WIP: px4log

.github/PULL_REQUEST_TEMPLATE.md

@@ -18,14 +18,6 @@ Fixes #{Github issue ID}
 - Add ... for ...
 - Refactor ...
 
-### Changelog Entry
-For release notes:
-```
-Feature/Bugfix XYZ
-New parameter: XYZ_Z
-Documentation: Need to clarify page ... / done, read docs.px4.io/...
-```
-
 ### Alternatives
 We could also ...
 

.gitignore

@@ -105,6 +105,3 @@ src/modules/simulator/simulator_config.h
 src/systemcmds/topic_listener/listener_generated.cpp
 
 !src/drivers/distance_sensor/broadcom/afbrs50/Lib/*
-
-# colcon
-log/

.gitmodules

@@ -58,7 +58,7 @@
 	path = src/lib/crypto/libtommath
 	url = https://github.com/PX4/libtommath.git
 	branch = px4
-[submodule "src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client"]
-	path = src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client
+[submodule "src/modules/microdds_client/Micro-XRCE-DDS-Client"]
+	path = src/modules/microdds_client/Micro-XRCE-DDS-Client
 	url = https://github.com/PX4/Micro-XRCE-DDS-Client.git
 	branch = px4

Makefile

@@ -483,8 +483,7 @@ shellcheck_all:
 validate_module_configs:
 	@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f \
 	-not -path "$(SRC_DIR)/src/lib/mixer_module/*" \
-	-not -path "$(SRC_DIR)/src/modules/uxrce_dds_client/dds_topics.yaml" \
-	-not -path "$(SRC_DIR)/src/lib/events/libevents/*" \
+	-not -path "$(SRC_DIR)/src/modules/microdds_client/dds_topics.yaml" \
 	-not -path "$(SRC_DIR)/src/lib/crypto/libtommath/*" -print0 | \
 	xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
 

README.md

@@ -104,9 +104,8 @@ These boards fully comply with Pixhawk Standard, and are maintained by the PX4-A
 These boards are maintained to be compatible with PX4-Autopilot by the Manufacturers.
 
 * [ARK Electronics ARKV6X](https://docs.px4.io/main/en/flight_controller/arkv6x.html)
-* [CubePilot Cube Orange+](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orangeplus.html)
-* [CubePilot Cube Orange](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orange.html)
-* [CubePilot Cube Yellow](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_yellow.html)
+* [Hex Cube Orange](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orange.html)
+* [Hex Cube Yellow](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_yellow.html)
 * [Holybro Durandal](https://docs.px4.io/main/en/flight_controller/durandal.html)
 * [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
 * [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)

ROMFS/CMakeLists.txt

@@ -79,7 +79,7 @@ get_property(romfs_cmake_files GLOBAL PROPERTY PX4_ROMFS_CMAKE_FILES)
 get_property(romfs_copy_files GLOBAL PROPERTY PX4_ROMFS_FILES)
 get_property(module_config_files GLOBAL PROPERTY PX4_MODULE_CONFIG_FILES)
 file(GLOB jinja_templates ${PX4_SOURCE_DIR}/Tools/serial/*.jinja)
-if (px4_constrained_flash_build)
+if(px4_constrained_flash_build)
 	set(added_arguments --constrained-flash)
 endif()
 if(PX4_ETHERNET)

ROMFS/cannode/init.d/rcS

@@ -51,7 +51,7 @@ fi
 set BOARD_ARCH_RC_DEFAULTS ${R}etc/init.d/rc.board_arch_defaults
 if [ -f $BOARD_ARCH_RC_DEFAULTS ]
 then
-	echo "Board architecture defaults: ${BOARD_ARCH_RC_DEFAULTS}"
+	px4log "Board architecture defaults: ${BOARD_ARCH_RC_DEFAULTS}"
 	. $BOARD_ARCH_RC_DEFAULTS
 fi
 unset BOARD_ARCH_RC_DEFAULTS
@@ -62,7 +62,7 @@ unset BOARD_ARCH_RC_DEFAULTS
 set BOARD_RC_DEFAULTS ${R}etc/init.d/rc.board_defaults
 if [ -f $BOARD_RC_DEFAULTS ]
 then
-	echo "Board defaults: ${BOARD_RC_DEFAULTS}"
+	px4log "Board defaults: ${BOARD_RC_DEFAULTS}"
 	. $BOARD_RC_DEFAULTS
 fi
 unset BOARD_RC_DEFAULTS
@@ -79,7 +79,7 @@ rgbled_ncp5623c start -X -q
 set BOARD_RC_SENSORS ${R}etc/init.d/rc.board_sensors
 if [ -f $BOARD_RC_SENSORS ]
 then
-	echo "Board sensors: ${BOARD_RC_SENSORS}"
+	px4log "Board sensors: ${BOARD_RC_SENSORS}"
 	. $BOARD_RC_SENSORS
 fi
 unset BOARD_RC_SENSORS

ROMFS/px4fmu_common/.nshrc

@@ -0,0 +1,8 @@
+#!/bin/sh
+
+px4log_tail &
+
+#
+# Print full system version.
+#
+ver all

ROMFS/px4fmu_common/CMakeLists.txt

@@ -31,6 +31,8 @@
 #
 ############################################################################
 
+px4_add_romfs_files(.nshrc)
+
 add_subdirectory(init.d)
 # TODO: make this configurable from the board config, or better combine
 if("${PX4_BOARD}" MATCHES "sitl")

ROMFS/px4fmu_common/init.d-posix/airframes/10016_none_iris

@@ -1,30 +0,0 @@
-#!/bin/sh
-#
-# @name Generic Iris Quadrotor SITL
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-
-param set-default CA_AIRFRAME 0
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.1515
-param set-default CA_ROTOR0_PY 0.245
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.1515
-param set-default CA_ROTOR1_PY -0.1875
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.1515
-param set-default CA_ROTOR2_PY -0.245
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.1515
-param set-default CA_ROTOR3_PY 0.1875
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104

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

@@ -17,9 +17,12 @@ param set-default SENS_EN_BAROSIM 1
 param set-default SENS_EN_MAGSIM 1
 
 # disable some checks to allow to fly:
+# - with usb
+param set-default CBRK_USB_CHK 197848
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
+param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027
 
 param set-default CA_ROTOR_COUNT 4

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

@@ -22,6 +22,7 @@ param set-default CBRK_USB_CHK 197848
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
+param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027
 
 param set-default BAT_N_CELLS 3

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

@@ -11,13 +11,10 @@
 PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=xvert}
 
-param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported for tailsitters
-
 param set-default SENS_EN_GPSSIM 1
 param set-default SENS_EN_BAROSIM 1
 param set-default SENS_EN_MAGSIM 1
 
-param set-default VT_B_TRANS_DUR 5
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_TYPE 0
 param set-default VT_FW_DIFTHR_EN 1
@@ -28,9 +25,12 @@ param set-default MC_PITCH_P 5
 param set-default MAV_TYPE 19
 
 # disable some checks to allow to fly:
+# - with usb
+param set-default CBRK_USB_CHK 197848
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
+param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027
 
 param set-default BAT_N_CELLS 3

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

@@ -30,10 +30,10 @@ param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
 
 # EKF2
+param set-default EKF2_AID_MASK 2
 param set-default EKF2_GPS_CTRL 0
 param set-default EKF2_EVP_NOISE 0.05
 param set-default EKF2_EVA_NOISE 0.05
-param set-default EKF2_OF_CTRL 1
 
 # LPE: Flow-only mode
 param set-default LPE_FUSION 242

ROMFS/px4fmu_common/init.d-posix/airframes/1015_gazebo-classic_iris_obs_avoid

@@ -30,3 +30,5 @@ param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
 
 param set-default COM_OBS_AVOID 1
+param set-default MPC_XY_CRUISE 5.0
+

ROMFS/px4fmu_common/init.d-posix/airframes/1017_gazebo-classic_iris_opt_flow_mockup

@@ -30,8 +30,8 @@ param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
 
 # EKF2
+param set-default EKF2_AID_MASK 2
 param set-default EKF2_GPS_CTRL 0
-param set-default EKF2_OF_CTRL 1
 
 # LPE: Flow-only mode
 param set-default LPE_FUSION 242

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

@@ -5,6 +5,9 @@
 
 . ${R}etc/init.d/rc.uuv_defaults
 
+# disable circuit breaker for airspeed sensor
+param set-default CBRK_AIRSPD_CHK 162128
+
 param set-default CA_AIRFRAME 7
 param set-default CA_ROTOR_COUNT 4
 param set-default CA_R_REV 255

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

@@ -5,6 +5,9 @@
 
 . ${R}etc/init.d/rc.uuv_defaults
 
+# disable circuit breaker for airspeed sensor
+param set-default CBRK_AIRSPD_CHK 162128
+
 param set-default CA_AIRFRAME 7
 
 param set-default CA_ROTOR_COUNT 8

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

@@ -5,6 +5,9 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0
+
 param set-default FW_LND_ANG 8
 
 param set-default NPFG_PERIOD 12

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

@@ -5,8 +5,10 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0
 
-
+param set-default FW_LND_AIRSPD_SC 1
 param set-default FW_LND_ANG 8
 
 param set-default NPFG_PERIOD 12

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

@@ -5,9 +5,10 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-param set-default FW_LAUN_DETCN_ON 1
-param set-default FW_THR_IDLE 0.1 # needs to be running before throw as that's how gazebo detects arming
+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0
 
+param set-default FW_LND_AIRSPD_SC 1
 param set-default FW_LND_ANG 8
 
 param set-default NPFG_PERIOD 12
@@ -46,6 +47,8 @@ param set-default MIS_TAKEOFF_ALT 30
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
 
+param set-default RWTO_TKOFF 1
+
 param set-default CA_AIRFRAME 1
 
 param set-default CA_ROTOR_COUNT 1
@@ -71,3 +74,5 @@ param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
 
+param set-default RWTO_TKOFF 0
+

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

@@ -25,6 +25,7 @@ param set-default FW_W_EN 1
 
 param set-default MIS_TAKEOFF_ALT 20
 param set-default MIS_DIST_1WP 2500
+param set-default MIS_DIST_WPS 10000
 
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2

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

@@ -25,6 +25,7 @@ param set-default FW_W_EN 1
 
 param set-default MIS_TAKEOFF_ALT 20
 param set-default MIS_DIST_1WP 2500
+param set-default MIS_DIST_WPS 10000
 
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2

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

@@ -5,7 +5,8 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-
+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0
 
 param set-default FW_LND_ANG 8
 

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

@@ -25,6 +25,7 @@ param set-default FW_W_EN 1
 
 param set-default MIS_TAKEOFF_ALT 20
 param set-default MIS_DIST_1WP 2500
+param set-default MIS_DIST_WPS 10000
 
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2

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

@@ -5,7 +5,8 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-
+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0
 
 param set-default FW_LND_ANG 8
 
@@ -25,6 +26,7 @@ param set-default FW_THR_TRIM 0.25
 
 param set-default FW_T_ALT_TC 2
 param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_HRATE_FF 0.5
 param set-default FW_T_SINK_MAX 2.7
 param set-default FW_T_SINK_MIN 2.2
 param set-default FW_T_TAS_TC 2

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

@@ -5,8 +5,10 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0
 
-
+param set-default FW_LND_AIRSPD_SC 1
 param set-default FW_LND_ANG 8
 
 param set-default NPFG_PERIOD 12
@@ -45,6 +47,8 @@ param set-default MIS_TAKEOFF_ALT 30
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
 
+param set-default RWTO_TKOFF 1
+
 param set-default CA_AIRFRAME 1
 
 param set-default CA_ROTOR_COUNT 1
@@ -71,3 +75,4 @@ param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
 
 param set-default FW_THR_TRIM 0.0
+param set-default RWTO_TKOFF 0

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

@@ -5,6 +5,7 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
+param set-default FW_LND_AIRSPD_SC 1.1
 param set-default FW_LND_ANG 5
 param set-default FW_LND_FL_PMIN 9.5
 param set-default FW_LND_FL_PMAX 20
@@ -26,6 +27,7 @@ param set-default FW_W_EN 1
 param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 20
 param set-default MIS_DIST_1WP 2500
+param set-default MIS_DIST_WPS 10000
 
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2

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

@@ -5,7 +5,8 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-
+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0
 
 param set-default FW_LND_ANG 8
 param set-default FW_THR_LND_MAX 0

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

@@ -67,6 +67,7 @@ param set-default MC_YAW_P 1.6
 
 param set-default MIS_TAKEOFF_ALT 10
 
+param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_XY_P 0.8
 param set-default MPC_XY_VEL_P_ACC 3
 param set-default MPC_XY_VEL_I_ACC 4
@@ -76,5 +77,6 @@ param set-default NAV_ACC_RAD 5
 
 param set-default VT_FWD_THRUST_EN 4
 param set-default VT_F_TRANS_THR 0.75
+param set-default VT_B_TRANS_DUR 8
 param set-default VT_TYPE 2
 

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

@@ -9,8 +9,6 @@
 
 param set-default MAV_TYPE 20
 
-param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported for tailsitters
-
 param set-default CA_AIRFRAME 4
 
 param set-default CA_ROTOR_COUNT 4
@@ -44,36 +42,37 @@ param set-default PWM_MAIN_FUNC6 201
 param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_REV 96 # invert both elevons
 
-# Single-EKF (for replay)
-param set-default EKF2_MULTI_IMU 0
-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 NPFG_PERIOD 12
+param set-default FW_PR_I 0.2
+param set-default FW_PR_P 0.2
 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_THR_TRIM 0.35
-param set-default FW_THR_MAX 0.8
+param set-default FW_P_LIM_MIN -15
+param set-default FW_RR_P 0.2
+param set-default FW_THR_TRIM 0.33
+param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
-param set-default FW_T_CLMB_MAX 6
+param set-default FW_T_ALT_TC 2
+param set-default FW_T_CLMB_MAX 8
 param set-default FW_T_HRATE_FF 0.5
-param set-default FW_T_SINK_MAX 3
-param set-default FW_T_SINK_MIN 1.6
+param set-default FW_T_SINK_MAX 2.7
+param set-default FW_T_SINK_MIN 2.2
+param set-default FW_T_TAS_TC 2
 
 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
+param set-default MPC_ACC_HOR_MAX 2
+param set-default MPC_XY_P 0.8
+param set-default MPC_XY_VEL_P_ACC 3
+param set-default MPC_XY_VEL_I_ACC 4
+param set-default MPC_XY_VEL_D_ACC 0.1
+
+param set-default NAV_ACC_RAD 5
+
 param set-default VT_FW_DIFTHR_EN 1
-param set-default VT_FW_DIFTHR_S_Y 1
+param set-default VT_FW_DIFTHR_S_Y 0.5
 param set-default VT_F_TRANS_DUR 1.5
+param set-default VT_F_TRANS_THR 0.7
 param set-default VT_TYPE 0
 
 param set-default WV_EN 0

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

@@ -70,6 +70,7 @@ param set-default MPC_XY_VEL_D_ACC 0.1
 
 param set-default MIS_TAKEOFF_ALT 10
 
+param set-default VT_B_TRANS_DUR 8
 param set-default VT_FWD_THRUST_EN 4
 param set-default VT_FWD_THRUST_SC 0.6
 param set-default VT_TILT_TRANS 0.6

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

@@ -66,6 +66,7 @@ param set-default MC_YAW_P 1.6
 
 param set-default MIS_TAKEOFF_ALT 10
 
+param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_XY_P 0.8
 param set-default MPC_XY_VEL_P_ACC 3
 param set-default MPC_XY_VEL_I_ACC 4
@@ -77,6 +78,7 @@ param set-default VT_FWD_THRUST_EN 4
 param set-default VT_F_TRANS_THR 0.75
 param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
+param set-default VT_B_TRANS_DUR 8
 param set-default VT_TYPE 2
 
 

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

@@ -5,8 +5,10 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0
 
-
+param set-default FW_LND_AIRSPD_SC 1
 param set-default FW_LND_ANG 8
 
 param set-default NPFG_PERIOD 12

ROMFS/px4fmu_common/init.d-posix/airframes/1045_gazebo-classic_quadtailsitter

@@ -1,74 +0,0 @@
-#!/bin/sh
-#
-# @name Quadrotor + Tailsitter
-#
-# @type VTOL Quad Tailsitter
-#
-
-. ${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
-param set-default CA_ROTOR0_PY 0.23
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.23
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.23
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.23
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default CA_SV_CS_COUNT 0
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-param set-default PWM_MAIN_FUNC5 0
-
-parm set-default FD_FAIL_R 70
-
-param set-default FW_P_TC 0.6
-
-param set-default FW_PR_I 0.3
-param set-default FW_PR_P 0.5
-param set-default FW_PSP_OFF 2
-param set-default FW_RR_FF 0.1
-param set-default FW_RR_I 0.1
-param set-default FW_RR_P 0.2
-param set-default FW_YR_FF 0 # make yaw rate controller very weak, only keep default P
-param set-default FW_YR_I 0
-param set-default FW_THR_TRIM 0.35
-param set-default FW_THR_MAX 0.8
-param set-default FW_THR_MIN 0.05
-param set-default FW_T_CLMB_MAX 6
-param set-default FW_T_HRATE_FF 0.5
-param set-default FW_T_SINK_MAX 3
-param set-default FW_T_SINK_MIN 1.6
-param set-default FW_AIRSPD_STALL 10
-param set-default FW_AIRSPD_MIN 14
-param set-default FW_AIRSPD_TRIM 18
-param set-default FW_AIRSPD_MAX 22
-
-param set-default MC_AIRMODE 2
-param set-default MAN_ARM_GESTURE 0 # required for yaw airmode
-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 15
-param set-default VT_B_TRANS_DUR 5
-param set-default VT_FW_DIFTHR_EN 7
-param set-default VT_FW_DIFTHR_S_Y 1
-param set-default VT_F_TRANS_DUR 1.5
-param set-default VT_TYPE 0
-
-param set-default WV_EN 0

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

@@ -18,9 +18,12 @@ param set-default GND_THR_CRUISE 0.3
 param set-default GND_THR_MAX 0.5
 param set-default GND_THR_MIN 0
 
+param set-default MIS_TAKEOFF_ALT 0.01
 param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2
 
+param set-default CBRK_AIRSPD_CHK 162128
+
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 2.0
 

ROMFS/px4fmu_common/init.d-posix/airframes/1061_gazebo-classic_r1_rover

@@ -18,9 +18,12 @@ param set-default GND_THR_CRUISE 0.3
 param set-default GND_THR_MAX 0.5
 param set-default GND_THR_MIN 0
 
+param set-default MIS_TAKEOFF_ALT 0.01
 param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2
 
+param set-default CBRK_AIRSPD_CHK 162128
+
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 2.0
 

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

@@ -25,9 +25,12 @@ param set-default GND_THR_CRUISE 0.3
 param set-default GND_THR_MAX 0.5
 param set-default GND_THR_MIN 0
 
+param set-default MIS_TAKEOFF_ALT 0.01
 param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2
 
+param set-default CBRK_AIRSPD_CHK 162128
+
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 3.0
 

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

@@ -18,9 +18,12 @@ param set-default GND_THR_CRUISE 0.85
 param set-default GND_THR_MAX 1
 param set-default GND_THR_MIN 0
 
+param set-default MIS_TAKEOFF_ALT 0.01
 param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2
 
+param set-default CBRK_AIRSPD_CHK 162128
+
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 2.0
 

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

@@ -26,6 +26,7 @@ param set-default NAV_ACC_RAD 20
 param set-default NAV_DLL_ACT 2
 param set-default NAV_LOITER_RAD 50
 
+param set-default RWTO_TKOFF 0
 # Parameters related to autogyro takeoff PR
 #param set-default AG_TKOFF 1
 #param set-default AG_PROT_TYPE 1

ROMFS/px4fmu_common/init.d-posix/airframes/4002_gz_x500_depth

@@ -5,6 +5,50 @@
 # @type Quadrotor
 #
 
+. ${R}etc/init.d/rc.mc_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_depth}
 
-. ${R}etc/init.d-posix/airframes/4001_gz_x500
+param set-default SIM_GZ_EN 1
+
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 0
+param set-default SENS_EN_MAGSIM 1
+
+param set-default CA_AIRFRAME 0
+param set-default CA_ROTOR_COUNT 4
+
+param set-default CA_ROTOR0_PX 0.13
+param set-default CA_ROTOR0_PY 0.22
+param set-default CA_ROTOR0_KM  0.05
+
+param set-default CA_ROTOR1_PX -0.13
+param set-default CA_ROTOR1_PY -0.20
+param set-default CA_ROTOR1_KM  0.05
+
+param set-default CA_ROTOR2_PX 0.13
+param set-default CA_ROTOR2_PY -0.22
+param set-default CA_ROTOR2_KM -0.05
+
+param set-default CA_ROTOR3_PX -0.13
+param set-default CA_ROTOR3_PY 0.20
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default SIM_GZ_EC_FUNC1 101
+param set-default SIM_GZ_EC_FUNC2 102
+param set-default SIM_GZ_EC_FUNC3 103
+param set-default SIM_GZ_EC_FUNC4 104
+
+param set-default SIM_GZ_EC_MIN1 150
+param set-default SIM_GZ_EC_MIN2 150
+param set-default SIM_GZ_EC_MIN3 150
+param set-default SIM_GZ_EC_MIN4 150
+
+param set-default SIM_GZ_EC_MAX1 1000
+param set-default SIM_GZ_EC_MAX2 1000
+param set-default SIM_GZ_EC_MAX3 1000
+param set-default SIM_GZ_EC_MAX4 1000
+
+param set-default MPC_THR_HOVER 0.60

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

@@ -10,14 +10,13 @@ PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
 PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=rc_cessna}
 
-param set-default SIM_GZ_EN 1
-
 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
 
-
+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0
 
 param set-default FW_LND_ANG 8
 

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

@@ -11,8 +11,6 @@ PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
 PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=standard_vtol}
 
-param set-default SIM_GZ_EN 1
-
 param set-default SENS_EN_GPSSIM 1
 param set-default SENS_EN_BAROSIM 0
 param set-default SENS_EN_MAGSIM 1
@@ -96,6 +94,7 @@ param set-default MC_YAW_P 1.6
 
 param set-default MIS_TAKEOFF_ALT 10
 
+param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_XY_P 0.8
 param set-default MPC_XY_VEL_P_ACC 3
 param set-default MPC_XY_VEL_I_ACC 4
@@ -105,5 +104,6 @@ param set-default NAV_ACC_RAD 5
 
 param set-default VT_FWD_THRUST_EN 4
 param set-default VT_F_TRANS_THR 0.75
+param set-default VT_B_TRANS_DUR 8
 param set-default VT_TYPE 2
 param set-default FD_ESCS_EN 0

ROMFS/px4fmu_common/init.d-posix/airframes/4005_gz_x500_vision

@@ -5,6 +5,8 @@
 # @type Quadrotor
 #
 
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_vision}
-
 . ${R}etc/init.d-posix/airframes/4001_gz_x500
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_vision}

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

@@ -1,152 +0,0 @@
-#!/bin/sh
-#
-# @name PX4Vision SITL
-# Holybro px4vision. Gazebo Only.
-#
-# @type Quadrotor
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=px4vision}
-
-param set-default SIM_GZ_EN 1
-
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
-
-# Commander Parameters
-param set-default COM_OBS_AVOID 0
-param set-default COM_DISARM_LAND 0.5
-
-# EKF2 parameters
-param set-default EKF2_DRAG_CTRL 1
-param set-default EKF2_IMU_POS_X 0.02
-param set-default EKF2_GPS_POS_X 0.055
-param set-default EKF2_GPS_POS_Z -0.15
-param set-default EKF2_MIN_RNG 0.03
-param set-default EKF2_OF_CTRL 1
-param set-default EKF2_OF_POS_X 0.055
-param set-default EKF2_OF_POS_Y 0.02
-param set-default EKF2_OF_POS_Z 0.065
-param set-default EKF2_REQ_HDRIFT 0.3
-param set-default EKF2_REQ_SACC 1
-param set-default EKF2_REQ_VDRIFT 0.3
-param set-default EKF2_RNG_A_HMAX 8
-param set-default EKF2_RNG_A_VMAX 2
-param set-default EKF2_RNG_POS_X 0.055
-param set-default EKF2_RNG_POS_Y -0.01
-param set-default EKF2_RNG_POS_Z 0.065
-param set-default EKF2_PCOEF_XP -0.25
-param set-default EKF2_PCOEF_YN -0.55
-param set-default EKF2_PCOEF_YP -0.55
-
-# MAVLink parameters
-# param set-default MAV_0_CONFIG 101		Not found
-# param set-default MAV_1_CONFIG 102		Not found
-param set-default MAV_1_RATE 80000
-param set-default MAV_1_MODE 9
-# param set-default SER_TEL1_BAUD 921600	Not found
-
-# Vehicle attitude PID tuning
-param set-default MC_ACRO_EXPO 0
-param set-default MC_ACRO_EXPO_Y 0
-param set-default MC_ACRO_P_MAX 200
-param set-default MC_ACRO_R_MAX 200
-param set-default MC_ACRO_SUPEXPO 0
-param set-default MC_ACRO_SUPEXPOY 0
-param set-default MC_ACRO_Y_MAX 150
-param set-default MC_PITCHRATE_D 0.0015
-param set-default MC_ROLLRATE_D 0.0015
-param set-default MC_YAWRATE_P 0.3
-
-# Position Control Tuning
-param set-default CP_DIST 6
-param set-default MPC_ACC_DOWN_MAX 5
-param set-default MPC_ACC_HOR_MAX 10
-param set-default MPC_MANTHR_MIN 0
-param set-default MPC_MAN_Y_MAX 120
-param set-default MPC_THR_HOVER 0.3
-param set-default MPC_VEL_MANUAL 5
-param set-default MPC_XY_VEL_MAX 5
-param set-default MPC_XY_VEL_P_ACC 1.58
-param set-default MPC_XY_TRAJ_P 0.3
-# param set-default MPC_Z_TRAJ_P 0.3		Not found
-param set-default MPC_Z_VEL_P_ACC 5
-param set-default MPC_Z_VEL_I_ACC 3
-param set-default MPC_LAND_ALT1 3
-param set-default MPC_LAND_ALT2 1
-param set-default MPC_POS_MODE 3
-param set-default CP_GO_NO_DATA 1
-
-# Navigator Parameters
-param set-default NAV_ACC_RAD 2
-
-# RTL Parameters
-param set-default RTL_DESCEND_ALT 5
-param set-default RTL_RETURN_ALT 5
-
-# Logging Parameters
-param set-default SDLOG_PROFILE 131
-
-# Sensors Parameters
-# param set-default SENS_CM8JL65_CFG 202 	Not found
-param set-default SENS_FLOW_MAXHGT 25
-param set-default SENS_FLOW_MINHGT 0.5
-param set-default IMU_GYRO_CUTOFF 100
-# param set-default SENS_TFLOW_CFG 103		Not found
-
-# Power Parameters
-param set-default BAT1_N_CELLS 4
-# param set-default BAT1_A_PER_V 36.364		Not found
-# param set-default BAT1_V_DIV 18.182		Not found
-
-# Circuit breakers
-param set-default CBRK_IO_SAFETY 22027
-
-param set-default THR_MDL_FAC 0.3
-
-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_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_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
-
-# 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
-param set-default SIM_GZ_EC_FUNC4 104
-
-param set-default SIM_GZ_EC_MIN1 150
-param set-default SIM_GZ_EC_MIN2 150
-param set-default SIM_GZ_EC_MIN3 150
-param set-default SIM_GZ_EC_MIN4 150
-
-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/CMakeLists.txt

@@ -60,7 +60,6 @@ px4_add_romfs_files(
 	1042_gazebo-classic_tiltrotor
 	1043_gazebo-classic_standard_vtol_drop
 	1044_gazebo-classic_plane_lidar
-	1045_gazebo-classic_quadtailsitter
 	1060_gazebo-classic_rover
 	1061_gazebo-classic_r1_rover
 	1062_flightgear_tf-r1
@@ -76,13 +75,11 @@ px4_add_romfs_files(
 	4003_gz_rc_cessna
 	4004_gz_standard_vtol
 	4005_gz_x500_vision
-	4006_gz_px4vision
 
 	6011_gazebo-classic_typhoon_h480
 	6011_gazebo-classic_typhoon_h480.post
 
-	10015_gazebo-classic_iris
-	10016_none_iris
+	10016_gazebo-classic_iris
 	10017_jmavsim_iris
 	10018_gazebo-classic_iris_foggy_lidar
 	10019_gazebo-classic_omnicopter

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

@@ -6,7 +6,7 @@ param set-default IMU_INTEG_RATE 250
 
 if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0" ]; then
 
-	echo "INFO  [init] SIH simulator"
+	px4log "INFO  [init] SIH simulator"
 
 	if [ -n "${PX4_HOME_LAT}" ]; then
 		param set SIH_LOC_LAT0 ${PX4_HOME_LAT}
@@ -32,7 +32,7 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"
 		fi
 
 	else
-		echo "ERROR [init] simulator_sih failed to start"
+		px4log "ERROR [init] simulator_sih failed to start"
 		exit 1
 	fi
 
@@ -54,7 +54,7 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
 		gz_command="gz"
 		gz_sub_command="sim"
 	else
-		echo "ERROR [init] Gazebo gz please install gz-garden"
+		px4log "ERROR [init] Gazebo gz please install gz-garden"
 		exit 1
 	fi
 
@@ -64,7 +64,7 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
 	# shellcheck disable=SC2153
 	if [ -z "${gz_world}" ] && [ -n "${PX4_GZ_WORLDS}" ] && [ -n "${PX4_GZ_WORLD}" ]; then
 
-		echo "INFO  [init] starting gazebo with world: ${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf"
+		px4log "INFO  [init] starting gazebo with world: ${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf"
 
 		${gz_command} ${gz_sub_command} --verbose=1 -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &
 
@@ -74,7 +74,7 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
 		fi
 
 	else
-		echo "INFO  [init] gazebo already running world: ${gz_world}"
+		px4log "INFO  [init] gazebo already running world: ${gz_world}"
 		PX4_GZ_WORLD=${gz_world}
 	fi
 
@@ -85,10 +85,10 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
 		if [ -n "${PX4_GZ_MODEL_POSE}" ]; then
 			# Clean potential input line formatting.
 			model_pose="$( echo "${PX4_GZ_MODEL_POSE}" | sed -e 's/^[ \t]*//; s/[ \t]*$//; s/,/ /g; s/  / /g; s/ /,/g' )"
-			echo "INFO  [init] PX4_GZ_MODEL_POSE set, spawning at: ${model_pose}"
+			px4log "INFO  [init] PX4_GZ_MODEL_POSE set, spawning at: ${model_pose}"
 
 		else
-			echo "WARN  [init] PX4_GZ_MODEL_POSE not set, spawning at origin."
+			px4log "WARN  [init] PX4_GZ_MODEL_POSE not set, spawning at origin."
 			model_pose="0,0,0,0,0,0"
 		fi
 
@@ -112,7 +112,7 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
 			fi
 
 		else
-			echo "ERROR [init] gz_bridge failed to start"
+			px4log "ERROR [init] gz_bridge failed to start"
 			exit 1
 		fi
 
@@ -138,13 +138,13 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
 			fi
 
 		else
-			echo "ERROR [init] gz_bridge failed to start"
+			px4log "ERROR [init] gz_bridge failed to start"
 			exit 1
 		fi
 
 	elif [ -n "${PX4_SIM_MODEL}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ] && [ -z "${PX4_GZ_MODEL}" ]; then
 
-		echo "WARN  [init] PX4_GZ_MODEL_NAME or PX4_GZ_MODEL not set using PX4_SIM_MODEL."
+		px4log "WARN  [init] PX4_GZ_MODEL_NAME or PX4_GZ_MODEL not set using PX4_SIM_MODEL."
 
 		if gz_bridge start -m "${PX4_SIM_MODEL#*gz_}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
 			if param compare -s SENS_EN_BAROSIM 1
@@ -165,18 +165,18 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
 			fi
 
 		else
-			echo "ERROR [init] gz_bridge failed to start"
+			px4log "ERROR [init] gz_bridge failed to start"
 			exit 1
 		fi
 
 	else
-		echo "ERROR [init] failed to pass only PX4_GZ_MODEL_NAME or PX4_GZ_MODEL"
+		px4log "ERROR [init] failed to pass only PX4_GZ_MODEL_NAME or PX4_GZ_MODEL"
 		exit 1
 	fi
 
 elif [ "$PX4_SIM_MODEL" = "jmavsim_iris" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "10017" ]; then
 
-	echo "INFO  [init] jMAVSim simulator"
+	px4log "INFO  [init] jMAVSim simulator"
 
 	if jps | grep -i jmavsim; then
 		kill "$(jps | grep -i jmavsim | awk '{print $1}')" || true
@@ -198,15 +198,15 @@ else
 	if [ -z "${PX4_SIM_HOSTNAME}" ]; then
 
 		if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
-			echo "INFO  [init] PX4_SIM_HOSTNAME: localhost"
+			px4log "INFO  [init] PX4_SIM_HOSTNAME: localhost"
 			simulator_mavlink start -c $simulator_tcp_port
 		else
-			echo "INFO  [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOST_ADDR}"
+			px4log "INFO  [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOST_ADDR}"
 			simulator_mavlink start -t "${PX4_SIM_HOST_ADDR}" "${simulator_tcp_port}"
 		fi
 
 	else
-		echo "INFO  [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOSTNAME}"
+		px4log "INFO  [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOSTNAME}"
 		simulator_mavlink start -h "${PX4_SIM_HOSTNAME}" "${simulator_tcp_port}"
 	fi
 

ROMFS/px4fmu_common/init.d-posix/rc.replay

@@ -4,12 +4,12 @@
 
 # shellcheck disable=SC2154
 if [ ! -f ${replay} ]; then
-	echo "Invalid replay log file ${replay}"
+	px4log "Invalid replay log file ${replay}"
 	exit 1
 fi
 
 if [ ! -f replay_params.txt ]; then
-	echo "Creating $(pwd)/replay_params.txt"
+	px4log "Creating $(pwd)/replay_params.txt"
 	ulog_params -i "${replay}" -l ' ' | grep -e '^EKF2' > replay_params.txt
 fi
 

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -13,6 +13,8 @@ set +e
 #search path for sourcing px4-rc.*
 PATH="$PATH:${R}etc/init.d-posix"
 
+px4log_tail &
+
 #
 # Main SITL startup script
 #
@@ -40,7 +42,7 @@ then
 
 elif [ -n "$PX4_SYS_AUTOSTART" ]
 then
-	echo "env SYS_AUTOSTART: ${PX4_SYS_AUTOSTART}"
+	px4log "env SYS_AUTOSTART: ${PX4_SYS_AUTOSTART}"
 	SYS_AUTOSTART=${PX4_SYS_AUTOSTART}
 
 elif [ "$PX4_SIM_MODEL" = "none" ] || [ -z $PX4_SIM_MODEL ]
@@ -55,11 +57,11 @@ then
 	# shellcheck disable=SC2012
 	REQUESTED_AUTOSTART=$(ls "${R}etc/init.d-posix/airframes" | sed -n 's/^\([0-9][0-9]*\)_'${PX4_SIM_MODEL}'$/\1/p')
 	if [ -z "$REQUESTED_AUTOSTART" ]; then
-		echo "ERROR [init] Unknown model $PX4_SIM_MODEL (not found by name on ${R}etc/init.d-posix/airframes)"
+		px4log "ERROR [init] Unknown model $PX4_SIM_MODEL (not found by name on ${R}etc/init.d-posix/airframes)"
 		exit 1
 	else
 		SYS_AUTOSTART=$REQUESTED_AUTOSTART
-		echo "INFO  [init] found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
+		px4log "INFO  [init] found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
 	fi
 fi
 
@@ -72,7 +74,7 @@ if [ -f $PARAM_FILE ]; then
 
 	if ! param import
 	then
-		echo "ERROR [init] param import failed"
+		px4log "ERROR [init] param import failed"
 
 		bsondump $PARAM_FILE
 
@@ -82,7 +84,7 @@ if [ -f $PARAM_FILE ]; then
 		# try importing from backup file
 		if [ -f $PARAM_BACKUP_FILE ]
 		then
-			echo "[init] importing from parameter backup"
+			px4log "[init] importing from parameter backup"
 
 			# dump current backup file contents for comparison
 			bsondump $PARAM_BACKUP_FILE
@@ -97,7 +99,7 @@ if [ -f $PARAM_FILE ]; then
 	fi
 
 elif [ -f $PARAM_BACKUP_FILE ]; then
-	echo "ERROR [init] primary param file $PARAM_FILE unavailable, using backup $PARAM_BACKUP_FILE"
+	px4log "ERROR [init] primary param file $PARAM_FILE unavailable, using backup $PARAM_BACKUP_FILE"
 	param import $PARAM_BACKUP_FILE
 fi
 
@@ -129,7 +131,6 @@ fi
 # multi-instance setup
 # shellcheck disable=SC2154
 param set MAV_SYS_ID $((px4_instance+1))
-param set UXRCE_DDS_KEY $((px4_instance+1))
 
 if [ $AUTOCNF = yes ]
 then
@@ -168,6 +169,8 @@ 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 EKF2_MULTI_MAG 2
+param set-default SENS_MAG_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
@@ -190,19 +193,19 @@ param set-default COM_LOW_BAT_ACT 2
 # Adapt timeout parameters if simulation runs faster or slower than realtime.
 if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
 	COM_DL_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 10" | bc)
-	echo "COM_DL_LOSS_T set to $COM_DL_LOSS_T_LONGER"
+	px4log "COM_DL_LOSS_T set to $COM_DL_LOSS_T_LONGER"
 	param set COM_DL_LOSS_T $COM_DL_LOSS_T_LONGER
 
 	COM_RC_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 0.5" | bc)
-	echo "COM_RC_LOSS_T set to $COM_RC_LOSS_T_LONGER"
+	px4log "COM_RC_LOSS_T set to $COM_RC_LOSS_T_LONGER"
 	param set COM_RC_LOSS_T $COM_RC_LOSS_T_LONGER
 
 	COM_OF_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 0.5" | bc)
-	echo "COM_OF_LOSS_T set to $COM_OF_LOSS_T_LONGER"
+	px4log "COM_OF_LOSS_T set to $COM_OF_LOSS_T_LONGER"
 	param set COM_OF_LOSS_T $COM_OF_LOSS_T_LONGER
 
 	COM_OBC_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 5.0" | bc)
-	echo "COM_OBC_LOSS_T set to $COM_OBC_LOSS_T_LONGER"
+	px4log "COM_OBC_LOSS_T set to $COM_OBC_LOSS_T_LONGER"
 	param set COM_OBC_LOSS_T $COM_OBC_LOSS_T_LONGER
 fi
 
@@ -228,7 +231,7 @@ then
 
 elif [ ! -e "$autostart_file" ] && [ "$SYS_AUTOSTART" -ne "0" ]
 then
-	echo "Error: no autostart file found ($autostart_file)"
+	px4log "Error: no autostart file found ($autostart_file)"
 	exit 1
 fi
 
@@ -263,33 +266,20 @@ fi
 
 navigator start
 
-# Try to start the UXRCE-DDS Client with UDP transport if module exists
-uxrce_dds_ns=""
+# Try to start the microdds_client with UDP transport if module exists
+microdds_ns=""
 if [ "$px4_instance" -ne "0" ]
 then
-	# for multi intances setup, add namespace prefix
-	uxrce_dds_ns="-n px4_$px4_instance"
+	# Assign new xrce dds key based on instance number and set default namespace
+	param set XRCE_DDS_KEY ${px4_instance}
+	microdds_ns="-n px4_$px4_instance"
 fi
-if [ -n "$PX4_UXRCE_DDS_NS" ]
+if [ -n "$PX4_MICRODDS_NS" ]
 then
 	# Override namespace if environment variable is defined
-	uxrce_dds_ns="-n $PX4_UXRCE_DDS_NS"
+	microdds_ns="-n $PX4_MICRODDS_NS"
 fi
-if [ -n "$ROS_DOMAIN_ID" ]
-then
-	# Match UXRCE_DDS_DOM_ID with ROS_DOMAIN_ID, if defined
-	param set UXRCE_DDS_DOM_ID $ROS_DOMAIN_ID
-else
-	param set UXRCE_DDS_DOM_ID 0
-fi
-uxrce_dds_port=8888
-if [ -n "$PX4_UXRCE_DDS_PORT" ]
-then
-	# Override port if environment variable is defined
-	uxrce_dds_port="$PX4_UXRCE_DDS_PORT"
-fi
-
-uxrce_dds_client start -t udp -h 127.0.0.1 -p $uxrce_dds_port $uxrce_dds_ns
+microdds_client start -t udp -p 8888 $microdds_ns
 
 if param greater -s MNT_MODE_IN -1
 then

ROMFS/px4fmu_common/init.d/CMakeLists.txt

@@ -46,6 +46,7 @@ px4_add_romfs_files(
 	rc.logging
 	rc.mc_apps
 	rc.mc_defaults
+	rc.sysinit
 	rcS
 	rc.sensors
 	rc.thermal_cal

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

@@ -34,7 +34,10 @@ param set-default HIL_ACT_FUNC3 103
 param set-default HIL_ACT_FUNC4 104
 
 # disable some checks to allow to fly
+# - with usb
+param set-default CBRK_USB_CHK 197848
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
+param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027

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

@@ -34,6 +34,8 @@ param set-default MC_ROLLRATE_P 0.3
 param set-default MIS_TAKEOFF_ALT 10
 param set-default MIS_YAW_TMT 10
 
+param set-default MPC_ACC_HOR_MAX 2
+param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_THR_MIN 0.1
 param set-default MPC_XY_P 0.8
 param set-default MPC_XY_VEL_D_ACC 0.1
@@ -92,9 +94,12 @@ param set SYS_HITL 1
 param set UAVCAN_ENABLE 0
 
 # disable some checks to allow to fly
+# - with usb
+param set-default CBRK_USB_CHK 197848
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
+param set-default COM_PREARM_MODE 0
 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

@@ -36,9 +36,12 @@ param set-default HIL_ACT_FUNC4 104
 param set SYS_HITL 2
 
 # disable some checks to allow to fly:
+# - with usb
+param set-default CBRK_USB_CHK 197848
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
+param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027
 
 param set SIH_VEHICLE_TYPE 0

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

@@ -39,9 +39,12 @@ param set-default HIL_ACT_FUNC6 400
 param set-default SYS_HITL 2
 
 # disable some checks to allow to fly:
+# - with usb
+param set-default CBRK_USB_CHK 197848
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
+param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027
 
 param set-default BAT_N_CELLS 3

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

@@ -17,10 +17,7 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported for tailsitters
-
 param set UAVCAN_ENABLE 0
-param set-default VT_B_TRANS_DUR 5
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_MOT_COUNT 2
 param set-default VT_TYPE 0
@@ -57,9 +54,12 @@ param set-default MAV_TYPE 19
 param set-default SYS_HITL 2
 
 # disable some checks to allow to fly:
+# - with usb
+param set-default CBRK_USB_CHK 197848
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
+param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027
 
 param set-default BAT_N_CELLS 3

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

@@ -33,6 +33,9 @@ param set-default CBRK_IO_SAFETY 22027
 
 param set-default EKF2_GPS_POS_X -0.12
 param set-default EKF2_IMU_POS_X -0.12
+param set-default EKF2_TAU_VEL 0.5
+param set-default EKF2_GPS_P_GATE 10
+param set-default EKF2_GPS_V_GATE 10
 
 param set-default FW_ARSP_MODE 1
 param set-default NPFG_PERIOD 25
@@ -45,9 +48,11 @@ param set-default FW_R_LIM 35
 param set-default FW_RR_FF 0.9
 param set-default FW_RR_I 0.08
 param set-default FW_RR_P 0.18
+param set-default FW_T_HRATE_FF 0.5
 param set-default FW_T_CLMB_MAX 3
 param set-default FW_T_SINK_MAX 3
 param set-default FW_T_SINK_MIN 1
+param set-default FW_T_VERT_ACC 6
 param set-default FW_THR_TRIM 0.70
 param set-default FW_THR_SLEW_MAX 1
 param set-default FW_P_LIM_MAX 15
@@ -57,24 +62,37 @@ param set-default FW_P_RMAX_POS 45
 param set-default FW_R_RMAX 50
 param set-default FW_THR_MIN 0.55
 param set-default FW_BAT_SCALE_EN 1
+param set-default FW_THR_ALT_SCL 2.7
 param set-default FW_T_RLL2THR 20
 
+param set-default LNDMC_XY_VEL_MAX 1
+param set-default LNDMC_Z_VEL_MAX 0.7
+
 param set-default MC_ROLLRATE_P 0.16
 param set-default MC_ROLLRATE_I 0.01
+param set-default MC_ROLLRATE_MAX 80
 param set-default MC_PITCHRATE_I 0.05
+param set-default MC_PITCHRATE_MAX 80
+param set-default MC_YAW_P 3.5
 
 param set-default MC_YAWRATE_MAX 20
 param set-default MC_AIRMODE 1
 
 param set-default MIS_DIST_1WP 100
+param set-default MIS_DIST_WPS 100000
 param set-default MIS_TAKEOFF_ALT 15
 
 param set-default MPC_XY_P 0.8
+param set-default MPC_XY_VEL_P_ACC 2
 param set-default MPC_XY_VEL_MAX 5
+param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_LAND_SPEED 1.2
 param set-default MPC_TILTMAX_LND 35
 param set-default MPC_Z_VEL_MAX_UP 1.5
+param set-default MPC_HOLD_MAX_XY 0.5
+param set-default MPC_HOLD_MAX_Z 0.5
 param set-default MPC_TKO_RAMP_T 0.8
+param set-default MPC_XY_CRUISE 5
 param set-default MPC_TILTMAX_AIR 25
 param set-default MPC_TILTMAX_LND 25
 param set-default MPC_YAWRAUTO_MAX 20
@@ -96,12 +114,17 @@ param set-default MAV_1_FORWARD 1
 param set-default SER_TEL2_BAUD 57600
 
 param set-default VT_TYPE 2
+param set-default VT_F_TRANS_THR 1
 param set-default VT_PITCH_MIN 8
 param set-default VT_FW_QC_P 55
 param set-default VT_FW_QC_R 55
 param set-default VT_TRANS_MIN_TM 15
+param set-default VT_B_TRANS_DUR 8
 param set-default VT_FWD_THRUST_SC 4
+param set-default VT_F_TRANS_DUR 1
+param set-default VT_B_TRANS_THR 0.7
 param set-default VT_TRANS_TIMEOUT 22
+param set-default VT_F_TRANS_RAMP 4
 
 param set-default COM_RC_OVERRIDE 0
 

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

@@ -41,6 +41,7 @@ param set-default FW_R_RMAX 50
 param set-default FW_THR_TRIM 0.65
 param set-default FW_THR_MIN 0.3
 param set-default FW_THR_SLEW_MAX 0.6
+param set-default FW_T_HRATE_FF 0
 param set-default FW_T_SINK_MAX 15
 param set-default FW_T_SINK_MIN 3
 param set-default FW_YR_P 0.15
@@ -52,12 +53,21 @@ param set-default MC_YAWRATE_I 0.15
 param set-default MC_YAWRATE_MAX 40
 param set-default MC_YAWRATE_P 0.3
 
+param set-default MPC_ACC_DOWN_MAX 2
+param set-default MPC_ACC_HOR_MAX 2
+param set-default MPC_ACC_UP_MAX 3
 param set-default MC_AIRMODE 1
+param set-default MPC_JERK_AUTO 4
 param set-default MPC_LAND_SPEED 1
 param set-default MPC_MAN_TILT_MAX 25
 param set-default MPC_MAN_Y_MAX 40
+param set-default COM_SPOOLUP_TIME 1.5
 param set-default MPC_THR_HOVER 0.45
 param set-default MPC_TILTMAX_AIR 25
+param set-default MPC_TKO_RAMP_T 1.8
+param set-default MPC_VEL_MANUAL 3
+param set-default MPC_XY_CRUISE 3
+param set-default MPC_XY_VEL_MAX 3.5
 param set-default MPC_YAWRAUTO_MAX 40
 param set-default MPC_Z_VEL_MAX_UP 2
 
@@ -71,9 +81,11 @@ param set-default SENS_BOARD_ROT 4
 param set-default VT_ARSP_BLEND 10
 param set-default VT_ARSP_TRANS 21
 param set-default VT_B_DEC_MSS 1.5
+param set-default VT_B_TRANS_DUR 12
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_FWD_THRUST_SC 1.2
 param set-default VT_F_TR_OL_TM 8
+param set-default VT_PSHER_RMP_DT 2
 param set-default VT_TRANS_MIN_TM 4
 param set-default VT_TYPE 2
 

ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter

@@ -12,8 +12,6 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported for tailsitters
-
 param set-default CA_AIRFRAME 4
 param set-default CA_ROTOR_COUNT 2
 param set-default CA_ROTOR0_KM -0.05
@@ -31,4 +29,3 @@ param set-default CA_SV_CS1_TYPE 6
 param set-default MAV_TYPE 19
 param set-default VT_TYPE 0
 param set-default VT_ELEV_MC_LOCK 0
-param set-default VT_B_TRANS_DUR 5

ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2

@@ -26,6 +26,7 @@ param set-default BAT1_N_CELLS 3
 
 param set-default SENS_BOARD_ROT 4
 
+param set-default FW_AIRSPD_MAX 20
 param set-default FW_AIRSPD_MIN 7
 param set-default FW_AIRSPD_TRIM 13
 param set-default FW_THR_TRIM 0.8

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

@@ -16,12 +16,11 @@ param set-default COM_OBS_AVOID 1
 param set-default COM_DISARM_LAND 0.5
 
 # EKF2 parameters
-param set-default EKF2_DRAG_CTRL 1
+param set-default EKF2_AID_MASK 35
 param set-default EKF2_IMU_POS_X 0.02
 param set-default EKF2_GPS_POS_X 0.055
 param set-default EKF2_GPS_POS_Z -0.15
 param set-default EKF2_MIN_RNG 0.03
-param set-default EKF2_OF_CTRL 1
 param set-default EKF2_OF_POS_X 0.055
 param set-default EKF2_OF_POS_Y 0.02
 param set-default EKF2_OF_POS_Z 0.065
@@ -60,9 +59,12 @@ param set-default MC_YAWRATE_P 0.3
 param set-default CP_DIST 6
 param set-default MPC_ACC_DOWN_MAX 5
 param set-default MPC_ACC_HOR_MAX 10
+param set-default MPC_ACC_UP_MAX 4
 param set-default MPC_MAN_Y_MAX 120
+param set-default MPC_TILTMAX_AIR 45
 param set-default MPC_THR_HOVER 0.3
 param set-default MPC_VEL_MANUAL 5
+param set-default MPC_XY_CRUISE 5
 param set-default MPC_XY_VEL_MAX 5
 param set-default MPC_XY_VEL_P_ACC 1.58
 param set-default MPC_XY_TRAJ_P 0.3

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

@@ -33,10 +33,3 @@ 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_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_AUX_TIM0 -4
-

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

@@ -16,12 +16,11 @@ param set-default COM_OBS_AVOID 1
 param set-default COM_DISARM_LAND 0.5
 
 # EKF2 parameters
-param set-default EKF2_DRAG_CTRL 1
+param set-default EKF2_AID_MASK 35
 param set-default EKF2_IMU_POS_X 0.02
 param set-default EKF2_GPS_POS_X 0.055
 param set-default EKF2_GPS_POS_Z -0.15
 param set-default EKF2_MIN_RNG 0.03
-param set-default EKF2_OF_CTRL 1
 param set-default EKF2_OF_POS_X 0.055
 param set-default EKF2_OF_POS_Y 0.02
 param set-default EKF2_OF_POS_Z 0.065
@@ -60,10 +59,13 @@ param set-default MC_YAWRATE_P 0.3
 param set-default CP_DIST 6
 param set-default MPC_ACC_DOWN_MAX 5
 param set-default MPC_ACC_HOR_MAX 10
+param set-default MPC_ACC_UP_MAX 4
 param set-default MPC_MANTHR_MIN 0
 param set-default MPC_MAN_Y_MAX 120
+param set-default MPC_TILTMAX_AIR 45
 param set-default MPC_THR_HOVER 0.3
 param set-default MPC_VEL_MANUAL 5
+param set-default MPC_XY_CRUISE 5
 param set-default MPC_XY_VEL_MAX 5
 param set-default MPC_XY_VEL_P_ACC 1.58
 param set-default MPC_XY_TRAJ_P 0.3

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

@@ -19,6 +19,7 @@
 . ${R}etc/init.d/rc.mc_defaults
 
 param set-default CBRK_SUPPLY_CHK 894281
+param set-default CBRK_USB_CHK 197848
 
 param set-default IMU_GYRO_CUTOFF 100
 param set-default IMU_DGYRO_CUTOFF 60

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

@@ -58,6 +58,8 @@ 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
+
 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/4061_atl_mantis_edu

@@ -37,20 +37,23 @@ param set-default COM_RC_LOSS_T 3
 
 
 # ekf2
+param set-default EKF2_AID_MASK 33
 param set-default EKF2_TERR_MASK 1
+param set-default EKF2_BARO_DELAY 0
 param set-default EKF2_BARO_NOISE 2.0
 
 param set-default EKF2_BCOEF_X 31.5
 param set-default EKF2_BCOEF_Y 25.5
 
-param set-default EKF2_DRAG_CTRL 1
-
 param set-default EKF2_GPS_DELAY 100
 param set-default EKF2_GPS_POS_X 0.06
+param set-default EKF2_GPS_POS_Y 0.0
+param set-default EKF2_GPS_POS_Z 0.0
 param set-default EKF2_GPS_V_NOISE 0.5
 
 param set-default EKF2_IMU_POS_X 0.06
 
+param set-default EKF2_MAG_DELAY 0
 param set-default EKF2_MAG_NOISE 0.1
 
 param set-default EKF2_MIN_RNG 0.15
@@ -58,6 +61,7 @@ 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_POS_X -0.035
+param set-default EKF2_OF_POS_Y 0.0
 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
@@ -115,20 +119,30 @@ param set-default MPC_ACC_HOR_MAX 10.0
 param set-default MPC_ACC_UP_MAX 3.0
 param set-default MPC_ALT_MODE 0
 param set-default MPC_LAND_SPEED 0.5
+param set-default MPC_LAND_VEL_XY 10
 param set-default MPC_MAN_TILT_MAX 20
 param set-default MPC_YAWRAUTO_MAX 80.0
+param set-default MPC_POS_MODE 4
 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_XY_VEL_D 0.005
+param set-default MPC_XY_VEL_I 0.02
+param set-default MPC_XY_VEL_P 0.15
 param set-default MPC_Z_P 2.0
+param set-default MPC_Z_VEL_D 0.0
+param set-default MPC_Z_VEL_I 0.02
 param set-default MPC_Z_VEL_MAX_DN 2.0
+param set-default MPC_Z_VEL_P 0.27
+
 
 # gimbal configuration
 param set-default MNT_MODE_IN 0
 param set-default MNT_MODE_OUT 1
 param set-default MNT_MAN_PITCH 2
+param set-default MNT_RC_IN_MODE 1
 param set-default MNT_RATE_PITCH 30
 
 # RC
@@ -151,6 +165,7 @@ param set-default RC1_TRIM          1000
 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_ROT 0
 
 # ignore the SD card errors and use normal startup sound
 set STARTUP_TUNE "1"

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

@@ -22,7 +22,10 @@
 param set-default MC_ROLLRATE_D 0.0013
 param set-default MC_PITCHRATE_D 0.0016
 
+param set-default MC_YAW_FF 0.5
+
 param set-default MPC_MANTHR_MAX 0.9
+param set-default MPC_MANTHR_MIN 0.08
 
 # Filter settings
 param set-default IMU_DGYRO_CUTOFF 90
@@ -34,8 +37,11 @@ param set-default SENS_BOARD_ROT 10
 
 # EKF2
 param set-default EKF2_GND_EFF_DZ 6
+param set-default EKF2_HGT_REF 1
 
 # Position control
+param set-default MPC_Z_P 1
+param set-default MPC_Z_VEL_P_ACC 4
 param set-default MPC_Z_VEL_I_ACC 0.4
 
 param set-default MPC_THR_MIN 0.06
@@ -45,6 +51,7 @@ param set-default MIS_TAKEOFF_ALT 1.1
 param set-default MPC_XY_P 1.7
 param set-default MPC_XY_VEL_P_ACC 2.6
 param set-default MPC_XY_VEL_I_ACC 1.2
+param set-default MPC_XY_VEL_D_ACC 0.2
 param set-default MPC_TKO_RAMP_T 1
 param set-default MPC_VEL_MANUAL 3
 
@@ -52,6 +59,7 @@ param set-default BAT1_SOURCE 0
 param set-default BAT1_N_CELLS 4
 param set-default BAT1_V_DIV 10.14
 param set-default BAT1_A_PER_V 18.18
+param set-default COM_DISARM_LAND 2
 
 # Filter settings
 param set-default IMU_GYRO_CUTOFF 90

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

@@ -23,6 +23,9 @@ param set-default MC_ROLLRATE_D 0.0013
 
 param set-default MC_PITCHRATE_D 0.0016
 
+
+param set-default MPC_MANTHR_MIN 0.08
+
 # Filter settings
 param set-default IMU_GYRO_CUTOFF 100
 
@@ -37,11 +40,12 @@ param set-default SENS_TFMINI_CFG 103
 param set-default SENS_EN_BATT 1
 
 # EKF2
+param set-default EKF2_AID_MASK 3
 param set-default EKF2_GND_EFF_DZ 6
+param set-default EKF2_HGT_REF 1
 param set-default EKF2_MIN_RNG 0.3
 
 # Flow
-param set-default EKF2_OF_CTRL 1
 param set-default EKF2_OF_QMIN 70
 
 # Position control
@@ -56,6 +60,7 @@ param set-default MIS_TAKEOFF_ALT 1.1
 param set-default MPC_XY_P 1.7
 param set-default MPC_XY_VEL_P_ACC 2.6
 param set-default MPC_XY_VEL_I_ACC 1.2
+param set-default MPC_XY_VEL_D_ACC 0.2
 param set-default MPC_TKO_RAMP_T 1
 param set-default MPC_VEL_MANUAL 3
 
@@ -63,6 +68,7 @@ param set-default BAT1_SOURCE 0
 param set-default BAT1_N_CELLS 4
 param set-default BAT1_V_DIV 10.14
 param set-default BAT1_A_PER_V 18.18
+param set-default COM_DISARM_LAND 2
 
 # Filter settings
 param set-default IMU_GYRO_CUTOFF 90

ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie

@@ -21,13 +21,14 @@ param set-default BAT1_CAPACITY 240
 param set-default BAT1_SOURCE 1
 
 param set-default CBRK_SUPPLY_CHK 894281
+param set-default CBRK_USB_CHK 197848
 param set-default COM_RC_IN_MODE 1
 
 param set-default EKF2_ABL_LIM 2
+param set-default EKF2_AID_MASK 3
 param set-default EKF2_HGT_REF 2
 param set-default EKF2_RNG_CTRL 2
 param set-default EKF2_MAG_TYPE 1
-param set-default EKF2_OF_CTRL 1
 param set-default EKF2_OF_DELAY 10
 
 param set-default IMU_GYRO_CUTOFF 100

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

@@ -19,7 +19,7 @@
 
 param set-default SYS_MC_EST_GROUP 2
 param set-default SYS_HAS_MAG 0
-param set-default EKF2_OF_CTRL 1
+param set-default EKF2_AID_MASK 2
 param set-default EKF2_GPS_CTRL 0
 param set-default EKF2_MAG_TYPE 5
 
@@ -27,6 +27,7 @@ param set-default BAT1_N_CELLS 1
 param set-default BAT1_SOURCE 1
 
 param set-default CBRK_SUPPLY_CHK 894281
+param set-default CBRK_USB_CHK 197848
 param set-default COM_RC_IN_MODE 1
 
 param set-default IMU_GYRO_CUTOFF 100

ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle

@@ -39,6 +39,8 @@ param set-default GND_THR_CRUISE 0.3
 param set-default GND_THR_MAX 0.5
 param set-default GND_THR_MIN 0
 
+param set-default MIS_TAKEOFF_ALT 0.01
+
 param set-default NAV_ACC_RAD 0.5
 
 param set-default CA_AIRFRAME 5

ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover

@@ -44,8 +44,13 @@ param set-default GND_SPEED_D 0.001
 param set-default GND_SPEED_IMAX 0.125
 param set-default GND_SPEED_THR_SC 1
 
+param set-default MIS_TAKEOFF_ALT 0.01
+
 param set-default NAV_ACC_RAD 0.5
 
+# Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor
+param set-default CBRK_AIRSPD_CHK 162128
+
 # Differential drive acts like ackermann steering with a maximum turn angle of 180 degrees, or pi radians
 param set-default GND_MAX_ANG 3.1415
 

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

@@ -45,8 +45,13 @@ param set-default GND_SPEED_D 0.001
 param set-default GND_SPEED_IMAX 0.125
 param set-default GND_SPEED_THR_SC 1
 
+param set-default MIS_TAKEOFF_ALT 0.01
+
 param set-default NAV_ACC_RAD 0.5
 
+# Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor
+param set-default CBRK_AIRSPD_CHK 162128
+
 param set-default CA_AIRFRAME 5
 
 param set-default CA_R_REV 1

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

@@ -13,6 +13,10 @@
 
 . ${R}etc/init.d/rc.uuv_defaults
 
+# disable circuit breaker for airspeed sensor
+param set-default CBRK_AIRSPD_CHK 162128
+
+
 param set-default CA_AIRFRAME 7
 param set-default CA_ROTOR_COUNT 4
 param set-default CA_R_REV 255

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

@@ -13,6 +13,9 @@
 
 . ${R}etc/init.d/rc.uuv_defaults
 
+# disable circuit breaker for airspeed sensor
+param set-default CBRK_AIRSPD_CHK 162128
+
 param set-default CA_AIRFRAME 7
 param set-default CA_ROTOR_COUNT 4
 param set-default CA_R_REV 255

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

@@ -23,9 +23,14 @@
 . ${R}etc/init.d/rc.uuv_defaults
 
 
+# disable circuit breaker for airspeed sensor
+param set-default CBRK_AIRSPD_CHK 162128
 # companion computer is connected via USB permanently
+param set-default CBRK_USB_CHK 197848
 param set-default CBRK_IO_SAFETY 22027
 
+param set-default COM_PREARM_MODE 0
+
 param set-default MAV_1_CONFIG 102
 
 param set-default BAT1_A_PER_V 37.8798

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

@@ -41,8 +41,14 @@ param set-default MPC_ACC_HOR 8
 param set-default MPC_THR_MIN 0.06
 param set-default MPC_THR_HOVER 0.3
 # altitude control gains
+param set-default MPC_Z_P 1
+param set-default MPC_Z_VEL_P_ACC 4
 param set-default MPC_Z_VEL_I_ACC 0.4
 # position control gains
+param set-default MPC_XY_P 0.9500
+param set-default MPC_XY_VEL_P_ACC 1.8
+param set-default MPC_XY_VEL_I_ACC 0.4
+param set-default MPC_XY_VEL_D_ACC 0.2
 # etc gains
 param set-default MPC_TKO_RAMP_T 0.4
 param set-default MPC_VEL_MANUAL 5
@@ -63,6 +69,8 @@ param set-default MIS_TAKEOFF_ALT 1.1
 #####################################
 # EKF
 #####################################
+# Height mode as GPS
+param set-default EKF2_HGT_REF 1
 # Enable optical flow and GPS
 param set-default EKF2_MAG_TYPE 1
 param set-default EKF2_OF_QMIN 80

ROMFS/px4fmu_common/init.d/rc.airship_apps

@@ -20,10 +20,10 @@ then
 	#
 	if attitude_estimator_q start
 	then
-		echo "WARN [init] Estimator LPE unsupported, EKF2 recommended."
+		px4log "WARN [init] Estimator LPE unsupported, EKF2 recommended."
 		local_position_estimator start
 	else
-		echo "ERROR [init] Estimator LPE not available. Using EKF2"
+		px4log "ERROR [init] Estimator LPE not available. Using EKF2"
 		param set SYS_MC_EST_GROUP 2
 		param save
 		reboot

ROMFS/px4fmu_common/init.d/rc.autostart_ext

@@ -7,5 +7,5 @@ if [ -e ${SDCARD_EXT_PATH}/rc.autostart ]
 then
 	. ${SDCARD_EXT_PATH}/rc.autostart
 else
-	echo "Error: ${SDCARD_EXT_PATH}/rc.autostart does not exist"
+	px4log "Error: ${SDCARD_EXT_PATH}/rc.autostart does not exist"
 fi

ROMFS/px4fmu_common/init.d/rc.balloon_apps

@@ -17,10 +17,10 @@ then
 	#
 	if attitude_estimator_q start
 	then
-		echo "WARN [init] Estimator LPE unsupported, EKF2 recommended."
+		px4log "WARN [init] Estimator LPE unsupported, EKF2 recommended."
 		local_position_estimator start
 	else
-		echo "ERROR [init] Estimator LPE not available. Using EKF2"
+		px4log "ERROR [init] Estimator LPE not available. Using EKF2"
 		param set SYS_MC_EST_GROUP 2
 		param save
 		reboot

ROMFS/px4fmu_common/init.d/rc.fw_apps

@@ -20,7 +20,7 @@ control_allocator start
 #
 fw_rate_control start
 fw_att_control start
-fw_pos_control start
+fw_path_navigation start
 airspeed_selector start
 
 #

ROMFS/px4fmu_common/init.d/rc.fw_defaults

@@ -46,6 +46,7 @@ param set-default RTL_LAND_DELAY -1
 #
 param set-default NAV_ACC_RAD 10
 
+param set-default MIS_DIST_WPS 5000
 param set-default MIS_TAKEOFF_ALT 25
 param set-default MIS_TKO_LAND_REQ 2
 

ROMFS/px4fmu_common/init.d/rc.mc_apps

@@ -20,10 +20,10 @@ then
 	#
 	if attitude_estimator_q start
 	then
-		echo "WARN [init] Estimator LPE unsupported, EKF2 recommended."
+		px4log "WARN [init] Estimator LPE unsupported, EKF2 recommended."
 		local_position_estimator start
 	else
-		echo "ERROR [init] Estimator LPE not available. Using EKF2"
+		px4log "ERROR [init] Estimator LPE not available. Using EKF2"
 		param set SYS_MC_EST_GROUP 2
 		param save
 		reboot

ROMFS/px4fmu_common/init.d/rc.rover_defaults

@@ -10,9 +10,9 @@ set VEHICLE_TYPE rover
 # MAV_TYPE_GROUND_ROVER 10
 param set-default MAV_TYPE 10
 
-# Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor
-param set-default CBRK_AIRSPD_CHK 162128
-
+#
+# Default parameters for UGVs.
+#
 param set-default MIS_TAKEOFF_ALT 0.01
 
 param set-default NAV_ACC_RAD 2

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -132,12 +132,6 @@ then
 	fi
 fi
 
-# ADIS16507 spi external IMU
-if param greater -s SENS_EN_ADIS165X 0
-then
-	adis16507 -S start
-fi
-
 # Eagle Tree airspeed sensor external I2C
 if param compare -s SENS_EN_ETSASPD 1
 then

ROMFS/px4fmu_common/init.d/rc.sysinit

@@ -0,0 +1,3 @@
+#!/bin/sh
+# Un comment and use set +e to ignore and set -e to enable 'exit on error control'
+set +e

ROMFS/px4fmu_common/init.d/rc.uuv_defaults

@@ -9,6 +9,3 @@ set VEHICLE_TYPE uuv
 
 # MAV_TYPE_SUBMARINE 12
 param set-default MAV_TYPE 12
-
-# UUV don't have an airspeed sensor, so disable checks around it
-param set-default CBRK_AIRSPD_CHK 162128

ROMFS/px4fmu_common/init.d/rc.vehicle_setup

@@ -66,6 +66,6 @@ fi
 #
 if [ $VEHICLE_TYPE = none ]
 then
-	echo "No autostart ID found"
+	px4log "No autostart ID found"
 	ekf2 start &
 fi

ROMFS/px4fmu_common/init.d/rc.vtol_apps

@@ -37,7 +37,7 @@ fi
 
 fw_rate_control start vtol
 fw_att_control start vtol
-fw_pos_control start vtol
+fw_path_navigation start vtol
 fw_autotune_attitude_control start vtol
 
 # Start Land Detector

ROMFS/px4fmu_common/init.d/rc.vtol_defaults

@@ -23,10 +23,12 @@ param set-default EKF2_FUSE_BETA 1
 
 param set-default HTE_VXY_THR 2.0
 
+param set-default MIS_DIST_WPS 5000
 param set-default MIS_TKO_LAND_REQ 2
 
 param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_VEL_MANUAL 5
+param set-default MPC_XY_CRUISE 5
 param set-default MPC_XY_ERR_MAX 5
 param set-default MPC_XY_VEL_MAX 8
 param set-default MPC_JERK_MAX 4.5

ROMFS/px4fmu_common/init.d/rcS

@@ -36,11 +36,6 @@ set SDCARD_FORMAT no
 set STARTUP_TUNE 1
 set VEHICLE_TYPE none
 
-#
-# Print full system version.
-#
-ver all
-
 #
 # Try to mount the microSD card.
 #
@@ -50,7 +45,7 @@ then
 	then
 		if [ -f "/fs/microsd/.format" ]
 		then
-			echo "INFO [init] format /dev/mmcsd0 requested (/fs/microsd/.format)"
+			px4log "INFO [init] format /dev/mmcsd0 requested (/fs/microsd/.format)"
 			set SDCARD_FORMAT yes
 			rm /fs/microsd/.format
 			umount /fs/microsd
@@ -62,22 +57,22 @@ then
 
 	if [ $SDCARD_AVAILABLE = no -o $SDCARD_FORMAT = yes ]
 	then
-		echo "INFO [init] formatting /dev/mmcsd0"
+		px4log "INFO [init] formatting /dev/mmcsd0"
 		set STARTUP_TUNE 15 # tune 15 = SD_ERROR (overridden to SD_INIT if format + mount succeeds)
 
 		if mkfatfs -F 32 /dev/mmcsd0
 		then
-			echo "INFO [init] card formatted"
+			px4log "INFO [init] card formatted"
 
 			if mount -t vfat /dev/mmcsd0 /fs/microsd
 			then
 				set SDCARD_AVAILABLE yes
 				set STARTUP_TUNE 14 # tune 14 = SD_INIT
 			else
-				echo "ERROR [init] card mount failed"
+				px4log "ERROR [init] card mount failed"
 			fi
 		else
-			echo "ERROR [init] format failed"
+			px4log "ERROR [init] format failed"
 		fi
 	fi
 
@@ -127,7 +122,7 @@ else
 	param select $PARAM_FILE
 	if ! param import
 	then
-		echo "ERROR [init] param import failed"
+		px4log "ERROR [init] param import failed"
 		set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
 
 		bsondump $PARAM_FILE
@@ -140,7 +135,7 @@ else
 			# try importing from backup file
 			if [ -f $PARAM_BACKUP_FILE ]
 			then
-				echo "[init] importing from parameter backup"
+				px4log "[init] importing from parameter backup"
 
 				# dump current backup file contents for comparison
 				bsondump $PARAM_BACKUP_FILE
@@ -182,7 +177,7 @@ else
 	set BOARD_ARCH_RC_DEFAULTS ${R}etc/init.d/rc.board_arch_defaults
 	if [ -f $BOARD_ARCH_RC_DEFAULTS ]
 	then
-		echo "Board architecture defaults: ${BOARD_ARCH_RC_DEFAULTS}"
+		px4log "Board architecture defaults: ${BOARD_ARCH_RC_DEFAULTS}"
 		. $BOARD_ARCH_RC_DEFAULTS
 	fi
 	unset BOARD_ARCH_RC_DEFAULTS
@@ -193,7 +188,7 @@ else
 	set BOARD_RC_DEFAULTS ${R}etc/init.d/rc.board_defaults
 	if [ -f $BOARD_RC_DEFAULTS ]
 	then
-		echo "Board defaults: ${BOARD_RC_DEFAULTS}"
+		px4log "Board defaults: ${BOARD_RC_DEFAULTS}"
 		. $BOARD_RC_DEFAULTS
 	fi
 	unset BOARD_RC_DEFAULTS
@@ -211,7 +206,7 @@ else
 			then
 				set AUTOSTART_PATH etc/init.d/rc.autostart_ext
 			else
-				echo "ERROR [init] SD card not mounted - trying to load airframe from ROMFS"
+				px4log "ERROR [init] SD card not mounted - trying to load airframe from ROMFS"
 			fi
 		fi
 		. ${R}$AUTOSTART_PATH
@@ -254,15 +249,13 @@ else
 	#
 	rgbled start -X -q
 	rgbled_ncp5623c start -X -q
-	rgbled_lp5562 start -X -q
-	rgbled_is31fl3195 start -X -q
 
 	#
 	# Override parameters from user configuration file.
 	#
 	if [ -f $FCONFIG ]
 	then
-		echo "Custom: ${FCONFIG}"
+		px4log "Custom: ${FCONFIG}"
 		. $FCONFIG
 	fi
 
@@ -297,7 +290,7 @@ else
 
 		if ! px4io start
 		then
-			echo "PX4IO start failed"
+			px4log "PX4IO start failed"
 			set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
 		fi
 	fi
@@ -362,7 +355,7 @@ else
 		set BOARD_RC_SENSORS ${R}etc/init.d/rc.board_sensors
 		if [ -f $BOARD_RC_SENSORS ]
 		then
-			echo "Board sensors: ${BOARD_RC_SENSORS}"
+			px4log "Board sensors: ${BOARD_RC_SENSORS}"
 			. $BOARD_RC_SENSORS
 		fi
 		unset BOARD_RC_SENSORS
@@ -403,7 +396,7 @@ else
 	set BOARD_RC_MAVLINK ${R}etc/init.d/rc.board_mavlink
 	if [ -f $BOARD_RC_MAVLINK ]
 	then
-		echo "Board mavlink: ${BOARD_RC_MAVLINK}"
+		px4log "Board mavlink: ${BOARD_RC_MAVLINK}"
 		. $BOARD_RC_MAVLINK
 	fi
 	unset BOARD_RC_MAVLINK
@@ -478,7 +471,7 @@ else
 	set BOARD_RC_EXTRAS ${R}etc/init.d/rc.board_extras
 	if [ -f $BOARD_RC_EXTRAS ]
 	then
-		echo "Board extras: ${BOARD_RC_EXTRAS}"
+		px4log "Board extras: ${BOARD_RC_EXTRAS}"
 		. $BOARD_RC_EXTRAS
 	fi
 	unset BOARD_RC_EXTRAS
@@ -488,7 +481,7 @@ else
 	#
 	if [ -f $FEXTRAS ]
 	then
-		echo "Addons script: ${FEXTRAS}"
+		px4log "Addons script: ${FEXTRAS}"
 		. $FEXTRAS
 	fi
 

ROMFS/px4fmu_test/init.d/rcS

@@ -19,11 +19,11 @@ fi
 mount -t vfat /dev/mmcsd0 /fs/microsd
 if [ $? = 0 ]
 then
-	echo "[i] card mounted at /fs/microsd"
+	px4log "[i] card mounted at /fs/microsd"
 	# Start playing the startup tune
 	tune_control play -t 1 # tune 1 = STARTUP
 else
-	echo "[i] no microSD card found"
+	px4log "[i] no microSD card found"
 	tune_control play error
 fi
 
@@ -43,9 +43,9 @@ fi
 param select $PARAM_FILE
 if param load
 then
-	echo "[param] Loaded: $PARAM_FILE"
+	px4log "[param] Loaded: $PARAM_FILE"
 else
-	echo "[param] FAILED loading $PARAM_FILE"
+	px4log "[param] FAILED loading $PARAM_FILE"
 fi
 
 #
@@ -53,7 +53,7 @@ fi
 #
 if [ -f $BOARD_RC ]
 then
-	echo "Board init: ${BOARD_RC}"
+	px4log "Board init: ${BOARD_RC}"
 	. $BOARD_RC
 fi
 
@@ -64,24 +64,24 @@ fi
 
 if px4io checkcrc $io_file
 then
-	echo "PX4IO CRC OK"
+	px4log "PX4IO CRC OK"
 else
-	echo "PX4IO CRC failure"
+	px4log "PX4IO CRC failure"
 	tune_control play -t 16 # tune 16 = PROG_PX4IO
 	if px4io update $io_file
 	then
 		if px4io start
 		then
-			echo "PX4IO restart OK"
+			px4log "PX4IO restart OK"
 			tune_control play-t 17 # tune 17 = PROG_PX4IO_OK
 		else
-			echo "PX4IO restart failed"
+			px4log "PX4IO restart failed"
 			tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
 			set unit_test_failure 1
 			set unit_test_failure_list "${unit_test_failure_list} px4io_flash"
 		fi
 	else
-		echo "PX4IO update failed"
+		px4log "PX4IO update failed"
 		tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
 		set unit_test_failure 1
 		set unit_test_failure_list "${unit_test_failure_list} px4io_flash"
@@ -90,7 +90,7 @@ fi
 
 if px4io start
 then
-	echo "PX4IO OK"
+	px4log "PX4IO OK"
 else
 	set unit_test_failure 1
 	set unit_test_failure_list "${unit_test_failure_list} px4io_start"
@@ -117,11 +117,11 @@ ver all
 if tests all
 then
 	echo
-	echo "All Unit Tests PASSED"
+	px4log "All Unit Tests PASSED"
 	led_control on -c green
 else
 	echo
-	echo "Some Unit Tests FAILED"
+	px4log "Some Unit Tests FAILED"
 	led_control on -c red
 fi
 

Tools/HIL/test_airframes.sh

@@ -57,4 +57,7 @@ do
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'mavlink status' || true
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'mavlink stop-all'
 
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'gps status' || true
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'gps stop'
+
 done

Tools/astyle/files_to_check_code_style.sh

@@ -25,5 +25,5 @@ exec find boards msg src platforms test \
     -path src/lib/crypto/monocypher -prune -o \
     -path src/lib/crypto/libtomcrypt -prune -o \
     -path src/lib/crypto/libtommath -prune -o \
-    -path src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client -prune -o \
+    -path src/modules/microdds_client/Micro-XRCE-DDS-Client -prune -o \
     -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) | grep $PATTERN

Tools/convert_ip.py

@@ -1,51 +0,0 @@
-#!/usr/bin/env python3
-
-"""
-Converts IP address given in decimal dot notation to int32 to be used in UXRCE_DDS_CFG parameter
-and vice-versa
-
-@author: Beniamino Pozzan (beniamino.pozzan@phd.unipd.it)
-"""
-
-
-import argparse
-
-parser = argparse.ArgumentParser(
-    prog = 'convert_ip',
-    description = 'converts IP to int32 and viceversa'
-    )
-parser.add_argument('input',
-                    type=str,
-                    help='IP address to convert')
-parser.add_argument('-r','--reverse',
-                    action='store_true',
-                    help='converts from int32 to dot decimal')
-
-args = parser.parse_args()
-
-if( args.reverse == False ):
-
-    try:
-        ip_parts = [int(x) for x in args.input.split('.')]
-    except:
-        raise ValueError("Not a valid IP")
-    if( len(ip_parts)!=4 ):
-        raise ValueError("Not a valid IP")
-    if( not all(x>=0 and x<255 for x in ip_parts) ):
-        raise ValueError("Not a valid IP")
-
-    ip = (ip_parts[0]<<24) + (ip_parts[1]<<16) + (ip_parts[2]<<8) + ip_parts[3]
-
-    if(ip & 0x80000000):
-        ip = -0x100000000 + ip
-
-    print(ip)
-
-else:
-    try:
-        ip = int(args.input)
-    except:
-        raise ValueError("Not a valid IP")
-    if(ip < 0):
-        ip = ip + 0x100000000
-    print('{}.{}.{}.{}'.format(ip>>24, (ip>>16)&0xff, (ip>>8)&0xff, ip&0xff))

Tools/module_config/generate_actuators_metadata.py

@@ -264,18 +264,7 @@ def get_actuator_output(yaml_config, output_functions, timer_config_file, verbos
             }
         per_channel_params.append(param)
 
-        custom_params = group.get('custom_params', [])
-        for custom_param in custom_params:
-            # Simply pulls all custom params, assuming they are valid ones
-            param = {
-                'name': param_prefix+'_'+custom_param['name'],
-            }
-            # TODO: check and match the custom params in output_groups with module-level parameters
-            del custom_param['name']
-            for param_key in custom_param:
-                # '-' is used in actuators.schema.json, while '_' is used in module_schema.yml
-                param[param_key.replace('_', '-')] = custom_param[param_key]
-            per_channel_params.append(param)
+        # TODO: support non-standard per-channel parameters
 
         subgroup['per-channel-parameters'] = per_channel_params
 

Tools/px4airframes/rcout.py

@@ -77,11 +77,11 @@ class RCOutput():
         result += "\n"
         result += "if [ ${AIRFRAME} != none ]\n"
         result += "then\n"
-        result += "\techo \"Loading airframe: /etc/init.d/airframes/${AIRFRAME}\"\n"
+        result += "\tpx4log \"Loading airframe: /etc/init.d/airframes/${AIRFRAME}\"\n"
         result += "\t. /etc/init.d/airframes/${AIRFRAME}\n"
         if not post_start:
             result += "else\n"
-            result += "\techo \"ERROR [init] No file matches SYS_AUTOSTART value found in : /etc/init.d/airframes\"\n"
+            result += "\tpx4log \"ERROR [init] No file matches SYS_AUTOSTART value found in : /etc/init.d/airframes\"\n"
             # Reset the configuration
             result += "\tparam set SYS_AUTOSTART 0\n"
             result += "\ttone_alarm ${TUNE_ERR}\n"

Tools/px4events/jsonout.py

@@ -7,7 +7,7 @@ import os
 class JsonOutput():
     def __init__(self, groups):
         all_json = {}
-        all_json['version'] = 2
+        all_json['version'] = 1
         component = {}
         all_json['components'] = {1: component} #1: autopilot component
 

Tools/px_romfs_pruner.py

@@ -69,7 +69,7 @@ def main():
             file_path = os.path.join(root, file)
 
             # delete hidden files
-            if file.startswith("."):
+            if file.startswith(".") and not ".nshrc" in file:
                 os.remove(file_path)
                 continue