PX4 ROS2 msg conformity and explicit topics

- .msg files are PascalCase - topics are still either per msg or explicitly listed in TOPICS - compatible structs are still generated (eg struct msg_s), but ROS2 style px4::msg::Msg is also available
2026-06-05 19:30:05 +08:00 · 2022-03-07 10:36:27 -05:00
1230 changed files with 18973 additions and 90693 deletions
@@ -52,36 +52,28 @@ pipeline {
                     "cuav_x7pro_default",
                     "cubepilot_cubeorange_default",
                     "cubepilot_cubeyellow_default",
-                     "diatone_mamba-f405-mk2_default",
                     "freefly_can-rtk-gps_canbootloader",
                     "freefly_can-rtk-gps_default",
                     "holybro_can-gps-v1_canbootloader",
                     "holybro_can-gps-v1_default",
                     "holybro_durandal-v1_default",
                     "holybro_kakutef7_default",
-                     "holybro_kakuteh7_default",
                     "holybro_pix32v5_default",
                     "matek_h743-slim",
                     "matek_gnss-m9n-f4_canbootloader",
                     "matek_gnss-m9n-f4_default",
                     "modalai_fc-v1_default",
-                     "modalai_fc-v1_rtps",
                     "modalai_fc-v2_default",
                     "mro_ctrl-zero-f7_default",
                     "mro_ctrl-zero-f7-oem_default",
                     "mro_ctrl-zero-h7_default",
-                     "mro_ctrl-zero-h7_rtps",
                     "mro_ctrl-zero-h7-oem_default",
-                     "mro_ctrl-zero-h7-oem_rtps",
                     "mro_pixracerpro_default",
-                     "mro_pixracerpro_rtps",
                     "mro_x21-777_default",
                     "mro_x21_default",
                     "nxp_fmuk66-e_default",
-                     "nxp_fmuk66-e_rtps",
                     "nxp_fmuk66-e_socketcan",
                     "nxp_fmuk66-v3_default",
-                     "nxp_fmuk66-v3_rtps",
                     "nxp_fmuk66-v3_socketcan",
                     "nxp_fmurt1062-v1_default",
                     "nxp_ucans32k146_canbootloader",
@@ -92,22 +84,18 @@ pipeline {
                     "px4_fmu-v2_fixedwing",
                     "px4_fmu-v2_multicopter",
                     "px4_fmu-v2_rover",
-                     "px4_fmu-v2_lto",
                     "px4_fmu-v3_default",
                     "px4_fmu-v4_default",
                     "px4_fmu-v4pro_default",
                     "px4_fmu-v5_debug",
                     "px4_fmu-v5_default",
-                     "px4_fmu-v5_rtps",
                     "px4_fmu-v5_stackcheck",
                     "px4_fmu-v5_uavcanv0periph",
                     "px4_fmu-v5_uavcanv1",
-                     "px4_fmu-v5_lto",
                     "px4_fmu-v5x_default",
                     "px4_fmu-v6u_default",
                     "px4_fmu-v6x_default",
                     "px4_io-v2_default",
-                     "sky-drones_smartap-airlink_default",
                     "spracing_h7extreme_default",
                     "uvify_core_default"
            ],
@@ -705,21 +705,18 @@ void quickCalibrate() {

  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gyro_calibration status || true"'

-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate accel quick; sleep 1"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate accel quick"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_ACC*"'

-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate gyro; sleep 2"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate gyro"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_GYRO*"'

-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate level; sleep 2"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate level"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SENS*"'

-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate mag quick; sleep 1"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate mag quick"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_MAG*"'

-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate baro; sleep 5"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_BARO*"'
-
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_*"' // parameters after
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
 }
@@ -23,7 +23,6 @@ jobs:
          "shellcheck_all",
          "NO_NINJA_BUILD=1 px4_fmu-v5_default",
          "NO_NINJA_BUILD=1 px4_sitl_default",
-          "BUILD_MICRORTPS_AGENT=1 px4_sitl_rtps",
          "airframe_metadata",
          "module_documentation",
          "parameters_metadata",
@@ -20,7 +20,6 @@ jobs:
          ark_can-flow,
          ark_can-gps,
          ark_can-rtk-gps,
-          ark_cannode,
          atl_mantis-edu,
          av_x-v1,
          bitcraze_crazyflie,
@@ -30,7 +29,6 @@ jobs:
          cuav_x7pro,
          cubepilot_cubeorange,
          cubepilot_cubeyellow,
-          diatone_mamba-f405-mk2,
          freefly_can-rtk-gps,
          holybro_can-gps-v1,
          holybro_durandal-v1,
@@ -62,7 +60,6 @@ jobs:
          px4_fmu-v5x,
          px4_fmu-v6u,
          px4_fmu-v6x,
-          sky-drones_smartap-airlink,
          spracing_h7extreme,
          uvify_core
          ]
@@ -115,43 +115,3 @@ jobs:
        cd Tools/uorb_graph
        ls -ls *
      # TODO: deploy graph_px4_sitl.json to S3 px4-travis:Firmware/master/
-
-  micrortps_agent:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: microRTPS agent
-      run: |
-        make px4_sitl_rtps
-        git clone https://github.com/PX4/micrortps_agent.git
-        cp -R build/px4_sitl_rtps/src/modules/micrortps_bridge/micrortps_agent/* micrortps_agent
-
-  ROS_msgs:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: PX4 ROS msgs
-      run: |
-        git clone https://github.com/PX4/px4_msgs.git
-        python3 msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/
-
-  ROS2_bridge:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: PX4 ROS2 bridge
-      run: |
-        git clone https://github.com/PX4/px4_ros_com.git
-        ./msg/tools/uorb_to_ros_urtps_topics.py -i msg/tools/urtps_bridge_topics.yaml -o px4_ros_com/templates/urtps_bridge_topics.yaml
@@ -29,9 +29,9 @@ jobs:
        token: ${{ secrets.ACCESS_TOKEN }}

    - name: Download MAVSDK
-      run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
+      run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/mavsdk_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
    - name: Install MAVSDK
-      run: dpkg -i "libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
+      run: dpkg -i "mavsdk_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"

    - name: Prepare ccache timestamp
      id: ccache_cache_timestamp
@@ -18,10 +18,6 @@
 	path = src/drivers/gps/devices
 	url = https://github.com/PX4/PX4-GPSDrivers.git
 	branch = master
-[submodule "src/modules/micrortps_bridge/micro-CDR"]
-	path = src/modules/micrortps_bridge/micro-CDR
-	url = https://github.com/PX4/Micro-CDR.git
-	branch = master
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
 	url = https://github.com/PX4/NuttX.git
@@ -64,6 +60,3 @@
 	path = src/lib/crypto/libtommath
 	url = https://github.com/PX4/libtommath.git
 	branch = px4
-[submodule "src/modules/microdds_client/Micro-XRCE-DDS-Client"]
-	path = src/modules/microdds_client/Micro-XRCE-DDS-Client
-	url = https://github.com/eProsima/Micro-XRCE-DDS-Client.git
@@ -6,11 +6,6 @@ CONFIG:
      buildType: RelWithDebInfo
      settings:
        CONFIG: px4_sitl_default
-    px4_sitl_rtps:
-      short: px4_sitl_rtps
-      buildType: RelWithDebInfo
-      settings:
-        CONFIG: px4_sitl_rtps
    px4_sitl_asan:
      short: px4_sitl (AddressSanitizer)
      buildType: AddressSanitizer
@@ -31,6 +26,11 @@ CONFIG:
      buildType: RelWithDebInfo
      settings:
        CONFIG: px4_sitl_test
+    px4_ros2_default:
+      short: px4_ros2
+      buildType: RelWithDebInfo
+      settings:
+        CONFIG: px4_ros2_default
    px4_io-v2_default:
      short: px4_io-v2
      buildType: MinSizeRel
@@ -121,16 +121,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: ark_can-rtk-gps_canbootloader
-    ark_cannode_default:
-      short: ark_cannode_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_cannode_default
-    ark_cannode_canbootloader:
-      short: ark_cannode_canbootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_cannode_canbootloader
    atl_mantis-edu_default:
      short: atl_mantis-edu
      buildType: MinSizeRel
@@ -6,7 +6,7 @@
        "C_Cpp.autoAddFileAssociations": false,
        "C_Cpp.clang_format_fallbackStyle": "none",
        "C_Cpp.default.browse.limitSymbolsToIncludedHeaders": true,
-        "C_Cpp.default.cppStandard": "c++14",
+        "C_Cpp.default.cppStandard": "c++17",
        "C_Cpp.default.cStandard": "c11",
        "C_Cpp.formatting": "Disabled",
        "C_Cpp.intelliSenseEngine": "Default",
@@ -121,6 +121,7 @@
                "variant": "cpp",
                "vector": "cpp"
        },
+        "ros.distro": "foxy",
        "search.exclude": {
                "${workspaceFolder}/build": true
        },
@@ -136,5 +137,7 @@
        "yaml.schemas": {
                "${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml"
        },
-        "cortex-debug.openocdPath": "${env:PICO_SDK_PATH}/../openocd/src/openocd"       // Added for rp2040
+        "python.autoComplete.extraPaths": [
+                "/opt/ros/foxy/lib/python3.8/site-packages"
+        ]
 }
@@ -1,172 +0,0 @@
-# This file is NOT licensed under the GPLv3, which is the license for the rest
-# of YouCompleteMe.
-#
-# Here's the license text for this file:
-#
-# This is free and unencumbered software released into the public domain.
-#
-# Anyone is free to copy, modify, publish, use, compile, sell, or
-# distribute this software, either in source code form or as a compiled
-# binary, for any purpose, commercial or non-commercial, and by any
-# means.
-#
-# In jurisdictions that recognize copyright laws, the author or authors
-# of this software dedicate any and all copyright interest in the
-# software to the public domain. We make this dedication for the benefit
-# of the public at large and to the detriment of our heirs and
-# successors. We intend this dedication to be an overt act of
-# relinquishment in perpetuity of all present and future rights to this
-# software under copyright law.
-#
-# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
-# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
-# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
-# IN NO EVENT SHALL THE AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR
-# OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
-# ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
-# OTHER DEALINGS IN THE SOFTWARE.
-#
-# For more information, please refer to <http://unlicense.org/>
-
-import os
-import ycm_core
-
-# These are the compilation flags that will be used in case there's no
-# compilation database set (by default, one is not set).
-# CHANGE THIS LIST OF FLAGS. YES, THIS IS THE DROID YOU HAVE BEEN LOOKING FOR.
-flags = [
-'-Wall',
-'-Wextra',
-'-Werror',
-#'-Wc++98-compat',
-'-Wno-long-long',
-'-Wno-variadic-macros',
-'-fexceptions',
-'-DNDEBUG',
-# You 100% do NOT need -DUSE_CLANG_COMPLETER in your flags; only the YCM
-# source code needs it.
-#'-DUSE_CLANG_COMPLETER',
-# THIS IS IMPORTANT! Without a "-std=<something>" flag, clang won't know which
-# language to use when compiling headers. So it will guess. Badly. So C++
-# headers will be compiled as C headers. You don't want that so ALWAYS specify
-# a "-std=<something>".
-# For a C project, you would set this to something like 'c99' instead of
-# 'c++14'.
-'-std=c++14',
-# ...and the same thing goes for the magic -x option which specifies the
-# language that the files to be compiled are written in. This is mostly
-# relevant for c++ headers.
-# For a C project, you would set this to 'c' instead of 'c++'.
-'-x',
-'c++',
-'-undef', # get rid of standard definitions to allow us to include arm math header
-'-I', os.path.join(os.path.expanduser("~"),'gcc-arm-none-eabi-4_7-2013q3/arm-none-eabi/include'),
-'-I', 'Build/px4_io-v2_default.build/nuttx-export/include/',
-'-I', './NuttX/nuttx/arch/arm/include',
-'-include', './src/include/visibility.h',
-'-I', './src',
-'-I', './src/modules',
-'-I', './src/include',
-'-I', './src/lib',
-'-I', './NuttX',
-]
-
-
-# Set this to the absolute path to the folder (NOT the file!) containing the
-# compile_commands.json file to use that instead of 'flags'. See here for
-# more details: http://clang.llvm.org/docs/JSONCompilationDatabase.html
-#
-# Most projects will NOT need to set this to anything; you can just change the
-# 'flags' list of compilation flags. Notice that YCM itself uses that approach.
-compilation_database_folder = ''
-
-if os.path.exists( compilation_database_folder ):
-  database = ycm_core.CompilationDatabase( compilation_database_folder )
-else:
-  database = None
-
-SOURCE_EXTENSIONS = [ '.cpp', '.cxx', '.cc', '.c', '.m', '.mm' ]
-
-def DirectoryOfThisScript():
-  return os.path.dirname( os.path.abspath( __file__ ) )
-
-
-def MakeRelativePathsInFlagsAbsolute( flags, working_directory ):
-  if not working_directory:
-    return list( flags )
-  new_flags = []
-  make_next_absolute = False
-  path_flags = [ '-isystem', '-I', '-iquote', '--sysroot=' ]
-  for flag in flags:
-    new_flag = flag
-
-    if make_next_absolute:
-      make_next_absolute = False
-      if not flag.startswith( '/' ):
-        new_flag = os.path.join( working_directory, flag )
-
-    for path_flag in path_flags:
-      if flag == path_flag:
-        make_next_absolute = True
-        break
-
-      if flag.startswith( path_flag ):
-        path = flag[ len( path_flag ): ]
-        new_flag = path_flag + os.path.join( working_directory, path )
-        break
-
-    if new_flag:
-      new_flags.append( new_flag )
-  return new_flags
-
-
-def IsHeaderFile( filename ):
-  extension = os.path.splitext( filename )[ 1 ]
-  return extension in [ '.h', '.hxx', '.hpp', '.hh' ]
-
-
-def GetCompilationInfoForFile( filename ):
-  # The compilation_commands.json file generated by CMake does not have entries
-  # for header files. So we do our best by asking the db for flags for a
-  # corresponding source file, if any. If one exists, the flags for that file
-  # should be good enough.
-  if IsHeaderFile( filename ):
-    basename = os.path.splitext( filename )[ 0 ]
-    for extension in SOURCE_EXTENSIONS:
-      replacement_file = basename + extension
-      if os.path.exists( replacement_file ):
-        compilation_info = database.GetCompilationInfoForFile(
-          replacement_file )
-        if compilation_info.compiler_flags_:
-          return compilation_info
-    return None
-  return database.GetCompilationInfoForFile( filename )
-
-
-def FlagsForFile( filename, **kwargs ):
-  if database:
-    # Bear in mind that compilation_info.compiler_flags_ does NOT return a
-    # python list, but a "list-like" StringVec object
-    compilation_info = GetCompilationInfoForFile( filename )
-    if not compilation_info:
-      return None
-
-    final_flags = MakeRelativePathsInFlagsAbsolute(
-      compilation_info.compiler_flags_,
-      compilation_info.compiler_working_dir_ )
-
-    # NOTE: This is just for YouCompleteMe; it's highly likely that your project
-    # does NOT need to remove the stdlib flag. DO NOT USE THIS IN YOUR
-    # ycm_extra_conf IF YOU'RE NOT 100% SURE YOU NEED IT.
-    #try:
-    #  final_flags.remove( '-stdlib=libc++' )
-    #except ValueError:
-    #  pass
-  else:
-    relative_to = DirectoryOfThisScript()
-    final_flags = MakeRelativePathsInFlagsAbsolute( flags, relative_to )
-
-  return {
-    'flags': final_flags,
-    'do_cache': True
-  }
@@ -1,6 +1,6 @@
 ############################################################################
 #
-# Copyright (c) 2017 - 2019 PX4 Development Team. All rights reserved.
+# Copyright (c) 2017 - 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
@@ -99,7 +99,9 @@
 #
 #=============================================================================

-cmake_minimum_required(VERSION 3.9 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.2 FATAL_ERROR)
+
+cmake_policy(SET CMP0058 NEW)

 set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}" CACHE FILEPATH "PX4 source directory" FORCE)
 set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}" CACHE FILEPATH "PX4 binary directory" FORCE)
@@ -138,30 +140,41 @@ define_property(GLOBAL PROPERTY PX4_SRC_FILES
                 BRIEF_DOCS "src files from all PX4 modules & libs"
                 FULL_DOCS "SRC files from px4_add_{module,library}"
                 )
-
+define_property(GLOBAL PROPERTY PX4_PUBLICATIONS
+                 BRIEF_DOCS "PX4 publication topics"
+                 FULL_DOCS "List of topics published by PX4 modules"
+                 )
+define_property(GLOBAL PROPERTY PX4_SUBSCRIPTIONS
+                 BRIEF_DOCS "PX4 subscription topics"
+                 FULL_DOCS "List of topics subscribed by PX4 modules"
+                 )
 #=============================================================================
 # configuration
 #

-set(CONFIG "px4_sitl_default" CACHE STRING "desired configuration")
+# default to px4_ros2_default if building within a ROS2 colcon environment
+if((DEFINED ENV{COLCON_PREFIX_PATH}) AND (DEFINED ENV{ROS_VERSION}))
+	if("$ENV{ROS_VERSION}" MATCHES "2")
+		message(STATUS "ROS_VERSION: $ENV{ROS_VERSION}")
+		set(CONFIG "px4_ros2_default" CACHE STRING "desired configuration") # TODO
+	endif()
+endif()
+
+if(NOT CONFIG)
+	set(CONFIG "px4_sitl_default" CACHE STRING "desired configuration")
+endif()

 include(px4_add_module)
 set(config_module_list)
 set(config_kernel_list)

 # Find Python
-# If using catkin, Python 2 is found since it points
-# to the Python libs installed with the ROS distro
-if (NOT CATKIN_DEVEL_PREFIX)
-	find_package(PythonInterp 3)
-	# We have a custom error message to tell users how to install python3.
-	if (NOT PYTHONINTERP_FOUND)
-		message(FATAL_ERROR "Python 3 not found. Please install Python 3:\n"
-			"    Ubuntu: sudo apt install python3 python3-dev python3-pip\n"
-			"    macOS: brew install python")
-	endif()
-else()
-	find_package(PythonInterp REQUIRED)
+find_package(PythonInterp 3)
+# We have a custom error message to tell users how to install python3.
+if(NOT PYTHONINTERP_FOUND)
+	message(FATAL_ERROR "Python 3 not found. Please install Python 3:\n"
+		"    Ubuntu: sudo apt install python3 python3-dev python3-pip\n"
+		"    macOS: brew install python")
 endif()

 option(PYTHON_COVERAGE "Python code coverage" OFF)
@@ -197,10 +210,6 @@ set_property(GLOBAL PROPERTY PX4_MODULE_CONFIG_FILES)
 include(platforms/${PX4_PLATFORM}/cmake/px4_impl_os.cmake)
 list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake)

-if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake/init.cmake")
-	include(init)
-endif()
-
 # CMake build type (Debug Release RelWithDebInfo MinSizeRel Coverage)
 if(NOT CMAKE_BUILD_TYPE)
 	if(${PX4_PLATFORM} STREQUAL "nuttx")
@@ -234,30 +243,20 @@ message(STATUS "cmake build type: ${CMAKE_BUILD_TYPE}")
 #
 project(px4 CXX C ASM)

-# Check if LTO option and check if toolchain supports it
-if(LTO)
-    include(CheckIPOSupported)
-    check_ipo_supported()
-    message(AUTHOR_WARNING "LTO enabled: LTO is highly experimental and should not be used in production")
-    set(CMAKE_INTERPROCEDURAL_OPTIMIZATION TRUE)
-endif()
-
 set(package-contact "px4users@googlegroups.com")

-set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_C_STANDARD 11)
 set(CMAKE_C_STANDARD_REQUIRED ON)
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)

-# For the catkin build process, unset build of dynamically-linked binaries
-# and do not change CMAKE_RUNTIME_OUTPUT_DIRECTORY
-if (NOT CATKIN_DEVEL_PREFIX)
-	set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PX4_BINARY_DIR})
-	set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${PX4_BINARY_DIR})
-	set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${PX4_BINARY_DIR})
-else()
-	SET(BUILD_SHARED_LIBS OFF)
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PX4_BINARY_DIR})
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${PX4_BINARY_DIR})
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${PX4_BINARY_DIR})
+
+if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake/init.cmake")
+	include(init)
 endif()

 #=============================================================================
@@ -303,21 +302,6 @@ endif()

 include(ccache)

-#=============================================================================
-# find programs and packages
-#
-
-# see if catkin was invoked to build this
-if (CATKIN_DEVEL_PREFIX)
-	message(STATUS "catkin ENABLED")
-	find_package(catkin REQUIRED)
-	if (catkin_FOUND)
-		catkin_package()
-	else()
-		message(FATAL_ERROR "catkin not found")
-	endif()
-endif()
-
 #=============================================================================
 # get chip and chip manufacturer
 #
@@ -329,13 +313,6 @@ if(NOT PX4_CHIP)
 	message(FATAL_ERROR "px4_os_determine_build_chip() needs to set PX4_CHIP")
 endif()

-#=============================================================================
-# build flags
-#
-include(px4_add_common_flags)
-px4_add_common_flags()
-px4_os_add_flags()
-
 #=============================================================================
 # board cmake init (optional)
 #
@@ -343,6 +320,13 @@ if(EXISTS ${PX4_BOARD_DIR}/cmake/init.cmake)
 	include(${PX4_BOARD_DIR}/cmake/init.cmake)
 endif()

+#=============================================================================
+# build flags
+#
+include(px4_add_common_flags)
+px4_add_common_flags()
+px4_os_add_flags()
+
 #=============================================================================
 # message, and airframe generation
 #
@@ -420,13 +404,17 @@ endif()
 # subdirectories
 #
 add_library(parameters_interface INTERFACE)
-add_library(kernel_parameters_interface INTERFACE)

 include(px4_add_library)
 add_subdirectory(src/lib EXCLUDE_FROM_ALL)

-add_subdirectory(platforms/${PX4_PLATFORM}/src/px4)
-add_subdirectory(platforms EXCLUDE_FROM_ALL)
+add_subdirectory(platforms/${PX4_PLATFORM}/src/px4 EXCLUDE_FROM_ALL)
+
+if(${PX4_PLATFORM} MATCHES "ros2") # TODO: fix
+	add_subdirectory(platforms/common/work_queue EXCLUDE_FROM_ALL)
+else()
+	add_subdirectory(platforms EXCLUDE_FROM_ALL)
+endif()

 if(EXISTS "${PX4_BOARD_DIR}/CMakeLists.txt")
 	add_subdirectory(${PX4_BOARD_DIR})
@@ -443,17 +431,131 @@ add_subdirectory(src/lib/metadata EXCLUDE_FROM_ALL)

 # must be the last module before firmware
 add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL)
-
-if(${PX4_PLATFORM} STREQUAL "nuttx" AND NOT CONFIG_BUILD_FLAT)
-target_link_libraries(parameters_interface INTERFACE usr_parameters)
-target_link_libraries(kernel_parameters_interface INTERFACE parameters)
-else()
 target_link_libraries(parameters_interface INTERFACE parameters)
-endif()

 # firmware added last to generate the builtin for included modules
 add_subdirectory(platforms/${PX4_PLATFORM})

+
+set(PX4_ORB_TOPIC_COUNT 0)
+
+if(${PX4_PLATFORM} MATCHES "ros2") # TODO: fix
+
+	configure_file(${CMAKE_SOURCE_DIR}/build/px4_fmu-v5x_default/uORBTopics.cpp ${CMAKE_BINARY_DIR}/uORBTopics.cpp COPYONLY)
+	configure_file(${CMAKE_SOURCE_DIR}/build/px4_fmu-v5x_default/uORBTopics.hpp ${CMAKE_BINARY_DIR}/uORBTopics.hpp COPYONLY)
+
+	set(PX4_ORB_TOPIC_COUNT 1)
+
+else()
+
+	get_property(publications GLOBAL PROPERTY PX4_PUBLICATIONS)
+	get_property(subscriptions GLOBAL PROPERTY PX4_SUBSCRIPTIONS)
+
+	# TODO: for now combine subsriptions and publications for complete topic list
+	list(APPEND publications ${subscriptions})
+
+	list(SORT publications)
+	list(REMOVE_DUPLICATES publications)
+
+	set(pub_all_topics)
+	set(PX4_MSG_TYPE_ID)
+	set(PX4_MSG_TOPIC_ID)
+	set(PX4_MSG_TOPIC_ID_STRING)
+	set(PX4_MSG_TOPIC_ORB_ID)
+
+	set(PX4_ORB_DECLARE_STR)
+	set(PX4_ORB_DEFINE_STR)
+	set(PX4_ORB_HEADER_INCLUDE_STR)
+
+
+	foreach(pub ${publications})
+		#message(STATUS "pub: ${pub}")
+		string(REPLACE " /" ";" pub ${pub})
+
+		list(GET pub 0 pub_type)
+		list(GET pub 1 pub_topic)
+
+		string(REPLACE "::" ";" pub_type_split ${pub_type})
+		list(GET pub_type_split 2 pub_type_simple_lower)
+
+		# Pascal case to snake case (PubType -> pub_type)
+		string(REGEX REPLACE "(.)([A-Z][a-z]+)" "\\1_\\2" pub_type_simple_lower "${pub_type_simple_lower}")
+		string(REGEX REPLACE "([a-z0-9])([A-Z])" "\\1_\\2" pub_type_simple_lower "${pub_type_simple_lower}")
+		string(TOLOWER "${pub_type_simple_lower}" pub_type_simple_lower)
+
+		#message(STATUS "pub: Type: ${pub_type}, Topic: ${pub_topic} (${pub_type_simple_lower})")
+
+
+
+
+		# pub_type to include path (eg px4::msg::VehicleStatus => px4/msg/vehicle_status.hpp)
+		#  temporary create px4/msg/vehicle_status.hpp which simply includes <uORB/topics/vehicle_status.h>
+
+
+
+
+		list(APPEND pub_all_topics ${pub_topic})
+
+		list(APPEND PX4_MSG_TYPE_ID ${pub_type})
+
+		#list(APPEND PX4_MSG_TOPIC_ID ${pub_topic})
+		set(PX4_MSG_TOPIC_ID "${PX4_MSG_TOPIC_ID}\t${pub_topic},\n")
+		#set(PX4_MSG_TOPIC_ID_STRING "${PX4_MSG_TOPIC_ID_STRING}\t"case ORB_ID::${pub_topic}: return \"${pub_topic}\";"\n")
+		set(PX4_MSG_TOPIC_ORB_ID "${PX4_MSG_TOPIC_ORB_ID}\tORB_ID(${pub_topic}),\n")
+
+		list(APPEND PX4_MSG_TOPIC_ID_STRING
+			"case ORB_ID::${pub_topic}: return \"${pub_topic}\";\n"
+		)
+
+		# PX4_MSG_TYPE_ID
+		# PX4_MSG_TOPIC_ID
+
+		# .h  ORB_DECLARE(actuator_controls_0);
+		# .c  ORB_DEFINE(actuator_controls_0, struct actuator_controls_s, 48, __orb_actuator_controls_fields, static_cast<uint8_t>(ORB_ID::actuator_controls_0));
+
+
+		set(PX4_ORB_DECLARE_STR
+			"${PX4_ORB_DECLARE_STR}ORB_DECLARE(${pub_topic});\n")
+
+		# ORB_DEFINE(actuator_armed, struct actuator_armed_s, 16, __orb_actuator_armed_fields, static_cast<uint8_t>(ORB_ID::actuator_armed));
+		set(PX4_ORB_DEFINE_STR
+			"${PX4_ORB_DEFINE_STR}ORB_DEFINE(${pub_topic}, ${pub_type}, px4_embedded::${pub_type_simple_lower}_s::SIZE_NO_PADDING, px4_embedded::${pub_type_simple_lower}_s::FIELDS, static_cast<uint8_t>(ORB_ID::${pub_topic}));\n")
+
+		set(PX4_ORB_HEADER_INCLUDE_STR
+			"${PX4_ORB_HEADER_INCLUDE_STR}#include <uORB/topics/${pub_type_simple_lower}.h>\n")
+
+		math(EXPR PX4_ORB_TOPIC_COUNT "${PX4_ORB_TOPIC_COUNT}+1")
+
+	endforeach()
+	list(REMOVE_DUPLICATES PX4_MSG_TYPE_ID)
+	#list(REMOVE_DUPLICATES PX4_MSG_TOPIC_ID)
+
+	#message(STATUS "PX4_MSG_TYPE_ID: ${PX4_MSG_TYPE_ID}")
+	#message(STATUS "PX4_MSG_TOPIC_ID: ${PX4_MSG_TOPIC_ID}")
+
+	if(PX4_ORB_TOPIC_COUNT GREATER 0)
+		configure_file(uORBTopics.cpp.in ${CMAKE_BINARY_DIR}/uORBTopics.cpp)
+		configure_file(uORBTopics.hpp.in ${CMAKE_BINARY_DIR}/uORBTopics.hpp)
+	endif()
+
+	# .hpp enum ORB_ID
+	# .cpp struct orb_metadat ORB_ID() array
+
+	foreach(f ${msg_files})
+		#message(STATUS "MSG: ${f}")
+	endforeach()
+endif()
+
+if(PX4_ORB_TOPIC_COUNT GREATER 0)
+	add_library(uorb_msgs ${uorb_headers} ${CMAKE_BINARY_DIR}/uORBTopics.cpp ${CMAKE_BINARY_DIR}/uORBTopics.hpp)
+	add_dependencies(uorb_msgs prebuild_targets uorb_headers)
+endif()
+
+if(${PX4_PLATFORM} MATCHES "ros2") # TODO: fix
+	ament_target_dependencies(uorb_msgs rclcpp std_msgs)
+	rosidl_target_interfaces(uorb_msgs ${PROJECT_NAME} "rosidl_typesupport_cpp")
+endif()
+
 #=============================================================================
 # uORB graph generation: add a custom target 'uorb_graph'
 #
@@ -481,17 +583,13 @@ include(doxygen)
 include(metadata)
 include(package)

-# print size
-add_custom_target(size
-	COMMAND size $<TARGET_FILE:px4>
-	DEPENDS px4
-	WORKING_DIRECTORY ${PX4_BINARY_DIR}
-	USES_TERMINAL
-	)
-
 # install python requirements using configured python
 add_custom_target(install_python_requirements
 	COMMAND ${PYTHON_EXECUTABLE} -m pip install --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
 	DEPENDS ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
 	USES_TERMINAL
 )
+
+if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake/finalize.cmake")
+	include(finalize)
+endif()
@@ -829,7 +829,6 @@ RECURSIVE              = YES
 # run.

 EXCLUDE                = @CMAKE_SOURCE_DIR@/src/modules/uavcan/libuavcan \
-                         @CMAKE_SOURCE_DIR@/src/modules/micrortps_bridge/micro-CDR \
                         @CMAKE_SOURCE_DIR@/src/examples \
                         @CMAKE_SOURCE_DIR@/src/templates

@@ -12,76 +12,6 @@ pipeline {
        }
      }
      parallel {
-        // stage('Catkin build on ROS workspace') {
-        //   agent {
-        //     docker {
-        //       image 'px4io/px4-dev-ros-melodic:2021-08-18'
-        //       args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
-        //     }
-        //   }
-        //   steps {
-        //     sh 'ls -l'
-        //     sh '''#!/bin/bash -l
-        //       echo $0;
-        //       mkdir -p catkin_ws/src;
-        //       cd catkin_ws;
-        //       git -C ${WORKSPACE}/catkin_ws/src/Firmware submodule update --init --recursive --force Tools/sitl_gazebo
-        //       git clone --recursive ${WORKSPACE}/catkin_ws/src/Firmware/Tools/sitl_gazebo src/mavlink_sitl_gazebo;
-        //       git -C ${WORKSPACE}/catkin_ws/src/Firmware fetch --tags;
-        //       source /opt/ros/melodic/setup.bash;
-        //       export PYTHONPATH=/opt/ros/$ROS_DISTRO/lib/python2.7/dist-packages:/usr/lib/python2.7/dist-packages:/usr/local/lib/python2.7/dist-packages;
-        //       catkin init;
-        //       catkin build -j$(nproc) -l$(nproc);
-        //     '''
-        //     // test if the binary was correctly installed and runs using 'mavros_posix_silt.launch'
-        //     sh '''#!/bin/bash -l
-        //       echo $0;
-        //       source catkin_ws/devel/setup.bash;
-        //       rostest px4 pub_test.launch;
-        //     '''
-        //   }
-        //   post {
-        //     always {
-        //       sh 'rm -rf catkin_ws'
-        //     }
-        //     failure {
-        //       archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.xml, .ros/**/*.log')
-        //     }
-        //   }
-        //   options {
-        //     checkoutToSubdirectory('catkin_ws/src/Firmware')
-        //   }
-        // }
-
-        stage('Colcon build on ROS2 workspace') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-ros2-foxy:2021-08-18'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
-            }
-          }
-          steps {
-            sh 'ls -l'
-            sh '''#!/bin/bash -l
-              echo $0;
-              unset ROS_DISTRO;
-              mkdir -p colcon_ws/src;
-              cd colcon_ws;
-              git -C ${WORKSPACE}/colcon_ws/src/Firmware submodule update --init --recursive --force Tools/sitl_gazebo;
-              git -C ${WORKSPACE}/colcon_ws/src/Firmware fetch --tags;
-              source /opt/ros/foxy/setup.sh;
-              colcon build --event-handlers console_direct+ --symlink-install;
-            '''
-          }
-          post {
-            always {
-              sh 'rm -rf colcon_ws'
-            }
-          }
-          options {
-            checkoutToSubdirectory('colcon_ws/src/Firmware')
-          }
-        }

        stage('Airframe') {
          agent {
@@ -254,108 +184,6 @@ pipeline {
          }
        }

-        stage('microRTPS agent') {
-          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
-          }
-          steps {
-            sh('export')
-            sh('git fetch --all --tags')
-            sh('make distclean; git clean -ff -x -d .')
-            sh('make px4_sitl_rtps')
-            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
-              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/micrortps_agent.git -b ${BRANCH_NAME}")
-              sh("rm -rf micrortps_agent/src micrortps_agent/idl")
-              sh('cp -R build/px4_sitl_rtps/src/modules/micrortps_bridge/micrortps_agent/* micrortps_agent')
-              sh('cd micrortps_agent; git status; git add src; git commit -a -m "Update microRTPS agent source code `date`" || true')
-              sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
-              sh('cd micrortps_agent; git status; git add idl; git commit -a -m "Update IDL definitions `date`" || true')
-              sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
-              sh('cd micrortps_agent; git status; git add CMakeLists.txt; git commit -a -m "Update CMakeLists.txt `date`" || true')
-              sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
-              sh('rm -rf micrortps_agent')
-            }
-          }
-          when {
-            anyOf {
-              branch 'master'
-              branch 'pr-jenkins' // for testing
-            }
-          }
-        }
-
-        stage('PX4 ROS msgs') {
-          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
-          }
-          steps {
-            sh('export')
-            sh('make distclean; git clean -ff -x -d .')
-            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
-              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
-              // 'master' branch
-              sh('./msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
-              sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
-              sh('cd px4_msgs; git push origin master || true')
-              // 'ros1' branch
-              sh('cd px4_msgs; git checkout ros1')
-              sh('./msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
-              sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
-              sh('cd px4_msgs; git push origin ros1 || true')
-              sh('rm -rf px4_msgs')
-            }
-          }
-          when {
-            anyOf {
-              branch 'master'
-              branch 'pr-jenkins' // for testing
-            }
-          }
-        }
-
-        stage('PX4 ROS2 bridge') {
-          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
-          }
-          steps {
-            sh('export')
-            sh('make distclean; git clean -ff -x -d .')
-            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
-              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_ros_com.git -b ${BRANCH_NAME}")
-              // deploy uORB RTPS ID map
-              sh('./msg/tools/uorb_to_ros_urtps_topics.py -i msg/tools/urtps_bridge_topics.yaml -o px4_ros_com/templates/urtps_bridge_topics.yaml')
-              sh('cd px4_ros_com; git status; git add .; git commit -a -m "Update uORB RTPS ID map `date`" || true')
-              sh('cd px4_ros_com; git push origin ${BRANCH_NAME} || true')
-              // deploy uORB RTPS required tools
-              sh('cp msg/tools/uorb_rtps_classifier.py px4_ros_com/scripts/uorb_rtps_classifier.py')
-              sh('cp msg/tools/generate_microRTPS_bridge.py px4_ros_com/scripts/generate_microRTPS_bridge.py')
-              sh('cp msg/tools/px_generate_uorb_topic_files.py px4_ros_com/scripts/px_generate_uorb_topic_files.py')
-              sh('cp msg/tools/px_generate_uorb_topic_helper.py px4_ros_com/scripts/px_generate_uorb_topic_helper.py')
-              // deploy templates
-              sh('cp msg/templates/urtps/microRTPS_agent.cpp.em px4_ros_com/templates/microRTPS_agent.cpp.em')
-              sh('cp msg/templates/urtps/microRTPS_timesync.cpp.em px4_ros_com/templates/microRTPS_timesync.cpp.em')
-              sh('cp msg/templates/urtps/microRTPS_timesync.h.em px4_ros_com/templates/microRTPS_timesync.h.em')
-              sh('cp msg/templates/urtps/microRTPS_transport.cpp px4_ros_com/templates/microRTPS_transport.cpp')
-              sh('cp msg/templates/urtps/microRTPS_transport.h px4_ros_com/templates/microRTPS_transport.h')
-              sh('cp msg/templates/urtps/Publisher.cpp.em px4_ros_com/templates/Publisher.cpp.em')
-              sh('cp msg/templates/urtps/Publisher.h.em px4_ros_com/templates/Publisher.h.em')
-              sh('cp msg/templates/urtps/Subscriber.cpp.em px4_ros_com/templates/Subscriber.cpp.em')
-              sh('cp msg/templates/urtps/Subscriber.h.em px4_ros_com/templates/Subscriber.h.em')
-              sh('cp msg/templates/urtps/RtpsTopics.cpp.em px4_ros_com/templates/RtpsTopics.cpp.em')
-              sh('cp msg/templates/urtps/RtpsTopics.h.em px4_ros_com/templates/RtpsTopics.h.em')
-              sh('cd px4_ros_com; git status; git add .; git commit -a -m "Update uORB RTPS script tools `date`" || true')
-              sh('cd px4_ros_com; git push origin ${BRANCH_NAME} || true')
-              sh('rm -rf px4_msgs')
-            }
-          }
-          when {
-            anyOf {
-              branch 'master'
-              branch 'pr-jenkins' // for testing
-            }
-          }
-        }
-
        stage('S3') {
          agent {
            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
@@ -17,6 +17,8 @@ menu "Toolchain"
            bool "posix"
        config PLATFORM_QURT
            bool "qurt"
+        config PLATFORM_ROS2
+            bool "ros2"
    endchoice

    config BOARD_PLATFORM
@@ -24,6 +26,7 @@ menu "Toolchain"
        default "nuttx" if PLATFORM_NUTTX
        default "posix" if PLATFORM_POSIX
        default "qurt" if PLATFORM_QURT
+        default "ros2" if PLATFORM_ROS2

    config BOARD_LOCKSTEP
        bool "Force enable lockstep"
@@ -51,13 +54,6 @@ menu "Toolchain"
        string "Architecture"
        default ""

-    config BOARD_LTO
-        bool "(EXPERIMENTAL) Link Time Optimization (LTO)"
-        default n
-        help
-            Enables LTO flag in linker
-            Note: Highly EXPERIMENTAL, furthermore make sure you're using a modern compiler GCC 9 or later
-
    config BOARD_FULL_OPTIMIZATION
        bool "Full optmization (O3)"
        default n
@@ -170,11 +170,6 @@ ifdef PYTHON_EXECUTABLE
 	CMAKE_ARGS += -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
 endif

-# Check if the microRTPS agent is to be built
-ifdef BUILD_MICRORTPS_AGENT
-  CMAKE_ARGS += -DBUILD_MICRORTPS_AGENT=ON
-endif
-
 # Functions
 # --------------------------------------------------------------------
 # describe how to build a cmake config
@@ -251,7 +246,7 @@ endef
 # Other targets
 # --------------------------------------------------------------------

-.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware check_rtps
+.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware

 # QGroundControl flashable NuttX firmware
 qgc_firmware: px4fmu_firmware misc_qgc_extra_firmware
@@ -276,15 +271,7 @@ misc_qgc_extra_firmware: \
 	check_airmind_mindpx-v2_default \
 	sizes

-# builds with RTPS
-check_rtps: \
-	check_px4_fmu-v3_rtps \
-	check_px4_fmu-v4_rtps \
-	check_px4_fmu-v4pro_rtps \
-	check_px4_sitl_rtps \
-	sizes
-
-.PHONY: sizes check quick_check check_rtps uorb_graphs
+.PHONY: sizes check quick_check uorb_graphs

 sizes:
 	@-find build -name *.elf -type f | xargs size 2> /dev/null || :
@@ -330,7 +317,7 @@ px4io_update: px4_io-v2_default cubepilot_io-v2_default
 	cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
 	git status

-bootloaders_update: cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-classic_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader
+bootloaders_update: cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader
 	git status

 .PHONY: coverity_scan
@@ -479,7 +466,7 @@ clang-tidy-quiet: px4_sitl_default-clang
 # TODO: Fix cppcheck errors then try --enable=warning,performance,portability,style,unusedFunction or --enable=all
 cppcheck: px4_sitl_default
 	@mkdir -p "$(SRC_DIR)"/build/cppcheck
-	@cppcheck -i"$(SRC_DIR)"/src/examples --enable=performance --std=c++14 --std=c99 --std=posix --project="$(SRC_DIR)"/build/px4_sitl_default/compile_commands.json --xml-version=2 2> "$(SRC_DIR)"/build/cppcheck/cppcheck-result.xml > /dev/null
+	@cppcheck -i"$(SRC_DIR)"/src/examples --enable=performance --std=c++17 --std=c99 --std=posix --project="$(SRC_DIR)"/build/px4_sitl_default/compile_commands.json --xml-version=2 2> "$(SRC_DIR)"/build/cppcheck/cppcheck-result.xml > /dev/null
 	@cppcheck-htmlreport --source-encoding=ascii --file="$(SRC_DIR)"/build/cppcheck/cppcheck-result.xml --report-dir="$(SRC_DIR)"/build/cppcheck --source-dir="$(SRC_DIR)"/src/

 shellcheck_all:
@@ -559,12 +546,3 @@ ifneq ($(ROS2_WS_DIR),)
 else
  ROS2_WS_DIR := ~/colcon_ws
 endif
-
-update_ros2_bridge:
-	@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --all
-
-update_px4_ros_com:
-	@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --px4_ros_com
-
-update_px4_msgs:
-	@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --px4_msgs
@@ -88,7 +88,7 @@ unset BOARD_RC_SENSORS
 # Check for flow sensor
 if param compare SENS_EN_PX4FLOW 1
 then
-	px4flow start -X &
+	px4flow start -X
 fi

 uavcannode start
@@ -36,7 +36,6 @@ add_subdirectory(airframes)
 px4_add_romfs_files(
 	px4-rc.mavlink
 	px4-rc.params
-	px4-rc.rtps
 	px4-rc.simulator
 	rc.replay
 	rcS
@@ -10,7 +10,6 @@
 # enable fusion of landing target velocity
 param set-default LTEST_MODE 1
 param set-default PLD_HACC_RAD 0.1
-param set-default RTL_PLD_MD 2

 # Start up Landing Target Estimator module
 landing_target_estimator start
@@ -8,5 +8,8 @@
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

+set MAV_TYPE 12
+param set MAV_TYPE ${MAV_TYPE}
+
 set MIXER_FILE etc/mixers-sitl/uuv_x_sitl.main.mix
 set MIXER custom
@@ -8,5 +8,8 @@
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

+set MAV_TYPE 12
+param set MAV_TYPE ${MAV_TYPE}
+
 set MIXER_FILE etc/mixers-sitl/uuv_x_sitl.main.mix
 set MIXER custom
@@ -67,3 +67,4 @@ param set-default PWM_MAIN_FUNC7 107
 param set-default PWM_MAIN_FUNC8 108

 set MIXER skip
+
@@ -25,8 +25,6 @@ param set-default FW_P_LIM_MIN -15
 param set-default FW_RR_FF 0.1
 param set-default FW_RR_P 0.3

-param set-default FW_SPOILERS_LND 0.4
-
 param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
 param set-default FW_THR_CRUISE 0.25
@@ -71,6 +71,7 @@ param set-default MPC_XY_VEL_I_ACC 4
 param set-default MPC_XY_VEL_D_ACC 0.1

 param set-default NAV_ACC_RAD 5
+param set-default NAV_LOITER_RAD 80

 param set-default VT_FWD_THRUST_EN 4
 param set-default VT_F_TRANS_THR 0.75
@@ -79,5 +80,7 @@ param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_B_TRANS_DUR 8
 param set-default VT_TYPE 2

+set MAV_TYPE 22
+
 set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
 set MIXER custom
@@ -7,8 +7,6 @@

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

-param set-default MAV_TYPE 20
-
 # param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 4

@@ -70,6 +68,7 @@ param set-default MPC_XY_VEL_I_ACC 4
 param set-default MPC_XY_VEL_D_ACC 0.1

 param set-default NAV_ACC_RAD 5
+param set-default NAV_LOITER_RAD 80

 param set-default VT_FW_DIFTHR_EN 1
 param set-default VT_FW_DIFTHR_SC 0.5
@@ -79,5 +78,7 @@ param set-default VT_TYPE 0

 param set-default WV_EN 0

+set MAV_TYPE 20
+
 set MIXER_FILE etc/mixers-sitl/quad_x_vtol.main.mix
 set MIXER custom
@@ -7,8 +7,6 @@

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

-param set-default MAV_TYPE 21
-
 # param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 3

@@ -82,6 +80,7 @@ param set-default MPC_XY_VEL_I_ACC 4
 param set-default MPC_XY_VEL_D_ACC 0.1

 param set-default NAV_ACC_RAD 5
+param set-default NAV_LOITER_RAD 80

 param set-default VT_B_TRANS_DUR 8
 param set-default VT_FWD_THRUST_EN 4
@@ -89,5 +88,7 @@ param set-default VT_MOT_ID 1234
 param set-default VT_TILT_TRANS 0.6
 param set-default VT_TYPE 1

+set MAV_TYPE 21
+
 set MIXER_FILE etc/mixers-sitl/tiltrotor_sitl.main.mix
 set MIXER custom
@@ -38,6 +38,7 @@ param set-default MPC_XY_VEL_I_ACC 4
 param set-default MPC_XY_VEL_D_ACC 0.1

 param set-default NAV_ACC_RAD 5
+param set-default NAV_LOITER_RAD 80

 param set-default VT_FWD_THRUST_EN 4
 param set-default VT_F_TRANS_THR 0.75
@@ -50,5 +51,7 @@ param set-default RC_MAP_AUX1 8
 param set-default RC_MAP_AUX2 9
 param set-default RC_MAP_AUX3 10

+set MAV_TYPE 22
+
 set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
 set MIXER custom
@@ -37,4 +37,6 @@ param set-default PWM_MAIN_FUNC2 201
 param set-default PWM_MAIN_FUNC6 101
 param set-default PWM_MAIN_FUNC7 101

+set MAV_TYPE 10
+
 set MIXER_FILE skip
@@ -37,4 +37,6 @@ param set-default PWM_MAIN_FUNC2 101
 param set-default PWM_MAIN_FUNC6 102
 param set-default PWM_MAIN_FUNC7 102

+set MAV_TYPE 10
+
 set MIXER_FILE skip
@@ -10,8 +10,6 @@

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

-param set-default MAV_TYPE 10
-
 param set-default GND_L1_DIST 5
 param set-default GND_SP_CTRL_MODE 1
 param set-default GND_SPEED_D 3
@@ -35,4 +33,6 @@ param set-default CBRK_AIRSPD_CHK 162128
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 3.0

+set MAV_TYPE 10
+
 set MIXER_FILE etc/mixers-sitl/rover_ackermann_sitl.main.mix
@@ -47,4 +47,6 @@ param set-default CA_R_REV 3
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102

+set MAV_TYPE 11
+
 set MIXER skip
@@ -9,8 +9,6 @@

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

-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
@@ -26,4 +24,6 @@ param set-default TRIG_MODE 4
 param set-default MNT_MODE_IN 4
 param set-default MNT_DO_STAB 2

+set MAV_TYPE 13
+
 set MIXER hexa_x
@@ -7,8 +7,6 @@

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

-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
@@ -28,4 +26,6 @@ param set-default MNT_MODE_IN 4
 param set-default MNT_MODE_OUT 2
 param set-default MAV_PROTO_VER 2

+set MAV_TYPE 13
+
 set MIXER hexa_x
@@ -7,8 +7,6 @@

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

-param set-default MAV_TYPE 13
-
 param set-default SYS_CTRL_ALLOC 1

 param set-default MC_PITCHRATE_P 0.0800
@@ -60,5 +58,7 @@ param set-default PWM_MAIN_FUNC4 104
 param set-default PWM_MAIN_FUNC5 105
 param set-default PWM_MAIN_FUNC6 106

+set MAV_TYPE 13
+
 set MIXER skip
 set MIXER_AUX none
@@ -1,4 +0,0 @@
-#!/bin/sh
-# shellcheck disable=SC2154
-
-micrortps_client start -t UDP -r $((2019+2*px4_instance)) -s $((2020+2*px4_instance))
@@ -24,6 +24,7 @@ fi

 # initialize script variables
 set IO_PRESENT                  no
+set MAV_TYPE                    none
 set MIXER                       none
 set MIXER_AUX                   none
 set MIXER_FILE                  none
@@ -223,21 +224,8 @@ rc_update start
 manual_control start
 sensors start
 commander start
-
-# Configure vehicle type specific parameters.
-# Note: rc.vehicle_setup is the entry point for rc.interface,
-#       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
-#
-. ${R}etc/init.d/rc.vehicle_setup
-
 navigator start

-# Try to start the micrortps_client with UDP transport if module exists
-if px4-micrortps_client status > /dev/null 2>&1
-then
-	. px4-rc.rtps
-fi
-
 if param greater -s MNT_MODE_IN -1
 then
 	gimbal start
@@ -259,6 +247,12 @@ then
 	gyro_calibration start
 fi

+# Configure vehicle type specific parameters.
+# Note: rc.vehicle_setup is the entry point for rc.interface,
+#       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
+#
+. ${R}etc/init.d/rc.vehicle_setup
+
 #user defined mavlink streams for instances can be in PATH
 . px4-rc.mavlink

@@ -36,5 +36,4 @@ param set-default MC_PITCHRATE_P 0.19
 param set-default MC_PITCHRATE_I 0.05
 param set-default MC_PITCHRATE_D 0.004
 param set-default MC_YAW_P 4
-
 set MIXER quad_w
@@ -49,6 +49,7 @@ param set-default MPC_Z_VEL_MAX_DN 1.5

 param set-default NAV_ACC_RAD 5
 param set-default NAV_DLL_ACT 2
+param set-default NAV_LOITER_RAD 80

 param set-default RTL_DESCEND_ALT 10
 param set-default RTL_RETURN_ALT 30
@@ -103,7 +104,7 @@ param set-default CBRK_SUPPLY_CHK 894281
 param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027

-param set-default MAV_TYPE 22
+set MAV_TYPE 22

 set MIXER standard_vtol_hitl

@@ -47,7 +47,7 @@ param set-default HIL_ACT_FUNC6 201
 param set-default HIL_ACT_REV 32

 param set-default MAV_TYPE 19
-
+set MAV_TYPE 19
 set MIXER vtol_tailsitter_duo_sat

 set PWM_OUT 1234
@@ -54,8 +54,7 @@ param set-default PWM_AUX_DIS5 950
 param set-default VT_TYPE 2
 param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
-
-param set-default MAV_TYPE 22
+set MAV_TYPE 22

 set MIXER quad_x
 set MIXER_AUX vtol_AAERT
@@ -19,6 +19,7 @@

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

+
 param set-default MAV_TYPE 19

 param set-default MC_ROLL_P 6
@@ -37,6 +38,7 @@ param set-default VT_IDLE_PWM_MC  1080
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_MOT_ID 12
 param set-default VT_TYPE 0
+set MAV_TYPE 19

 set MIXER vtol_tailsitter_duo

@@ -23,7 +23,6 @@

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

-param set-default MAV_TYPE 21

 param set-default MC_ROLL_P 7
 param set-default MC_ROLLRATE_P 0.19
@@ -46,6 +45,7 @@ param set-default VT_TILT_TRANS 0.5
 param set-default VT_TILT_FW 0.9
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_TYPE 1
+set MAV_TYPE 21

 set MIXER firefly6
 set MIXER_AUX firefly6
@@ -13,8 +13,6 @@

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

-param set-default MAV_TYPE 20
-
 param set-default CA_AIRFRAME 4
 param set-default CA_ROTOR_COUNT 4
 param set-default CA_ROTOR0_PX 0.15
@@ -40,6 +38,7 @@ param set-default PWM_MAIN_MAX 2000
 param set-default VT_MOT_ID 1234
 param set-default VT_IDLE_PWM_MC  1080
 param set-default VT_TYPE 0
+set MAV_TYPE 20

 set MIXER quad_x_vtol

@@ -7,8 +7,8 @@
 #
 # @output MAIN1 motor 1
 # @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
+# @output MAIN3 motor 4
+# @output MAIN4 motor 5
 # @output MAIN5 elevon left
 # @output MAIN6 elevon right
 # @output MAIN7 canard surface
@@ -22,13 +22,13 @@

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

-param set-default MAV_TYPE 20
-
 param set-default PWM_MAIN_MAX 2000

 param set-default VT_IDLE_PWM_MC  1080
 param set-default VT_TYPE 0

+set MAV_TYPE 20
+
 set MIXER quad_+_vtol

 set PWM_OUT 1234
@@ -52,6 +52,7 @@ param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_IDLE_PWM_MC 1080
 param set-default VT_TYPE 2
+set MAV_TYPE 22

 set MIXER quad_x
 set MIXER_AUX vtol_AAERT
@@ -41,6 +41,7 @@ param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_F_TRANS_THR 0.75
 param set-default VT_IDLE_PWM_MC 1080
 param set-default VT_TYPE 2
+set MAV_TYPE 22

 set MIXER quad_x
 set MIXER_AUX vtol_delta
@@ -33,6 +33,7 @@ param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_IDLE_PWM_MC 1080
 param set-default VT_TYPE 2
+set MAV_TYPE 22

 set MIXER quad_x
 set MIXER_AUX vtol_AAVVT
@@ -46,6 +46,7 @@ param set-default VT_IDLE_PWM_MC 1080
 param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_TYPE 2
+set MAV_TYPE 22

 set MIXER quad_x
 set MIXER_AUX vtol_AAERT
@@ -77,6 +77,8 @@ param set-default VT_TRANS_MIN_TM 5
 param set-default VT_TRANS_TIMEOUT    30
 param set-default VT_TYPE 2

+set MAV_TYPE 22
+
 set MIXER quad_x
 set MIXER_AUX vtol_AAERT

@@ -13,8 +13,6 @@

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

-param set-default MAV_TYPE 21
-
 param set-default PWM_AUX_DISARM 1000
 param set-default PWM_AUX_MAX 2000
 param set-default PWM_AUX_MIN 1000
@@ -30,6 +28,7 @@ param set-default VT_TILT_MC 0.08
 param set-default VT_TILT_TRANS 0.5
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_TYPE 1
+set MAV_TYPE 21

 set MIXER claire
 set MIXER_AUX claire
@@ -22,8 +22,6 @@

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

-param set-default MAV_TYPE 21
-
 param set-default CBRK_AIRSPD_CHK 162128

 param set-default FW_ARSP_MODE 1
@@ -66,12 +64,8 @@ param set-default VT_TRANS_MIN_TM 1.2
 param set-default VT_TRANS_P2_DUR 1.3
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_TYPE 1
+set MAV_TYPE 21

 set MIXER vtol_convergence

-if ! ver hwcmp MATEK_H743
-then
-	set PWM_OUT 1234
-else
-	set PWM_OUT 3456
-fi	
+set PWM_OUT 1234
@@ -22,8 +22,6 @@

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

-param set-default MAV_TYPE 22
-
 param set-default BAT1_CAPACITY 23000
 param set-default BAT1_N_CELLS 4
 param set-default BAT1_R_INTERNAL 0.0025
@@ -136,6 +134,7 @@ param set-default VT_TRANS_TIMEOUT 22
 param set-default VT_F_TRANS_RAMP 4

 param set-default COM_RC_OVERRIDE 0
+set MAV_TYPE 22

 set MIXER deltaquad
 set MIXER_AUX pass
@@ -23,8 +23,6 @@

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

-param set-default MAV_TYPE 22
-
 param set-default BAT1_N_CELLS 6

 param set-default FW_AIRSPD_MAX 30
@@ -96,6 +94,8 @@ param set-default VT_PSHER_RMP_DT 2
 param set-default VT_TRANS_MIN_TM 4
 param set-default VT_TYPE 2

+set MAV_TYPE 22
+
 set MIXER babyshark
 set MIXER_AUX pass

@@ -27,8 +27,6 @@

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

-param set-default MAV_TYPE 21
-
 param set-default VT_IDLE_PWM_MC 1100
 param set-default VT_TYPE 1
 param set-default VT_MOT_ID 1234
@@ -59,6 +57,8 @@ param set-default CA_SV_CS3_TRQ_Y 1.0
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_TL_COUNT 4

+set MAV_TYPE 21
+
 set MIXER quad_x
 set MIXER_AUX vtol_TTTTAAER

@@ -31,6 +31,7 @@ param set-default PWM_AUX_DIS5 950
 param set-default VT_TYPE 2
 param set-default VT_MOT_ID 12345678
 param set-default VT_FW_MOT_OFFID 12345678
+set MAV_TYPE 22

 set MIXER octo_cox
 set MIXER_AUX vtol_AAERT
@@ -19,8 +19,6 @@

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

-param set-default MAV_TYPE 19
-
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_MOT_COUNT 2
 param set-default VT_TYPE 0
@@ -39,6 +37,8 @@ param set-default CA_SV_CS1_TRQ_P 0.5
 param set-default CA_SV_CS1_TRQ_Y -0.5
 param set-default CA_SV_CS1_TYPE 6

+param set-default MAV_TYPE 19
+set MAV_TYPE 19
 set MIXER vtol_tailsitter_duo

 set PWM_OUT 1234
@@ -18,7 +18,4 @@

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

-# MAV_TYPE_TRICOPTER 15
-param set-default MAV_TYPE 15
-
 set MIXER tri_y_yaw+
@@ -18,7 +18,4 @@

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

-# MAV_TYPE_TRICOPTER 15
-param set-default MAV_TYPE 15
-
 set MIXER tri_y_yaw-
@@ -17,9 +17,7 @@
 #

 . ${R}etc/init.d/rc.mc_defaults
-
-# MAV_TYPE_COAXIAL 3
-param set-default MAV_TYPE 3
+set MIXER coax

 param set-default MC_ROLLRATE_P 0.17
 param set-default MC_ROLLRATE_I 0.05
@@ -38,9 +36,6 @@ param set-default PWM_MAIN_RATE 400

 param set-default RTL_RETURN_ALT 30
 param set-default RTL_DESCEND_ALT 10
-
-set MIXER coax
-
 # This is the gimbal pass mixer
 set MIXER_AUX pass

@@ -20,7 +20,7 @@
 . ${R}etc/init.d/rc.mc_defaults

 # Configure as helicopter (number 4 defined in commander_helper.cpp)
-param set-default MAV_TYPE 4
+set MAV_TYPE 4

 set MIXER blade130

@@ -41,6 +41,5 @@ param set-default FW_R_LIM 40
 param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
 param set-default FW_P_RMAX_NEG 20
-
 set MIXER TF-G2
 set MIXER_AUX pass
@@ -24,5 +24,8 @@ param set-default MAV_0_CONFIG 102
 param set-default GPS_UBX_DYNMODEL 8
 param set-default SER_TEL2_BAUD 9600

+set MAV_TYPE 8
+param set MAV_TYPE ${MAV_TYPE}
+
 set MIXER IO_pass
 set MIXER_AUX pass
@@ -26,7 +26,7 @@
 # @board px4_fmu-v2 exclude
 #

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

 param set-default NAV_ACC_RAD 2

@@ -39,7 +39,6 @@ param set-default PWM_MAIN_RATE 400

 param set-default RTL_DESCEND_ALT 10
 param set-default RTL_RETURN_ALT 30
-
 set MIXER dodeca_top_cox
 set MIXER_AUX dodeca_bottom_cox

@@ -41,6 +41,9 @@ param set-default FW_RR_P 0.04

 param set-default PWM_MAIN_DISARM 1000

+# Configure this as plane.
+set MAV_TYPE 1
+
 # Set mixer.
 set MIXER fw_generic_wing

@@ -24,6 +24,8 @@

 set MIXER quad_s250aq

+set MAV_TYPE 2
+
 param set-default ATT_BIAS_MAX 0

 param set-default CBRK_IO_SAFETY 22027
@@ -21,7 +21,10 @@
 # @board cuav_x7pro exclude
 #

-. ${R}etc/init.d/rc.mc_defaults
+set VEHICLE_TYPE mc
+set MIXER quad_x
+set PWM_OUT 1234
+

 # Attitude & rate gains
 param set-default MC_ROLLRATE_D 0.0013
@@ -21,7 +21,10 @@
 # @maintainer Hyon Lim <lim@uvify.com>
 #

-. ${R}etc/init.d/rc.mc_defaults
+set VEHICLE_TYPE mc
+set MIXER quad_x
+set PWM_OUT 1234
+

 # Attitude & rate gains
 param set-default MC_ROLLRATE_D 0.0013
@@ -24,6 +24,10 @@

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

+
+# Configure this as Quadrotor
+# set MAV_TYPE 14
+
 # Set mixer
 set MIXER tilt_quad
 set MIXER_AUX tilt_quad
@@ -48,6 +48,8 @@ param set-default NAV_ACC_RAD 0.5
 param set-default PWM_MAIN_DISARM 1500
 param set-default PWM_MAIN_MAX 2000
 param set-default PWM_MAIN_MIN 1000
+# Configure this as rover
+set MAV_TYPE 10

 # Set mixer
 set MIXER rover_generic
@@ -76,6 +76,9 @@ param set-default RBCLW_SER_CFG 104
 # Start this driver after setting parameters, because the driver uses some of those parameters.
 # roboclaw start /dev/ttyS3

+# Configure this as rover
+set MAV_TYPE 10
+
 # Set mixer
 set MIXER generic_diff_rover

@@ -65,6 +65,9 @@ param set-default PWM_MAIN_MIN4 970
 # Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

+# Configure this as rover
+set MAV_TYPE 10
+
 # Set mixer
 set MIXER rover_diff_and_servo

@@ -16,4 +16,7 @@
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

+set MAV_TYPE 12
+param set MAV_TYPE ${MAV_TYPE}
+
 set MIXER uuv_x
@@ -16,4 +16,7 @@
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

+set MAV_TYPE 12
+param set MAV_TYPE ${MAV_TYPE}
+
 set MIXER uuv_x
@@ -23,9 +23,6 @@

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

-# MAV_TYPE_HEXAROTOR 13
-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_PY 0.5
@@ -27,8 +27,9 @@

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

-# MAV_TYPE_HEXAROTOR 13
-param set-default MAV_TYPE 13
+set MIXER hexa_x
+set PWM_OUT 12345678
+

 ###############################################
 # Attitude & rate gains
@@ -119,7 +120,3 @@ param set-default MAV_1_MODE 2
 param set-default MAV_1_FORWARD 1
 param set-default MAV_1_RATE 800000
 param set-default SER_TEL2_BAUD 921600
-
-
-set MIXER hexa_x
-set PWM_OUT 12345678
@@ -23,9 +23,6 @@

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

-# MAV_TYPE_HEXAROTOR 13
-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
@@ -25,9 +25,6 @@

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

-# MAV_TYPE_OCTOROTOR 14
-param set-default MAV_TYPE 14
-
 param set-default CA_ROTOR_COUNT 8
 param set-default CA_ROTOR0_KM -0.05
 param set-default CA_ROTOR0_PX 0.46
@@ -25,9 +25,6 @@

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

-# MAV_TYPE_OCTOROTOR 14
-param set-default MAV_TYPE 14
-
 set MIXER octo_+

 set PWM_OUT 12345678
@@ -7,9 +7,6 @@

 set VEHICLE_TYPE airship

-# MAV_TYPE_AIRSHIP 7
-param set-default MAV_TYPE 7
-
 #
 # This is the gimbal pass mixer.
 #
@@ -7,9 +7,6 @@

 set VEHICLE_TYPE fw

-# MAV_TYPE_FREE_BALLOON 8
-param set-default MAV_TYPE 8
-
 #
 # Default parameters for balloon UAVs.
 #
@@ -7,9 +7,6 @@

 set VEHICLE_TYPE rover

-# MAV_TYPE_SURFACE_BOAT 11
-param set-default MAV_TYPE 11
-
 #
 # Default parameters for UGVs.
 #
@@ -7,15 +7,14 @@

 set VEHICLE_TYPE fw

-# MAV_TYPE_FIXED_WING 1
-param set-default MAV_TYPE 1
-
 #
 # Default parameters for fixed wing UAVs.
 #
 param set-default COM_POS_FS_DELAY 5
 param set-default COM_POS_FS_EPH 15
 param set-default COM_POS_FS_EPV 30
+param set-default COM_POS_FS_GAIN 0
+param set-default COM_POS_FS_PROB 1
 param set-default COM_VEL_FS_EVH 5
 # Disable preflight disarm to not interfere with external launching
 param set-default COM_DISARM_PRFLT -1
@@ -7,9 +7,6 @@

 set VEHICLE_TYPE mc

-# MAV_TYPE_QUADROTOR 2
-param set-default MAV_TYPE 2
-
 if param compare IMU_GYRO_RATEMAX 400
 then
 	param set-default IMU_GYRO_RATEMAX 800
@@ -7,9 +7,6 @@

 set VEHICLE_TYPE rover

-# MAV_TYPE_GROUND_ROVER 10
-param set-default MAV_TYPE 10
-
 #
 # Default parameters for UGVs.
 #
@@ -83,24 +83,18 @@ then
 	teraranger start -X
 fi

-# paa3905 optical flow sensor (external SPI)
-if param greater -s SENS_EN_PAA3905 0
-then
-	paa3905 -S start
-fi
-
-# paw3902 optical flow sensor (external SPI)
-if param greater -s SENS_EN_PAW3902 0
-then
-	paw3902 -S start
-fi
-
-# pmw3901 optical flow sensor (external SPI)
+# Possible external pmw3901 optical flow sensor
 if param greater -s SENS_EN_PMW3901 0
 then
 	pmw3901 -S start
 fi

+# Possible external paw3902 optical flow sensor
+if param greater -s SENS_EN_PAW3902 0
+then
+	paw3902 -S start
+fi
+
 # vl53l1x i2c distance sensor
 if param compare -s SENS_EN_VL53L1X 1
 then
@@ -129,31 +123,13 @@ fi
 # Sensirion SDP3X differential pressure sensor external I2C
 if param compare -s SENS_EN_SDP3X 1
 then
-	if ! sdp3x start -X
+	if ! sdp3x_airspeed start -X
 	then
 		# try another common address
-		sdp3x start -X -a 0x22
+		sdp3x_airspeed start -X -a 0x22
 	fi
 fi

-# TE MS4515 differential pressure sensor external I2C
-if param compare -s SENS_EN_MS4515 1
-then
-	ms4515 start -X
-fi
-
-# TE MS4525DO differential pressure sensor external I2C
-if param compare -s SENS_EN_MS4525DO 1
-then
-	ms4525do start -X
-fi
-
-# TE MS5525DSO differential pressure sensor external I2C
-if param compare -s SENS_EN_MS5525DS 1
-then
-	ms5525dso start -X
-fi
-
 # SHT3x temperature and hygrometer sensor, external I2C
 if param compare -s SENS_EN_SHT3X 1
 then
@@ -161,19 +137,24 @@ then
 	sht3x start -X -a 0x45
 fi

+# TE MS4525 differential pressure sensor external I2C
+if param compare -s SENS_EN_MS4525 1
+then
+	ms4525_airspeed start -X
+fi
+
+# TE MS5525 differential pressure sensor external I2C
+if param compare -s SENS_EN_MS5525 1
+then
+	ms5525_airspeed start -X
+fi
+
 # IR-LOCK sensor external I2C
 if param compare -s SENS_EN_IRLOCK 1
 then
 	irlock start -X
 fi

-# SPL06 sensor external I2C
-if param compare -s SENS_EN_SPL06 1
-then
-	spl06 -X start
-	spl06 -X -a 0x77 start
-fi
-
 # PCF8583 counter (RPM sensor)
 if param compare -s SENS_EN_PCF8583 1
 then
@@ -198,3 +179,9 @@ then
 	# start last (wait for possible icm20948 passthrough mode)
 	ak09916 -X -q start
 fi
+
+###############################################################################
+#                            End Optional drivers                             #
+###############################################################################
+
+sensors start
@@ -7,9 +7,6 @@

 set VEHICLE_TYPE uuv

-# MAV_TYPE_SUBMARINE 12
-param set-default MAV_TYPE 12
-
 param set-default PWM_MAIN_MAX 1950
 param set-default PWM_MAIN_MIN 1050
 param set-default PWM_MAIN_DISARM 1500
@@ -12,9 +12,19 @@ if [ $VEHICLE_TYPE = fw ]
 then
 	if [ $MIXER = none ]
 	then
-		echo "FW mixer undefined"
+		# Set default mixer for fixed wing if not defined.
+		set MIXER AERT
 	fi

+	if [ $MAV_TYPE = none ]
+	then
+		# Set a default MAV_TYPE = 1 if not defined.
+		set MAV_TYPE 1
+	fi
+
+	# Set the mav type parameter.
+	param set MAV_TYPE ${MAV_TYPE}
+
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface

@@ -32,6 +42,41 @@ then
 		echo "MC mixer undefined"
 	fi

+	if [ $MAV_TYPE = none ]
+	then
+		# Set a default MAV_TYPE = 2 if not defined.
+		set MAV_TYPE 2
+
+		# Use mixer to detect vehicle type
+		if [ $MIXER = coax ]
+		then
+			set MAV_TYPE 3
+		fi
+		if [ $MIXER = hexa_x -o $MIXER = hexa_+ ]
+		then
+			set MAV_TYPE 13
+		fi
+		if [ $MIXER = hexa_cox ]
+		then
+			set MAV_TYPE 13
+		fi
+		if [ $MIXER = octo_x -o $MIXER = octo_+ ]
+		then
+			set MAV_TYPE 14
+		fi
+		if [ $MIXER = octo_cox -o $MIXER = octo_cox_w ]
+		then
+			set MAV_TYPE 14
+		fi
+		if [ $MIXER = tri_y_yaw- -o $MIXER = tri_y_yaw+ ]
+		then
+			set MAV_TYPE 15
+		fi
+	fi
+
+	# Set the mav type parameter.
+	param set MAV_TYPE ${MAV_TYPE}
+
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface

@@ -46,9 +91,19 @@ if [ $VEHICLE_TYPE = rover ]
 then
 	if [ $MIXER = none ]
 	then
-		echo "rover mixer undefined"
+		# Set default mixer for UGV if not defined.
+		set MIXER rover_generic
 	fi

+	if [ $MAV_TYPE = none ]
+	then
+		# Set a default MAV_TYPE = 10 if not defined.
+		set MAV_TYPE 10
+	fi
+
+	# Set the mav type parameter.
+	param set MAV_TYPE ${MAV_TYPE}
+
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface

@@ -66,6 +121,25 @@ then
 		echo "VTOL mixer undefined"
 	fi

+	if [ $MAV_TYPE = none ]
+	then
+		# Set a default MAV_TYPE = 19 if not defined.
+		set MAV_TYPE 19
+
+		# Use mixer to detect vehicle type.
+		if [ $MIXER = firefly6 ]
+		then
+			set MAV_TYPE 21
+		fi
+		if [ $MIXER = quad_x_pusher_vtol ]
+		then
+			set MAV_TYPE 22
+		fi
+	fi
+
+	# Set the mav type parameter.
+	param set MAV_TYPE ${MAV_TYPE}
+
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface

@@ -83,6 +157,15 @@ then
 		echo "Airship mixer undefined"
 	fi

+	if [ $MAV_TYPE = none ]
+	then
+		# Set a default MAV_TYPE = 7 if not defined.
+		set MAV_TYPE 7
+	fi
+
+	# Set the mav type parameter.
+	param set MAV_TYPE ${MAV_TYPE}
+
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface

@@ -100,11 +183,19 @@ then
 		echo "UUV mixer undefined"
 	fi

+	if [ $MAV_TYPE = none ]
+	then
+		# Set default MAV_TYPE to submarine if not defined
+		set MAV_TYPE 12
+	fi
+
+	param set MAV_TYPE ${MAV_TYPE}
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface

 	# Start standard vtol apps.
 	. ${R}etc/init.d/rc.uuv_apps
+
 fi


@@ -7,9 +7,6 @@

 set VEHICLE_TYPE vtol

-# MAV_TYPE_VTOL_FIXEDROTOR 22
-param set-default MAV_TYPE 22
-
 param set-default MIS_TAKEOFF_ALT 20
 param set-default MIS_YAW_TMT 10

@@ -29,6 +29,7 @@ set IOFW "/etc/extras/px4_io-v2_default.bin"
 set IO_PRESENT no
 set LOGGER_ARGS ""
 set LOGGER_BUF 8
+set MAV_TYPE none
 set MIXER none
 set MIXER_AUX none
 set MIXER_FILE none
@@ -405,17 +406,9 @@ else
 			battery_status start
 		fi

-		sensors start
 		commander start
 	fi

-	#
-	# Configure vehicle type specific parameters.
-	# Note: rc.vehicle_setup is the entry point for rc.interface,
-	#       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
-	#
-	. ${R}etc/init.d/rc.vehicle_setup
-
 	# Pre-takeoff continuous magnetometer calibration
 	if param compare -s MBE_ENABLE 1
 	then
@@ -466,6 +459,13 @@ else
 		fi
 	fi

+	#
+	# Configure vehicle type specific parameters.
+	# Note: rc.vehicle_setup is the entry point for rc.interface,
+	#       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
+	#
+	. ${R}etc/init.d/rc.vehicle_setup
+
 	#
 	# Play the startup tune (if not disabled or there is an error)
 	#
@@ -493,6 +493,12 @@ else
 		gimbal start
 	fi

+	# Check for flow sensor
+	if param compare -s SENS_EN_PX4FLOW 1
+	then
+		px4flow start -X
+	fi
+
 	# Blacksheep telemetry
 	if param compare -s TEL_BST_EN 1
 	then
@@ -509,12 +515,6 @@ else
 		gyro_calibration start
 	fi

-	# Check for px4flow sensor
-	if param compare -s SENS_EN_PX4FLOW 1
-	then
-		px4flow start -X &
-	fi
-
 	#
 	# Optional board supplied extras: rc.board_extras
 	#
@@ -573,6 +573,7 @@ unset IO_PRESENT
 unset IOFW
 unset LOGGER_ARGS
 unset LOGGER_BUF
+unset MAV_TYPE
 unset MIXER
 unset MIXER_AUX
 unset MIXER_FILE
@@ -21,16 +21,14 @@ O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000

 # mixer for the left aileron
-M: 2
+M: 1
 O:      10000  10000   0 -10000  10000
 S: 0 0  -10000  -10000    0 -10000  10000
-S: 0 5   10000   10000    0 -10000  10000

 # mixer for the right aileron
-M: 2
+M: 1
 O:      10000  10000   0 -10000  10000
 S: 0 0  10000  10000    0 -10000  10000
-S: 0 5  10000  10000    0 -10000  10000

 # mixer for the elevator
 M: 1
@@ -8,22 +8,22 @@ R: 4x
 # tilt servo motor 1
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 1 8      0  20000 -10000 -10000  10000
+S: 1 4      0  20000 -10000 -10000  10000

 # tilt servo motor 2
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 1 8      0  20000 -10000 -10000  10000
+S: 1 4      0  20000 -10000 -10000  10000

 # tilt servo motor 3
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 1 8      0  20000 -10000 -10000  10000
+S: 1 4      0  20000 -10000 -10000  10000

 # tilt servo motor 4
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 1 8      0  20000 -10000 -10000  10000
+S: 1 4      0  20000 -10000 -10000  10000

 # mixer for the left aileron
 M: 1
@@ -10,7 +10,7 @@ to output 4 and the wheel to output 5.
 Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
 (roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps).

-Aileron mixer (roll + spoiler)
+Aileron mixer (roll + flaperon)
 ---------------------------------

 This mixer assumes that the aileron servos are set up correctly mechanically;
@@ -20,11 +20,11 @@ endpoints to suit.

 M: 2
 S: 0 0  10000  10000      0 -10000  10000
-S: 0 5  10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000

 M: 2
 S: 0 0  10000  10000      0 -10000  10000
-S: 0 5 -10000 -10000      0 -10000  10000
+S: 0 6 -10000 -10000      0 -10000  10000

 Elevator mixer
 ------------
@@ -11,7 +11,7 @@ to output 4, the wheel to output 5 and the flaps to output 6 and 7.
 Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
 (roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon).

-Aileron mixer (roll + spoiler)
+Aileron mixer (roll + flaperon)
 ---------------------------------

 This mixer assumes that the aileron servos are set up correctly mechanically;
@@ -21,11 +21,11 @@ endpoints to suit.

 M: 2
 S: 0 0  10000  10000      0 -10000  10000
-S: 0 5  10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000

 M: 2
 S: 0 0  10000  10000      0 -10000  10000
-S: 0 5 -10000 -10000      0 -10000  10000
+S: 0 6 -10000 -10000      0 -10000  10000

 V-tail mixers
 -------------
@@ -9,20 +9,20 @@ output 0 and 1, the tail servos to output 2 and 3, the throttle
 to output 4, the wheel to output 5 and the flaps to output 6 and 7.

 Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch), 2 (yaw), 3 (thrust) 4 (flaps), 5 (spoiler).
+(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon).

-Aileron mixer (roll + spoiler)
+Aileron mixer (roll + flaperon)
 ---------------------------------

 This mixer assumes that the aileron servos are set up mechanically reversed.

 M: 2
 S: 0 0 -10000 -10000      0 -10000  10000
-S: 0 5  10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000

 M: 2
 S: 0 0 -10000 -10000      0 -10000  10000
-S: 0 5 -10000 -10000      0 -10000  10000
+S: 0 6 -10000 -10000      0 -10000  10000

 V-tail mixers
 -------------
@@ -10,7 +10,7 @@ Tilt mechanism servo mixer
 M: 1


-S: 1 8  10000  10000      0 -10000  10000
+S: 1 4  10000  10000      0 -10000  10000



@@ -6,7 +6,7 @@
 Tilt mechanism servo mixer
 ---------------------------
 M: 1
-S: 1 8      0  20000 -10000 -10000  10000
+S: 1 4      0  20000 -10000 -10000  10000

 Elevon mixers
 -------------
@@ -1,7 +1,5 @@
 Mixer for Tailsitter with x motor configuration and elevons
 ===========================================================
-# @board px4_fmu-v2 exclude
-# @board omnibus_f4sd exclude

 This file defines a single mixer for tailsitter with motors in X configuration.  All controls
 are mixed 100%.
@@ -5,14 +5,14 @@ Aileron/v-tail/throttle VTOL mixer for PX4FMU

 This file defines mixers suitable for controlling a fixed wing aircraft with
 aileron, v-tail (rudder, elevator) and throttle using PX4FMU.
-The configuration assumes the aileron servos are connected to PX4FMU
+The configuration assumes the aileron servos are connected to PX4FMU 
 AUX servo output 0 and 1, the tail servos to output 2 and 3, the throttle
 to output 4.

 Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
 (roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon).

-Aileron mixer (roll + spoiler)
+Aileron mixer (roll + flaperon)
 ---------------------------------

 This mixer assumes that the aileron servos are set up correctly mechanically;
@@ -22,11 +22,11 @@ endpoints to suit.

 M: 2
 S: 1 0 -10000 -10000      0 -10000  10000
-S: 1 5  10000  10000      0 -10000  10000
+S: 1 6  10000  10000      0 -10000  10000

 M: 2
 S: 1 0 -10000 -10000      0 -10000  10000
-S: 1 5 -10000 -10000      0 -10000  10000
+S: 1 6 -10000 -10000      0 -10000  10000


 V-tail mixers
@@ -6,19 +6,19 @@
 ---------------------------
 # front left up:2000 down:1000
 M: 1
-S: 1 8      0 -20000  10000 -10000  10000
+S: 1 4      0 -20000  10000 -10000  10000

 # front right up:1000 down:2000
 M: 1
-S: 1 8      0  20000 -10000 -10000  10000
+S: 1 4      0  20000 -10000 -10000  10000

 # rear left up:2000 down:1000
 M: 1
-S: 1 8      0 -20000  10000 -10000  10000
+S: 1 4      0 -20000  10000 -10000  10000

 # rear right up:1000 down:2000
 M: 1
-S: 1 8      0  20000 -10000 -10000  10000
+S: 1 4      0  20000 -10000 -10000  10000


 # Aileron mixer
@@ -10,12 +10,12 @@ Tilt mechanism servo mixer
 ---------------------------
 #RIGHT up:2000 down:1000
 M: 2
-S: 1 8      0 -20000  10000 -10000  10000
+S: 1 4      0 -20000  10000 -10000  10000
 S: 0 2   8000   8000      0 -10000  10000

 #LEFT up:1000 down:2000
 M: 2
-S: 1 8      0  20000 -10000 -10000  10000
+S: 1 4      0  20000 -10000 -10000  10000
 S: 0 2   8000   8000      0 -10000  10000

 Elevon mixers
@@ -16,15 +16,15 @@ if board_adc start
 then
 fi

-if sdp3x start -X
+if sdp3x_airspeed start -X
 then
 fi

-if ms5525dso start -X
+if ms5525_airspeed start -X
 then
 fi

-if ms4525do start -X
+if ms4525_airspeed start -X
 then
 fi

--- a/Show More
+++ b/Show More