ModuleBase add common base type and cleanup

2026-05-25 05:47:35 +08:00 · 2020-11-10 14:03:58 -05:00
899 changed files with 14553 additions and 29784 deletions
@@ -9,10 +9,10 @@ pipeline {
        script {
          def build_nodes = [:]
          def docker_images = [
-            armhf: "px4io/px4-dev-armhf:2020-11-18",
-            arm64: "px4io/px4-dev-aarch64:2020-11-18",
-            base: "px4io/px4-dev-base-bionic:2020-11-18",
-            nuttx: "px4io/px4-dev-nuttx-focal:2020-11-18",
+            armhf: "px4io/px4-dev-armhf:2020-04-01",
+            arm64: "px4io/px4-dev-aarch64:latest",
+            base: "px4io/px4-dev-base-bionic:2020-04-01",
+            nuttx: "px4io/px4-dev-nuttx-focal:2020-09-14",
            snapdragon: "lorenzmeier/px4-dev-snapdragon:2020-04-01"
          ]

@@ -53,7 +53,6 @@ pipeline {
                     "intel_aerofc-v1_default",
                     "modalai_fc-v1_default",
                     "mro_ctrl-zero-f7_default",
-                     "mro_pixracerpro_default",
                     "mro_x21-777_default",
                     "mro_x21_default",
                     "nxp_fmuk66-v3_default",
@@ -119,7 +118,7 @@ pipeline {
    // TODO: actually upload artifacts to S3
    // stage('S3 Upload') {
    //   agent {
-    //     docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
+    //     docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
    //   }
    //   options {
    //         skipDefaultCheckout()
@@ -7,57 +7,73 @@ pipeline {

      parallel {

-        // stage("px4_fmu-v2_test") {
-        //   stages {
-        //     stage("build px4_fmu-v2_test") {
-        //       agent {
-        //         docker {
-        //           image 'px4io/px4-dev-nuttx-focal:2020-09-14'
-        //           args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-        //         }
-        //       }
-        //       steps {
-        //         sh 'export'
-        //         sh 'make distclean'
-        //         sh 'ccache -s'
-        //         sh 'git fetch --tags'
-        //         sh 'make px4_fmu-v2_test'
-        //         sh 'make sizes'
-        //         sh 'ccache -s'
-        //         stash includes: 'build/px4_fmu-v2_test/px4_fmu-v2_test.elf', name: 'px4_fmu-v2_test'
-        //       }
-        //       post {
-        //         always {
-        //             sh 'make distclean'
-        //         }
-        //       }
-        //     } // stage build
-        //     stage("test") {
-        //       agent {
-        //         label 'px4_fmu-v2'
-        //       }
-        //       stages {
-        //         stage("flash") {
-        //           steps {
-        //             sh 'export'
-        //             sh 'find /dev/serial'
-        //             unstash 'px4_fmu-v2_test'
-        //             // flash board and watch bootup
-        //             sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v2_test/px4_fmu-v2_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
-        //           }
-        //         }
-        //         stage("reset") {
-        //           steps {
-        //             cleanupFTDI();
-        //           }
-        //         }
-        //       }
-        //       options {
-        //         timeout(time: 90, unit: 'MINUTES')
-        //       }
-        //     }
-        //   }
-        // }
+        stage("px4_fmu-v2_test") {
+          stages {
+            stage("build px4_fmu-v2_test") {
+              agent {
+                docker {
+                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                }
+              }
+              steps {
+                sh 'export'
+                sh 'make distclean'
+                sh 'ccache -s'
+                sh 'git fetch --tags'
+                sh 'make px4_fmu-v2_test'
+                sh 'make sizes'
+                sh 'ccache -s'
+                stash includes: 'build/px4_fmu-v2_test/px4_fmu-v2_test.elf', name: 'px4_fmu-v2_test'
+              }
+              post {
+                always {
+                    sh 'make distclean'
+                }
+              }
+            } // stage build
+            stage("test") {
+              agent {
+                label 'px4_fmu-v2'
+              }
+              stages {
+                stage("flash") {
+                  steps {
+                    sh 'export'
+                    sh 'find /dev/serial'
+                    unstash 'px4_fmu-v2_test'
+                    // flash board and watch bootup
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v2_test/px4_fmu-v2_test.elf'
+                    sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
+                  }
+                }
+                stage("configure") {
+                  steps {
+                    // configure
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 0"'     // no airframe
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin"' // force px4io update
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"'                        // reboot to apply
+                  }
+                }
+                stage("status") {
+                  steps {
+                    statusFTDI()
+                  }
+                }
+                stage("reset") {
+                  steps {
+                    cleanupFTDI();
+                  }
+                }
+              }
+              options {
+                timeout(time: 90, unit: 'MINUTES')
+              }
+            }
+          }
+        }

        stage("px4_fmu-v3_default") {
          stages {
@@ -95,18 +111,18 @@ pipeline {
                    sh 'find /dev/serial'
                    unstash 'px4_fmu-v3_default'
                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_default/px4_fmu-v3_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_default/px4_fmu-v3_default.elf'
+                    sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
                  }
                }
                stage("configure") {
                  steps {
                    // configure
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOCONFIG 2"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true'                // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin"' // force px4io update
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"'                        // reboot to apply
                  }
                }
                stage("status") {
@@ -169,17 +185,17 @@ pipeline {
                    sh 'find /dev/serial'
                    unstash 'px4_fmu-v4_default'
                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_default/px4_fmu-v4_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_default/px4_fmu-v4_default.elf'
+                    sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
                  }
                }
                stage("configure") {
                  steps {
                    // configure
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOCONFIG 2"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"'  // generic multicopter
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true'                // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"'                        // reboot to apply
                  }
                }
                stage("status") {
@@ -242,18 +258,18 @@ pipeline {
                    sh 'find /dev/serial'
                    unstash 'px4_fmu-v4pro_default'
                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_default/px4_fmu-v4pro_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_default/px4_fmu-v4pro_default.elf'
+                    sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
                  }
                }
                stage("configure") {
                  steps {
                    // configure
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOCONFIG 2"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true'                // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin"' // force px4io update
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"'                        // reboot to apply
                  }
                }
                stage("status") {
@@ -316,19 +332,19 @@ pipeline {
                    sh 'find /dev/serial'
                    unstash 'px4_fmu-v5_default'
                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_default/px4_fmu-v5_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_default/px4_fmu-v5_default.elf'
+                    sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
                  }
                }
                stage("configure") {
                  steps {
                    // configure
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOCONFIG 2"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set IMU_GYRO_RATEMAX 2000"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true'                // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin"' // force px4io update
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"'                        // reboot to apply
                  }
                }
                stage("status") {
@@ -389,23 +405,21 @@ pipeline {
                  steps {
                    sh 'export'
                    sh 'find /dev/serial'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001" || true' // generic multicopter
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set IMU_GYRO_RATEMAX 250" || true'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save" || true'
                    unstash 'px4_fmu-v5_debug'
                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf'
+                    sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
                  }
                }
                stage("configure") {
                  steps {
                    // configure
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'   // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set IMU_GYRO_RATEMAX 250"' // limit cpu usage
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"'   // generic multicopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"' // generic multicopter
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true'                 // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin"' // force px4io update
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"'                        // reboot to apply
                  }
                }
                stage("status") {
@@ -468,17 +482,17 @@ pipeline {
                    sh 'find /dev/serial'
                    unstash 'px4_fmu-v5_optimized'
                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_optimized/px4_fmu-v5_optimized.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_optimized/px4_fmu-v5_optimized.elf'
+                    sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
                  }
                }
                stage("configure") {
                  steps {
                    // configure
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOCONFIG 2"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true'                // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"'                        // reboot to apply
                  }
                }
                stage("status") {
@@ -539,12 +553,10 @@ pipeline {
                  steps {
                    sh 'export'
                    sh 'find /dev/serial'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001" || true' // generic multicopter
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set IMU_GYRO_RATEMAX 250" || true'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save" || true'
                    unstash 'px4_fmu-v5_stackcheck'
                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf'
+                    sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
                  }
                }
                stage("configure") {
@@ -555,7 +567,7 @@ pipeline {
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set MAV_0_CONFIG 0"'       // limit cpu usage
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"'   // generic multicopter
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true'                 // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"'                         // reboot to apply
                  }
                }
                stage("status") {
@@ -618,17 +630,17 @@ pipeline {
                    sh 'find /dev/serial'
                    unstash 'modalai_fc-v1_default'
                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_default/modalai_fc-v1_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-SEGGER_*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_default/modalai_fc-v1_default.elf'
+                    sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-SEGGER_*` --baudrate 57600'
                  }
                }
                stage("configure") {
                  steps {
                    // configure
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set SYS_AUTOCONFIG 2"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set SYS_AUTOSTART 4001"'  // generic vtol standardulticopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set SYS_AUTOSTART 4001"' // generic vtol standardulticopter
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "reboot" || true'                // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "reboot"'                        // reboot to apply
                  }
                }
                stage("status") {
@@ -691,22 +703,22 @@ pipeline {
                    sh 'find /dev/serial'
                    unstash 'holybro_durandal-v1_default'
                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/holybro_durandal-v1_default/holybro_durandal-v1_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/holybro_durandal-v1_default/holybro_durandal-v1_default.elf'
+                    sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
                  }
                }
                stage("configure") {
                  steps {
                    // configure
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set DSHOT_CONFIG 600"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set IMU_GYRO_RATEMAX 4000"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOCONFIG 2"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"'    // generic quadcopter
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_USE_IO 0"'          // for dshot
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_BL_UPDATE 1"'    // update bootloader
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_USE_IO 0"'       // for dshot
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true'                  // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin"' // force px4io update
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"'                        // reboot to apply
                  }
                }
                stage("status") {
@@ -770,17 +782,17 @@ pipeline {
                    sh 'find /dev/serial'
                    unstash 'nxp_fmuk66-v3_default'
                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_default/nxp_fmuk66-v3_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_default/nxp_fmuk66-v3_default.elf'
+                    sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
                  }
                }
                stage("configure") {
                  steps {
                    // configure
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOCONFIG 2"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"'  // generic multicopter
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true'                // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"'                        // reboot to apply
                  }
                }
                stage("status") {
@@ -791,7 +803,7 @@ pipeline {
                stage("tests") {
                  steps {
                    // run tests
-                    sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*` || true' // allow failure due to intermittent serial console issues
+                    sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
                  }
                }
                stage("reset") {
@@ -845,7 +857,6 @@ void statusFTDI() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_selector_status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_sensor_bias"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_status_flags"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener logger_status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_accel"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_accel_fifo"'
@@ -876,6 +887,7 @@ void statusFTDI() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink status streams"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mount"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "modules status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mtd status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param show"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param status"'
@@ -924,7 +936,6 @@ void statusSEGGER() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_selector_status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_sensor_bias"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_status_flags"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener logger_status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensor_accel"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensor_accel_fifo"'
@@ -955,6 +966,7 @@ void statusSEGGER() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mavlink status streams"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mavlink status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mount"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "modules status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mtd status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param show"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param status"'
@@ -979,13 +991,12 @@ void statusSEGGER() {
 }

 void cleanupFTDI() {
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "modules stop-all"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander stop"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink stop-all"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "navigator stop"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dataman stop"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "logger off"'
-
-  // wipe sdcard
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "umount /fs/microsd"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mkfatfs /dev/mmcsd0"'

@@ -1006,17 +1017,16 @@ void cleanupFTDI() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param status"'

  // reboot
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"'
 }

 void cleanupSEGGER() {
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "modules stop-all"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "commander stop"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mavlink stop-all"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "navigator stop"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "dataman stop"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "logger off"'
-
-  // wipe sdcard
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "umount /fs/microsd"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mkfatfs /dev/mmcsd0"'

@@ -1037,5 +1047,5 @@ void cleanupSEGGER() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param status"'

  // reboot
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "reboot" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "reboot"'
 }
@@ -2,7 +2,7 @@
 // https://github.com/microsoft/vscode-dev-containers/tree/v0.134.0/containers/cpp
 {
 	"name": "px4-dev-nuttx",
-	"image": "px4io/px4-dev-nuttx-focal:2020-11-18",
+	"image": "px4io/px4-dev-nuttx-focal:2020-09-14",

 	"runArgs": [ "--cap-add=SYS_PTRACE", "--security-opt", "seccomp=unconfined" ],

@@ -26,9 +26,7 @@ jobs:
          "module_documentation",
          "parameters_metadata",
        ]
-    container:
-      image: px4io/px4-dev-nuttx-focal:2020-11-18
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
+    container: px4io/px4-dev-nuttx-focal:2020-09-14
    steps:
    - uses: actions/checkout@v1
      with:
@@ -55,9 +53,6 @@ jobs:
          echo "max_size = 400M" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z
-    - name: check environment
-      run: |
-          export
-          ulimit -a
+
    - name: ${{matrix.check}}
      run: make ${{matrix.check}}
@@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-clang:2020-11-18
+    container: px4io/px4-dev-clang:2020-08-14
    steps:
    - uses: actions/checkout@v1
      with:
@@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-armhf:2020-11-18
+    container: px4io/px4-dev-armhf:2020-08-14
    strategy:
      matrix:
        config: [
@@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-aarch64:2020-11-18
+    container: px4io/px4-dev-aarch64:latest
    strategy:
      matrix:
        config: [
@@ -15,7 +15,8 @@ jobs:
      matrix:
        config: [
          px4_fmu-v5_default,
-          tests, # includes px4_sitl
+          px4_sitl_default,
+          #tests, # includes px4_sitl
          ]
    steps:
    - uses: actions/checkout@v1
@@ -23,7 +24,7 @@ jobs:
        token: ${{secrets.ACCESS_TOKEN}}

    - name: setup
-      run: ./Tools/setup/macos.sh; ./Tools/setup/macos.sh
+      run: ./Tools/setup/macos.sh

    - name: Prepare ccache timestamp
      id: ccache_cache_timestamp
@@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2020-11-18
+    container: px4io/px4-dev-nuttx-focal:2020-09-14
    strategy:
      matrix:
        config: [
@@ -32,7 +32,6 @@ jobs:
          intel_aerofc-v1_default,
          modalai_fc-v1_default,
          mro_ctrl-zero-f7_default,
-          mro_pixracerpro_default,
          mro_x21-777_default,
          mro_x21_default,
          nxp_fmuk66-v3_default,
@@ -1,59 +0,0 @@
-name: NuttX UAVCAN firmware
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2020-11-18
-    strategy:
-      matrix:
-        config: [
-          cuav_can-gps-v1_default,
-          #nxp_ucans32k146_default,
-          px4_fmu-v4_cannode
-          ]
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: ${{matrix.config}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: make ${{matrix.config}}
-      run: make ${{matrix.config}}
-
-    - name: ccache post-run
-      run: ccache -s
-
-    - name: Upload px4 package
-      uses: actions/upload-artifact@v2
-      with:
-        name: px4_cannode_${{matrix.config}}
-        path: build/${{matrix.config}}/*.uavcan.bin
@@ -11,9 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container:
-      image: px4io/px4-dev-base-focal:2020-11-18
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
+    container: px4io/px4-dev-base-focal:2020-09-14
    strategy:
      matrix:
        config: [
@@ -19,7 +19,7 @@ jobs:
          - {test_file: "mavros_posix_test_safe_landing.test", vehicle: "iris_obs_avoid", mission: "MC_safe_landing", build_type: "RelWithDebInfo"}

    container:
-      image: px4io/px4-dev-ros-melodic:2020-11-18
+      image: px4io/px4-dev-ros-melodic:2020-08-14
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -49,9 +49,7 @@ jobs:
          ccache -z

    - name: check environment
-      run: |
-          export
-          ulimit -a
+      run: export
    - name: Build PX4 and sitl_gazebo
      env:
        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
@@ -25,7 +25,7 @@ jobs:
          - {vehicle: "tiltrotor",     mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}

    container:
-      image: px4io/px4-dev-ros-melodic:2020-11-18
+      image: px4io/px4-dev-ros-melodic:2020-08-14
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -55,9 +55,7 @@ jobs:
          ccache -z

    - name: check environment
-      run: |
-          export
-          ulimit -a
+      run: export
    - name: Build PX4 and sitl_gazebo
      env:
        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
@@ -20,7 +20,7 @@ jobs:
          #- {test_file: "mavros_posix_tests_offboard_rpyrt_ctl.test", vehicle: "iris", build_type: "RelWithDebInfo"}

    container:
-      image: px4io/px4-dev-ros-melodic:2020-11-18
+      image: px4io/px4-dev-ros-melodic:2020-08-14
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -50,9 +50,7 @@ jobs:
          ccache -z

    - name: check environment
-      run: |
-          export
-          ulimit -a
+      run: export
    - name: Build PX4 and sitl_gazebo
      env:
        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
@@ -12,7 +12,7 @@ jobs:

  airframe:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-11-18
+    container: px4io/px4-dev-base-focal:2020-09-14
    steps:
    - uses: actions/checkout@v1
      with:
@@ -27,7 +27,7 @@ jobs:

  module:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-11-18
+    container: px4io/px4-dev-base-focal:2020-09-14
    steps:
    - uses: actions/checkout@v1
      with:
@@ -42,7 +42,7 @@ jobs:

  parameter:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-11-18
+    container: px4io/px4-dev-base-focal:2020-09-14
    steps:
    - uses: actions/checkout@v1
      with:
@@ -57,7 +57,7 @@ jobs:

  uorb_graph:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2020-11-18
+    container: px4io/px4-dev-nuttx-focal:2020-09-14
    steps:
    - uses: actions/checkout@v1
      with:
@@ -72,7 +72,7 @@ jobs:

  micrortps_agent:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-11-18
+    container: px4io/px4-dev-base-focal:2020-09-14
    steps:
    - uses: actions/checkout@v1
      with:
@@ -86,7 +86,7 @@ jobs:

  ROS_msgs:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-11-18
+    container: px4io/px4-dev-base-focal:2020-09-14
    steps:
    - uses: actions/checkout@v1
      with:
@@ -99,7 +99,7 @@ jobs:

  ROS2_bridge:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-11-18
+    container: px4io/px4-dev-base-focal:2020-09-14
    steps:
    - uses: actions/checkout@v1
      with:
@@ -20,7 +20,7 @@ jobs:
          - {latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo", model: "tailsitter"    } # Florida
          - {latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage",       model: "standard_vtol" } # Zurich
    container:
-      image: px4io/px4-dev-simulation-focal:2020-11-18
+      image: px4io/px4-dev-simulation-focal:2020-08-14
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -60,9 +60,7 @@ jobs:
        PX4_HOME_LON: ${{matrix.config.longitude}}
        PX4_HOME_ALT: ${{matrix.config.altitude}}
        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: |
-          export
-          ulimit -a
+      run: export
    - name: Build PX4
      env:
        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
@@ -66,11 +66,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: cuav_can-gps-v1_default
-    cuav_can-gps-v1_canbootloader:
-      short: cuav_can-gps-v1_canbootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: cuav_can-gps-v1_canbootloader
    cuav_nora_default:
      short: cuav_nora
      buildType: MinSizeRel
@@ -15,7 +15,7 @@ pipeline {
        // stage('Catkin build on ROS workspace') {
        //   agent {
        //     docker {
-        //       image 'px4io/px4-dev-ros-melodic:2020-11-18'
+        //       image 'px4io/px4-dev-ros-melodic:2020-08-20'
        //       args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
        //     }
        //   }
@@ -56,7 +56,7 @@ pipeline {
        stage('Colcon build on ROS2 workspace') {
          agent {
            docker {
-              image 'px4io/px4-dev-ros2-foxy:2020-11-18'
+              image 'px4io/px4-dev-ros2-foxy:2020-08-20'
              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
            }
          }
@@ -87,7 +87,7 @@ pipeline {

        stage('Airframe') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
+            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
          }
          steps {
            sh 'make distclean'
@@ -106,7 +106,7 @@ pipeline {

        stage('Parameter') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
+            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
          }
          steps {
            sh 'make distclean'
@@ -125,7 +125,7 @@ pipeline {

        stage('Module') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
+            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
          }
          steps {
            sh 'make distclean'
@@ -145,7 +145,7 @@ pipeline {
        stage('uORB graphs') {
          agent {
            docker {
-              image 'px4io/px4-dev-nuttx-focal:2020-11-18'
+              image 'px4io/px4-dev-nuttx-focal:2020-09-14'
              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
            }
          }
@@ -174,7 +174,7 @@ pipeline {

        stage('Devguide') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
+            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
          }
          steps {
            sh('export')
@@ -204,7 +204,7 @@ pipeline {

        stage('Userguide') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
+            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
          }
          steps {
            sh('export')
@@ -234,7 +234,7 @@ pipeline {

        stage('QGroundControl') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
+            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
          }
          steps {
            sh('export')
@@ -262,7 +262,7 @@ pipeline {

        stage('microRTPS agent') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
+            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
          }
          steps {
            sh('export')
@@ -292,7 +292,7 @@ pipeline {

        stage('PX4 ROS msgs') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
+            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
          }
          steps {
            sh('export')
@@ -321,7 +321,7 @@ pipeline {

        stage('PX4 ROS2 bridge') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
+            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
          }
          steps {
            sh('export')
@@ -364,7 +364,7 @@ pipeline {

        stage('S3') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
+            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
          }
          steps {
            sh('export')
@@ -1,20 +1,20 @@
 # PX4 Drone Autopilot

-[![Releases](https://img.shields.io/github/release/PX4/PX4-Autopilot.svg)](https://github.com/PX4/PX4-Autopilot/releases) [![DOI](https://zenodo.org/badge/22634/PX4/PX4-Autopilot.svg)](https://zenodo.org/badge/latestdoi/22634/PX4/PX4-Autopilot)
+[![Releases](https://img.shields.io/github/release/PX4/Firmware.svg)](https://github.com/PX4/Firmware/releases) [![DOI](https://zenodo.org/badge/22634/PX4/Firmware.svg)](https://zenodo.org/badge/latestdoi/22634/PX4/Firmware)

-[![Nuttx Targets](https://github.com/PX4/PX4-Autopilot/workflows/Nuttx%20Targets/badge.svg)](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22Nuttx+Targets%22?branch=master) [![SITL Tests](https://github.com/PX4/PX4-Autopilot/workflows/SITL%20Tests/badge.svg?branch=master)](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22SITL+Tests%22)
+[![Nuttx Targets](https://github.com/PX4/Firmware/workflows/Nuttx%20Targets/badge.svg)](https://github.com/PX4/Firmware/actions?query=workflow%3A%22Nuttx+Targets%22?branch=master) [![SITL Tests](https://github.com/PX4/Firmware/workflows/SITL%20Tests/badge.svg?branch=master)](https://github.com/PX4/Firmware/actions?query=workflow%3A%22SITL+Tests%22)

 [![Slack](https://px4-slack.herokuapp.com/badge.svg)](http://slack.px4.io)

-This repository holds the [PX4](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/PX4-Autopilot/tree/master/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.
+This repository holds the [PX4](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/Firmware/tree/master/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.

-* Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/PX4-Autopilot/blob/master/LICENSE))
+* Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/Firmware/blob/master/LICENSE))
 * [Supported airframes](https://docs.px4.io/master/en/airframes/airframe_reference.html) ([portfolio](http://px4.io/#airframes)):
  * [Multicopters](https://docs.px4.io/master/en/airframes/airframe_reference.html#copter)
  * [Fixed wing](https://docs.px4.io/master/en/airframes/airframe_reference.html#plane)
  * [VTOL](https://docs.px4.io/master/en/airframes/airframe_reference.html#vtol)
  * many more experimental types (Rovers, Blimps, Boats, Submarines, Autogyros, etc)
-* Releases: [Downloads](https://github.com/PX4/PX4-Autopilot/releases)
+* Releases: [Downloads](https://github.com/PX4/Firmware/releases)


 ## PX4 Users
@@ -44,20 +44,20 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/master/en/co
    * [Lorenz Meier](https://github.com/LorenzMeier)
  * Architecture
    * [Daniel Agar](https://github.com/dagar)
-  * [Dev Call](https://github.com/PX4/PX4-Autopilot/labels/devcall)
+  * [Dev Call](https://github.com/PX4/Firmware/labels/devcall)
    * [Ramon Roche](https://github.com/mrpollo)
  * Communication Architecture
    * [Beat Kueng](https://github.com/bkueng)
    * [Julian Oes](https://github.com/JulianOes)
  * UI in QGroundControl
    * [Gus Grubba](https://github.com/dogmaphobic)
-  * [Multicopter Flight Control](https://github.com/PX4/PX4-Autopilot/labels/multicopter)
+  * [Multicopter Flight Control](https://github.com/PX4/Firmware/labels/multicopter)
    * [Mathieu Bresciani](https://github.com/bresch)
-  * [Multicopter Software Architecture](https://github.com/PX4/PX4-Autopilot/labels/multicopter)
+  * [Multicopter Software Architecture](https://github.com/PX4/Firmware/labels/multicopter)
    * [Matthias Grob](https://github.com/MaEtUgR)
-  * [VTOL Flight Control](https://github.com/PX4/PX4-Autopilot/labels/vtol)
+  * [VTOL Flight Control](https://github.com/PX4/Firmware/labels/vtol)
    * [Roman Bapst](https://github.com/RomanBapst)
-  * [Fixed Wing Flight Control](https://github.com/PX4/PX4-Autopilot/labels/fixedwing)
+  * [Fixed Wing Flight Control](https://github.com/PX4/Firmware/labels/fixedwing)
    * [Roman Bapst](https://github.com/RomanBapst)
  * OS / NuttX
    * [David Sidrane](https://github.com/davids5)
@@ -65,9 +65,9 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/master/en/co
    * [Daniel Agar](https://github.com/dagar)
  * Commander Architecture
    * [Julian Oes](https://github.com/julianoes)
-  * [UAVCAN](https://github.com/PX4/PX4-Autopilot/labels/uavcan)
+  * [UAVCAN](https://github.com/PX4/Firmware/labels/uavcan)
    * [Daniel Agar](https://github.com/dagar)
-  * [State Estimation](https://github.com/PX4/PX4-Autopilot/issues?q=is%3Aopen+is%3Aissue+label%3A%22state+estimation%22)
+  * [State Estimation](https://github.com/PX4/Firmware/issues?q=is%3Aopen+is%3Aissue+label%3A%22state+estimation%22)
    * [Paul Riseborough](https://github.com/priseborough)
  * Vision based navigation
    * [Julian Kent](https://github.com/jkflying)
@@ -76,7 +76,7 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/master/en/co
  * RTPS/ROS2 Interface
    * [Nuno Marques](https://github.com/TSC21)

-See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/PX4-Autopilot/graphs/contributors) (Github).
+See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/Firmware/graphs/contributors) (Github).

 ## Supported Hardware

@@ -72,7 +72,7 @@ rgbled start -X -q
 rgbled_ncp5623c start -X -q
 rgbled_pwm start

-if param greater -s LIGHT_EN_BLINKM 0
+if param greater LIGHT_EN_BLINKM 0
 then
 	if blinkm start -X
 	then
@@ -16,31 +16,20 @@ then
 	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_MAN_P_MAX 30
-
-	param set FW_PR_I 0.4
-	param set FW_PR_P 0.9
-	param set FW_PR_FF 0.2
-	param set FW_PSP_OFF 2
-	param set FW_P_LIM_MAX 32
-	param set FW_P_LIM_MIN -15
-
-	param set FW_RR_FF 0.1
-	param set FW_RR_P 0.3
-
-	param set FW_THR_MAX 0.6
-	param set FW_THR_MIN 0.05
-	param set FW_THR_CRUISE 0.25
-
-	param set FW_T_ALT_TC 2
-	param set FW_T_CLMB_MAX 8
-	param set FW_T_HRATE_FF 0.5
-	param set FW_T_SINK_MAX 2.7
-	param set FW_T_SINK_MIN 2.2
-	param set FW_T_TAS_TC 2
-
 	param set FW_W_EN 1

 	param set MIS_LTRMIN_ALT 30
@@ -9,46 +9,40 @@

 if [ $AUTOCNF = yes ]
 then
+	param set FW_AIRSPD_MAX 25
+	param set FW_AIRSPD_MIN 14
+	param set FW_AIRSPD_TRIM 16
 	param set FW_L1_PERIOD 12
-	param set FW_MAN_P_MAX 30
-	param set FW_PR_FF 0.2
-	param set FW_PR_I 0.4
-	param set FW_PR_P 0.9
-	param set FW_PSP_OFF 2
-	param set FW_P_LIM_MAX 32
-	param set FW_P_LIM_MIN -15
+
 	param set FW_RR_FF 0.1
-	param set FW_RR_P 0.3
-	param set FW_THR_CRUISE 0.25
-	param set FW_THR_MAX 0.6
-	param set FW_THR_MIN 0.05
-	param set FW_T_ALT_TC 2
-	param set FW_T_CLMB_MAX 8
-	param set FW_T_HRATE_FF 0.5
-	param set FW_T_SINK_MAX 2.7
-	param set FW_T_SINK_MIN 2.2
-	param set FW_T_TAS_TC 2
+	param set FW_RR_P 0.01

 	param set MC_ROLLRATE_P 0.3
-	param set MC_YAW_P 1.6

+	param set MIS_LTRMIN_ALT 10
 	param set MIS_TAKEOFF_ALT 10
+	param set MIS_YAW_TMT 10

 	param set MPC_ACC_HOR_MAX 2
+	param set MPC_ACC_HOR_MAX 2
+	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
 	param set MPC_XY_VEL_I_ACC 4
 	param set MPC_XY_VEL_D_ACC 0.1
+	param set MPC_Z_VEL_MAX_DN 1.5

 	param set NAV_ACC_RAD 5
 	param set NAV_LOITER_RAD 80

-	param set VT_FWD_THRUST_EN 4
+	param set VT_F_TRANS_DUR 5
 	param set VT_F_TRANS_THR 0.75
+	param set VT_ARSP_TRANS 16
 	param set VT_MOT_ID 1234
 	param set VT_FW_MOT_OFFID 1234
-	param set VT_B_TRANS_DUR 8
 	param set VT_TYPE 2
+	param set VT_B_TRANS_DUR 8

 fi

@@ -9,31 +9,23 @@

 if [ $AUTOCNF = yes ]
 then
+	param set FW_AIRSPD_MAX 25
+	param set FW_AIRSPD_MIN 14
+	param set FW_AIRSPD_TRIM 16
 	param set FW_L1_PERIOD 12
-	param set FW_MAN_P_MAX 30
-	param set FW_PR_I 0.2
-	param set FW_PR_P 0.3
-	param set FW_PSP_OFF 2
-	param set FW_P_LIM_MAX 32
-	param set FW_P_LIM_MIN -15
-	param set FW_RR_P 0.3
-	param set FW_THR_CRUISE 0.33
-	param set FW_THR_MAX 0.6
-	param set FW_THR_MIN 0.05
-	param set FW_T_ALT_TC 2
-	param set FW_T_CLMB_MAX 8
-	param set FW_T_HRATE_FF 0.5
-	param set FW_T_SINK_MAX 2.7
-	param set FW_T_SINK_MIN 2.2
-	param set FW_T_TAS_TC 2

 	param set MC_ROLLRATE_P 0.3

+	param set MIS_YAW_TMT 10
+
 	param set MPC_ACC_HOR_MAX 2
-	param set MPC_XY_P 0.8
-	param set MPC_XY_VEL_P_ACC 3
-	param set MPC_XY_VEL_I_ACC 4
+	param set MPC_ACC_HOR_MAX 2
+	param set MPC_THR_MIN 0.3
+	param set MPC_XY_P 0.15
 	param set MPC_XY_VEL_D_ACC 0.1
+	param set MPC_XY_VEL_P_ACC 1
+	param set MPC_Z_VEL_MAX_DN 1.5
+	param set MPC_Z_VEL_P_ACC 16

 	param set NAV_ACC_RAD 5
 	param set NAV_LOITER_RAD 80
@@ -9,44 +9,40 @@

 if [ $AUTOCNF = yes ]
 then
+	param set FW_ARSP_MODE 1
+	param set FW_AIRSPD_MAX 25
+	param set FW_AIRSPD_MIN 14
+	param set FW_AIRSPD_TRIM 16
 	param set FW_L1_PERIOD 12
-	param set FW_MAN_P_MAX 30
-	param set FW_PR_FF 0.2
-	param set FW_PR_I 0.4
-	param set FW_PR_P 0.9
-	param set FW_PSP_OFF 2
-	param set FW_P_LIM_MAX 32
-	param set FW_P_LIM_MIN -15
-	param set FW_RR_FF 0.1
-	param set FW_RR_P 0.3
-	param set FW_THR_CRUISE 0.38
-	param set FW_THR_MAX 0.6
-	param set FW_THR_MIN 0.05
-	param set FW_T_ALT_TC 2
-	param set FW_T_CLMB_MAX 8
-	param set FW_T_HRATE_FF 0.5
-	param set FW_T_SINK_MAX 2.7
-	param set FW_T_SINK_MIN 2.2
-	param set FW_T_TAS_TC 2

-	param set MC_YAW_P 1.6
+	param set MC_ROLLRATE_P 0.3

+	param set MIS_LTRMIN_ALT 10
 	param set MIS_TAKEOFF_ALT 10
+	param set MIS_YAW_TMT 10

 	param set MPC_ACC_HOR_MAX 2
-	param set MPC_XY_P 0.8
-	param set MPC_XY_VEL_P_ACC 3
-	param set MPC_XY_VEL_I_ACC 4
+	param set MPC_ACC_HOR_MAX 2
+	param set MPC_THR_MIN 0.1
+	param set MPC_TKO_SPEED 1
+	param set MPC_XY_P 0.15
 	param set MPC_XY_VEL_D_ACC 0.1
+	param set MPC_XY_VEL_I_ACC 4
+	param set MPC_XY_VEL_P_ACC 1
+	param set MPC_Z_VEL_MAX_DN 1.5
+	param set MPC_Z_VEL_P_ACC 16

 	param set NAV_ACC_RAD 5
 	param set NAV_LOITER_RAD 80

-	param set VT_B_TRANS_DUR 8
-	param set VT_FWD_THRUST_EN 4
-	param set VT_MOT_ID 1234
+	param set VT_F_TRANS_DUR 5.0
+	param set VT_F_TRANS_THR 0.75
+	param set VT_FWD_THRUST_SC 1.1
+	param set VT_TILT_FW 1
 	param set VT_TILT_TRANS 0.6
+	param set VT_ELEV_MC_LOCK 0
 	param set VT_TYPE 1
+	param set VT_B_TRANS_DUR 8

 fi

@@ -9,14 +9,12 @@

 if [ $AUTOCNF = yes ]
 then
-	param set MC_PITCHRATE_P 0.1000
-	param set MC_PITCHRATE_I 0.0400
-	param set MC_PITCHRATE_D 0.0010
-	param set MC_PITCH_P 9.0
-	param set MC_ROLLRATE_P 0.1000
-	param set MC_ROLLRATE_I 0.0400
-	param set MC_ROLLRATE_D 0.0010
-	param set MC_ROLL_P 9.0
+	param set MC_PITCHRATE_P 0.1
+	param set MC_PITCHRATE_I 0.05
+	param set MC_PITCH_P 6.0
+	param set MC_ROLLRATE_P 0.15
+	param set MC_ROLLRATE_I 0.1
+	param set MC_ROLL_P 6.0
 	param set MPC_XY_VEL_I_ACC 4
 	param set MPC_XY_VEL_P_ACC 3

@@ -22,6 +22,7 @@ fi
 # initialize script variables
 set AUX_MODE                    none
 set IO_PRESENT                  no
+set LOG_FILE                    bootlog.txt
 set MAV_TYPE                    none
 set MIXER                       none
 set MIXER_AUX                   none
@@ -52,6 +53,10 @@ else
 	fi
 fi

+# clear bootlog
+[ -f $LOG_FILE ] && rm $LOG_FILE
+
+
 uorb start

 # Load parameters
@@ -220,7 +225,7 @@ commander start
 navigator start


-if param greater -s MNT_MODE_IN -1
+if ! param compare -s MNT_MODE_IN -1
 then
 	vmount start
 fi
@@ -19,7 +19,6 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
-# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
@@ -17,7 +17,6 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
-# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
@@ -19,7 +19,6 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
-# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
@@ -19,7 +19,6 @@
 #
 # @maintainer Simon Wilks <simon@uaventure.com>
 #
-# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
@@ -7,10 +7,6 @@
 #
 # @maintainer Roman Bapst <roman@auterion.com>
 #
-# @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
-# @board bitcraze_crazyflie exclude
-#

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

@@ -16,7 +16,6 @@
 #
 # @maintainer Simon Wilks <simon@uaventure.com>
 #
-# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
@@ -17,10 +17,6 @@
 # @output AUX4 Rudder
 # @output AUX5 Throttle
 #
-# @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
-# @board bitcraze_crazyflie exclude
-#

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

@@ -12,10 +12,6 @@
 #
 # @maintainer Roman Bapst <roman@px4.io>
 #
-# @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
-# @board bitcraze_crazyflie exclude
-#

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

@@ -51,4 +47,4 @@ set MAV_TYPE 19

 set MIXER vtol_tailsitter_duo

-set PWM_OUT 123456
+set PWM_OUT 1234
@@ -7,10 +7,6 @@
 #
 # @maintainer Roman Bapst <roman@px4.io>
 #
-# @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
-# @board bitcraze_crazyflie exclude
-#

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

@@ -29,4 +25,4 @@ set MAV_TYPE 20

 set MIXER quad_x_vtol

-set PWM_OUT 1234
+set PWM_OUT 1234
@@ -17,7 +17,6 @@
 # @output AUX4 Rudder
 # @output AUX5 Throttle
 #
-# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
@@ -15,7 +15,6 @@
 # @output AUX2 Left elevon
 # @output AUX3 Motor
 #
-# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
@@ -7,7 +7,6 @@
 #
 # @maintainer Sander Smeets <sander@droneslab.com>
 #
-# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
@@ -7,7 +7,6 @@
 #
 # @maintainer Sander Smeets <sander@droneslab.com>
 #
-# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
@@ -7,7 +7,6 @@
 #
 # @maintainer Andreas Antener <andreas@uaventure.com>
 #
-# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
@@ -16,7 +16,6 @@
 # @output MAIN7 Elevon right
 # @output MAIN8 Elevon left
 #
-# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
@@ -16,10 +16,6 @@
 # @output MAIN7 Pusher motor
 # @output MAIN8 Pusher reverse channel
 #
-# @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
-# @board bitcraze_crazyflie exclude
-#

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

@@ -54,6 +50,7 @@ then
 	param set FW_T_SINK_MAX 3
 	param set FW_T_SINK_MIN 1
 	param set FW_T_VERT_ACC 6
+	param set FW_T_HRATE_P 0.1
 	param set FW_THR_CRUISE 0.70
 	param set FW_THR_SLEW_MAX 1
 	param set FW_MAN_P_MAX 30
@@ -49,6 +49,8 @@ then
 	param set FW_T_HRATE_FF 0
 	param set FW_T_SINK_MAX	15
 	param set FW_T_SINK_MIN	3
+	param set FW_T_THRO_CONST	6
+	param set FW_T_TIME_CONST	6
 	param set FW_YR_I	0.1
 	param set FW_YR_P	0.15

@@ -12,7 +12,6 @@
 #
 # @maintainer Roman Bapst <roman@px4.io>
 #
-# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
@@ -1,49 +0,0 @@
-#!/bin/sh
-#
-# @name ThunderFly TF-G2
-#
-# @type Autogyro
-# @class Autogyro
-#
-# @output MAIN2 rotor_head_L
-# @output MAIN3 rotor_head_R
-# @output MAIN4 rudder
-# @output MAIN5 throttle
-#
-#
-# @url https://github.com/ThunderFly-aerospace/TF-G2/
-# @maintainer ThunderFly s.r.o., Roman Dvorak <dvorakroman@thunderfly.cz>
-#
-# @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-if [ $AUTOCNF = yes ]
-then
-	param set BAT_CAPACITY 3300
-	param set BAT_N_CELLS 3
-
-	param set PWM_AUX_RATE 50
-	param set PWM_RATE 50
-
-	param set SENS_BOARD_ROT 4
-
-	param set FW_AIRSPD_MAX 20
-	param set FW_AIRSPD_MIN 7
-	param set FW_AIRSPD_TRIM 13
-	param set FW_THR_CRUISE 0.8
-
-	param set FW_MAN_P_MAX 25
-	param set FW_MAN_R_MAX 25
-	param set FW_PR_I 0.02
-	param set FW_R_LIM 40
-	param set FW_P_LIM_MAX 25
-	param set FW_P_LIM_MIN -5
-	param set FW_P_RMAX_NEG 20
-fi
-
-set MIXER TF-G2
-set MIXER_AUX pass
@@ -17,7 +17,6 @@
 #
 # @maintainer Simon Wilks <simon@uaventure.com>
 #
-# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
@@ -15,7 +15,6 @@
 #
 # @maintainer Julian Oes <julian@px4.io>
 #
-# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
@@ -2,7 +2,7 @@
 #
 # @name Wing Wing (aka Z-84) Flying Wing
 #
-# @url https://docs.px4.io/master/en/frames_plane/wing_wing_z84.html
+# @url https://docs.px4.io/master/en/framebuild_plane/wing_wing_z84.html
 #
 # @type Flying Wing
 # @class Plane
@@ -17,7 +17,6 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
-# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
@@ -14,7 +14,6 @@
 #
 # @maintainer Simon Wilks <simon@uaventure.com>
 #
-# @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
 #

@@ -17,7 +17,6 @@
 #
 # @maintainer Simon Wilks <simon@uaventure.com>
 #
-# @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
 #

@@ -7,7 +7,6 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
-# @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
 #

@@ -7,7 +7,6 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
-# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
@@ -1,7 +1,7 @@
 #!/bin/sh
 #
 # @name Spedix S250AQ
-# @url https://docs.px4.io/master/en/frames_multicopter/spedix_s250_pixracer.html
+# @url https://docs.px4.io/master/en/framebuild_multicopter/spedix_s250_pixracer.html
 #
 # @type Quadrotor asymmetric
 # @class Copter
@@ -98,6 +98,7 @@ then
 	param set BAT_V_DIV 10.14
 	param set BAT_A_PER_V 18.18
 	#param set CBRK_IO_SAFETY 22027
+	param set COM_ARM_EKF_AB 0.005
 	param set COM_DISARM_LAND 2

 	# Filter settings
@@ -77,6 +77,7 @@ then

 	param set BAT_SOURCE 0
 	param set CBRK_IO_SAFETY 22027
+	#param set COM_ARM_EKF_AB 0.005
 	#param set COM_DISARM_LAND 3

 	# Filter settings
@@ -107,6 +107,7 @@ then
 	param set BAT_V_DIV 10.14
 	param set BAT_A_PER_V 18.18
 	#param set CBRK_IO_SAFETY 22027
+	param set COM_ARM_EKF_AB 0.005
 	param set COM_DISARM_LAND 2

 	# Filter settings
@@ -49,6 +49,7 @@ then
 	# sensor calibration
 	param set CAL_MAG_SIDES 63
 	param set SENS_BOARD_ROT 0
+	param set COM_ARM_EKF_AB 0.0032

 	# circuit breakers
 	param set CBRK_IO_SAFETY 22027
@@ -5,6 +5,8 @@
 # @type Rover
 # @class Rover
 #
+# @board px4_fmu-v2 exclude
+#
 # @output MAIN2 steering
 # @output MAIN4 throttle
 #
@@ -146,9 +146,7 @@ px4_add_romfs_files(

 	16001_helicopter

-	# [17000, 17999] Autogyro
 	17002_TF-AutoG2
-	17003_TF-G2

 	24001_dodeca_cox

@@ -18,7 +18,7 @@ set OUTPUT_DEV none
 # If mount (gimbal) control is enabled and output mode is AUX, set the aux
 # mixer to mount (override the airframe-specific MIXER_AUX setting).
 #
-if param greater -s MNT_MODE_IN -1
+if ! param compare -s MNT_MODE_IN -1
 then
        if param compare -s MNT_MODE_OUT 0
        then
@@ -43,13 +43,13 @@ then
 		if [ $IO_PRESENT = yes ]
 		then
 			set OUTPUT_MODE io
-			if param greater -s DSHOT_CONFIG 0
+			if param greater DSHOT_CONFIG 0
 			then
 				set OUTPUT_CMD dshot
 			fi
 		fi
 	else
-		if param greater -s DSHOT_CONFIG 0
+		if param greater DSHOT_CONFIG 0
 		then
 			set OUTPUT_MODE dshot
 			set OUTPUT_CMD dshot
@@ -93,7 +93,7 @@ then
 	then
 		if ! $OUTPUT_CMD mode_$FMU_MODE
 		then
-			echo "$OUTPUT_CMD start failed"
+			echo "$OUTPUT_CMD start failed" >> $LOG_FILE
 			tune_control play error
 		fi
 	fi
@@ -172,6 +172,7 @@ then
 		echo "INFO  [init] Mixer: ${MIXER_FILE} on ${OUTPUT_DEV}"
 	else
 		echo "ERROR  [init] Failed loading mixer: ${MIXER_FILE}"
+		echo "ERROR  [init] Failed loading mixer: ${MIXER_FILE}" >> $LOG_FILE
 		tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
 	fi

@@ -179,6 +180,7 @@ else
 	if [ $MIXER != skip ]
 	then
 		echo "ERROR  [init] Mixer undefined"
+		echo "ERROR  [init] Mixer undefined" >> $LOG_FILE
 		tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
 	fi
 fi
@@ -211,6 +213,7 @@ then
 					echo "INFO  [init] Mixer: ${MIXER_AUX_FILE} appended to ${OUTPUT_DEV}"
 				else
 					echo "ERROR  [init] Failed appending mixer: ${MIXER_AUX_FILE}"
+					echo "ERROR  [init] Failed appending mixer: ${MIXER_AUX_FILE}" >> $LOG_FILE
 				fi
 			fi
 			if [ -e $OUTPUT_AUX_DEV -a $OUTPUT_MODE != hil ]
@@ -220,13 +223,14 @@ then
 					echo "INFO  [init] Mixer: ${MIXER_AUX_FILE} on ${OUTPUT_AUX_DEV}"
 				else
 					echo "ERROR  [init] Failed loading mixer: ${MIXER_AUX_FILE}"
+					echo "ERROR  [init] Failed loading mixer: ${MIXER_AUX_FILE}" >> $LOG_FILE
 				fi
 			else
 				set PWM_AUX_OUT none
 				set FAILSAFE_AUX none
 			fi
 		else
-			echo "ERROR: Could not start: pwm_out mode_pwm"
+			echo "ERROR: Could not start: pwm_out mode_pwm" >> $LOG_FILE
 			tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
 			set PWM_AUX_OUT none
 			set FAILSAFE_AUX none
@@ -17,7 +17,7 @@ then
 		# Allow PX4IO to recover from midair restarts.
 		px4io recovery
 	else
-		echo "PX4IO start failed"
+		echo "PX4IO start failed" >> $LOG_FILE
 		tune_control play -t 18 # PROG_PX4IO_ERR
 	fi
 fi
@@ -62,7 +62,6 @@ mc_att_control start
 # Start Multicopter Position Controller.
 #
 mc_hover_thrust_estimator start
-flight_mode_manager start
 mc_pos_control start

 #
@@ -102,12 +102,6 @@ then
 	paw3902 -S start
 fi

-# vl53l1x i2c distance sensor
-if param compare -s SENS_EN_VL53L1X 1
-then
-	vl53l1x start -X
-fi
-
 # probe for optional external I2C devices
 if param compare SENS_EXT_I2C_PRB 1
 then
@@ -7,17 +7,17 @@

 set TEMP_COMP_START ""

-if param compare -s TC_A_ENABLE 1
+if param compare TC_A_ENABLE 1
 then
 	set TEMP_COMP_START "true"
 fi

-if param compare -s TC_B_ENABLE 1
+if param compare TC_B_ENABLE 1
 then
 	set TEMP_COMP_START "true"
 fi

-if param compare -s TC_G_ENABLE 1
+if param compare TC_G_ENABLE 1
 then
 	set TEMP_COMP_START "true"
 fi
@@ -21,7 +21,6 @@ vtol_att_control start

 mc_rate_control start vtol
 mc_att_control start vtol
-flight_mode_manager start vtol
 mc_pos_control start vtol
 mc_hover_thrust_estimator start

@@ -15,10 +15,8 @@ then
 	param set MIS_TAKEOFF_ALT 20
 	param set MIS_YAW_TMT 10

-	param set EKF2_ARSP_THR 10
-	param set EKF2_FUSE_BETA 1
-
 	param set MPC_ACC_HOR_MAX 2
+	param set MPC_LAND_SPEED 0.7
 	param set MPC_TKO_SPEED 1
 	param set MPC_VEL_MANUAL 3
 	param set MPC_XY_CRUISE 3
@@ -32,6 +32,7 @@ set FMU_MODE pwm
 set FRC /fs/microsd/etc/rc.txt
 set IOFW "/etc/extras/px4_io-v2_default.bin"
 set IO_PRESENT no
+set LOG_FILE /fs/microsd/bootlog.txt
 set LOGGER_ARGS ""
 set LOGGER_BUF  14
 set MAV_TYPE none
@@ -139,7 +140,10 @@ else
 		else
 			set STARTUP_TUNE 15 # tune 15 = SD_ERROR
 			echo "ERROR [init] format failed"
+			set LOG_FILE /dev/null
 		fi
+	else
+		set LOG_FILE /dev/null
 	fi
 fi

@@ -153,10 +157,9 @@ then
 else

 	#
-	# Set the parameter file the board supports params on
-	# MTD device.
+	# Set the parameter file if mtd starts successfully.
 	#
-	if mft query -q -k MTD -s MTD_PARAMETERS -v /fs/mtd_params
+	if mtd start
 	then
 		set PARAM_FILE /fs/mtd_params
 	fi
@@ -164,10 +167,13 @@ else
 	#
 	# Load parameters.
 	#
-	# if the board has a storage for (factory) calibration data
-	if mft query -q -k MTD -s MTD_CALDATA -v /fs/mtd_caldata
+	# if MTD has a secondary storage it is used for (factory) calibration data
+	if mtd has-secondary
 	then
-		param load /fs/mtd_caldata
+		if mtd start -i 1 /fs/mtd_caldata
+		then
+			param load /fs/mtd_caldata
+		fi
 	fi

 	param select $PARAM_FILE
@@ -183,8 +189,8 @@ else
 	then
 		if param compare SYS_AUTOCONFIG 1
 		then
-			# Wipe out params except RC*, flight modes, total flight time, calibration parameters, next flight UUID
-			param reset_all SYS_AUTO* RC* COM_FLTMODE* LND_FLIGHT* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT* SYS_PARAM_VER
+			# Wipe out params except RC*, flight modes, total flight time, accel cal, gyro cal, next flight UUID
+			param reset_all SYS_AUTOSTART SYS_AUTOCONFIG RC* COM_FLTMODE* LND_FLIGHT_T_* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT_UUID
 		fi

 		set AUTOCNF yes
@@ -238,7 +244,7 @@ else
 	rgbled start -X -q
 	rgbled_ncp5623c start -X -q

-	if param greater -s LIGHT_EN_BLINKM 0
+	if param greater LIGHT_EN_BLINKM 0
 	then
 		if blinkm start -X
 		then
@@ -271,6 +277,57 @@ else
 		param set SYS_AUTOCONFIG 0
 	fi

+	#
+	# Check if PX4IO present and update firmware if needed.
+	# Assumption IOFW set to firmware file and IO_PRESENT = no
+	#
+
+	if [ -f $IOFW ]
+	then
+		# Check for the mini using build with px4io fw file
+		# but not a px4IO
+		if ver hwtypecmp V540 V560
+		then
+			param set SYS_USE_IO 0
+		else
+			if px4io checkcrc ${IOFW}
+			then
+				set IO_PRESENT yes
+			else
+				# tune Program PX4IO
+				tune_control play -t 16 # tune 16 = PROG_PX4IO
+
+				if px4io start
+				then
+					# Try to safety px4 io so motor outputs don't go crazy.
+					if ! px4io safety_on
+					then
+						# px4io did not respond to the safety command.
+						px4io stop
+					fi
+				fi
+
+				if px4io forceupdate 14662 ${IOFW}
+				then
+					usleep 10000
+					tune_control stop
+					if px4io checkcrc ${IOFW}
+					then
+						echo "PX4IO CRC OK after updating" >> $LOG_FILE
+						tune_control play -t 17 # tune 17 = PROG_PX4IO_OK
+						set IO_PRESENT yes
+					fi
+				fi
+
+				if [ $IO_PRESENT = no ]
+				then
+					echo "PX4IO update failed" >> $LOG_FILE
+					tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
+				fi
+			fi
+		fi
+	fi
+
 	#
 	# Set USE_IO flag.
 	#
@@ -279,54 +336,10 @@ else
 		set USE_IO yes
 	fi

-	#
-	# Check if PX4IO present and update firmware if needed.
-	# Assumption IOFW set to firmware file and IO_PRESENT = no
-	#
-
-	if [ -f $IOFW -a $USE_IO = yes ]
+	if [ $USE_IO = yes -a $IO_PRESENT = no ]
 	then
-		if px4io checkcrc ${IOFW}
-		then
-			set IO_PRESENT yes
-		else
-			# tune Program PX4IO
-			tune_control play -t 16 # tune 16 = PROG_PX4IO
-
-			if px4io start
-			then
-				# Try to safety px4 io so motor outputs don't go crazy.
-				if ! px4io safety_on
-				then
-					# px4io did not respond to the safety command.
-					px4io stop
-				fi
-			fi
-
-			if px4io forceupdate 14662 ${IOFW}
-			then
-				usleep 10000
-				tune_control stop
-				if px4io checkcrc ${IOFW}
-				then
-					echo "PX4IO CRC OK after updating"
-					tune_control play -t 17 # tune 17 = PROG_PX4IO_OK
-					set IO_PRESENT yes
-				fi
-			fi
-
-			if [ $IO_PRESENT = no ]
-			then
-				echo "PX4IO update failed"
-				tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
-			fi
-		fi
-
-		if [ $USE_IO = yes -a $IO_PRESENT = no ]
-		then
-			echo "PX4IO not found"
-			tune_control play error
-		fi
+		echo "PX4IO not found" >> $LOG_FILE
+		tune_control play error
 	fi

 	#
@@ -397,7 +410,7 @@ else
 		set AUX_MODE pwm4
 	fi

-	if param greater -s TRIG_MODE 0
+	if param greater TRIG_MODE 0
 	then
 		# We ONLY support trigger on pins 5+6 or 7+8 when simultanously using AUX for actuator output.
 		if param compare TRIG_PINS 56
@@ -496,24 +509,24 @@ else
 	#
 	# Start vmount to control mounts such as gimbals, disabled by default.
 	#
-	if param greater -s MNT_MODE_IN -1
+	if ! param compare MNT_MODE_IN -1
 	then
 		vmount start
 	fi

 	# Check for flow sensor
-	if param compare -s SENS_EN_PX4FLOW 1
+	if param compare SENS_EN_PX4FLOW 1
 	then
 		px4flow start -X
 	fi

 	# Blacksheep telemetry
-	if param compare -s TEL_BST_EN 1
+	if param greater TEL_BST_EN 0
 	then
 		bst start -X
 	fi

-	if param compare -s IMU_GYRO_FFT_EN 1
+	if param compare IMU_GYRO_FFT_EN 1
 	then
 		gyro_fft start
 	fi
@@ -580,6 +593,7 @@ unset FMU_MODE
 unset FRC
 unset IO_PRESENT
 unset IOFW
+unset LOG_FILE
 unset LOGGER_ARGS
 unset LOGGER_BUF
 unset MAV_TYPE
@@ -1,39 +0,0 @@
-TF-G2 autogyro mixer
-==================================================
-
-Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch) and 3 (thrust).
-
-CH1: empty - fixing cuav nano jittering of 1st output. 
-Z:
-
-
-CH2, 3: rotor-head mixer
-------------
-Two scalers total (output, roll).
-
-M: 2
-O: 10000 10000 0 -10000 10000
-S: 0 0 -10000 -10000 0 -10000 10000
-S: 0 1  10000  10000      0 -10000  10000
-
-M: 2
-O: 10000 10000 0 -10000 10000
-S: 0 0 -10000 -10000 0 -10000 10000
-S: 0 1 -10000 -10000      0 -10000  10000
-
-
-CH4: Rudder mixer
------------
-Two scalers total (output, yaw).
-
-M: 1
-S: 0 2  10000  10000      0 -10000  10000
-
-
-CH5: Motor speed mixer
-----------------
-Two scalers total (output, thrust).
-
-M: 1
-S: 0 3      0  20000 -10000 -10000  10000
@@ -29,9 +29,11 @@ Channel 5 connects to the right (starboard) elevon.
 Channel 6 connects to the left (port) elevon.

 M: 2
+O:        7500    7500    0 -10000  10000
 S: 1 0   10000   10000    0 -10000  10000
 S: 1 1   10000   10000    0 -10000  10000

 M: 2
+O:        7500    7500    0 -10000  10000
 S: 1 0   10000   10000    0 -10000  10000
 S: 1 1  -10000  -10000    0 -10000  10000
@@ -12,8 +12,9 @@ if bst start -X
 then
 fi

-board_adc start
-system_power start
+if board_adc start
+then
+fi

 if sdp3x_airspeed start -X
 then
@@ -1,4 +1,4 @@
-#! /usr/bin/env python3
+#! /usr/bin/python

 import serial, time
 import subprocess
@@ -10,7 +10,7 @@ def monitor_firmware_upload(port, baudrate):
    databits = serial.EIGHTBITS
    stopbits = serial.STOPBITS_ONE
    parity = serial.PARITY_NONE
-    ser = serial.Serial(port, baudrate, databits, parity, stopbits, timeout=1)
+    ser = serial.Serial(port, baudrate, databits, parity, stopbits, timeout=10)

    finished = 0

@@ -19,9 +19,8 @@ def monitor_firmware_upload(port, baudrate):
    timeout_newline = time.time()

    while finished == 0:
-        serial_line = ser.readline().decode("ascii", errors='ignore')
-        if (len(serial_line) > 0):
-            print(serial_line.replace('\n', ''))
+        serial_line = ser.readline()
+        print(serial_line.replace('\n',''))

        if "NuttShell (NSH)" in serial_line:
            finished = 1
@@ -37,17 +36,16 @@ def monitor_firmware_upload(port, baudrate):
            finished = 1
            break

-        # newline every 10 seconds if still running
-        if time.time() - timeout_newline > 10:
+        # newline every 30 seconds if still running
+        if time.time() - timeout_newline > 30:
+            ser.write('\n')
            timeout_newline = time.time()
-            ser.write('\n'.encode("ascii"))
-            ser.flush()

    ser.close()

 def main():
    parser = ArgumentParser(description=__doc__)
-    parser.add_argument('--device', "-d", nargs='?', default=None, help='', required=True)
+    parser.add_argument('--device', "-d", nargs='?', default = None, help='')
    parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
    args = parser.parse_args()

@@ -1,87 +1,72 @@
-#! /usr/bin/env python3
+#! /usr/bin/python

 import serial, time
 import subprocess
 from subprocess import call, Popen
 from argparse import ArgumentParser
 import re
-import sys

 def do_nsh_cmd(port, baudrate, cmd):
    databits = serial.EIGHTBITS
    stopbits = serial.STOPBITS_ONE
    parity = serial.PARITY_NONE
-    ser = serial.Serial(port, baudrate, databits, parity, stopbits, timeout=0.1)
+    ser = serial.Serial(port, baudrate, databits, parity, stopbits, timeout=10)
+
+    ser.write('\n')
+
+    finished = 0
+    success = False

-    # run command
-    timeout_start = time.time()
    timeout = 10  # 10 seconds
-
-    # clear
-    ser.write("\n".encode("ascii"))
-    ser.flush()
-    ser.readline()
-
-    success_cmd = "cmd succeeded!"
-
-    serial_cmd = '{0}; echo "{1}"\n'.format(cmd, success_cmd)
-    ser.write(serial_cmd.encode("ascii"))
-    ser.flush()
-    ser.readline()
-
-    # TODO: require successful command echo
-    # while True:
-    #     serial_cmd = '{0}; echo "{1}"\n'.format(cmd, success_cmd)
-    #     ser.write(serial_cmd.encode("ascii"))
-    #     ser.flush()
-
-    #     serial_line = ser.readline().decode("ascii", errors='ignore')
-
-    #     if cmd in serial_line:
-    #         break
-    #     else:
-    #         print(serial_line, end='')
-
-    #     if time.time() > timeout_start + timeout:
-    #         print("Error, timeout")
-    #         sys.exit(-1)
-    #         break
-
-    #     time.sleep(1)
-
-
    timeout_start = time.time()
-    timeout = 30  # 30 seconds

    while True:
-        serial_line = ser.readline().decode("ascii", errors='ignore')
+        serial_line = ser.readline()
+        print(serial_line.replace('\n',''))

-        if success_cmd in serial_line:
+        if "nsh>" in serial_line:
+            break
+        elif "NuttShell (NSH)" in serial_line:
            break
-        else:
-            if len(serial_line) > 0:
-                print(serial_line, end='')
-
-            if "nsh>" in serial_line:
-                #sys.exit(-1) # error, command didn't complete successfully
-                break # TODO: return error on failure
-            elif "NuttShell (NSH)" in serial_line:
-                #sys.exit(-1) # error, command didn't complete successfully
-                break # TODO: return error on failure
-
-        if len(serial_line) <= 0:
-            ser.write("\n".encode("ascii"))
-            ser.flush()

        if time.time() > timeout_start + timeout:
            print("Error, timeout")
-            sys.exit(-1)
+            break
+
+        ser.write('\n')
+        time.sleep(0.01)
+
+
+    # run command
+    ser.write(cmd + '\n')
+
+    timeout = 30  # 30 seconds
+    timeout_start = time.time()
+    timeout_newline = timeout_start
+
+    while True:
+        serial_line = ser.readline()
+        print(serial_line.replace('\n',''))
+
+        if cmd in serial_line:
+            continue
+        elif "nsh>" in serial_line:
+            break
+        elif "NuttShell (NSH)" in serial_line:
+            break
+
+        if time.time() > timeout_start + timeout:
+            print("Error, timeout")
+            break
+
+        ser.write('\n')
+        time.sleep(0.01)

    ser.close()

 def main():
    parser = ArgumentParser(description=__doc__)
-    parser.add_argument('--device', "-d", nargs='?', default=None, help='', required=True)
+    parser.add_argument('--device', "-d", nargs='?', default = None, help='')
    parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
    parser.add_argument("--cmd", "-c", dest="cmd", help="Command to run")
    args = parser.parse_args()
@@ -1,4 +1,4 @@
-#! /usr/bin/env python3
+#! /usr/bin/python

 import serial, time
 import subprocess
@@ -7,70 +7,64 @@ from argparse import ArgumentParser
 import re
 import unittest
 import os
-import sys

 def do_test(port, baudrate, test_name):
    databits = serial.EIGHTBITS
    stopbits = serial.STOPBITS_ONE
    parity = serial.PARITY_NONE
-    ser = serial.Serial(port, baudrate, databits, parity, stopbits, timeout=1)
+    ser = serial.Serial(port, baudrate, databits, parity, stopbits, timeout=10)

+    ser.write('\n')
+
+    finished = 0
    success = False

-    # run test cmd
-    print('\n|======================================================================')
-    cmd = 'tests ' + test_name
-    print("| Running:", cmd)
-    print('|======================================================================')
-    timeout_start = time.time()
    timeout = 10  # 10 seconds
+    timeout_start = time.time()

-    # clear
-    ser.write("\n".encode("ascii"))
-    ser.flush()
-    ser.readline()
+    while True:
+        serial_line = ser.readline()
+        print(serial_line.replace('\n',''))

-    serial_cmd = '{0}\n'.format(cmd)
-    ser.write(serial_cmd.encode("ascii"))
-    ser.flush()
-    ser.readline()
+        if "nsh>" in serial_line:
+            break
+        elif "NuttShell (NSH)" in serial_line:
+            break

-    # TODO: retry command
-    # while True:
-    #     serial_cmd = '{0}\n'.format(cmd)
-    #     ser.write(serial_cmd.encode("ascii"))
-    #     ser.flush()
+        if time.time() > timeout_start + timeout:
+            print("Error, timeout")
+            break

-    #     serial_line = ser.readline().decode("ascii", errors='ignore')
-
-    #     if cmd in serial_line:
-    #         break
-    #     else:
-    #         print(serial_line.replace('\n', ''))
-
-    #     if time.time() > timeout_start + timeout:
-    #         print("Error, unable to write cmd")
-    #         return False
-
-    #     time.sleep(1)
+        ser.write('\n')
+        time.sleep(0.01)


-    # print results, wait for final result (PASSED or FAILED)
+    # run test cmd
+    cmd = 'tests ' + test_name
+    ser.write(cmd + '\n')
+
    timeout = 180  # 3 minutes
    timeout_start = time.time()
    timeout_newline = timeout_start

    while True:
-        serial_line = ser.readline().decode("ascii", errors='ignore')
-        if (len(serial_line) > 0):
-            print(serial_line, end='')
+        serial_line = ser.readline()
+        print(serial_line.replace('\n',''))

-        if test_name + " PASSED" in serial_line:
+        if cmd in serial_line:
+            continue
+        elif test_name + " PASSED" in serial_line:
            success = True
            break
        elif test_name + " FAILED" in serial_line:
            success = False
            break
+        elif "nsh>" in serial_line:
+            success = False
+            break
+        elif "NuttShell (NSH)" in serial_line:
+            success = False
+            break

        if time.time() > timeout_start + timeout:
            print("Error, timeout")
@@ -78,28 +72,22 @@ def do_test(port, baudrate, test_name):
            success = False
            break

-        # newline every 10 seconds if still running
-        if time.time() - timeout_newline > 10:
-            ser.write("\n".encode("ascii"))
+        # newline every 30 seconds if still running
+        if time.time() - timeout_newline > 30:
+            ser.write('\n')
            timeout_newline = time.time()

    ser.close()

    return success

-class TestHardwareMethods(unittest.TestCase):
+class TestHadrwareMethods(unittest.TestCase):
    TEST_DEVICE = 0
    TEST_BAUDRATE = 0

-    def test_atomic_bitset(self):
-        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "atomic_bitset"))
-
    def test_bezier(self):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bezier"))

-    def test_bitset(self):
-        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bitset"))
-
    def test_bson(self):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bson"))

@@ -109,8 +97,8 @@ class TestHardwareMethods(unittest.TestCase):
    def test_controllib(self):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "controllib"))

-    # def test_dataman(self):
-    #     self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "dataman"))
+#    def test_dataman(self):
+#        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "dataman"))

    def floattest_float(self):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "float"))
@@ -121,9 +109,6 @@ class TestHardwareMethods(unittest.TestCase):
    def test_IntrusiveQueue(self):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "IntrusiveQueue"))

-    def test_IntrusiveSortedList(self):
-        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "IntrusiveSortedList"))
-
    def test_List(self):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "List"))

@@ -148,8 +133,8 @@ class TestHardwareMethods(unittest.TestCase):
    def test_microbench_uorb(self):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "microbench_uorb"))

-    # def test_mixer(self):
-    #     self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "mixer"))
+#    def test_mixer(self):
+#        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "mixer"))

    def test_param(self):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "param"))
@@ -160,34 +145,34 @@ class TestHardwareMethods(unittest.TestCase):
    def test_perf(self):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "perf"))

-    # def test_rc(self):
-    #     self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "rc"))
-
-    def test_search_min(self):
+    def search_mintest_xxx(self):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "search_min"))

    def test_sleep(self):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "sleep"))

+    def test_smoothz(self):
+        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "smoothz"))
+
    def test_time(self):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "time"))

-    def test_uorb(self):
-        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "uorb"))
+    #def test_uorb(self):
+    #    self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "uorb"))

    def test_versioning(self):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "versioning"))

 def main():
    parser = ArgumentParser(description=__doc__)
-    parser.add_argument('--device', "-d", nargs='?', default=None, help='', required=True)
+    parser.add_argument('--device', "-d", nargs='?', default = None, help='')
    parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
    args = parser.parse_args()

-    TestHardwareMethods.TEST_DEVICE = args.device
-    TestHardwareMethods.TEST_BAUDRATE = args.baudrate
+    TestHadrwareMethods.TEST_DEVICE = args.device
+    TestHadrwareMethods.TEST_BAUDRATE =  args.baudrate

-    unittest.main(__name__, failfast=True, verbosity=0, argv=['main'])
+    unittest.main(__name__, argv=['main'])

 if __name__ == "__main__":
   main()
@@ -4,10 +4,10 @@ if [ -z ${PX4_DOCKER_REPO+x} ]; then
 	echo "guessing PX4_DOCKER_REPO based on input";
 	if [[ $@ =~ .*px4_fmu.* ]]; then
 		# nuttx-px4fmu-v{1,2,3,4,5}
-		PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2020-11-18"
+		PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2020-09-14"
 	elif [[ $@ =~ .*ocpoc.* ]] || [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]]; then
 		# aerotenna_ocpoc_default, beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_pilotpi_default
-		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2020-11-18"
+		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2020-04-01"
 	elif [[ $@ =~ .*pilotpi.arm64 ]]; then
 		# scumaker_pilotpi_arm64
 		PX4_DOCKER_REPO="px4io/px4-dev-aarch64:latest"
@@ -16,13 +16,13 @@ if [ -z ${PX4_DOCKER_REPO+x} ]; then
 		PX4_DOCKER_REPO="lorenzmeier/px4-dev-snapdragon:2020-04-01"
 	elif [[ $@ =~ .*ocpoc.* ]] || [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*bebop.* ]]; then
 		# aerotenna_ocpoc_default, posix_rpi_cross, posix_bebop_default
-		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2020-11-18"
+		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2020-04-01"
 	elif [[ $@ =~ .*clang.* ]] || [[ $@ =~ .*scan-build.* ]]; then
 		# clang tools
-		PX4_DOCKER_REPO="px4io/px4-dev-clang:2020-11-18"
+		PX4_DOCKER_REPO="px4io/px4-dev-clang:2020-04-01"
 	elif [[ $@ =~ .*tests* ]]; then
 		# run all tests with simulation
-		PX4_DOCKER_REPO="px4io/px4-dev-simulation-bionic:2020-11-18"
+		PX4_DOCKER_REPO="px4io/px4-dev-simulation-bionic:2020-04-01"
 	fi
 else
 	echo "PX4_DOCKER_REPO is set to '$PX4_DOCKER_REPO'";
@@ -16,8 +16,8 @@ function spawn_model() {
 	MODEL=$1
 	N=$2 #Instance Number

-	SUPPORTED_MODELS=("iris" "iris_rtps" "plane" "standard_vtol" "rover" "r1_rover" "typhoon_h480")
-	if [[ " ${SUPPORTED_MODELS[*]} " != *"$MODEL"* ]];
+	SUPPORTED_MODELS=("iris" "iris_rtps" "plane" "standard_vtol" "rover" "r1_rover")
+	if [[ " ${SUPPORTED_MODELS[*]} " != *"$MODEL "* ]];
 	then
 		echo "ERROR: Currently only vehicle model $MODEL is not supported!"
 		echo "       Supported Models: [${SUPPORTED_MODELS[@]}]"
@@ -31,7 +31,7 @@ function spawn_model() {
 	pushd "$working_dir" &>/dev/null
 	echo "starting instance $N in $(pwd)"
 	../bin/px4 -i $N -d "$build_path/etc" -w sitl_${MODEL}_${N} -s etc/init.d-posix/rcS >out.log 2>err.log &
-	python3 ${src_path}/Tools/sitl_gazebo/scripts/jinja_gen.py ${src_path}/Tools/sitl_gazebo/models/${MODEL}/${MODEL}.sdf.jinja ${src_path}/Tools/sitl_gazebo --mavlink_tcp_port $((4560+${N})) --mavlink_udp_port $((14560+${N})) --mavlink_id $((1+${N})) --gst_udp_port $((5600+${N})) --video_uri $((5600+${N})) --mavlink_cam_udp_port $((14530+${N})) --output-file /tmp/${MODEL}_${N}.sdf
+	python3 ${src_path}/Tools/sitl_gazebo/scripts/jinja_gen.py ${src_path}/Tools/sitl_gazebo/models/${MODEL}/${MODEL}.sdf.jinja ${src_path}/Tools/sitl_gazebo --mavlink_tcp_port $((4560+${N})) --mavlink_udp_port $((14560+${N})) --output-file /tmp/${MODEL}_${N}.sdf

 	echo "Spawning ${MODEL}_${N}"

@@ -182,7 +182,7 @@ class FirmwareImage(object):
            self._contents.seek(0, os.SEEK_END)
            self._length = self._contents.tell()
            if self._padding:
-                fill = self._padding - (self._length % self._padding)
+                fill = self._length % self._padding
                if fill:
                    self._length += fill
                self._padding = fill
@@ -344,9 +344,8 @@ class uploader(object):
        try:
            self.__getSync(False)
        except:
-            # if it fails we are on a real serial port - only leave this enabled on Windows
-            if _platform.system() == 'Windows':
-                self.ackWindowedMode = True
+            # if it fails we are on a real Serial Port
+            self.ackWindowedMode = True

        self.port.baudrate = self.baudrate_bootloader

@@ -130,14 +130,6 @@ serial_ports = {
        "default_baudrate": 0,
        },

-    # WIFI Port (PixRacer)
-    "WIFI": {
-        "label": "Wifi Port",
-        "index": 301,
-        "default_baudrate": 1, # set default to an unusable value to detect that this serial port has not been configured
-        },
-
-
    }

 parser = argparse.ArgumentParser(description='Generate Serial params & startup script')
@@ -11,8 +11,6 @@ pandas>=0.21
 pkgconfig
 psutil
 pygments
-wheel>=0.31.1
-pymavlink
 pyros-genmsg
 pyserial>=3.0
 pyulog>=0.5.0
@@ -21,3 +19,4 @@ requests
 setuptools>=39.2.0
 six>=1.12.0
 toml>=0.9
+wheel>=0.31.1
@@ -127,30 +127,7 @@ elif [ "$program" == "gazebo" ] && [ ! -n "$no_sim" ]; then
 		gzserver $verbose $world_path &
 		SIM_PID=$!

-		# Check all paths in ${GAZEBO_MODEL_PATH} for specified model
-		IFS_bak=$IFS
-		IFS=":"
-		for possible_model_path in ${GAZEBO_MODEL_PATH}; do
-			if [ -z $possible_model_path ]; then
-				continue
-			fi
-			# trim \r from path
-			possible_model_path=$(echo $possible_model_path | tr -d '\r')
-			if test -f "${possible_model_path}/${model}/${model}.sdf" ; then
-				modelpath=$possible_model_path
-				break
-			fi
-		done
-		IFS=$IFS_bak
-
-		if [ -z $modelpath ]; then
-			echo "Model ${model} not found in model path: ${GAZEBO_MODEL_PATH}"
-			exit 1
-		else
-			echo "Using: ${modelpath}/${model}/${model}.sdf"
-		fi
-
-		while gz model --verbose --spawn-file="${modelpath}/${model}/${model_name}.sdf" --model-name=${model} -x 1.01 -y 0.98 -z 0.83 2>&1 | grep -q "An instance of Gazebo is not running."; do
+		while gz model --verbose --spawn-file="${src_path}/Tools/sitl_gazebo/models/${model}/${model_name}.sdf" --model-name=${model} -x 1.01 -y 0.98 -z 0.83 2>&1 | grep -q "An instance of Gazebo is not running."; do
 			echo "gzserver not ready yet, trying again!"
 			sleep 1
 		done
@@ -238,7 +238,7 @@ class Graph(object):
        special_cases_pub = [
    ('replay', r'Replay\.cpp$', None, r'^sub\.orb_meta$'),

-    ('uavcan', r'sensors/.*\.cpp$', None, r'^_orb_topic$'),
+    ('uavcan', r'sensors/.*\.cpp$', r'\bUavcanCDevSensorBridgeBase\([^{]*DEVICE_PATH,([^,)]+)', r'^_orb_topic$'),
    ]
        special_cases_pub = [(a, re.compile(b), re.compile(c) if c is not None else None, re.compile(d))
                                   for a,b,c,d in special_cases_pub]
@@ -45,7 +45,6 @@ px4_add_board(
 		dataman
 		ekf2
 		events
-		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
@@ -72,6 +71,7 @@ px4_add_board(
 		esc_calib
 		led_control
 		mixer
+		modules
 		motor_ramp
 		param
 		perf
@@ -45,7 +45,6 @@ px4_add_board(
 		pwm_out
 		rc_input
 		roboclaw
-		system_power
 		tap_esc
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -60,7 +59,6 @@ px4_add_board(
 		dataman
 		ekf2
 		events
-		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
@@ -89,8 +87,8 @@ px4_add_board(
 		hardfault_log
 		i2cdetect
 		led_control
-		mft
 		mixer
+		modules
 		motor_ramp
 		motor_test
 		mtd
@@ -4,7 +4,6 @@
 #------------------------------------------------------------------------------

 board_adc start
-system_power start

 # Internal I2C bus
 hmc5883 -T -I -R 12 start
@@ -32,7 +32,6 @@ CONFIG_ARCH_CHIP_STM32=y
 CONFIG_ARCH_CHIP_STM32F427V=y
 CONFIG_ARCH_INTERRUPTSTACK=512
 CONFIG_ARCH_STACKDUMP=y
-CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
@@ -72,24 +72,39 @@
 #define ADC_RC_RSSI_CHANNEL		11
 #define ADC_AIRSPEED_VOLTAGE_CHANNEL	15

-/* Define Battery 1 Voltage Divider and A per V */
+/* Define Battery 1 Voltage Divider and A per V
+ */
+
 #define BOARD_BATTERY1_V_DIV   (10.177939394f)
 #define BOARD_BATTERY1_A_PER_V (15.391030303f)

+/* Power supply control and monitoring GPIOs */
+// #define GPIO_VDD_5V_PERIPH_EN	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
+// #define GPIO_VDD_BRICK_VALID	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
+// #define GPIO_VDD_SERVO_VALID	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN7)
+// #define GPIO_VDD_3V3_SENSORS_EN	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3)
+// #define GPIO_VDD_5V_HIPOWER_OC	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN10)
+// #define GPIO_VDD_5V_PERIPH_OC	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN15)
+
 /* Tone alarm output */
 #define TONE_ALARM_TIMER	14	/* timer 14 */
 #define TONE_ALARM_CHANNEL	1	/* channel 1 */
 #define GPIO_TONE_ALARM_IDLE	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
 #define GPIO_TONE_ALARM		(GPIO_ALT|GPIO_AF9|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN7)

-/* AUX PWMs */
+/* AUX PWMs
+ */
 #define DIRECT_PWM_OUTPUT_CHANNELS	8
 #define DIRECT_INPUT_TIMER_CHANNELS	8

-/* USB OTG FS */
+/* USB OTG FS
+ *
+ * PA9  OTG_FS_VBUS VBUS sensing
+ */
 #define GPIO_OTGFS_VBUS		(GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)


+
 /* High-resolution timer */
 #define HRT_TIMER		8	/* use timer8 for the HRT */
 #define HRT_TIMER_CHANNEL	2	/* use capture/compare channel */
@@ -128,24 +143,46 @@
 #define SPEKTRUM_RX_AS_UART()         px4_arch_configgpio(GPIO_USART1_RX)
 #define SPEKTRUM_OUT(_one_true)       px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))

+/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
+ * this board support the ADC system_power interface, and therefore
+ * provides the true logic GPIO BOARD_ADC_xxxx macros.
+ */
 #define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
+#define BOARD_ADC_BRICK_VALID   (1)
+#define BOARD_ADC_SERVO_VALID   (1)
+#define BOARD_ADC_PERIPH_5V_OC  (0)
+#define BOARD_ADC_HIPOWER_5V_OC (0)

 #define BOARD_HAS_PWM	DIRECT_PWM_OUTPUT_CHANNELS

 /* This board provides a DMA pool and APIs */
 #define BOARD_DMA_ALLOC_POOL_SIZE 5120

+/* This board provides the board_on_reset interface */
+
 #define BOARD_HAS_ON_RESET 1

 __BEGIN_DECLS

+/****************************************************************************************************
+ * Public Types
+ ****************************************************************************************************/
+
+/****************************************************************************************************
+ * Public data
+ ****************************************************************************************************/
+
 #ifndef __ASSEMBLY__

+/****************************************************************************************************
+ * Public Functions
+ ****************************************************************************************************/
+
 /****************************************************************************************************
 * Name: stm32_spiinitialize
 *
 * Description:
- *   Called to configure SPI chip select GPIO pins for the board.
+ *   Called to configure SPI chip select GPIO pins for the PX4FMU board.
 *
 ****************************************************************************************************/

@@ -153,8 +190,10 @@ extern void stm32_spiinitialize(void);

 extern void stm32_usbinitialize(void);

+
 #define board_peripheral_reset(ms)

+
 #include <px4_platform_common/board_common.h>

 #endif /* __ASSEMBLY__ */
@@ -307,9 +307,5 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 #endif

-	/* Configure the HW based on the manifest */
-
-	px4_platform_configure();
-
 	return OK;
 }
@@ -64,7 +64,6 @@ px4_add_board(
 		dataman
 		ekf2
 		events
-		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
@@ -96,6 +95,7 @@ px4_add_board(
 		#hardfault_log
 		led_control
 		mixer
+		modules
 		motor_ramp
 		motor_test
 		#mtd
@@ -56,7 +56,6 @@ px4_add_board(
 		attitude_estimator_q
 		commander
 		ekf2
-		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
@@ -63,7 +63,6 @@ px4_add_board(
 		dataman
 		ekf2
 		events
-		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
@@ -94,6 +93,7 @@ px4_add_board(
 		#hardfault_log
 		led_control
 		mixer
+		modules
 		motor_ramp
 		motor_test
 		#mtd
@@ -56,7 +56,6 @@ px4_add_board(
 		attitude_estimator_q
 		commander
 		ekf2
-		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
@@ -59,7 +59,6 @@ px4_add_board(
 		dataman
 		ekf2
 		events
-		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
@@ -89,6 +88,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mixer
+		modules
 		motor_ramp
 		motor_test
 		nshterm
@@ -8,9 +8,7 @@ param set CBRK_SUPPLY_CHK 894281

 if [ $AUTOCNF = yes ]
 then
-	# Multi-EKF
-	param set EKF2_MULTI_IMU 3
-	param set SENS_IMU_MODE 0
+
 fi

 set LOGGER_BUF 64
@@ -52,7 +52,6 @@ CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_DCACHE=y
 CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
@@ -49,6 +49,11 @@

 #include <stm32_gpio.h>

+/* Configuration ************************************************************************************/
+
+#define BOARD_HAS_NBAT_V              1 // Only one Vbat to ADC
+#define BOARD_HAS_NBAT_I              0 // No Ibat ADC
+
 /*
 * ADC channels
 *
@@ -83,14 +88,18 @@
 #define ADC_CHANNELS \
 	((1 << ADC_BATTERY1_VOLTAGE_CHANNEL))

-/* Define Battery 1 Voltage Divider and A per V */
+/* Define Battery 1 Voltage Divider and A per V
+ */
+
 #define BOARD_BATTERY1_V_DIV         (10.133333333f)
 #define BOARD_BATTERY1_A_PER_V       (36.367515152f)

 /* HW has to large of R termination on ADC todo:change when HW value is chosen */
+
 #define BOARD_ADC_OPEN_CIRCUIT_V               (5.6f)

-/* PWM */
+/* PWM
+ */
 #define DIRECT_PWM_OUTPUT_CHANNELS  9
 #define DIRECT_INPUT_TIMER_CHANNELS  9

@@ -101,6 +110,7 @@
 #define HRT_TIMER_CHANNEL    1  /* use capture/compare channel 3 */

 /* RC Serial port */
+
 #define RC_SERIAL_PORT                     "/dev/ttyS4"

 /* Power switch controls ******************************************************/
@@ -108,9 +118,27 @@
 #define SDIO_SLOTNO                    0  /* Only one slot */
 #define SDIO_MINOR                     0

+/* SD card bringup does not work if performed on the IDLE thread because it
+ * will cause waiting.  Use either:
+ *
+ *  CONFIG_LIB_BOARDCTL=y, OR
+ *  CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y
+ */
+
+#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_LIB_BOARDCTL) && !defined(CONFIG_BOARD_INITTHREAD)
+#  warning SDIO initialization cannot be perfomed on the IDLE thread
+#endif
+
+/* AV-X_V1 never powers off the Servo rail */
+
+#define BOARD_ADC_SERVO_VALID     (1)
+
 #define ADC_BATTERY_VOLTAGE_CHANNEL  0
 #define ADC_BATTERY_CURRENT_CHANNEL  1 // TODO: review

+#define BOARD_ADC_PERIPH_5V_OC  (!px4_arch_gpioread(GPIO_nVDD_5V_PERIPH_OC))
+#define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_nVDD_5V_HIPOWER_OC))
+
 #define BOARD_HAS_PWM	DIRECT_PWM_OUTPUT_CHANNELS

 /* This board provides a DMA pool and APIs */
@@ -192,10 +192,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 	configure_switch();

-	/* Configure the HW based on the manifest */
-
-	px4_platform_configure();
-
 	return OK;
 }

@@ -40,7 +40,6 @@ px4_add_board(
 		dataman
 		ekf2
 		events
-		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
@@ -68,6 +67,7 @@ px4_add_board(
 		esc_calib
 		led_control
 		mixer
+		modules
 		motor_ramp
 		param
 		perf
--- a/Show More
+++ b/Show More