Implemented flush for Serial UART API

ENOENT returns if the file doesn't exist yet, when using mtd /fs/mtd_net always exist.
On a filesystem you've to generate the file so if ENOENT returns we've to regenerate the default config as well.

.ci/Jenkinsfile-compile

@@ -40,16 +40,16 @@ pipeline {
                      "ark_can-flow_default",
                      "ark_can-gps_canbootloader",
                      "ark_can-gps_default",
-                     "ark_cannode_canbootloader",
-                     "ark_cannode_default",
                      "ark_can-rtk-gps_canbootloader",
                      "ark_can-rtk-gps_default",
+                     "ark_cannode_canbootloader",
+                     "ark_cannode_default",
                      "ark_fmu-v6x_bootloader",
                      "ark_fmu-v6x_default",
                      "atl_mantis-edu_default",
                      "av_x-v1_default",
-                     "bitcraze_crazyflie_default",
                      "bitcraze_crazyflie21_default",
+                     "bitcraze_crazyflie_default",
                      "cuav_can-gps-v1_canbootloader",
                      "cuav_can-gps-v1_default",
                      "cuav_nora_default",
@@ -66,8 +66,8 @@ pipeline {
                      "holybro_durandal-v1_default",
                      "holybro_kakutef7_default",
                      "holybro_kakuteh7_default",
-                     "holybro_kakuteh7v2_default",
                      "holybro_kakuteh7mini_default",
+                     "holybro_kakuteh7v2_default",
                      "holybro_pix32v5_default",
                      "matek_gnss-m9n-f4_canbootloader",
                      "matek_gnss-m9n-f4_default",
@@ -77,8 +77,8 @@ pipeline {
                      "modalai_fc-v1_default",
                      "modalai_fc-v2_default",
                      "mro_ctrl-zero-classic_default",
-                     "mro_ctrl-zero-f7_default",
                      "mro_ctrl-zero-f7-oem_default",
+                     "mro_ctrl-zero-f7_default",
                      "mro_ctrl-zero-h7-oem_default",
                      "mro_ctrl-zero-h7_default",
                      "mro_pixracerpro_default",
@@ -104,22 +104,28 @@ pipeline {
                      "px4_fmu-v5_debug",
                      "px4_fmu-v5_default",
                      "px4_fmu-v5_lto",
+                     "px4_fmu-v5_rover",
                      "px4_fmu-v5_stackcheck",
                      "px4_fmu-v5_uavcanv0periph",
                      "px4_fmu-v5x_default",
+                     "px4_fmu-v5x_rover",
                      "px4_fmu-v6c_default",
+                     "px4_fmu-v6c_rover",
                      "px4_fmu-v6u_default",
+                     "px4_fmu-v6u_rover",
                      "px4_fmu-v6x_default",
+                     "px4_fmu-v6x_rover",
                      "px4_fmu-v6xrt_bootloader",
                      "px4_fmu-v6xrt_default",
+                     "px4_fmu-v6xrt_rover",
                      "px4_io-v2_default",
                      "raspberrypi_pico_default",
+                     "siyi_n7_default",
                      "sky-drones_smartap-airlink_default",
                      "spracing_h7extreme_default",
                      "thepeach_k1_default",
                      "thepeach_r1_default",
                      "uvify_core_default",
-                     "siyi_n7_default"
             ],
             image: docker_images.nuttx,
             archive: true

.github/workflows/compile_nuttx.yml

@@ -25,6 +25,7 @@ jobs:
           ark_can-rtk-gps,
           ark_cannode,
           ark_fmu-v6x,
+          ark_septentrio-gps,
           atl_mantis-edu,
           av_x-v1,
           bitcraze_crazyflie,
@@ -48,6 +49,7 @@ jobs:
           matek_h743-slim,
           modalai_fc-v1,
           modalai_fc-v2,
+          mro_ctrl-zero-classic,
           mro_ctrl-zero-f7,
           mro_ctrl-zero-f7-oem,
           mro_ctrl-zero-h7,

.gitmodules

@@ -79,3 +79,7 @@
 [submodule "Tools/simulation/gz"]
 	path = Tools/simulation/gz
 	url = https://github.com/PX4/PX4-gazebo-models.git
+	branch = main
+[submodule "boards/modalai/voxl2/libfc-sensor-api"]
+	path = src/modules/muorb/apps/libfc-sensor-api
+	url = https://gitlab.com/voxl-public/voxl-sdk/core-libs/libfc-sensor-api.git

.vscode/cmake-variants.yaml

@@ -71,6 +71,26 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: px4_fmu-v5x_default
+    px4_fmu-v6c_default:
+      short: px4_fmu-v6c
+      buildType: MinSizeRel
+      settings:
+        CONFIG: px4_fmu-v6c_default
+    px4_fmu-v6c_bootloader:
+      short: px4_fmu-v6c_bootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: px4_fmu-v6c_bootloader
+    px4_fmu-v6u_default:
+      short: px4_fmu-v6u
+      buildType: MinSizeRel
+      settings:
+        CONFIG: px4_fmu-v6u_default
+    px4_fmu-v6u_bootloader:
+      short: px4_fmu-v6u_bootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: px4_fmu-v6u_bootloader
     px4_fmu-v6x_default:
       short: px4_fmu-v6x
       buildType: MinSizeRel
@@ -131,6 +151,16 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: ark_can-rtk-gps_canbootloader
+    ark_septentrio_gps_default:
+      short: ark_septentrio_gps_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_septentrio_gps_default
+    ark_septentrio_gps_canbootloader:
+      short: ark_septentrio_gps_canbootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_septentrio_gps_canbootloader
     ark_cannode_default:
       short: ark_cannode_default
       buildType: MinSizeRel

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

@@ -22,18 +22,17 @@ param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
 param set-default CBRK_IO_SAFETY 22027
 
+# Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
 param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
 param set-default CA_ROTOR3_KM -0.05
 
 param set-default PWM_MAIN_FUNC1 101

ROMFS/px4fmu_common/init.d-posix/airframes/10041_sihsim_airplane

@@ -26,7 +26,7 @@ param set-default CBRK_IO_SAFETY 22027
 
 param set-default BAT_N_CELLS 3
 
-param set-default SIH_T_MAX 6.0
+param set-default SIH_T_MAX 6
 param set-default SIH_MASS 0.3
 param set-default SIH_IXX 0.00402
 param set-default SIH_IYY 0.0144
@@ -45,9 +45,9 @@ param set-default CA_ROTOR_COUNT 1
 param set-default CA_SV_CS_COUNT 3
 param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
-param set-default CA_SV_CS1_TRQ_P 1.0
+param set-default CA_SV_CS1_TRQ_P 1
 param set-default CA_SV_CS1_TYPE 3
-param set-default CA_SV_CS2_TRQ_Y 1.0
+param set-default CA_SV_CS2_TRQ_Y 1
 param set-default CA_SV_CS2_TYPE 4
 param set-default PWM_MAIN_FUNC3 201
 param set-default PWM_MAIN_FUNC4 202

ROMFS/px4fmu_common/init.d-posix/airframes/10042_sihsim_xvert

@@ -35,14 +35,14 @@ param set-default CBRK_IO_SAFETY 22027
 
 param set-default BAT_N_CELLS 3
 
-param set-default SIH_T_MAX 2.0
+param set-default SIH_T_MAX 2
 param set-default SIH_Q_MAX 0.0165
 param set-default SIH_MASS 0.2
 # IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
 param set-default SIH_IXX 0.00354
 param set-default SIH_IYY 0.000625
 param set-default SIH_IZZ 0.00300
-param set-default SIH_IXZ 0.0
+param set-default SIH_IXZ 0
 param set-default SIH_KDV 0.2
 param set-default SIH_L_ROLL 0.145
 

ROMFS/px4fmu_common/init.d-posix/airframes/1010_gazebo-classic_iris_opt_flow

@@ -47,5 +47,5 @@ param set-default MPC_ALT_MODE 2
 
 param set-default SENS_FLOW_ROT 6
 param set-default SENS_FLOW_MINHGT 0.7
-param set-default SENS_FLOW_MAXHGT 3.0
+param set-default SENS_FLOW_MAXHGT 3
 param set-default SENS_FLOW_MAXR 2.5

ROMFS/px4fmu_common/init.d-posix/airframes/1021_gazebo-classic_uuv_hippocampus

@@ -8,34 +8,34 @@
 param set-default CA_AIRFRAME 7
 param set-default CA_ROTOR_COUNT 4
 param set-default CA_R_REV 255
-param set-default CA_ROTOR0_AX 1.0000
-param set-default CA_ROTOR0_AY 0.0000
-param set-default CA_ROTOR0_AZ 0.0000
-param set-default CA_ROTOR0_KM 0.0000
-param set-default CA_ROTOR0_PX 0.0000
-param set-default CA_ROTOR0_PY -0.3000
-param set-default CA_ROTOR0_PZ -0.3000
-param set-default CA_ROTOR1_AX 1.0000
-param set-default CA_ROTOR1_AY 0.0000
-param set-default CA_ROTOR1_AZ 0.0000
-param set-default CA_ROTOR1_KM 0.0000
-param set-default CA_ROTOR1_PX 0.0000
-param set-default CA_ROTOR1_PY 0.3000
-param set-default CA_ROTOR1_PZ -0.3000
-param set-default CA_ROTOR2_AX 1.0000
-param set-default CA_ROTOR2_AY 0.0000
-param set-default CA_ROTOR2_AZ 0.0000
-param set-default CA_ROTOR2_KM 0.0000
-param set-default CA_ROTOR2_PX 0.0000
-param set-default CA_ROTOR2_PY 0.3000
-param set-default CA_ROTOR2_PZ 0.3000
-param set-default CA_ROTOR3_AX 1.0000
-param set-default CA_ROTOR3_AY 0.0000
-param set-default CA_ROTOR3_AZ 0.0000
-param set-default CA_ROTOR3_KM 0.0000
-param set-default CA_ROTOR3_PX 0.0000
-param set-default CA_ROTOR3_PY -0.3000
-param set-default CA_ROTOR3_PZ 0.3000
+param set-default CA_ROTOR0_AX 1
+param set-default CA_ROTOR0_AY 0
+param set-default CA_ROTOR0_AZ 0
+param set-default CA_ROTOR0_KM 0
+param set-default CA_ROTOR0_PX 0
+param set-default CA_ROTOR0_PY -0.3
+param set-default CA_ROTOR0_PZ -0.3
+param set-default CA_ROTOR1_AX 1
+param set-default CA_ROTOR1_AY 0
+param set-default CA_ROTOR1_AZ 0
+param set-default CA_ROTOR1_KM 0
+param set-default CA_ROTOR1_PX 0
+param set-default CA_ROTOR1_PY 0.3
+param set-default CA_ROTOR1_PZ -0.3
+param set-default CA_ROTOR2_AX 1
+param set-default CA_ROTOR2_AY 0
+param set-default CA_ROTOR2_AZ 0
+param set-default CA_ROTOR2_KM 0
+param set-default CA_ROTOR2_PX 0
+param set-default CA_ROTOR2_PY 0.3
+param set-default CA_ROTOR2_PZ 0.3
+param set-default CA_ROTOR3_AX 1
+param set-default CA_ROTOR3_AY 0
+param set-default CA_ROTOR3_AZ 0
+param set-default CA_ROTOR3_KM 0
+param set-default CA_ROTOR3_PX 0
+param set-default CA_ROTOR3_PY -0.3
+param set-default CA_ROTOR3_PZ 0.3
 
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102

ROMFS/px4fmu_common/init.d-posix/airframes/1022_gazebo-classic_uuv_bluerov2_heavy

@@ -9,49 +9,49 @@ param set-default CA_AIRFRAME 7
 
 param set-default CA_ROTOR_COUNT 8
 param set-default CA_R_REV 255
-param set-default CA_ROTOR0_AX 1.0000
-param set-default CA_ROTOR0_AY -1.0000
-param set-default CA_ROTOR0_AZ 0.0000
-param set-default CA_ROTOR0_KM 0.0000
-param set-default CA_ROTOR0_PX 0.5000
-param set-default CA_ROTOR0_PY 0.3000
-param set-default CA_ROTOR0_PZ 0.2000
-param set-default CA_ROTOR1_AX 1.0000
-param set-default CA_ROTOR1_AY 1.0000
-param set-default CA_ROTOR1_AZ 0.0000
-param set-default CA_ROTOR1_KM 0.0000
-param set-default CA_ROTOR1_PX 0.5000
-param set-default CA_ROTOR1_PY -0.3000
-param set-default CA_ROTOR1_PZ 0.2000
-param set-default CA_ROTOR2_AX 1.0000
-param set-default CA_ROTOR2_AY 1.0000
-param set-default CA_ROTOR2_AZ 0.0000
-param set-default CA_ROTOR2_KM 0.0000
-param set-default CA_ROTOR2_PX -0.5000
-param set-default CA_ROTOR2_PY 0.3000
-param set-default CA_ROTOR2_PZ 0.2000
-param set-default CA_ROTOR3_AX 1.0000
-param set-default CA_ROTOR3_AY -1.0000
-param set-default CA_ROTOR3_AZ 0.0000
-param set-default CA_ROTOR3_KM 0.0000
-param set-default CA_ROTOR3_PX -0.5000
-param set-default CA_ROTOR3_PY -0.3000
-param set-default CA_ROTOR3_PZ 0.2000
-param set-default CA_ROTOR4_AZ -1.0000
-param set-default CA_ROTOR4_KM 0.0000
-param set-default CA_ROTOR4_PX 0.5000
-param set-default CA_ROTOR4_PY 0.5000
-param set-default CA_ROTOR5_AZ 1.0000
-param set-default CA_ROTOR5_KM 0.0000
-param set-default CA_ROTOR5_PX 0.5000
-param set-default CA_ROTOR5_PY -0.5000
-param set-default CA_ROTOR6_AZ 1.0000
-param set-default CA_ROTOR6_KM 0.0000
-param set-default CA_ROTOR6_PX -0.5000
-param set-default CA_ROTOR6_PY 0.5000
-param set-default CA_ROTOR7_KM 0.0000
-param set-default CA_ROTOR7_PX -0.5000
-param set-default CA_ROTOR7_PY -0.5000
+param set-default CA_ROTOR0_AX 1
+param set-default CA_ROTOR0_AY -1
+param set-default CA_ROTOR0_AZ 0
+param set-default CA_ROTOR0_KM 0
+param set-default CA_ROTOR0_PX 0.5
+param set-default CA_ROTOR0_PY 0.3
+param set-default CA_ROTOR0_PZ 0.2
+param set-default CA_ROTOR1_AX 1
+param set-default CA_ROTOR1_AY 1
+param set-default CA_ROTOR1_AZ 0
+param set-default CA_ROTOR1_KM 0
+param set-default CA_ROTOR1_PX 0.5
+param set-default CA_ROTOR1_PY -0.3
+param set-default CA_ROTOR1_PZ 0.2
+param set-default CA_ROTOR2_AX 1
+param set-default CA_ROTOR2_AY 1
+param set-default CA_ROTOR2_AZ 0
+param set-default CA_ROTOR2_KM 0
+param set-default CA_ROTOR2_PX -0.5
+param set-default CA_ROTOR2_PY 0.3
+param set-default CA_ROTOR2_PZ 0.2
+param set-default CA_ROTOR3_AX 1
+param set-default CA_ROTOR3_AY -1
+param set-default CA_ROTOR3_AZ 0
+param set-default CA_ROTOR3_KM 0
+param set-default CA_ROTOR3_PX -0.5
+param set-default CA_ROTOR3_PY -0.3
+param set-default CA_ROTOR3_PZ 0.2
+param set-default CA_ROTOR4_AZ -1
+param set-default CA_ROTOR4_KM 0
+param set-default CA_ROTOR4_PX 0.5
+param set-default CA_ROTOR4_PY 0.5
+param set-default CA_ROTOR5_AZ 1
+param set-default CA_ROTOR5_KM 0
+param set-default CA_ROTOR5_PX 0.5
+param set-default CA_ROTOR5_PY -0.5
+param set-default CA_ROTOR6_AZ 1
+param set-default CA_ROTOR6_KM 0
+param set-default CA_ROTOR6_PX -0.5
+param set-default CA_ROTOR6_PY 0.5
+param set-default CA_ROTOR7_KM 0
+param set-default CA_ROTOR7_PX -0.5
+param set-default CA_ROTOR7_PY -0.5
 
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102

ROMFS/px4fmu_common/init.d-posix/airframes/1030_gazebo-classic_plane

@@ -54,9 +54,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10

ROMFS/px4fmu_common/init.d-posix/airframes/1031_gazebo-classic_plane_cam

@@ -57,9 +57,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10

ROMFS/px4fmu_common/init.d-posix/airframes/1032_gazebo-classic_plane_catapult

@@ -57,9 +57,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10

ROMFS/px4fmu_common/init.d-posix/airframes/1033_jsbsim_rascal

@@ -42,9 +42,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10

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

@@ -42,9 +42,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10

ROMFS/px4fmu_common/init.d-posix/airframes/1035_gazebo-classic_techpod

@@ -40,9 +40,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10

ROMFS/px4fmu_common/init.d-posix/airframes/1036_jsbsim_malolo

@@ -42,9 +42,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10

ROMFS/px4fmu_common/init.d-posix/airframes/1037_gazebo-classic_believer

@@ -48,9 +48,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10

ROMFS/px4fmu_common/init.d-posix/airframes/1038_gazebo-classic_glider

@@ -55,9 +55,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10

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

@@ -47,9 +47,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10

ROMFS/px4fmu_common/init.d-posix/airframes/1039_gazebo-classic_advanced_plane

@@ -45,9 +45,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10

ROMFS/px4fmu_common/init.d-posix/airframes/1040_gazebo-classic_standard_vtol

@@ -27,8 +27,8 @@ param set-default CA_ROTOR2_KM -0.05
 param set-default CA_ROTOR3_PX -0.1515
 param set-default CA_ROTOR3_PY 0.1875
 param set-default CA_ROTOR3_KM -0.05
-param set-default CA_ROTOR4_AX 1.0
-param set-default CA_ROTOR4_AZ 0.0
+param set-default CA_ROTOR4_AX 1
+param set-default CA_ROTOR4_AZ 0
 param set-default CA_ROTOR4_PX 0.2
 
 param set-default CA_SV_CS_COUNT 3
@@ -37,7 +37,7 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS1_TYPE 2
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103

ROMFS/px4fmu_common/init.d-posix/airframes/1041_gazebo-classic_tailsitter

@@ -50,11 +50,11 @@ param set-default SENS_IMU_MODE 1
 
 param set-default FW_P_TC 0.6
 
-param set-default FW_PR_FF 0.1
+param set-default FW_PR_FF 0.0
 param set-default FW_PSP_OFF 2
 param set-default FW_RR_FF 0.1
 param set-default FW_RR_I 0.2
-param set-default FW_RR_P 0.3
+param set-default FW_RR_P 0.5
 param set-default FW_THR_TRIM 0.35
 param set-default FW_THR_MAX 0.8
 param set-default FW_THR_MIN 0.05
@@ -66,8 +66,6 @@ param set-default FW_T_SINK_MIN 1.6
 param set-default MC_AIRMODE 1
 param set-default MC_ROLL_P 3
 param set-default MC_PITCH_P 3
-param set-default MC_ROLLRATE_P 0.3
-param set-default MC_PITCHRATE_P 0.3
 
 param set-default VT_ARSP_TRANS 10
 param set-default VT_B_TRANS_DUR 5

ROMFS/px4fmu_common/init.d-posix/airframes/1042_gazebo-classic_tiltrotor

@@ -31,7 +31,7 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
 param set-default CA_SV_CS_COUNT 3
 param set-default CA_SV_TL_COUNT 2

ROMFS/px4fmu_common/init.d-posix/airframes/1043_gazebo-classic_standard_vtol_drop

@@ -27,8 +27,8 @@ param set-default CA_ROTOR2_KM -0.05
 param set-default CA_ROTOR3_PX -0.1515
 param set-default CA_ROTOR3_PY 0.1875
 param set-default CA_ROTOR3_KM -0.05
-param set-default CA_ROTOR4_AX 1.0
-param set-default CA_ROTOR4_AZ 0.0
+param set-default CA_ROTOR4_AX 1
+param set-default CA_ROTOR4_AZ 0
 param set-default CA_ROTOR4_PX 0.2
 
 param set-default CA_SV_CS_COUNT 3
@@ -37,7 +37,7 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS1_TYPE 2
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103

ROMFS/px4fmu_common/init.d-posix/airframes/1044_gazebo-classic_plane_lidar

@@ -57,9 +57,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10

ROMFS/px4fmu_common/init.d-posix/airframes/1060_gazebo-classic_rover

@@ -22,7 +22,7 @@ param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2
 
 param set-default GND_MAX_ANG 0.6
-param set-default GND_WHEEL_BASE 2.0
+param set-default GND_WHEEL_BASE 2
 
 param set-default CA_AIRFRAME 5
 

ROMFS/px4fmu_common/init.d-posix/airframes/1062_flightgear_tf-r1

@@ -29,7 +29,7 @@ param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2
 
 param set-default GND_MAX_ANG 0.6
-param set-default GND_WHEEL_BASE 3.0
+param set-default GND_WHEEL_BASE 3
 
 param set-default CA_AIRFRAME 5
 

ROMFS/px4fmu_common/init.d-posix/airframes/1070_gazebo-classic_boat

@@ -22,7 +22,7 @@ param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2
 
 param set-default GND_MAX_ANG 0.6
-param set-default GND_WHEEL_BASE 2.0
+param set-default GND_WHEEL_BASE 2
 
 param set-default CA_AIRFRAME 9
 

ROMFS/px4fmu_common/init.d-posix/airframes/17001_flightgear_tf-g1

@@ -14,7 +14,7 @@
 
 param set-default FW_AIRSPD_STALL 8
 
-param set-default FW_P_RMAX_NEG 20.0
+param set-default FW_P_RMAX_NEG 20
 param set-default FW_W_RMAX 10
 param set-default FW_W_EN 1
 
@@ -37,7 +37,7 @@ param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
 param set-default FW_R_LIM 30
 
-param set-default FW_MAN_R_MAX 30.0
+param set-default FW_MAN_R_MAX 30
 
 param set-default FW_THR_TRIM 0.8
 param set-default FW_THR_IDLE 0

ROMFS/px4fmu_common/init.d-posix/airframes/17002_flightgear_tf-g2

@@ -14,7 +14,7 @@
 
 param set-default FW_AIRSPD_STALL 5
 
-param set-default FW_P_RMAX_NEG 20.0
+param set-default FW_P_RMAX_NEG 20
 param set-default FW_W_RMAX 10
 param set-default FW_W_EN 1
 
@@ -29,9 +29,9 @@ param set-default NAV_LOITER_RAD 50
 # Parameters related to autogyro takeoff PR
 #param set-default AG_TKOFF 1
 #param set-default AG_PROT_TYPE 1
-#param set-default AG_PROT_MIN_RPM 50.0
-#param set-default AG_PROT_TRG_RPM 900.0
-#param set-defoult AG_ROTOR_RPM 900.0
+#param set-default AG_PROT_MIN_RPM 50
+#param set-default AG_PROT_TRG_RPM 900
+#param set-defoult AG_ROTOR_RPM 900
 
 param set-default FW_ARSP_SCALE_EN 0
 
@@ -42,7 +42,7 @@ param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
 param set-default FW_R_LIM 30
 
-param set-default FW_MAN_R_MAX 30.0
+param set-default FW_MAN_R_MAX 30
 
 param set-default FW_THR_CRUISE 0.8
 param set-default FW_THR_IDLE 0

ROMFS/px4fmu_common/init.d-posix/airframes/2507_gazebo-classic_cloudship

@@ -14,21 +14,21 @@
 param set-default CA_AIRFRAME 9
 
 param set-default CA_ROTOR_COUNT 3
-param set-default CA_ROTOR0_AX 1.0000
-param set-default CA_ROTOR0_AZ 0.0000
-param set-default CA_ROTOR0_KM 0.0000
-param set-default CA_ROTOR0_PY 2.0000
-param set-default CA_ROTOR1_AX 1.0000
-param set-default CA_ROTOR1_AZ 0.0000
-param set-default CA_ROTOR1_KM 0.0000
-param set-default CA_ROTOR1_PY -2.0000
-param set-default CA_ROTOR2_AY -1.0000
-param set-default CA_ROTOR2_AZ 0.0000
-param set-default CA_ROTOR2_KM 0.0000
-param set-default CA_ROTOR2_PX -10.0000
+param set-default CA_ROTOR0_AX 1
+param set-default CA_ROTOR0_AZ 0
+param set-default CA_ROTOR0_KM 0
+param set-default CA_ROTOR0_PY 2
+param set-default CA_ROTOR1_AX 1
+param set-default CA_ROTOR1_AZ 0
+param set-default CA_ROTOR1_KM 0
+param set-default CA_ROTOR1_PY -2
+param set-default CA_ROTOR2_AY -1
+param set-default CA_ROTOR2_AZ 0
+param set-default CA_ROTOR2_KM 0
+param set-default CA_ROTOR2_PX -10
 
 param set-default CA_SV_CS_COUNT 1
-param set-default CA_SV_CS0_TRQ_P 1.0000
+param set-default CA_SV_CS0_TRQ_P 1
 
 param set-default CA_R_REV 7
 

ROMFS/px4fmu_common/init.d-posix/airframes/3011_jsbsim_hexarotor_x

@@ -13,9 +13,9 @@ param set-default MAV_TYPE 13
 
 param set-default MC_PITCHRATE_P 0.1
 param set-default MC_PITCHRATE_I 0.05
-param set-default MC_PITCH_P 6.0
+param set-default MC_PITCH_P 6
 param set-default MC_ROLLRATE_I 0.1
-param set-default MC_ROLL_P 6.0
+param set-default MC_ROLL_P 6
 param set-default MPC_XY_VEL_I_ACC 4
 param set-default MPC_XY_VEL_P_ACC 3
 
@@ -27,11 +27,11 @@ param set-default MNT_MODE_IN 4
 param set-default MNT_DO_STAB 2
 
 
-param set-default CA_ROTOR0_PX 0.0
-param set-default CA_ROTOR0_PY 1.0
+param set-default CA_ROTOR0_PX 0
+param set-default CA_ROTOR0_PY 1
 param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR1_PX 0.0
-param set-default CA_ROTOR1_PY -1.0
+param set-default CA_ROTOR1_PX 0
+param set-default CA_ROTOR1_PY -1
 param set-default CA_ROTOR1_KM 0.05
 param set-default CA_ROTOR2_PX 0.866025
 param set-default CA_ROTOR2_PY -0.5

ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_rc_cessna

@@ -70,9 +70,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10

ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol

@@ -40,8 +40,8 @@ param set-default CA_ROTOR2_KM -0.05
 param set-default CA_ROTOR3_PX -0.1515
 param set-default CA_ROTOR3_PY 0.1875
 param set-default CA_ROTOR3_KM -0.05
-param set-default CA_ROTOR4_AX 1.0
-param set-default CA_ROTOR4_AZ 0.0
+param set-default CA_ROTOR4_AX 1
+param set-default CA_ROTOR4_AZ 0
 param set-default CA_ROTOR4_PX 0.2
 
 param set-default SIM_GZ_EC_FUNC1 101
@@ -73,7 +73,7 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS1_TYPE 2
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 
 param set-default NPFG_PERIOD 12
 param set-default FW_PR_FF 0.2

ROMFS/px4fmu_common/init.d-posix/airframes/4006_gz_px4vision

@@ -105,31 +105,19 @@ param set-default CBRK_IO_SAFETY 22027
 
 param set-default THR_MDL_FAC 0.3
 
+# Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
 param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
 param set-default CA_ROTOR3_KM -0.05
 
-# Outputs
-# param set-default PWM_AUX_FUNC1 101
-# param set-default PWM_AUX_FUNC2 102
-# param set-default PWM_AUX_FUNC3 103
-# param set-default PWM_AUX_FUNC4 104
-
-# param set-default PWM_MAIN_FUNC1 101
-# param set-default PWM_MAIN_FUNC2 102
-# param set-default PWM_MAIN_FUNC3 103
-# param set-default PWM_MAIN_FUNC4 104
-
 param set-default SIM_GZ_EC_FUNC1 101
 param set-default SIM_GZ_EC_FUNC2 102
 param set-default SIM_GZ_EC_FUNC3 103
@@ -144,5 +132,3 @@ param set-default SIM_GZ_EC_MAX1 1100
 param set-default SIM_GZ_EC_MAX2 1100
 param set-default SIM_GZ_EC_MAX3 1100
 param set-default SIM_GZ_EC_MAX4 1100
-
-

ROMFS/px4fmu_common/init.d-posix/airframes/4008_gz_advanced_plane

@@ -63,9 +63,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10

ROMFS/px4fmu_common/init.d-posix/airframes/4011_gz_lawnmower

@@ -0,0 +1,80 @@
+#!/bin/sh
+# @name Gazebo lawnmower
+# @type Rover
+# @class Rover
+
+. ${R}etc/init.d/rc.rover_differential_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=lawnmower}
+
+param set-default SIM_GZ_EN 1 # Gazebo bridge
+
+# Simulated sensors
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 0
+param set-default SENS_EN_MAGSIM 1
+param set-default SENS_EN_ARSPDSIM 1
+# We can arm and drive in manual mode when it slides and GPS check fails:
+param set-default COM_ARM_WO_GPS 1
+
+# Set Differential Drive Kinematics Library parameters:
+param set RDD_WHEEL_BASE 0.9
+param set RDD_WHEEL_RADIUS 0.22
+param set RDD_WHEEL_SPEED 10.0	# Maximum wheel speed rad/s, approx 8 km/h
+
+# Actuator mapping - set SITL motors/servos output parameters:
+
+# "Motors" - motor channels 0 (Right) and 1 (Left) - via Wheels GZ bridge:
+param set-default SIM_GZ_WH_FUNC1 101 # right wheel
+#param set-default SIM_GZ_WH_MIN1 0
+#param set-default SIM_GZ_WH_MAX1 200
+#param set-default SIM_GZ_WH_DIS1 100
+#param set-default SIM_GZ_WH_FAIL1 100
+
+param set-default SIM_GZ_WH_FUNC2 102 # left wheel
+#param set-default SIM_GZ_WH_MIN2 0
+#param set-default SIM_GZ_WH_MAX2 200
+#aram set-default SIM_GZ_WH_DIS2 100
+#param set-default SIM_GZ_WH_FAIL2 100
+
+param set-default SIM_GZ_WH_REV 0 # no need to reverse any wheels
+
+# Note: The servo configurations ( SIM_GZ_SV_FUNC*) outlined below are intended for educational purposes in this simulation. 
+# They do not have physical effects in the simulated environment, except for actuating the joints. Their definitions are meant to demonstrate 
+# how actuators could be mapped and configured in a real-world application, providing a foundation for understanding and implementing actuator 
+# controls in practical scenarios.
+
+# Cutter deck blades clutch, PCA9685 servo channel 3,  "RC FLAPS" (406) - leftmost switch, or "Servo 3" (203):
+param set-default SIM_GZ_SV_FUNC3 203
+param set-default SIM_GZ_SV_MIN3 0
+param set-default SIM_GZ_SV_MAX3 1000
+param set-default SIM_GZ_SV_DIS3 500
+param set-default SIM_GZ_SV_FAIL3 500
+
+# Gas engine throttle, PCA9685 servo channel 4, "RC AUX1" (407) - left knob, or "Servo 4" (204):
+#    - on minimum when disarmed or failed:
+param set-default SIM_GZ_SV_FUNC4 204
+param set-default SIM_GZ_SV_MIN4 0
+param set-default SIM_GZ_SV_MAX4 1000
+param set-default SIM_GZ_SV_DIS4 500
+param set-default SIM_GZ_SV_FAIL4 500
+
+# Controlling PCA9685 servos 5,6,7,8 directly via "Servo 5..8" setting, by publishing actuator_servos.control[]:
+
+# Strobes, PCA9685 servo channel 5, "Servo 5" (205) - flashing indicates Mission mode:
+#param set-default SIM_GZ_SV_FUNC5 205
+#param set-default SIM_GZ_SV_MIN5 1000
+#param set-default SIM_GZ_SV_MAX5 2000
+#param set-default SIM_GZ_SV_DIS5 1000
+#param set-default SIM_GZ_SV_FAIL5 1000
+
+# Horn, PCA9685 servo channel 6, "Servo 6" (206) - for alarms like GPS failure:
+#param set-default SIM_GZ_SV_FUNC6 206
+
+# Spare PCA9685 servo channel 7 on "RC AUX2" (408) - right knob, or "Servo 7" (207):
+#param set-default SIM_GZ_SV_FUNC7 207
+
+# Spare PCA9685 servo channel 8 - "Servo 8" (208):
+#param set-default SIM_GZ_SV_FUNC8 208

ROMFS/px4fmu_common/init.d-posix/airframes/6011_gazebo-classic_typhoon_h480

@@ -9,14 +9,14 @@
 
 param set-default MAV_TYPE 13
 
-param set-default MC_PITCHRATE_P 0.0800
-param set-default MC_PITCHRATE_I 0.0400
-param set-default MC_PITCHRATE_D 0.0010
-param set-default MC_PITCH_P 9.0
-param set-default MC_ROLLRATE_P 0.0800
-param set-default MC_ROLLRATE_I 0.0400
-param set-default MC_ROLLRATE_D 0.0010
-param set-default MC_ROLL_P 9.0
+param set-default MC_PITCHRATE_P 0.08
+param set-default MC_PITCHRATE_I 0.04
+param set-default MC_PITCHRATE_D 0.001
+param set-default MC_PITCH_P 9
+param set-default MC_ROLLRATE_P 0.08
+param set-default MC_ROLLRATE_I 0.04
+param set-default MC_ROLLRATE_D 0.001
+param set-default MC_ROLL_P 9
 param set-default MPC_XY_VEL_I_ACC 4
 param set-default MPC_XY_VEL_P_ACC 3
 
@@ -31,11 +31,11 @@ param set-default MAV_PROTO_VER 2
 param set-default CA_AIRFRAME 0
 param set-default CA_ROTOR_COUNT 6
 
-param set-default CA_ROTOR0_PX 0.0
-param set-default CA_ROTOR0_PY 1.0
+param set-default CA_ROTOR0_PX 0
+param set-default CA_ROTOR0_PY 1
 param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR1_PX 0.0
-param set-default CA_ROTOR1_PY -1.0
+param set-default CA_ROTOR1_PX 0
+param set-default CA_ROTOR1_PY -1
 param set-default CA_ROTOR1_KM 0.05
 param set-default CA_ROTOR2_PX 0.866025
 param set-default CA_ROTOR2_PY -0.5

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

@@ -82,6 +82,7 @@ px4_add_romfs_files(
 	4008_gz_advanced_plane
 	4009_gz_r1_rover
 	4010_gz_x500_mono_cam
+	4011_gz_lawnmower
 
 	6011_gazebo-classic_typhoon_h480
 	6011_gazebo-classic_typhoon_h480.post

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

@@ -41,19 +41,6 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" = "1" ]; then
 
 	echo "INFO  [init] Gazebo simulator"
 
-	# set local coordinate frame reference
-	if [ -n "${PX4_HOME_LAT}" ]; then
-		param set SIM_GZ_HOME_LAT ${PX4_HOME_LAT}
-	fi
-
-	if [ -n "${PX4_HOME_LON}" ]; then
-		param set SIM_GZ_HOME_LON ${PX4_HOME_LON}
-	fi
-
-	if [ -n "${PX4_HOME_ALT}" ]; then
-		param set SIM_GZ_HOME_ALT ${PX4_HOME_ALT}
-	fi
-
 	# Only start up Gazebo if PX4_GZ_STANDALONE is not set.
 	if [ -z "${PX4_GZ_STANDALONE}" ]; then
 
@@ -64,6 +51,13 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" = "1" ]; then
 			# "gz sim" from Garden on
 			gz_command="gz"
 			gz_sub_command="sim"
+
+			# Specify render engine if `GZ_SIM_RENDER_ENGINE` is set
+			# (for example, if you want to use Ogre 1.x instead of Ogre 2.x):
+			if [ -n "${PX4_GZ_SIM_RENDER_ENGINE}" ]; then
+				echo "INFO  [init] Setting Gazebo render engine to '${PX4_GZ_SIM_RENDER_ENGINE}'!"
+				gz_sub_command="${gz_sub_command} --render-engine ${PX4_GZ_SIM_RENDER_ENGINE}"
+			fi
 		else
 			echo "ERROR [init] Gazebo gz please install gz-garden"
 			exit 1
@@ -173,6 +167,12 @@ elif [ "$PX4_SIM_MODEL" = "jmavsim_iris" ] || [ "$(param show -q SYS_AUTOSTART)"
 
 else
 	# otherwise start simulator (mavlink) module
+
+	# EKF2 specifics
+	param set-default EKF2_GPS_DELAY 10
+	param set-default EKF2_MULTI_IMU 3
+	param set-default SENS_IMU_MODE 0
+
 	simulator_tcp_port=$((4560+px4_instance))
 
 	# Check if PX4_SIM_HOSTNAME environment variable is empty

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -164,10 +164,6 @@ param set-default COM_RC_IN_MODE 1
 # Speedup SITL startup
 param set-default EKF2_REQ_GPS_H 0.5
 
-# Multi-EKF
-param set-default EKF2_MULTI_IMU 3
-param set-default SENS_IMU_MODE 0
-
 param set-default IMU_GYRO_FFT_EN 1
 param set-default MAV_PROTO_VER 2 # Ensures QGC does not drop the first few packets after a SITL restart due to MAVLINK 1 packets
 
@@ -248,7 +244,12 @@ then
 fi
 
 load_mon start
-battery_simulator start
+
+if param compare SIM_BAT_ENABLE 1
+then
+	battery_simulator start
+fi
+
 tone_alarm start
 rc_update start
 manual_control start

ROMFS/px4fmu_common/init.d/CMakeLists.txt

@@ -34,28 +34,79 @@
 add_subdirectory(airframes)
 
 px4_add_romfs_files(
-	rc.airship_apps
-	rc.airship_defaults
+
 	rc.autostart_ext
-	rc.balloon_apps
-	rc.balloon_defaults
-	rc.boat_defaults
-	rc.fw_apps
-	rc.fw_defaults
-	rc.heli_defaults
-	rc.logging
-	rc.mc_apps
-	rc.mc_defaults
+
 	rcS
 	rc.sensors
-	rc.thermal_cal
-	rc.rover_apps
-	rc.rover_defaults
-	rc.rover_differential_apps
-	rc.rover_differential_defaults
-	rc.uuv_apps
-	rc.uuv_defaults
 	rc.vehicle_setup
-	rc.vtol_apps
-	rc.vtol_defaults
+
+	# TODO
+	rc.balloon_apps
+	rc.balloon_defaults
 )
+
+if(CONFIG_MODULES_AIRSHIP_ATT_CONTROL)
+	px4_add_romfs_files(
+		rc.airship_apps
+		rc.airship_defaults
+	)
+endif()
+
+if(CONFIG_MODULES_FW_RATE_CONTROL)
+	px4_add_romfs_files(
+		rc.fw_apps
+		rc.fw_defaults
+	)
+endif()
+
+if(CONFIG_MODULES_MC_RATE_CONTROL)
+	px4_add_romfs_files(
+		rc.heli_defaults
+		rc.mc_apps
+		rc.mc_defaults
+	)
+endif()
+
+if(CONFIG_MODULES_ROVER_POS_CONTROL)
+	px4_add_romfs_files(
+		rc.rover_apps
+		rc.rover_defaults
+
+		rc.boat_defaults # hack
+	)
+endif()
+
+if(CONFIG_MODULES_DIFFERENTIAL_DRIVE)
+	px4_add_romfs_files(
+		rc.rover_differential_apps
+		rc.rover_differential_defaults
+	)
+endif()
+
+if(CONFIG_MODULES_UUV_ATT_CONTROL)
+	px4_add_romfs_files(
+		rc.uuv_apps
+		rc.uuv_defaults
+	)
+endif()
+
+if(CONFIG_MODULES_VTOL_ATT_CONTROL)
+	px4_add_romfs_files(
+		rc.vtol_apps
+		rc.vtol_defaults
+	)
+endif()
+
+
+if(CONFIG_MODULES_LOGGER)
+	px4_add_romfs_files(
+		rc.logging
+	)
+endif()
+
+if(CONFIG_MODULES_TEMPERATURE_COMPENSATION)
+	px4_add_romfs_files(
+		rc.thermal_cal
+	)
+endif()

ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil

@@ -11,30 +11,30 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-
 param set SYS_HITL 1
 
 param set UAVCAN_ENABLE 0
 
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default HIL_ACT_FUNC1 101
-param set-default HIL_ACT_FUNC2 102
-param set-default HIL_ACT_FUNC3 103
-param set-default HIL_ACT_FUNC4 104
-
 # disable some checks to allow to fly
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
 param set-default CBRK_IO_SAFETY 22027
+
+# Square quadrotor X PX4 numbering
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default HIL_ACT_FUNC1 101
+param set-default HIL_ACT_FUNC2 102
+param set-default HIL_ACT_FUNC3 103
+param set-default HIL_ACT_FUNC4 104

ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil

@@ -14,7 +14,6 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-
 param set-default BAT1_N_CELLS 3
 
 param set-default COM_RC_IN_MODE 1
@@ -55,26 +54,29 @@ param set-default VT_TYPE 2
 
 param set-default CA_AIRFRAME 2
 param set-default CA_ROTOR_COUNT 5
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
-param set-default CA_ROTOR3_KM -0.05
-param set-default CA_ROTOR4_AX 1.0
-param set-default CA_ROTOR4_AZ 0.0
+param set-default CA_ROTOR4_AX 1
+param set-default CA_ROTOR4_AZ 0
 param set-default CA_ROTOR4_PX 0.2
 
+# Square quadrotor X PX4 numbering
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
+param set-default CA_ROTOR3_KM -0.05
+
 param set-default CA_SV_CS_COUNT 3
 param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
 
 param set-default HIL_ACT_FUNC1 101
@@ -98,5 +100,3 @@ param set-default CBRK_SUPPLY_CHK 894281
 param set-default CBRK_IO_SAFETY 22027
 
 param set-default MAV_TYPE 22
-
-

ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil

@@ -12,26 +12,8 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-
 param set UAVCAN_ENABLE 0
 
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default HIL_ACT_FUNC1 101
-param set-default HIL_ACT_FUNC2 102
-param set-default HIL_ACT_FUNC3 103
-param set-default HIL_ACT_FUNC4 104
-
 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
 param set SYS_HITL 2
 
@@ -42,3 +24,21 @@ param set-default CBRK_SUPPLY_CHK 894281
 param set-default CBRK_IO_SAFETY 22027
 
 param set SIH_VEHICLE_TYPE 0
+
+# Square quadrotor X PX4 numbering
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default HIL_ACT_FUNC1 101
+param set-default HIL_ACT_FUNC2 102
+param set-default HIL_ACT_FUNC3 103
+param set-default HIL_ACT_FUNC4 104

ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil

@@ -21,9 +21,9 @@ param set-default CA_ROTOR0_PX 0.3
 param set-default CA_SV_CS_COUNT 4
 param set-default CA_SV_CS0_TRQ_R 0.5
 param set-default CA_SV_CS0_TYPE 2
-param set-default CA_SV_CS1_TRQ_P 1.0
+param set-default CA_SV_CS1_TRQ_P 1
 param set-default CA_SV_CS1_TYPE 3
-param set-default CA_SV_CS2_TRQ_Y 1.0
+param set-default CA_SV_CS2_TRQ_Y 1
 param set-default CA_SV_CS2_TYPE 4
 param set-default CA_SV_CS3_TYPE 10
 
@@ -46,7 +46,7 @@ param set-default CBRK_IO_SAFETY 22027
 
 param set-default BAT_N_CELLS 3
 
-param set SIH_T_MAX 6.0
+param set SIH_T_MAX 6
 param set SIH_MASS 0.3
 param set SIH_IXX 0.00402
 param set SIH_IYY 0.0144

ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil

@@ -71,7 +71,7 @@ param set SIH_MASS 0.2
 param set SIH_IXX 0.00354
 param set SIH_IYY 0.000625
 param set SIH_IZZ 0.00300
-param set SIH_IXZ 0.0
+param set SIH_IXZ 0
 param set SIH_KDV 0.2
 param set SIH_L_ROLL 0.145
 

ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard

@@ -14,6 +14,21 @@
 
 param set-default CA_AIRFRAME 2
 param set-default CA_ROTOR_COUNT 5
+param set-default CA_ROTOR4_AX 1
+param set-default CA_ROTOR4_AZ 0
+param set-default CA_SV_CS_COUNT 4
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS2_TRQ_P 1
+param set-default CA_SV_CS3_TRQ_Y 1
+param set-default CA_SV_CS3_TYPE 4
+param set-default VT_TYPE 2
+param set-default MAV_TYPE 22
+
+# Square quadrotor X PX4 numbering
 param set-default CA_ROTOR0_PX 1
 param set-default CA_ROTOR0_PY 1
 param set-default CA_ROTOR1_PX -1
@@ -24,16 +39,3 @@ param set-default CA_ROTOR2_KM -0.05
 param set-default CA_ROTOR3_PX -1
 param set-default CA_ROTOR3_PY 1
 param set-default CA_ROTOR3_KM -0.05
-param set-default CA_ROTOR4_AX 1.0
-param set-default CA_ROTOR4_AZ 0.0
-param set-default CA_SV_CS_COUNT 4
-param set-default CA_SV_CS0_TYPE 1
-param set-default CA_SV_CS0_TRQ_R -0.5
-param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS1_TRQ_R 0.5
-param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS2_TRQ_P 1.0
-param set-default CA_SV_CS3_TRQ_Y 1.0
-param set-default CA_SV_CS3_TYPE 4
-param set-default VT_TYPE 2
-param set-default MAV_TYPE 22

ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad

@@ -120,8 +120,8 @@ param set-default CA_ROTOR2_KM -0.05
 param set-default CA_ROTOR3_PX -0.1515
 param set-default CA_ROTOR3_PY 0.1875
 param set-default CA_ROTOR3_KM -0.05
-param set-default CA_ROTOR4_AX 1.0
-param set-default CA_ROTOR4_AZ 0.0
+param set-default CA_ROTOR4_AX 1
+param set-default CA_ROTOR4_AZ 0
 param set-default CA_ROTOR4_PX 0.2
 
 param set-default CA_SV_CS_COUNT 3
@@ -130,4 +130,4 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS1_TYPE 2
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1

ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark

@@ -80,6 +80,10 @@ param set-default VT_TYPE 2
 
 param set-default CA_AIRFRAME 2
 param set-default CA_ROTOR_COUNT 5
+param set-default CA_ROTOR4_AX 1
+param set-default CA_ROTOR4_AZ 0
+
+# Square quadrotor X PX4 numbering
 param set-default CA_ROTOR0_PX 1
 param set-default CA_ROTOR0_PY 1
 param set-default CA_ROTOR1_PX -1
@@ -90,18 +94,16 @@ param set-default CA_ROTOR2_KM -0.05
 param set-default CA_ROTOR3_PX -1
 param set-default CA_ROTOR3_PY 1
 param set-default CA_ROTOR3_KM -0.05
-param set-default CA_ROTOR4_AX 1.0
-param set-default CA_ROTOR4_AZ 0.0
 
 param set-default CA_SV_CS_COUNT 3
 param set-default CA_SV_CS0_TYPE 15
-param set-default CA_SV_CS0_TRQ_R 1.0
-param set-default CA_SV_CS1_TRQ_P 0.5000
-param set-default CA_SV_CS1_TRQ_R 0.0000
-param set-default CA_SV_CS1_TRQ_Y -0.5000
+param set-default CA_SV_CS0_TRQ_R 1
+param set-default CA_SV_CS1_TRQ_P 0.5
+param set-default CA_SV_CS1_TRQ_R 0
+param set-default CA_SV_CS1_TRQ_Y -0.5
 param set-default CA_SV_CS1_TYPE 13
-param set-default CA_SV_CS2_TRQ_P 0.5000
-param set-default CA_SV_CS2_TRQ_Y 0.5000
+param set-default CA_SV_CS2_TRQ_P 0.5
+param set-default CA_SV_CS2_TRQ_Y 0.5
 param set-default CA_SV_CS2_TYPE 14
 
 param set-default PWM_MAIN_FUNC1 201

ROMFS/px4fmu_common/init.d/airframes/13030_generic_vtol_quad_tiltrotor

@@ -19,30 +19,30 @@ param set-default MAV_TYPE 21
 param set-default VT_TYPE 1
 
 param set-default CA_AIRFRAME 3
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
 param set-default CA_ROTOR0_TILT 1
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
 param set-default CA_ROTOR1_TILT 2
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM -0.05
 param set-default CA_ROTOR2_TILT 3
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
-param set-default CA_ROTOR3_KM -0.05
 param set-default CA_ROTOR3_TILT 4
 param set-default CA_SV_CS_COUNT 4
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_TL_COUNT 4
 
-
+# Square quadrotor X PX4 numbering
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
+param set-default CA_ROTOR3_KM -0.05

ROMFS/px4fmu_common/init.d/airframes/13100_generic_vtol_tiltrotor

@@ -12,19 +12,22 @@
 . ${R}etc/init.d/rc.vtol_defaults
 
 param set-default CA_AIRFRAME 3
+param set-default CA_ROTOR0_TILT 2
+param set-default CA_ROTOR2_TILT 1
+
+# Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
 param set-default CA_ROTOR0_PX 1
 param set-default CA_ROTOR0_PY 1
-param set-default CA_ROTOR0_TILT 2
 param set-default CA_ROTOR1_PX -1
 param set-default CA_ROTOR1_PY -1
 param set-default CA_ROTOR2_PX 1
 param set-default CA_ROTOR2_PY -1
-param set-default CA_ROTOR2_TILT 1
 param set-default CA_ROTOR2_KM -0.05
 param set-default CA_ROTOR3_PX -1
 param set-default CA_ROTOR3_PY 1
 param set-default CA_ROTOR3_KM -0.05
+
 param set-default CA_SV_CS_COUNT 4
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS0_TRQ_R -0.5

ROMFS/px4fmu_common/init.d/airframes/14001_generic_mc_with_tilt

@@ -20,16 +20,16 @@ param set-default MAV_TYPE 15
 
 param set-default CA_AIRFRAME 8
 # Tricopter
-param set-default CA_ROTOR0_PX 0.2500
-param set-default CA_ROTOR0_PY 0.4330
-param set-default CA_ROTOR1_PX 0.2500
-param set-default CA_ROTOR1_PY -0.4300
-param set-default CA_ROTOR2_PX -0.5000
-param set-default CA_ROTOR2_PY 0.0000
+param set-default CA_ROTOR0_PX 0.25
+param set-default CA_ROTOR0_PY 0.433
+param set-default CA_ROTOR1_PX 0.25
+param set-default CA_ROTOR1_PY -0.43
+param set-default CA_ROTOR2_PX -0.5
+param set-default CA_ROTOR2_PY 0
 param set-default CA_ROTOR2_TILT 1
 param set-default CA_ROTOR_COUNT 3
-param set-default CA_SV_TL0_MAXA 45.0000
-param set-default CA_SV_TL0_MINA -45.0000
+param set-default CA_SV_TL0_MAXA 45
+param set-default CA_SV_TL0_MINA -45
 param set-default CA_SV_TL0_TD 90
 param set-default CA_SV_TL_COUNT 1
 

ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane

@@ -18,7 +18,7 @@ param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4

ROMFS/px4fmu_common/init.d/airframes/2106_albatross

@@ -35,17 +35,17 @@ param set-default FW_W_RMAX 0
 param set-default CA_AIRFRAME 1
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_SV_CS_COUNT 7
-param set-default CA_SV_CS0_TRQ_R -0.5000
+param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1 #left aileron
-param set-default CA_SV_CS1_TRQ_R 0.5000
+param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2 #right aileron
-param set-default CA_SV_CS2_TRQ_P 0.5000
-param set-default CA_SV_CS2_TRQ_Y -0.5000
+param set-default CA_SV_CS2_TRQ_P 0.5
+param set-default CA_SV_CS2_TRQ_Y -0.5
 param set-default CA_SV_CS2_TYPE 13 #left A-tail
-param set-default CA_SV_CS3_TRQ_P 0.5000
-param set-default CA_SV_CS3_TRQ_Y 0.5000
+param set-default CA_SV_CS3_TRQ_P 0.5
+param set-default CA_SV_CS3_TRQ_Y 0.5
 param set-default CA_SV_CS3_TYPE 14 #right A-tail
-param set-default CA_SV_CS4_TRQ_Y 1.0000
+param set-default CA_SV_CS4_TRQ_Y 1
 param set-default CA_SV_CS4_TYPE 12
 param set-default CA_SV_CS5_TYPE 9 #left flap
 param set-default CA_SV_CS6_TYPE 10 #right flap

ROMFS/px4fmu_common/init.d/airframes/2507_cloudship

@@ -21,21 +21,21 @@ param set-default CBRK_IO_SAFETY 22027
 param set-default CA_AIRFRAME 9
 
 param set-default CA_ROTOR_COUNT 3
-param set-default CA_ROTOR0_AX 1.0000
-param set-default CA_ROTOR0_AZ 0.0000
-param set-default CA_ROTOR0_KM 0.0000
-param set-default CA_ROTOR0_PY 2.0000
-param set-default CA_ROTOR1_AX 1.0000
-param set-default CA_ROTOR1_AZ 0.0000
-param set-default CA_ROTOR1_KM 0.0000
-param set-default CA_ROTOR1_PY -2.0000
-param set-default CA_ROTOR2_AY -1.0000
-param set-default CA_ROTOR2_AZ 0.0000
-param set-default CA_ROTOR2_KM 0.0000
-param set-default CA_ROTOR2_PX -10.0000
+param set-default CA_ROTOR0_AX 1
+param set-default CA_ROTOR0_AZ 0
+param set-default CA_ROTOR0_KM 0
+param set-default CA_ROTOR0_PY 2
+param set-default CA_ROTOR1_AX 1
+param set-default CA_ROTOR1_AZ 0
+param set-default CA_ROTOR1_KM 0
+param set-default CA_ROTOR1_PY -2
+param set-default CA_ROTOR2_AY -1
+param set-default CA_ROTOR2_AZ 0
+param set-default CA_ROTOR2_KM 0
+param set-default CA_ROTOR2_PX -10
 
 param set-default CA_SV_CS_COUNT 1
-param set-default CA_SV_CS0_TRQ_P 1.0000
+param set-default CA_SV_CS0_TRQ_P 1
 
 param set-default CA_R_REV 7
 

ROMFS/px4fmu_common/init.d/airframes/4001_quad_x

@@ -10,15 +10,15 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
+# Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
 param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
 param set-default CA_ROTOR3_KM -0.05
-

ROMFS/px4fmu_common/init.d/airframes/4014_s500

@@ -18,14 +18,15 @@ param set-default MC_PITCHRATE_P 0.18
 param set-default MC_ROLLRATE_I 0.15
 param set-default MC_PITCHRATE_I 0.15
 
+# Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
 param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
 param set-default CA_ROTOR3_KM -0.05

ROMFS/px4fmu_common/init.d/airframes/4015_holybro_s500

@@ -22,14 +22,15 @@ param set-default MC_PITCHRATE_I 0.3
 param set-default MC_ROLLRATE_D 0.004
 param set-default MC_PITCHRATE_D 0.004
 
+# Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
 param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
 param set-default CA_ROTOR3_KM -0.05

ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision

@@ -97,18 +97,17 @@ param set-default CBRK_IO_SAFETY 22027
 
 param set-default THR_MDL_FAC 0.3
 
+# Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
 param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
 param set-default CA_ROTOR3_KM -0.05
 
 # Outputs
@@ -116,4 +115,3 @@ param set-default PWM_AUX_FUNC1 101
 param set-default PWM_AUX_FUNC2 102
 param set-default PWM_AUX_FUNC3 103
 param set-default PWM_AUX_FUNC4 104
-

ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames

@@ -21,14 +21,15 @@ param set-default MC_ROLLRATE_I 0.15
 param set-default MC_PITCHRATE_P 0.18
 param set-default MC_PITCHRATE_I 0.15
 
+# Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
 param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
 param set-default CA_ROTOR3_KM -0.05

ROMFS/px4fmu_common/init.d/airframes/4019_x500_v2

@@ -22,19 +22,20 @@ param set-default MC_PITCHRATE_I 0.3
 param set-default MC_ROLLRATE_D 0.004
 param set-default MC_PITCHRATE_D 0.004
 
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.25
-param set-default CA_ROTOR0_PY 0.25
-param set-default CA_ROTOR1_PX -0.25
-param set-default CA_ROTOR1_PY -0.25
-param set-default CA_ROTOR2_PX 0.25
-param set-default CA_ROTOR2_PY -0.25
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.25
-param set-default CA_ROTOR3_PY 0.25
-param set-default CA_ROTOR3_KM -0.05
-
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
+
+# Square quadrotor X PX4 numbering
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
+param set-default CA_ROTOR3_KM -0.05

ROMFS/px4fmu_common/init.d/airframes/4020_holybro_px4vision_v1_5

@@ -98,18 +98,17 @@ param set-default CBRK_IO_SAFETY 22027
 
 param set-default THR_MDL_FAC 0.3
 
+# Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
 param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
 param set-default CA_ROTOR3_KM -0.05
 
 # Outputs
@@ -117,4 +116,3 @@ param set-default PWM_AUX_FUNC1 101
 param set-default PWM_AUX_FUNC2 102
 param set-default PWM_AUX_FUNC3 103
 param set-default PWM_AUX_FUNC4 104
-

ROMFS/px4fmu_common/init.d/airframes/4041_beta75x

@@ -46,22 +46,20 @@ param set-default SYS_HAS_MAG 0
 
 param set-default BAT1_N_CELLS 2
 
+# Square quadrotor X with reverse turn direction
 param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.03
-param set-default CA_ROTOR0_PY 0.03
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
 param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR1_PX -0.03
-param set-default CA_ROTOR1_PY -0.03
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
 param set-default CA_ROTOR1_KM -0.05
-param set-default CA_ROTOR2_PX 0.03
-param set-default CA_ROTOR2_PY -0.03
-param set-default CA_ROTOR2_KM 0.05
-param set-default CA_ROTOR3_PX -0.03
-param set-default CA_ROTOR3_PY 0.03
-param set-default CA_ROTOR3_KM 0.05
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
 
 param set-default PWM_MAIN_FUNC1 104
 param set-default PWM_MAIN_FUNC2 101
 param set-default PWM_MAIN_FUNC3 102
 param set-default PWM_MAIN_FUNC4 103
-

ROMFS/px4fmu_common/init.d/airframes/4050_generic_250

@@ -36,16 +36,15 @@ param set-default SDLOG_PROFILE 19
 param set-default IMU_DGYRO_CUTOFF 50
 param set-default IMU_GYRO_CUTOFF 90
 
+# Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
 param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
 param set-default CA_ROTOR3_KM -0.05
-
-

ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250

@@ -46,20 +46,20 @@ param set-default MPC_Z_VEL_I_ACC 1.7
 
 param set-default THR_MDL_FAC 0.3
 
+# Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
 param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
 param set-default CA_ROTOR3_KM -0.05
 
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
-

ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2

@@ -53,16 +53,17 @@ param set-default MC_AIRMODE 1
 
 param set-default EV_TSK_RC_LOSS 1
 
+# Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
 param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
 param set-default CA_ROTOR3_KM -0.05
 
 param set-default PWM_MAIN_FUNC1 104
@@ -72,5 +73,3 @@ param set-default PWM_MAIN_FUNC4 103
 
 param set-default PWM_MAIN_TIM0 -2
 param set-default PWM_MAIN_TIM1 -2
-
-

ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu

@@ -11,12 +11,11 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-
 # Battery settings
 param set-default BAT_CRIT_THR 0.20
 param set-default BAT_LOW_THR 0.25
 
-param set-default BAT1_CAPACITY 2800.0
+param set-default BAT1_CAPACITY 2800
 param set-default BAT1_N_CELLS 3
 param set-default BAT1_R_INTERNAL 0.02
 param set-default BAT1_V_CHARGED 4.26
@@ -38,7 +37,7 @@ param set-default COM_RC_LOSS_T 3
 
 # ekf2
 param set-default EKF2_TERR_MASK 1
-param set-default EKF2_BARO_NOISE 2.0
+param set-default EKF2_BARO_NOISE 2
 
 param set-default EKF2_BCOEF_X 31.5
 param set-default EKF2_BCOEF_Y 25.5
@@ -56,11 +55,11 @@ param set-default EKF2_MAG_NOISE 0.1
 param set-default EKF2_MIN_RNG 0.15
 
 param set-default EKF2_OF_DELAY 38
-param set-default EKF2_OF_GATE 2.0
+param set-default EKF2_OF_GATE 2
 param set-default EKF2_OF_POS_X -0.035
 param set-default EKF2_OF_POS_Z 0.033
 param set-default EKF2_OF_MIN_RNG 0.01
-param set-default EKF2_OF_A_HMAX 7.0
+param set-default EKF2_OF_A_HMAX 7
 param set-default EKF2_OF_QMIN 30
 
 param set-default EKF2_PCOEF_XN -0.3
@@ -68,18 +67,18 @@ param set-default EKF2_PCOEF_XP -0.4
 param set-default EKF2_PCOEF_YN -0.4
 param set-default EKF2_PCOEF_YP -0.4
 
-param set-default EKF2_RNG_A_VMAX 1.0
+param set-default EKF2_RNG_A_VMAX 1
 param set-default EKF2_RNG_CTRL 0
 param set-default EKF2_RNG_DELAY 55
 param set-default EKF2_RNG_POS_X -0.035
-param set-default EKF2_RNG_POS_Y 0.0
+param set-default EKF2_RNG_POS_Y 0
 param set-default EKF2_RNG_POS_Z 0.033
 
-param set-default EKF2_TERR_NOISE 1.0
+param set-default EKF2_TERR_NOISE 1
 
 
 # Maximum allowed angle velocity in the landed state
-param set-default LNDMC_ROT_MAX 40.0
+param set-default LNDMC_ROT_MAX 40
 
 # Maximum vertical velocity allowed in the landed state
 param set-default LNDMC_Z_VEL_MAX 0.7
@@ -94,36 +93,36 @@ param set-default IMU_GYRO_CUTOFF 65
 param set-default MC_PITCHRATE_P 0.075
 param set-default MC_PITCHRATE_I 0.1
 param set-default MC_PITCHRATE_D 0.0005
-param set-default MC_PITCHRATE_MAX 360.0
-param set-default MC_PITCH_P 8.0
+param set-default MC_PITCHRATE_MAX 360
+param set-default MC_PITCH_P 8
 
 # Roll angle & rate setting
 param set-default MC_ROLLRATE_P 0.055
 param set-default MC_ROLLRATE_I 0.1
 param set-default MC_ROLLRATE_D 0.0005
-param set-default MC_ROLLRATE_MAX 360.0
-param set-default MC_ROLL_P 8.0
+param set-default MC_ROLLRATE_MAX 360
+param set-default MC_ROLL_P 8
 
 # Yaw angle & rate setting
 param set-default MC_YAWRATE_P 0.1
-param set-default MC_YAWRATE_MAX 120.0
+param set-default MC_YAWRATE_MAX 120
 param set-default MC_YAW_P 2.5
 
-param set-default MPC_ACC_DOWN_MAX 2.0
-param set-default MPC_ACC_HOR 3.0
-param set-default MPC_ACC_HOR_MAX 10.0
-param set-default MPC_ACC_UP_MAX 3.0
+param set-default MPC_ACC_DOWN_MAX 2
+param set-default MPC_ACC_HOR 3
+param set-default MPC_ACC_HOR_MAX 10
+param set-default MPC_ACC_UP_MAX 3
 param set-default MPC_ALT_MODE 0
 param set-default MPC_LAND_SPEED 0.5
 param set-default MPC_MAN_TILT_MAX 20
-param set-default MPC_YAWRAUTO_MAX 80.0
+param set-default MPC_YAWRAUTO_MAX 80
 param set-default MPC_THR_HOVER 0.54
 param set-default MPC_THR_MAX 0.9
 param set-default MPC_THR_MIN 0.06
 param set-default MPC_TILTMAX_AIR 30
-param set-default MPC_XY_P 1.0
-param set-default MPC_Z_P 2.0
-param set-default MPC_Z_VEL_MAX_DN 2.0
+param set-default MPC_XY_P 1
+param set-default MPC_Z_P 2
+param set-default MPC_Z_VEL_MAX_DN 2
 
 # gimbal configuration
 param set-default MNT_MODE_IN 0
@@ -150,21 +149,22 @@ param set-default RC1_TRIM          1000
 # optical flow
 param set-default SENS_FLOW_MAXR   7.4
 param set-default SENS_FLOW_MINHGT 0.15
-param set-default SENS_FLOW_MAXHGT 5.0
+param set-default SENS_FLOW_MAXHGT 5
 
 # ignore the SD card errors and use normal startup sound
 set STARTUP_TUNE "1"
 
+# Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
 param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
 param set-default CA_ROTOR3_KM -0.05
 
 param set-default TAP_ESC_FUNC1 101

ROMFS/px4fmu_common/init.d/airframes/4071_ifo

@@ -73,23 +73,22 @@ param set-default MAV_1_CONFIG 102
 param set-default MAV_1_MODE 0
 param set-default SER_TEL2_BAUD 57600
 
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
-param set-default CA_ROTOR3_KM -0.05
-
 param set-default PWM_MAIN_TIM0 0
 
+# Square quadrotor X PX4 numbering
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
+param set-default CA_ROTOR3_KM -0.05
+
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
-

ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s

@@ -91,22 +91,22 @@ param set-default EKF2_OF_POS_Z -0.07
 # Failsafe
 param set-default COM_LOW_BAT_ACT 3
 
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
-param set-default CA_ROTOR3_KM -0.05
-
 param set-default PWM_MAIN_TIM0 -3
 
+# Square quadrotor X PX4 numbering
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
+param set-default CA_ROTOR3_KM -0.05
+
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
-

ROMFS/px4fmu_common/init.d/airframes/4500_clover4

@@ -27,16 +27,17 @@ param set-default MPC_XY_P 1.1
 param set-default MPC_Z_VEL_P_ACC 4.8
 param set-default MPC_Z_P 1.2
 
+# Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
 param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
 param set-default CA_ROTOR3_KM -0.05
 
 param set-default PWM_MAIN_FUNC1 101

ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21

@@ -17,7 +17,6 @@
 #
 . ${R}etc/init.d/rc.mc_defaults
 
-
 param set-default SYS_MC_EST_GROUP 2
 param set-default SYS_HAS_MAG 0
 param set-default EKF2_OF_CTRL 1
@@ -50,22 +49,22 @@ param set-default MPC_MAX_FLOW_HGT 3
 
 param set-default NAV_RCL_ACT 3
 
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.03
-param set-default CA_ROTOR0_PY 0.03
-param set-default CA_ROTOR1_PX -0.03
-param set-default CA_ROTOR1_PY 0.03
-param set-default CA_ROTOR1_KM -0.05
-param set-default CA_ROTOR2_PX -0.03
-param set-default CA_ROTOR2_PY -0.03
-param set-default CA_ROTOR3_PX 0.03
-param set-default CA_ROTOR3_PY -0.03
-param set-default CA_ROTOR3_KM -0.05
-
 # Run the motors at 328.125 kHz (recommended)
 param set-default PWM_MAIN_TIM0 3921
 param set-default PWM_MAIN_TIM1 3921
 
+# Square quadrotor X clockwise numbering
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY 1
+param set-default CA_ROTOR1_KM -0.05
+param set-default CA_ROTOR2_PX -1
+param set-default CA_ROTOR2_PY -1
+param set-default CA_ROTOR3_PX 1
+param set-default CA_ROTOR3_PY -1
+param set-default CA_ROTOR3_KM -0.05
+
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103

ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx

@@ -36,9 +36,9 @@ param set-default GND_THR_MAX 0.5
 param set-default GND_MAX_ANG 1.042
 param set-default GND_WHEEL_BASE 0.17
 
-# TODO: Set to -1.0, to allow reversing. This will require many changes in the codebase
+# TODO: Set to -1, to allow reversing. This will require many changes in the codebase
 # to support negative throttle.
-param set-default GND_THR_MIN 0.0
+param set-default GND_THR_MIN 0
 param set-default GND_SPEED_P 0.25
 param set-default GND_SPEED_I 3
 param set-default GND_SPEED_D 0.001

ROMFS/px4fmu_common/init.d/airframes/5001_quad_+

@@ -1,12 +1,10 @@
 #!/bin/sh
 #
-# @name Generic 10" Quad + geometry
+# @name Generic Quad + geometry
 #
 # @type Quadrotor +
 # @class Copter
 #
-# @maintainer Lorenz Meier <lorenz@px4.io>
-#
 # @board bitcraze_crazyflie exclude
 # @board px4_fmu-v2 exclude
 #
@@ -14,13 +12,17 @@
 . ${R}etc/init.d/rc.mc_defaults
 
 param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR1_KM -0.05
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
+
+param set-default CA_ROTOR0_PX 0
+param set-default CA_ROTOR0_PY 1
+
+param set-default CA_ROTOR1_PX 0
+param set-default CA_ROTOR1_PY -1
+
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY 0
+param set-default CA_ROTOR2_KM -0.05
+
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 0
+param set-default CA_ROTOR3_KM -0.05

ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic

@@ -5,8 +5,6 @@
 # @type Underwater Robot
 # @class Underwater Robot
 #
-# @maintainer
-#
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
 #

ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus

@@ -12,38 +12,7 @@
 #
 
 . ${R}etc/init.d/rc.uuv_defaults
-
-param set-default CA_AIRFRAME 7
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_R_REV 255
-param set-default CA_ROTOR0_AX 1
-param set-default CA_ROTOR0_AY 0
-param set-default CA_ROTOR0_AZ 0
-param set-default CA_ROTOR0_KM 0
-param set-default CA_ROTOR0_PX 0
-param set-default CA_ROTOR0_PY -0.3
-param set-default CA_ROTOR0_PZ -0.3
-param set-default CA_ROTOR1_AX 1
-param set-default CA_ROTOR1_AY 0
-param set-default CA_ROTOR1_AZ 0
-param set-default CA_ROTOR1_KM 0
-param set-default CA_ROTOR1_PX 0
-param set-default CA_ROTOR1_PY 0.3
-param set-default CA_ROTOR1_PZ -0.3
-param set-default CA_ROTOR2_AX 1
-param set-default CA_ROTOR2_AY 0
-param set-default CA_ROTOR2_AZ 0
-param set-default CA_ROTOR2_KM 0
-param set-default CA_ROTOR2_PX 0
-param set-default CA_ROTOR2_PY 0.3
-param set-default CA_ROTOR2_PZ 0.3
-param set-default CA_ROTOR3_AX 1
-param set-default CA_ROTOR3_AY 0
-param set-default CA_ROTOR3_AZ 0
-param set-default CA_ROTOR3_KM 0
-param set-default CA_ROTOR3_PX 0
-param set-default CA_ROTOR3_PY -0.3
-param set-default CA_ROTOR3_PZ 0.3
+. ${R}etc/init.d/airframes/60000_uuv_generic
 
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102

ROMFS/px4fmu_common/init.d/airframes/60002_uuv_bluerov2_heavy

@@ -30,7 +30,7 @@ param set-default MAV_1_CONFIG 102
 
 param set-default BAT1_A_PER_V 37.8798
 param set-default BAT1_CAPACITY 18000
-param set-default BAT1_V_DIV 11.0
+param set-default BAT1_V_DIV 11
 param set-default BAT1_N_CELLS 4
 param set-default BAT_V_OFFS_CURR 0.33
 
@@ -38,49 +38,49 @@ param set-default CA_AIRFRAME 7
 
 param set-default CA_ROTOR_COUNT 8
 param set-default CA_R_REV 255
-param set-default CA_ROTOR0_AX 1.0000
-param set-default CA_ROTOR0_AY -1.0000
-param set-default CA_ROTOR0_AZ 0.0000
-param set-default CA_ROTOR0_KM 0.0000
-param set-default CA_ROTOR0_PX 0.5000
-param set-default CA_ROTOR0_PY 0.3000
-param set-default CA_ROTOR0_PZ 0.2000
-param set-default CA_ROTOR1_AX 1.0000
-param set-default CA_ROTOR1_AY 1.0000
-param set-default CA_ROTOR1_AZ 0.0000
-param set-default CA_ROTOR1_KM 0.0000
-param set-default CA_ROTOR1_PX 0.5000
-param set-default CA_ROTOR1_PY -0.3000
-param set-default CA_ROTOR1_PZ 0.2000
-param set-default CA_ROTOR2_AX 1.0000
-param set-default CA_ROTOR2_AY 1.0000
-param set-default CA_ROTOR2_AZ 0.0000
-param set-default CA_ROTOR2_KM 0.0000
-param set-default CA_ROTOR2_PX -0.5000
-param set-default CA_ROTOR2_PY 0.3000
-param set-default CA_ROTOR2_PZ 0.2000
-param set-default CA_ROTOR3_AX 1.0000
-param set-default CA_ROTOR3_AY -1.0000
-param set-default CA_ROTOR3_AZ 0.0000
-param set-default CA_ROTOR3_KM 0.0000
-param set-default CA_ROTOR3_PX -0.5000
-param set-default CA_ROTOR3_PY -0.3000
-param set-default CA_ROTOR3_PZ 0.2000
-param set-default CA_ROTOR4_AZ -1.0000
-param set-default CA_ROTOR4_KM 0.0000
-param set-default CA_ROTOR4_PX 0.5000
-param set-default CA_ROTOR4_PY 0.5000
-param set-default CA_ROTOR5_AZ 1.0000
-param set-default CA_ROTOR5_KM 0.0000
-param set-default CA_ROTOR5_PX 0.5000
-param set-default CA_ROTOR5_PY -0.5000
-param set-default CA_ROTOR6_AZ 1.0000
-param set-default CA_ROTOR6_KM 0.0000
-param set-default CA_ROTOR6_PX -0.5000
-param set-default CA_ROTOR6_PY 0.5000
-param set-default CA_ROTOR7_KM 0.0000
-param set-default CA_ROTOR7_PX -0.5000
-param set-default CA_ROTOR7_PY -0.5000
+param set-default CA_ROTOR0_AX 1
+param set-default CA_ROTOR0_AY -1
+param set-default CA_ROTOR0_AZ 0
+param set-default CA_ROTOR0_KM 0
+param set-default CA_ROTOR0_PX 0.5
+param set-default CA_ROTOR0_PY 0.3
+param set-default CA_ROTOR0_PZ 0.2
+param set-default CA_ROTOR1_AX 1
+param set-default CA_ROTOR1_AY 1
+param set-default CA_ROTOR1_AZ 0
+param set-default CA_ROTOR1_KM 0
+param set-default CA_ROTOR1_PX 0.5
+param set-default CA_ROTOR1_PY -0.3
+param set-default CA_ROTOR1_PZ 0.2
+param set-default CA_ROTOR2_AX 1
+param set-default CA_ROTOR2_AY 1
+param set-default CA_ROTOR2_AZ 0
+param set-default CA_ROTOR2_KM 0
+param set-default CA_ROTOR2_PX -0.5
+param set-default CA_ROTOR2_PY 0.3
+param set-default CA_ROTOR2_PZ 0.2
+param set-default CA_ROTOR3_AX 1
+param set-default CA_ROTOR3_AY -1
+param set-default CA_ROTOR3_AZ 0
+param set-default CA_ROTOR3_KM 0
+param set-default CA_ROTOR3_PX -0.5
+param set-default CA_ROTOR3_PY -0.3
+param set-default CA_ROTOR3_PZ 0.2
+param set-default CA_ROTOR4_AZ -1
+param set-default CA_ROTOR4_KM 0
+param set-default CA_ROTOR4_PX 0.5
+param set-default CA_ROTOR4_PY 0.5
+param set-default CA_ROTOR5_AZ 1
+param set-default CA_ROTOR5_KM 0
+param set-default CA_ROTOR5_PX 0.5
+param set-default CA_ROTOR5_PY -0.5
+param set-default CA_ROTOR6_AZ 1
+param set-default CA_ROTOR6_KM 0
+param set-default CA_ROTOR6_PX -0.5
+param set-default CA_ROTOR6_PY 0.5
+param set-default CA_ROTOR7_KM 0
+param set-default CA_ROTOR7_PX -0.5
+param set-default CA_ROTOR7_PY -0.5
 
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102

ROMFS/px4fmu_common/init.d/airframes/6001_hexa_x

@@ -16,10 +16,10 @@
 param set-default MAV_TYPE 13
 
 param set-default CA_ROTOR_COUNT 6
-param set-default CA_ROTOR0_PX 0.0
+param set-default CA_ROTOR0_PX 0
 param set-default CA_ROTOR0_PY 0.5
 param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR1_PX 0.0
+param set-default CA_ROTOR1_PX 0
 param set-default CA_ROTOR1_PY -0.5
 param set-default CA_ROTOR2_PX 0.43
 param set-default CA_ROTOR2_PY -0.25

ROMFS/px4fmu_common/init.d/airframes/6002_draco_r

@@ -97,10 +97,10 @@ param set-default SER_TEL2_BAUD 921600
 
 
 param set-default CA_ROTOR_COUNT 6
-param set-default CA_ROTOR0_PX 0.0
+param set-default CA_ROTOR0_PX 0
 param set-default CA_ROTOR0_PY 0.5
 param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR1_PX 0.0
+param set-default CA_ROTOR1_PX 0
 param set-default CA_ROTOR1_PY -0.5
 param set-default CA_ROTOR2_PX 0.43
 param set-default CA_ROTOR2_PY -0.25

ROMFS/px4fmu_common/init.d/airframes/7001_hexa_+

@@ -17,10 +17,10 @@ param set-default MAV_TYPE 13
 
 param set-default CA_ROTOR_COUNT 6
 param set-default CA_ROTOR0_PX 0.5
-param set-default CA_ROTOR0_PY 0.0
+param set-default CA_ROTOR0_PY 0
 param set-default CA_ROTOR0_KM -0.05
 param set-default CA_ROTOR1_PX -0.5
-param set-default CA_ROTOR1_PY 0.0
+param set-default CA_ROTOR1_PY 0
 param set-default CA_ROTOR2_PX -0.25
 param set-default CA_ROTOR2_PY -0.43
 param set-default CA_ROTOR2_KM -0.05

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

@@ -32,94 +32,127 @@
 ############################################################################
 
 px4_add_romfs_files(
-	# [0-999] Reserved (historical)"
-
-	# [1000, 1999] Simulation setups"
-	1001_rc_quad_x.hil
-	1002_standard_vtol.hil
-	1100_rc_quad_x_sih.hil
-	1101_rc_plane_sih.hil
-	1102_tailsitter_duo_sih.hil
-
-	# [2000, 2999] Standard planes"
-	2100_standard_plane
-	2106_albatross
-
-	2507_cloudship
-
-	# [3000, 3999] Flying wing"
-	3000_generic_wing
-
-	# [4000, 4999] Quadrotor x"
-	4001_quad_x
-	4014_s500
-	4015_holybro_s500
-	4016_holybro_px4vision
-	4017_nxp_hovergames
-	4019_x500_v2
-	4020_holybro_px4vision_v1_5
-	4041_beta75x
-	4050_generic_250
-	4052_holybro_qav250
-	4053_holybro_kopis2
-	4061_atl_mantis_edu
-	4071_ifo
-	4073_ifo-s
-	4500_clover4
-	4901_crazyflie21
-
-	# [5000, 5999] Quadrotor +"
-	5001_quad_+
-
-	# [6000, 6999] Hexarotor x"
-	6001_hexa_x
-	6002_draco_r
-
-	# [7000, 7999] Hexarotor +"
-	7001_hexa_+
-
-	# [8000, 8999] Octorotor +"
-	8001_octo_x
-
-	# [9000, 9999] Octorotor +"
-	9001_octo_+
-
-	# [11000, 11999] Hexa Cox
-	11001_hexa_cox
-
-	# [12000, 12999] Octo Cox
-	12001_octo_cox
-
-	# [13000, 13999] VTOL
-	13000_generic_vtol_standard
-	13100_generic_vtol_tiltrotor
-	13013_deltaquad
-	13014_vtol_babyshark
-	13030_generic_vtol_quad_tiltrotor
-	13200_generic_vtol_tailsitter
-
-	# [14000, 14999] MC with tilt
-	14001_generic_mc_with_tilt
-
-	16001_helicopter
-
-	# [17000, 17999] Autogyro
-	17002_TF-AutoG2
-	17003_TF-G2
+	# [0-999] Reserved (historical)
 
 	# [18000, 18999] High-altitude balloons
 	18001_TF-B1
 
 	# [22000, 22999] Reserve for custom models
-
-	24001_dodeca_cox
-
-	50000_generic_ground_vehicle
-	50004_nxpcup_car_dfrobot_gpx
-	50003_aion_robotics_r1_rover
-
-	# [60000, 61000] (Unmanned) Underwater Robots
-	60000_uuv_generic
-	60001_uuv_hippocampus
-	60002_uuv_bluerov2_heavy
 )
+
+if(CONFIG_MODULES_SIMULATION_PWM_OUT_SIM)
+	px4_add_romfs_files(
+		# [1000, 1999] Simulation setups
+		1001_rc_quad_x.hil
+		1002_standard_vtol.hil
+		1100_rc_quad_x_sih.hil
+		1101_rc_plane_sih.hil
+		1102_tailsitter_duo_sih.hil
+	)
+endif()
+
+if(CONFIG_MODULES_MC_RATE_CONTROL)
+	px4_add_romfs_files(
+		# [4000, 4999] Quadrotor x
+		4001_quad_x
+		4014_s500
+		4015_holybro_s500
+		4016_holybro_px4vision
+		4017_nxp_hovergames
+		4019_x500_v2
+		4020_holybro_px4vision_v1_5
+		4041_beta75x
+		4050_generic_250
+		4052_holybro_qav250
+		4053_holybro_kopis2
+		4061_atl_mantis_edu
+		4071_ifo
+		4073_ifo-s
+		4500_clover4
+		4901_crazyflie21
+
+		# [5000, 5999] Quadrotor +
+		5001_quad_+
+
+		# [6000, 6999] Hexarotor x
+		6001_hexa_x
+		6002_draco_r
+
+		# [7000, 7999] Hexarotor +
+		7001_hexa_+
+
+		# [8000, 8999] Octorotor +
+		8001_octo_x
+
+		# [9000, 9999] Octorotor +
+		9001_octo_+
+
+		# [11000, 11999] Hexa Cox
+		11001_hexa_cox
+
+		# [12000, 12999] Octo Cox
+		12001_octo_cox
+
+		# [14000, 14999] MC with tilt
+		14001_generic_mc_with_tilt
+
+		16001_helicopter
+
+		24001_dodeca_cox
+	)
+endif()
+
+if(CONFIG_MODULES_FW_RATE_CONTROL)
+	px4_add_romfs_files(
+		# [2000, 2999] Standard planes
+		2100_standard_plane
+		2106_albatross
+
+		# [3000, 3999] Flying wing
+		3000_generic_wing
+
+		# [17000, 17999] Autogyro
+		17002_TF-AutoG2
+		17003_TF-G2
+	)
+endif()
+
+if(CONFIG_MODULES_AIRSHIP_ATT_CONTROL)
+	px4_add_romfs_files(
+		2507_cloudship
+	)
+endif()
+
+if(CONFIG_MODULES_VTOL_ATT_CONTROL)
+	px4_add_romfs_files(
+		# [13000, 13999] VTOL
+		13000_generic_vtol_standard
+		13100_generic_vtol_tiltrotor
+		13013_deltaquad
+		13014_vtol_babyshark
+		13030_generic_vtol_quad_tiltrotor
+		13200_generic_vtol_tailsitter
+	)
+endif()
+
+if(CONFIG_MODULES_ROVER_POS_CONTROL)
+	px4_add_romfs_files(
+		50000_generic_ground_vehicle
+		50004_nxpcup_car_dfrobot_gpx
+	)
+endif()
+
+if(CONFIG_MODULES_DIFFERENTIAL_DRIVE)
+	px4_add_romfs_files(
+		50003_aion_robotics_r1_rover
+	)
+endif()
+
+if(CONFIG_MODULES_UUV_ATT_CONTROL)
+	px4_add_romfs_files(
+		# [60000, 61000] (Unmanned) Underwater Robots
+		60000_uuv_generic
+		60001_uuv_hippocampus
+		60002_uuv_bluerov2_heavy
+	)
+endif()

ROMFS/px4fmu_common/init.d/rc.fw_defaults

@@ -28,13 +28,12 @@ param set-default EKF2_ARSP_THR 8
 param set-default EKF2_FUSE_BETA 1
 param set-default EKF2_GPS_CHECK 21
 param set-default EKF2_MAG_ACCLIM 0
-param set-default EKF2_MAG_YAWLIM 0
 param set-default EKF2_REQ_EPH 10
 param set-default EKF2_REQ_EPV 10
 param set-default EKF2_REQ_HDRIFT 0.5
 param set-default EKF2_REQ_SACC 1
-param set-default EKF2_REQ_VDRIFT 1.0
-param set-default EKF2_RNG_QLTY_T 3.0
+param set-default EKF2_REQ_VDRIFT 1
+param set-default EKF2_RNG_QLTY_T 3
 
 param set-default RTL_TYPE 1
 param set-default RTL_RETURN_ALT 100

ROMFS/px4fmu_common/init.d/rc.rover_differential_apps

@@ -5,7 +5,7 @@
 ekf2 start &
 
 # Start rover differential drive controller.
-differential_drive_control start
+differential_drive start
 
 # Start Land Detector.
 land_detector start rover

ROMFS/px4fmu_common/init.d/rc.thermal_cal

@@ -22,6 +22,11 @@ then
 	set TEMP_COMP_START "true"
 fi
 
+if param compare -s TC_M_ENABLE 1
+then
+	set TEMP_COMP_START "true"
+fi
+
 if [ "x$TEMP_COMP_START" != "x" ]
 then
 	temperature_compensation start

ROMFS/px4fmu_common/init.d/rc.vtol_defaults

@@ -21,7 +21,7 @@ param set-default MIS_YAW_TMT 10
 param set-default EKF2_ARSP_THR 10
 param set-default EKF2_FUSE_BETA 1
 
-param set-default HTE_VXY_THR 2.0
+param set-default HTE_VXY_THR 2
 
 param set-default MIS_TKO_LAND_REQ 2
 

ROMFS/px4fmu_common/init.d/rcS

@@ -170,7 +170,7 @@ else
 		param select-backup $PARAM_BACKUP_FILE
 	fi
 
-	if ver hwcmp PX4_FMU_V5X PX4_FMU_V6X ARK_FMU_V6X PX4_FMU_V6XRT
+	if mft query -q -k MFT -s MFT_ETHERNET -v 1
 	then
 		netman update -i eth0
 	fi
@@ -439,7 +439,12 @@ else
 	#
 	# Start a thermal calibration if required.
 	#
-	. ${R}etc/init.d/rc.thermal_cal
+	set RC_THERMAL_CAL ${R}etc/init.d/rc.thermal_cal
+	if [ -f ${RC_THERMAL_CAL} ]
+	then
+		. ${RC_THERMAL_CAL}
+	fi
+	unset RC_THERMAL_CAL
 
 	#
 	# Start gimbal to control mounts such as gimbals, disabled by default.
@@ -500,7 +505,12 @@ else
 	#
 	# Start the logger.
 	#
-	. ${R}etc/init.d/rc.logging
+	set RC_LOGGING ${R}etc/init.d/rc.logging
+	if [ -f ${RC_LOGGING} ]
+	then
+		. ${RC_LOGGING}
+	fi
+	unset RC_LOGGING
 
 	#
 	# Set additional parameters and env variables for selected AUTOSTART.

boards/ark/fmu-v6x/init/rc.board_defaults

@@ -22,12 +22,12 @@ param set-default SENS_IMU_TEMP 10.0
 #param set-default SENS_IMU_TEMP_I 0.025
 #param set-default SENS_IMU_TEMP_P 1.0
 
-if ver hwtypecmp ARKV6X000000 ARKV6X001000 ARKV6X002000 ARKV6X003000 ARKV6X004000 ARKV6X005000 ARKV6X006000 ARKV6X007000
+if ver hwtypecmp ARKV6X000
 then
 	param set-default SENS_TEMP_ID 2818058
 fi
 
-if ver hwtypecmp ARKV6X000001 ARKV6X001001 ARKV6X002001 ARKV6X003001 ARKV6X004001 ARKV6X005001 ARKV6X006001 ARKV6X007001
+if ver hwtypecmp ARKV6X001
 then
 	param set-default SENS_TEMP_ID 3014666
 fi

boards/ark/fmu-v6x/init/rc.board_sensors

@@ -5,7 +5,7 @@
 set HAVE_PM2 yes
 set HAVE_PM3 yes
 
-if ver hwtypecmp ARKV6X005000 ARKV6X005001 ARKV6X005002 ARKV6X005003 ARKV6X005004
+if mft query -q -k MFT -s MFT_PM2 -v 0
 then
 	set HAVE_PM2 no
 	set HAVE_PM3 no
@@ -66,7 +66,7 @@ then
 	fi
 fi
 
-if ver hwtypecmp ARKV6X000000 ARKV6X001000 ARKV6X002000 ARKV6X003000 ARKV6X004000 ARKV6X005000 ARKV6X006000 ARKV6X007000
+if ver hwtypecmp ARKV6X000
 then
 	# Internal SPI bus IIM42652 with SPIX measured frequency of 32.051kHz
 	iim42652 -R 3 -s -b 1 -C 32051 start
@@ -78,7 +78,7 @@ then
 	icm42688p -R 6 -s -b 3 -C 32051 start
 fi
 
-if ver hwtypecmp ARKV6X000001 ARKV6X001001 ARKV6X002001 ARKV6X003001 ARKV6X004001 ARKV6X005001 ARKV6X006001 ARKV6X007001
+if ver hwtypecmp ARKV6X001
 then
 	# Internal SPI bus IIM42653 with SPIX measured frequency of 32.051kHz
 	#iim42653 -R 3 -s -b 1 -C 32051 start

boards/ark/fmu-v6x/nuttx-config/include/board.h

@@ -248,7 +248,7 @@
 
 /* ADC 1 2 3 clock source */
 
-#define STM32_RCC_D3CCIPR_ADCSEL     RCC_D3CCIPR_ADCSEL_PLL2
+#define STM32_RCC_D3CCIPR_ADCSRC     RCC_D3CCIPR_ADCSEL_PLL2
 
 /* FDCAN 1 2 clock source */
 
@@ -380,7 +380,7 @@
 #define GPIO_UART5_RX    GPIO_UART5_RX_3    /* PD2  */
 #define GPIO_UART5_TX    GPIO_UART5_TX_3    /* PC12 */
 // GPIO_UART5_RTS  No remap                 /* PC8  */
-// GPIO_UART5_CTS  No remap                 /* PC9  */
+#define GPIO_UART5_CTS   (GPIO_ALT|GPIO_AF8|GPIO_PORTC|GPIO_PIN9|GPIO_PULLDOWN)    /* PC9  */
 
 #define GPIO_USART6_RX   GPIO_USART6_RX_1   /* PC7 */
 #define GPIO_USART6_TX   GPIO_USART6_TX_1   /* PC6  */

boards/ark/fmu-v6x/src/CMakeLists.txt

@@ -55,7 +55,6 @@ else()
 		init.c
 		led.c
 		mtd.cpp
-		manifest.c
 		sdio.c
 		spi.cpp
 		spix_sync.c

boards/ark/fmu-v6x/src/board_config.h

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2016-2022 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2016-2024 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -204,25 +204,17 @@
 #define BOARD_ADC_OPEN_CIRCUIT_V     (5.6f)
 
 /* HW Version and Revision drive signals Default to 1 to detect */
-#define BOARD_HAS_HW_VERSIONING
+#define BOARD_HAS_HW_SPLIT_VERSIONING
 
 #define GPIO_HW_VER_REV_DRIVE  /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
 #define GPIO_HW_REV_SENSE      /* PH4 */  GPIO_ADC3_INP15
 #define GPIO_HW_VER_SENSE      /* PH3 */  GPIO_ADC3_INP14
 #define HW_INFO_INIT_PREFIX    "ARKV6X"
 
-#define BOARD_NUM_SPI_CFG_HW_VERSIONS 8 // Rev 0 and Rev 1
+#define BOARD_NUM_SPI_CFG_HW_VERSIONS 2
 //                 Base/FMUM
-#define ARKV6X00   HW_VER_REV(0x0,0x0) // ARKV6X,     Sensor Set  Rev 0
-#define ARKV6X01   HW_VER_REV(0x0,0x1) // ARKV6X,     Sensor Set  Rev 1
-//#define ARKV6X03   HW_VER_REV(0x0,0x3) // ARKV6X,     Sensor Set  Rev 3
-//#define ARKV6X04   HW_VER_REV(0x0,0x4) // ARKV6X,     Sensor Set  Rev 4
-#define ARKV6X10   HW_VER_REV(0x1,0x0) // NO PX4IO,   Sensor Set  Rev 0
-#define ARKV6X11   HW_VER_REV(0x1,0x1) // NO PX4IO,   Sensor Set  Rev 1
-#define ARKV6X40   HW_VER_REV(0x4,0x0) // ARKV6X,     Sensor Set  Rev 0   HB CM4 base Rev 3
-#define ARKV6X41   HW_VER_REV(0x4,0x1) // ARKV6X,     Sensor Set  Rev 1   HB CM4 base Rev 4
-#define ARKV6X50   HW_VER_REV(0x5,0x0) // ARKV6X,     Sensor Set  Rev 0   HB Mini Rev 5
-#define ARKV6X51   HW_VER_REV(0x5,0x1) // ARKV6X,     Sensor Set  Rev 1   HB Mini Rev 1 // never shipped
+#define ARKV6X_0   HW_FMUM_ID(0x0) // ARKV6X,     Sensor Set  Rev 0
+#define ARKV6X_1   HW_FMUM_ID(0x1) // ARKV6X,     Sensor Set  Rev 1
 
 #define UAVCAN_NUM_IFACES_RUNTIME  1
 

boards/ark/fmu-v6x/src/manifest.c

@@ -1,216 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2022 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file manifest.c
- *
- * This module supplies the interface to the manifest of hardware that is
- * optional and dependent on the HW REV and HW VER IDs
- *
- * The manifest allows the system to know whether a hardware option
- * say for example the PX4IO is an no-pop option vs it is broken.
- *
- */
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <nuttx/config.h>
-#include <board_config.h>
-
-#include <inttypes.h>
-#include <stdbool.h>
-#include <syslog.h>
-
-#include "systemlib/px4_macros.h"
-
-/****************************************************************************
- * Pre-Processor Definitions
- ****************************************************************************/
-
-typedef struct {
-	uint32_t                hw_ver_rev; /* the version and revision */
-	const px4_hw_mft_item_t *mft;       /* The first entry */
-	uint32_t                entries;    /* the lenght of the list */
-} px4_hw_mft_list_entry_t;
-
-typedef px4_hw_mft_list_entry_t *px4_hw_mft_list_entry;
-#define px4_hw_mft_list_uninitialized (px4_hw_mft_list_entry) -1
-
-static const px4_hw_mft_item_t device_unsupported = {0, 0, 0};
-
-// List of components on a specific board configuration
-// The index of those components is given by the enum (px4_hw_mft_item_id_t)
-// declared in board_common.h
-static const px4_hw_mft_item_t hw_mft_list_v0600[] = {
-	{
-		//  PX4_MFT_PX4IO
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-	{
-		// PX4_MFT_USB
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-	{
-		// PX4_MFT_CAN2
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-};
-
-static const px4_hw_mft_item_t hw_mft_list_v0610[] = {
-	{
-		//  PX4_MFT_PX4IO
-		.present     = 0,
-		.mandatory   = 0,
-		.connection  = px4_hw_con_unknown,
-	},
-	{
-		// PX4_MFT_USB
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-	{
-		// PX4_MFT_CAN2
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-};
-
-static const px4_hw_mft_item_t hw_mft_list_v0640[] = {
-	{
-		//  PX4_MFT_PX4IO
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-	{
-		// PX4_MFT_USB
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-	{
-		// PX4_MFT_CAN2
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-};
-
-static const px4_hw_mft_item_t hw_mft_list_v0650[] = {
-	{
-		//  PX4_MFT_PX4IO
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_unknown,
-	},
-	{
-		// PX4_MFT_USB
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-	{
-		// PX4_MFT_CAN2
-		.present     = 0,
-		.mandatory   = 0,
-		.connection  = px4_hw_con_unknown,
-	},
-};
-
-
-static px4_hw_mft_list_entry_t mft_lists[] = {
-//  ver_rev
-	{ARKV6X00, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // ARKV6X,     Sensor Set  Rev 0
-	{ARKV6X01, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // ARKV6X,     Sensor Set  Rev 1
-	{ARKV6X10, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // NO PX4IO,   Sensor Set  Rev 0
-	{ARKV6X11, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // NO PX4IO,   Sensor Set  Rev 1
-	{ARKV6X40, hw_mft_list_v0640, arraySize(hw_mft_list_v0640)}, // ARKV6X,     Sensor Set  Rev 0   HB CM4 base Rev 3
-	{ARKV6X41, hw_mft_list_v0640, arraySize(hw_mft_list_v0640)}, // ARKV6X,     Sensor Set  Rev 1   HB CM4 base Rev 4
-	{ARKV6X50, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // ARKV6X,     Sensor Set  Rev 0   HB Mini Rev 5
-	{ARKV6X51, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // ARKV6X,     Sensor Set  Rev 1   HB Mini Rev 1 // never shipped
-};
-
-/************************************************************************************
- * Name: board_query_manifest
- *
- * Description:
- *   Optional returns manifest item.
- *
- * Input Parameters:
- *   manifest_id - the ID for the manifest item to retrieve
- *
- * Returned Value:
- *   0 - item is not in manifest => assume legacy operations
- *   pointer to a manifest item
- *
- ************************************************************************************/
-
-__EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
-{
-	static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized;
-
-	if (boards_manifest == px4_hw_mft_list_uninitialized) {
-		uint32_t ver_rev = board_get_hw_version() << 16;
-		ver_rev |= board_get_hw_revision();
-
-		for (unsigned i = 0; i < arraySize(mft_lists); i++) {
-			if (mft_lists[i].hw_ver_rev == ver_rev) {
-				boards_manifest = &mft_lists[i];
-				break;
-			}
-		}
-
-		if (boards_manifest == px4_hw_mft_list_uninitialized) {
-			syslog(LOG_ERR, "[boot] Board %08" PRIx32 " is not supported!\n", ver_rev);
-		}
-	}
-
-	px4_hw_mft_item rv = &device_unsupported;
-
-	if (boards_manifest != px4_hw_mft_list_uninitialized &&
-	    id < boards_manifest->entries) {
-		rv = &boards_manifest->mft[id];
-	}
-
-	return rv;
-}

boards/ark/fmu-v6x/src/mtd.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2022 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2024 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -31,6 +31,9 @@
  *
  ****************************************************************************/
 
+#include <nuttx/config.h>
+#include <board_config.h>
+
 #include <nuttx/spi/spi.h>
 #include <px4_platform_common/px4_manifest.h>
 //                                                              KiB BS    nB
@@ -86,10 +89,16 @@ static const px4_mft_entry_s mtd_mft = {
 	.pmft = (void *) &board_mtd_config,
 };
 
+static const px4_mft_entry_s mft_mft = {
+	.type = MFT,
+	.pmft = (void *) system_query_manifest,
+};
+
 static const px4_mft_s mft = {
-	.nmft = 1,
+	.nmft = 2,
 	.mfts = {
-		&mtd_mft
+		&mtd_mft,
+		&mft_mft,
 	}
 };
 

boards/ark/fmu-v6x/src/spi.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2022 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2024 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -36,7 +36,7 @@
 #include <nuttx/spi/spi.h>
 
 constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSIONS] = {
-	initSPIHWVersion(ARKV6X00, {
+	initSPIFmumID(ARKV6X_0, {
 		initSPIBus(SPI::Bus::SPI1, {
 			initSPIDevice(DRV_IMU_DEVTYPE_IIM42652, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
 		}, {GPIO::PortI, GPIO::Pin11}),
@@ -59,145 +59,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}),
 	}),
 
-	initSPIHWVersion(ARKV6X01, {
-		initSPIBus(SPI::Bus::SPI1, {
-			initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
-		}, {GPIO::PortI, GPIO::Pin11}),
-		initSPIBus(SPI::Bus::SPI2, {
-			initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
-		}, {GPIO::PortF, GPIO::Pin4}),
-		initSPIBus(SPI::Bus::SPI3, {
-			initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
-		}, {GPIO::PortE, GPIO::Pin7}),
-		//  initSPIBus(SPI::Bus::SPI4, {
-		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
-		//  }, {GPIO::PortG, GPIO::Pin8}),
-		initSPIBus(SPI::Bus::SPI5, {
-			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
-		}),
-		initSPIBusExternal(SPI::Bus::SPI6, {
-			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
-			initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
-		}),
-	}),
-
-	initSPIHWVersion(ARKV6X10, {
-		initSPIBus(SPI::Bus::SPI1, {
-			initSPIDevice(DRV_IMU_DEVTYPE_IIM42652, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
-		}, {GPIO::PortI, GPIO::Pin11}),
-		initSPIBus(SPI::Bus::SPI2, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
-		}, {GPIO::PortF, GPIO::Pin4}),
-		initSPIBus(SPI::Bus::SPI3, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
-		}, {GPIO::PortE, GPIO::Pin7}),
-		//  initSPIBus(SPI::Bus::SPI4, {
-		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
-		//  }, {GPIO::PortG, GPIO::Pin8}),
-		initSPIBus(SPI::Bus::SPI5, {
-			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
-		}),
-		initSPIBusExternal(SPI::Bus::SPI6, {
-			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
-			initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
-		}),
-	}),
-
-	initSPIHWVersion(ARKV6X11, {
-		initSPIBus(SPI::Bus::SPI1, {
-			initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
-		}, {GPIO::PortI, GPIO::Pin11}),
-		initSPIBus(SPI::Bus::SPI2, {
-			initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
-		}, {GPIO::PortF, GPIO::Pin4}),
-		initSPIBus(SPI::Bus::SPI3, {
-			initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
-		}, {GPIO::PortE, GPIO::Pin7}),
-		//  initSPIBus(SPI::Bus::SPI4, {
-		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
-		//  }, {GPIO::PortG, GPIO::Pin8}),
-		initSPIBus(SPI::Bus::SPI5, {
-			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
-		}),
-		initSPIBusExternal(SPI::Bus::SPI6, {
-			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
-			initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
-		}),
-	}),
-
-	initSPIHWVersion(ARKV6X40, {
-		initSPIBus(SPI::Bus::SPI1, {
-			initSPIDevice(DRV_IMU_DEVTYPE_IIM42652, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
-		}, {GPIO::PortI, GPIO::Pin11}),
-		initSPIBus(SPI::Bus::SPI2, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
-		}, {GPIO::PortF, GPIO::Pin4}),
-		initSPIBus(SPI::Bus::SPI3, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
-		}, {GPIO::PortE, GPIO::Pin7}),
-		//  initSPIBus(SPI::Bus::SPI4, {
-		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
-		//  }, {GPIO::PortG, GPIO::Pin8}),
-		initSPIBus(SPI::Bus::SPI5, {
-			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
-		}),
-		initSPIBusExternal(SPI::Bus::SPI6, {
-			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
-			initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
-		}),
-	}),
-
-	initSPIHWVersion(ARKV6X41, {
-		initSPIBus(SPI::Bus::SPI1, {
-			initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
-		}, {GPIO::PortI, GPIO::Pin11}),
-		initSPIBus(SPI::Bus::SPI2, {
-			initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
-		}, {GPIO::PortF, GPIO::Pin4}),
-		initSPIBus(SPI::Bus::SPI3, {
-			initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
-		}, {GPIO::PortE, GPIO::Pin7}),
-		//  initSPIBus(SPI::Bus::SPI4, {
-		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
-		//  }, {GPIO::PortG, GPIO::Pin8}),
-		initSPIBus(SPI::Bus::SPI5, {
-			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
-		}),
-		initSPIBusExternal(SPI::Bus::SPI6, {
-			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
-			initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
-		}),
-	}),
-
-	initSPIHWVersion(ARKV6X50, {
-		initSPIBus(SPI::Bus::SPI1, {
-			initSPIDevice(DRV_IMU_DEVTYPE_IIM42652, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
-		}, {GPIO::PortI, GPIO::Pin11}),
-		initSPIBus(SPI::Bus::SPI2, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
-		}, {GPIO::PortF, GPIO::Pin4}),
-		initSPIBus(SPI::Bus::SPI3, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
-		}, {GPIO::PortE, GPIO::Pin7}),
-		//  initSPIBus(SPI::Bus::SPI4, {
-		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
-		//  }, {GPIO::PortG, GPIO::Pin8}),
-		initSPIBus(SPI::Bus::SPI5, {
-			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
-		}),
-		initSPIBusExternal(SPI::Bus::SPI6, {
-			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
-			initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
-		}),
-	}),
-
-	initSPIHWVersion(ARKV6X51, {
+	initSPIFmumID(ARKV6X_1, {
 		initSPIBus(SPI::Bus::SPI1, {
 			initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
 		}, {GPIO::PortI, GPIO::Pin11}),

boards/ark/septentrio-gps/canbootloader.px4board

@@ -0,0 +1,5 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m4"
+CONFIG_BOARD_ROMFSROOT=""
+CONFIG_BOARD_CONSTRAINED_MEMORY=y
+CONFIG_DRIVERS_BOOTLOADERS=y

boards/ark/septentrio-gps/default.px4board

@@ -0,0 +1,37 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m4"
+CONFIG_BOARD_ROMFSROOT="cannode"
+CONFIG_BOARD_NO_HELP=y
+CONFIG_BOARD_CONSTRAINED_MEMORY=y
+CONFIG_DRIVERS_BAROMETER_BMP388=y
+CONFIG_DRIVERS_BOOTLOADERS=y
+CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
+CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150=y
+CONFIG_DRIVERS_SAFETY_BUTTON=y
+CONFIG_DRIVERS_TONE_ALARM=y
+CONFIG_BOARD_UAVCAN_INTERFACES=1
+CONFIG_DRIVERS_UAVCANNODE=y
+CONFIG_UAVCANNODE_BEEP_COMMAND=y
+CONFIG_UAVCANNODE_GNSS_FIX=y
+CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
+CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
+CONFIG_UAVCANNODE_RTK_DATA=y
+CONFIG_UAVCANNODE_SAFETY_BUTTON=y
+CONFIG_UAVCANNODE_STATIC_PRESSURE=y
+CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
+CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
+CONFIG_MODULES_SENSORS=y
+# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
+# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
+# CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
+CONFIG_SYSTEMCMDS_TOP=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y

boards/ark/septentrio-gps/firmware.prototype

@@ -0,0 +1,13 @@
+{
+    "board_id": 84,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the ARK Septentrio GPS board",
+    "image": "",
+    "build_time": 0,
+    "summary": "ARKSEPTENTRIOGPS",
+    "version": "0.1",
+    "image_size": 0,
+    "image_maxsize": 2080768,
+    "git_identity": "",
+    "board_revision": 0
+}