +22,7 @@
 # @board bitcraze_crazyflie exclude
 #

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

 set MIXER hexa_cox

@@ -8,7 +8,7 @@
 # @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
 #

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

 set MIXER quad_x
 set PWM_OUT 1234
@@ -20,7 +20,7 @@
 # @board bitcraze_crazyflie exclude
 #

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

 set MIXER octo_cox

@@ -20,7 +20,7 @@
 # @board bitcraze_crazyflie exclude
 #

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

 if [ $AUTOCNF = yes ]
 then
@@ -18,7 +18,7 @@
 # @output AUX5 Throttle
 #

-. /etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d/rc.vtol_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -13,7 +13,7 @@
 # @maintainer Roman Bapst <roman@px4.io>
 #

-. /etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d/rc.vtol_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -22,7 +22,7 @@
 # @board bitcraze_crazyflie exclude
 #

-. /etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d/rc.vtol_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -8,7 +8,7 @@
 # @maintainer Roman Bapst <roman@px4.io>
 #

-. /etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d/rc.vtol_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -21,7 +21,7 @@
 # @board bitcraze_crazyflie exclude
 #

-. /etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d/rc.vtol_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -21,7 +21,7 @@
 # @board bitcraze_crazyflie exclude
 #

-. /etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d/rc.vtol_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -19,7 +19,7 @@
 # @board bitcraze_crazyflie exclude
 #

-. /etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d/rc.vtol_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -11,7 +11,7 @@
 # @board bitcraze_crazyflie exclude
 #

-. /etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d/rc.vtol_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -11,7 +11,7 @@
 # @board bitcraze_crazyflie exclude
 #

-. /etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d/rc.vtol_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -11,7 +11,7 @@
 # @board bitcraze_crazyflie exclude
 #

-. /etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d/rc.vtol_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -12,7 +12,7 @@
 # @board bitcraze_crazyflie exclude
 #

-. /etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d/rc.vtol_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -20,7 +20,7 @@
 # @board bitcraze_crazyflie exclude
 #

-. /etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d/rc.vtol_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -17,7 +17,7 @@
 # @output MAIN8 Pusher reverse channel
 #

-. /etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d/rc.vtol_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -21,7 +21,7 @@
 # @board bitcraze_crazyflie exclude
 #

-. /etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d/rc.vtol_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -24,7 +24,7 @@
 # @board bitcraze_crazyflie exclude
 #

-. /etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d/rc.vtol_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -16,7 +16,7 @@
 # @board bitcraze_crazyflie exclude
 #

-. /etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d/rc.vtol_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -16,7 +16,7 @@
 # @board bitcraze_crazyflie exclude
 #

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

 set MIXER tri_y_yaw+

@@ -16,7 +16,7 @@
 # @board bitcraze_crazyflie exclude
 #

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

 set MIXER tri_y_yaw-

@@ -17,7 +17,7 @@
 # @board bitcraze_crazyflie exclude
 #

-. /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults
 set MIXER coax

 if [ $AUTOCNF = yes ]
@@ -18,7 +18,7 @@
 # @board bitcraze_crazyflie exclude
 #

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

 # Configure as helicopter (number 4 defined in commander_helper.cpp)
 set MAV_TYPE 4
@@ -24,7 +24,7 @@
 # @board bitcraze_crazyflie exclude
 #

-. /etc/init.d/rc.fw_defaults
+. ${R}etc/init.d/rc.fw_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -22,7 +22,7 @@
 # @board bitcraze_crazyflie exclude
 #

-. /etc/init.d/rc.fw_defaults
+. ${R}etc/init.d/rc.fw_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -24,7 +24,7 @@
 # @board bitcraze_crazyflie exclude
 #

-. /etc/init.d/rc.fw_defaults
+. ${R}etc/init.d/rc.fw_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -24,7 +24,7 @@
 # @board bitcraze_crazyflie exclude
 #

-. /etc/init.d/rc.fw_defaults
+. ${R}etc/init.d/rc.fw_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -25,7 +25,7 @@
 # @board bitcraze_crazyflie exclude
 #

-. /etc/init.d/rc.fw_defaults
+. ${R}etc/init.d/rc.fw_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -14,7 +14,7 @@
 # @board bitcraze_crazyflie exclude
 #

-. /etc/init.d/rc.airship_defaults
+. ${R}etc/init.d/rc.airship_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -19,6 +19,6 @@
 # @board bitcraze_crazyflie exclude
 #

-. /etc/init.d/rc.fw_defaults
+. ${R}etc/init.d/rc.fw_defaults

 set MIXER fw_generic_wing
@@ -20,7 +20,7 @@
 # @board bitcraze_crazyflie exclude
 #

-. /etc/init.d/rc.fw_defaults
+. ${R}etc/init.d/rc.fw_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -21,7 +21,7 @@
 # @board bitcraze_crazyflie exclude
 #

-. /etc/init.d/rc.fw_defaults
+. ${R}etc/init.d/rc.fw_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -19,7 +19,7 @@
 # @board bitcraze_crazyflie exclude
 #

-. /etc/init.d/rc.fw_defaults
+. ${R}etc/init.d/rc.fw_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -21,7 +21,7 @@
 # @board bitcraze_crazyflie exclude
 #

-. /etc/init.d/rc.fw_defaults
+. ${R}etc/init.d/rc.fw_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -19,7 +19,7 @@
 # @board bitcraze_crazyflie exclude
 #

-. /etc/init.d/rc.fw_defaults
+. ${R}etc/init.d/rc.fw_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -17,6 +17,6 @@
 # @board bitcraze_crazyflie exclude
 #

-. /etc/init.d/rc.fw_defaults
+. ${R}etc/init.d/rc.fw_defaults

 set MIXER Viper
@@ -20,7 +20,7 @@
 # @board bitcraze_crazyflie exclude
 #

-. /etc/init.d/rc.fw_defaults
+. ${R}etc/init.d/rc.fw_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -21,7 +21,7 @@
 # @board bitcraze_crazyflie exclude
 #

-. /etc/init.d/rc.fw_defaults
+. ${R}etc/init.d/rc.fw_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -19,7 +19,7 @@
 # @board bitcraze_crazyflie exclude
 #

-. /etc/init.d/rc.fw_defaults
+. ${R}etc/init.d/rc.fw_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -20,7 +20,7 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #

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

 set MIXER quad_x

@@ -11,7 +11,7 @@
 # @board bitcraze_crazyflie exclude
 #

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

 set MIXER quad_x
 set PWM_OUT 1234
@@ -11,7 +11,7 @@
 # @board bitcraze_crazyflie exclude
 #

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

 set MIXER quad_x
 set PWM_OUT 1234
@@ -8,7 +8,7 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #

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

 set MIXER quad_x
 set PWM_OUT 1234
@@ -8,7 +8,7 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #

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

 set MIXER quad_x
 set PWM_OUT 1234
@@ -10,7 +10,7 @@
 # @board bitcraze_crazyflie exclude
 #

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

 set MIXER quad_x
 set PWM_OUT 1234
@@ -11,7 +11,7 @@
 # @board bitcraze_crazyflie exclude
 #

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

 set MIXER quad_x
 set PWM_OUT 1234
@@ -14,7 +14,7 @@
 # @board bitcraze_crazyflie exclude
 #

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

 set MIXER quad_x
 set PWM_OUT 1234
@@ -17,7 +17,7 @@
 # @board bitcraze_crazyflie exclude
 #

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

 set MIXER quad_x
 set PWM_OUT 1234
@@ -17,7 +17,7 @@
 # @board bitcraze_crazyflie exclude
 #

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

 if [ $AUTOCNF = yes ]
 then
@@ -11,7 +11,7 @@
 # @board bitcraze_crazyflie exclude
 #

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

 set MIXER quad_x
 set PWM_OUT 1234
@@ -19,7 +19,7 @@
 # @board bitcraze_crazyflie exclude
 #

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

 if [ $AUTOCNF = yes ]
 then
@@ -22,7 +22,7 @@
 # @board bitcraze_crazyflie exclude
 #

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

 if [ $AUTOCNF = yes ]
 then
--- a/Show More
+++ b/Show More