systemcmds/manual_control: command line stick input for testing

This seems to slip in e.g. as part of the VTOL_LAND command.

.ci/Jenkinsfile-compile

@@ -9,10 +9,10 @@ pipeline {
         script {
           def build_nodes = [:]
           def docker_images = [
-            armhf: "px4io/px4-dev-armhf:2021-02-04",
-            arm64: "px4io/px4-dev-aarch64:2021-02-04",
-            base: "px4io/px4-dev-base-bionic:2021-02-04",
-            nuttx: "px4io/px4-dev-nuttx-focal:2021-02-04",
+            armhf: "px4io/px4-dev-armhf:2021-04-29",
+            arm64: "px4io/px4-dev-aarch64:2021-04-29",
+            base: "px4io/px4-dev-base-bionic:2021-04-29",
+            nuttx: "px4io/px4-dev-nuttx-focal:2021-04-29",
             snapdragon: "lorenzmeier/px4-dev-snapdragon:2020-04-01"
           ]
 
@@ -46,16 +46,18 @@ pipeline {
                      "cuav_can-gps-v1_default",
                      "cuav_nora_default",
                      "cuav_x7pro_default",
-                     "cubepilot_cubeorange_console",
                      "cubepilot_cubeorange_default",
-                     "cubepilot_cubeyellow_console",
                      "cubepilot_cubeyellow_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_pix32v5_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",
@@ -77,7 +79,6 @@ pipeline {
                      "px4_fmu-v2_fixedwing",
                      "px4_fmu-v2_multicopter",
                      "px4_fmu-v2_rover",
-                     "px4_fmu-v2_test",
                      "px4_fmu-v3_default",
                      "px4_fmu-v4_cannode",
                      "px4_fmu-v4_default",
@@ -96,7 +97,6 @@ pipeline {
                      "px4_fmu-v5x_base_phy_DP83848C",
                      "px4_fmu-v5x_default",
                      "px4_fmu-v6u_default",
-                     "px4_fmu-v6u_test",
                      "px4_fmu-v6x_default",
                      "px4_io-v2_default",
                      "spracing_h7extreme_default",
@@ -133,7 +133,7 @@ pipeline {
     // TODO: actually upload artifacts to S3
     // stage('S3 Upload') {
     //   agent {
-    //     docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+    //     docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
     //   }
     //   options {
     //         skipDefaultCheckout()
@@ -158,7 +158,7 @@ pipeline {
   }
   options {
     buildDiscarder(logRotator(numToKeepStr: '5', artifactDaysToKeepStr: '14'))
-    timeout(time: 60, unit: 'MINUTES')
+    timeout(time: 90, unit: 'MINUTES')
   }
 }
 

.ci/Jenkinsfile-hardware

@@ -7,12 +7,12 @@ pipeline {
 
       parallel {
 
-        stage("cubepilot_cubeorange_console") {
+        stage("cubepilot_cubeorange_test") {
           stages {
-            stage("build cubepilot_cubeorange_console") {
+            stage("build cubepilot_cubeorange_test") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -22,10 +22,10 @@ pipeline {
                 sh 'make distclean'
                 sh 'ccache -s'
                 sh 'git fetch --tags'
-                sh 'make cubepilot_cubeorange_console'
+                sh 'make cubepilot_cubeorange_test'
                 sh 'make sizes'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'cubepilot_cubeorange_console'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'cubepilot_cubeorange_test'
               }
               post {
                 always {
@@ -42,9 +42,9 @@ pipeline {
                   steps {
                     sh 'export'
                     sh 'find /dev/serial'
-                    unstash 'cubepilot_cubeorange_console'
+                    unstash 'cubepilot_cubeorange_test'
                     // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_console/cubepilot_cubeorange_console.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                   }
                 }
                 stage("configure") {
@@ -52,12 +52,12 @@ pipeline {
                     // configure
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 2000"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'    // generic quadcopter
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/cubepilot_io-v2_default.bin" || true' // force px4io update
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
                   }
                 }
                 stage("status") {
@@ -73,23 +73,20 @@ pipeline {
                 }
                 stage("reset") {
                   steps {
-                    cleanupFTDI();
+                    cleanupFTDI()
                   }
                 }
               }
-              options {
-                timeout(time: 90, unit: 'MINUTES')
-              }
             } // stage test
           }
         }
 
-        stage("cuav_x7pro_default") {
+        stage("cuav_x7pro_test") {
           stages {
-            stage("build cuav_x7pro_default") {
+            stage("build cuav_x7pro_test") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -99,10 +96,10 @@ pipeline {
                 sh 'make distclean'
                 sh 'ccache -s'
                 sh 'git fetch --tags'
-                sh 'make cuav_x7pro_default'
+                sh 'make cuav_x7pro_test'
                 sh 'make sizes'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'cuav_x7pro_default'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'cuav_x7pro_test'
               }
               post {
                 always {
@@ -119,21 +116,21 @@ pipeline {
                   steps {
                     sh 'export'
                     sh 'find /dev/serial'
-                    unstash 'cuav_x7pro_default'
+                    unstash 'cuav_x7pro_test'
                     // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_default/cuav_x7pro_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_test/cuav_x7pro_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                   }
                 }
                 stage("configure") {
                   steps {
                     // configure
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 2000"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'    // generic quadcopter
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
                   }
                 }
                 stage("status") {
@@ -149,75 +146,20 @@ pipeline {
                 }
                 stage("reset") {
                   steps {
-                    cleanupFTDI();
+                    cleanupFTDI()
                   }
                 }
               }
-              options {
-                timeout(time: 90, unit: 'MINUTES')
-              }
             } // stage test
           }
         }
 
-        // stage("px4_fmu-v2_test") {
-        //   stages {
-        //     stage("build px4_fmu-v2_test") {
-        //       agent {
-        //         docker {
-        //           image 'px4io/px4-dev-nuttx-focal:2020-09-14'
-        //           args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-        //         }
-        //       }
-        //       steps {
-        //         sh 'export'
-        //         sh 'make distclean'
-        //         sh 'ccache -s'
-        //         sh 'git fetch --tags'
-        //         sh 'make px4_fmu-v2_test'
-        //         sh 'make sizes'
-        //         sh 'ccache -s'
-        //         stash includes: 'build/px4_fmu-v2_test/px4_fmu-v2_test.elf', name: 'px4_fmu-v2_test'
-        //       }
-        //       post {
-        //         always {
-        //             sh 'make distclean'
-        //         }
-        //       }
-        //     } // stage build
-        //     stage("test") {
-        //       agent {
-        //         label 'px4_fmu-v2'
-        //       }
-        //       stages {
-        //         stage("flash") {
-        //           steps {
-        //             sh 'export'
-        //             sh 'find /dev/serial'
-        //             unstash 'px4_fmu-v2_test'
-        //             // flash board and watch bootup
-        //             sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v2_test/px4_fmu-v2_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
-        //           }
-        //         }
-        //         stage("reset") {
-        //           steps {
-        //             cleanupFTDI();
-        //           }
-        //         }
-        //       }
-        //       options {
-        //         timeout(time: 90, unit: 'MINUTES')
-        //       }
-        //     }
-        //   }
-        // }
-
-        stage("px4_fmu-v3_default") {
+        stage("px4_fmu-v3_test") {
           stages {
-            stage("build px4_fmu-v3_default") {
+            stage("build px4_fmu-v3_test") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -227,10 +169,10 @@ pipeline {
                 sh 'make distclean'
                 sh 'ccache -s'
                 sh 'git fetch --tags'
-                sh 'make px4_fmu-v3_default'
+                sh 'make px4_fmu-v3_test'
                 sh 'make sizes'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v3_default'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v3_test'
               }
               post {
                 always {
@@ -247,21 +189,21 @@ pipeline {
                   steps {
                     sh 'export'
                     sh 'find /dev/serial'
-                    unstash 'px4_fmu-v3_default'
+                    unstash 'px4_fmu-v3_test'
                     // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_default/px4_fmu-v3_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                   }
                 }
                 stage("configure") {
                   steps {
                     // configure
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'     // update bootloader
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"'   // generic vtol standard
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
                   }
                 }
                 stage("status") {
@@ -277,23 +219,20 @@ pipeline {
                 }
                 stage("reset") {
                   steps {
-                    cleanupFTDI();
+                    cleanupFTDI()
                   }
                 }
               }
-              options {
-                timeout(time: 90, unit: 'MINUTES')
-              }
             } // stage test
           }
         }
 
-        stage("px4_fmu-v4_default") {
+        stage("px4_fmu-v4_test") {
           stages {
-            stage("build px4_fmu-v4_default") {
+            stage("build px4_fmu-v4_test") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -303,10 +242,10 @@ pipeline {
                 sh 'make distclean'
                 sh 'ccache -s'
                 sh 'git fetch --tags'
-                sh 'make px4_fmu-v4_default'
+                sh 'make px4_fmu-v4_test'
                 sh 'make sizes'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v4_default'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v4_test'
               }
               post {
                 always {
@@ -323,20 +262,21 @@ pipeline {
                   steps {
                     sh 'export'
                     sh 'find /dev/serial'
-                    unstash 'px4_fmu-v4_default'
+                    unstash 'px4_fmu-v4_test'
                     // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_default/px4_fmu-v4_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                   }
                 }
                 stage("configure") {
                   steps {
                     // configure
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'  // generic multicopter
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'     // update bootloader
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'    // generic quadcopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
                   }
                 }
                 stage("status") {
@@ -352,23 +292,20 @@ pipeline {
                 }
                 stage("reset") {
                   steps {
-                    cleanupFTDI();
+                    cleanupFTDI()
                   }
                 }
               }
-              options {
-                timeout(time: 90, unit: 'MINUTES')
-              }
             } // stage test
           }
         }
 
-        stage("px4_fmu-v4pro_default") {
+        stage("px4_fmu-v4pro_test") {
           stages {
-            stage("build px4_fmu-v4pro_default") {
+            stage("build px4_fmu-v4pro_test") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -378,10 +315,10 @@ pipeline {
                 sh 'make distclean'
                 sh 'ccache -s'
                 sh 'git fetch --tags'
-                sh 'make px4_fmu-v4pro_default'
+                sh 'make px4_fmu-v4pro_test'
                 sh 'make sizes'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v4pro_default'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v4pro_test'
               }
               post {
                 always {
@@ -398,21 +335,21 @@ pipeline {
                   steps {
                     sh 'export'
                     sh 'find /dev/serial'
-                    unstash 'px4_fmu-v4pro_default'
+                    unstash 'px4_fmu-v4pro_test'
                     // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_default/px4_fmu-v4pro_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                   }
                 }
                 stage("configure") {
                   steps {
                     // configure
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'     // update bootloader
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"'   // generic vtol standard
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
                   }
                 }
                 stage("status") {
@@ -428,23 +365,20 @@ pipeline {
                 }
                 stage("reset") {
                   steps {
-                    cleanupFTDI();
+                    cleanupFTDI()
                   }
                 }
               }
-              options {
-                timeout(time: 90, unit: 'MINUTES')
-              }
             } // stage test
           }
         }
 
-        stage("px4_fmu-v5_default") {
+        stage("px4_fmu-v5_test") {
           stages {
-            stage("build px4_fmu-v5_default") {
+            stage("build px4_fmu-v5_test") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -454,10 +388,10 @@ pipeline {
                 sh 'make distclean'
                 sh 'ccache -s'
                 sh 'git fetch --tags'
-                sh 'make px4_fmu-v5_default'
+                sh 'make px4_fmu-v5_test'
                 sh 'make sizes'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_default'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_test'
               }
               post {
                 always {
@@ -474,21 +408,21 @@ pipeline {
                   steps {
                     sh 'export'
                     sh 'find /dev/serial'
-                    unstash 'px4_fmu-v5_default'
+                    unstash 'px4_fmu-v5_test'
                     // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_default/px4_fmu-v5_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                   }
                 }
                 stage("configure") {
                   steps {
                     // configure
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'     // update bootloader
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'    // generic quadcopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
                   }
                 }
                 stage("status") {
@@ -504,13 +438,10 @@ pipeline {
                 }
                 stage("reset") {
                   steps {
-                    cleanupFTDI();
+                    cleanupFTDI()
                   }
                 }
               }
-              options {
-                timeout(time: 90, unit: 'MINUTES')
-              }
             } // stage test
           }
         }
@@ -520,7 +451,7 @@ pipeline {
             stage("build px4_fmu-v5_debug") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -561,13 +492,14 @@ pipeline {
                 stage("configure") {
                   steps {
                     // configure
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'   // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250"' // limit cpu usage
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'   // generic multicopter
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'     // update bootloader
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250"'  // limit cpu usage
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'    // generic quadcopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                 // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
                   }
                 }
                 stage("status") {
@@ -583,13 +515,10 @@ pipeline {
                 }
                 stage("reset") {
                   steps {
-                    cleanupFTDI();
+                    cleanupFTDI()
                   }
                 }
               }
-              options {
-                timeout(time: 90, unit: 'MINUTES')
-              }
             } // stage test
           }
         }
@@ -599,7 +528,7 @@ pipeline {
             stage("build px4_fmu-v5_optimized") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -637,12 +566,13 @@ pipeline {
                 stage("configure") {
                   steps {
                     // configure
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'     // update bootloader
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'    // generic quadcopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
                   }
                 }
                 stage("status") {
@@ -658,13 +588,10 @@ pipeline {
                 }
                 stage("reset") {
                   steps {
-                    cleanupFTDI();
+                    cleanupFTDI()
                   }
                 }
               }
-              options {
-                timeout(time: 90, unit: 'MINUTES')
-              }
             } // stage test
           }
         }
@@ -674,7 +601,7 @@ pipeline {
             stage("build px4_fmu-v5_stackcheck") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -715,88 +642,14 @@ pipeline {
                 stage("configure") {
                   steps {
                     // configure
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'   // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250"' // limit cpu usage
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0"'       // limit cpu usage
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'   // generic multicopter
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'     // update bootloader
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250"'  // limit cpu usage
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0"'        // limit cpu usage
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'    // generic quadcopter
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                 // reboot to apply
-                  }
-                }
-                stage("status") {
-                  steps {
-                    statusFTDI()
-                  }
-                }
-                stage("tests") {
-                  steps {
-                    // run tests
-                    sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
-                  }
-                }
-                stage("reset") {
-                  steps {
-                    cleanupFTDI();
-                  }
-                }
-              }
-              options {
-                timeout(time: 90, unit: 'MINUTES')
-              }
-            } // stage test
-          }
-        }
-
-        stage("modalai_fc-v1_default") {
-          stages {
-            stage("build modalai_fc-v1_default") {
-              agent {
-                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
-                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-                }
-              }
-              steps {
-                checkout scm
-                sh 'export'
-                sh 'make distclean'
-                sh 'ccache -s'
-                sh 'git fetch --tags'
-                sh 'make modalai_fc-v1_default'
-                sh 'make sizes'
-                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'modalai_fc-v1_default'
-              }
-              post {
-                always {
-                    sh 'make distclean'
-                }
-              }
-            } // stage build
-            stage("test") {
-              agent {
-                label 'modalai_fc-v1'
-              }
-              stages {
-                stage("flash") {
-                  steps {
-                    sh 'export'
-                    sh 'find /dev/serial'
-                    unstash 'modalai_fc-v1_default'
-                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_default/modalai_fc-v1_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
-                  }
-                }
-                stage("configure") {
-                  steps {
-                    // configure
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'  // generic vtol standardulticopter
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'     // update bootloader
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
                   }
                 }
                 stage("status") {
@@ -816,19 +669,16 @@ pipeline {
                   }
                 }
               }
-              options {
-                timeout(time: 90, unit: 'MINUTES')
-              }
             } // stage test
           }
         }
 
-        stage("holybro_durandal-v1_default") {
+        stage("modalai_fc-v1_test") {
           stages {
-            stage("build holybro_durandal-v1_default") {
+            stage("build modalai_fc-v1_test") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -838,10 +688,83 @@ pipeline {
                 sh 'make distclean'
                 sh 'ccache -s'
                 sh 'git fetch --tags'
-                sh 'make holybro_durandal-v1_default'
+                sh 'make modalai_fc-v1_test'
                 sh 'make sizes'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'holybro_durandal-v1_default'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'modalai_fc-v1_test'
+              }
+              post {
+                always {
+                    sh 'make distclean'
+                }
+              }
+            } // stage build
+            stage("test") {
+              agent {
+                label 'modalai_fc-v1'
+              }
+              stages {
+                stage("flash") {
+                  steps {
+                    sh 'export'
+                    sh 'find /dev/serial'
+                    unstash 'modalai_fc-v1_test'
+                    // flash board and watch bootup
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_test/modalai_fc-v1_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                  }
+                }
+                stage("configure") {
+                  steps {
+                    // configure
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'    // generic quadcopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
+                  }
+                }
+                stage("status") {
+                  steps {
+                    statusFTDI()
+                  }
+                }
+                stage("tests") {
+                  steps {
+                    // run tests
+                    sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
+                  }
+                }
+                stage("reset") {
+                  steps {
+                    cleanupFTDI()
+                  }
+                }
+              }
+            } // stage test
+          }
+        }
+
+        stage("holybro_durandal-v1_test") {
+          stages {
+            stage("build holybro_durandal-v1_test") {
+              agent {
+                docker {
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
+                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                }
+              }
+              steps {
+                checkout scm
+                sh 'export'
+                sh 'make distclean'
+                sh 'ccache -s'
+                sh 'git fetch --tags'
+                sh 'make holybro_durandal-v1_test'
+                sh 'make sizes'
+                sh 'ccache -s'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'holybro_durandal-v1_test'
               }
               post {
                 always {
@@ -858,24 +781,21 @@ pipeline {
                   steps {
                     sh 'export'
                     sh 'find /dev/serial'
-                    unstash 'holybro_durandal-v1_default'
+                    unstash 'holybro_durandal-v1_test'
                     // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/holybro_durandal-v1_default/holybro_durandal-v1_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/holybro_durandal-v1_test/holybro_durandal-v1_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                   }
                 }
                 stage("configure") {
                   steps {
                     // configure
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set DSHOT_CONFIG 600"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 4000"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'    // generic quadcopter
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_USE_IO 0"'          // for dshot
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
                   }
                 }
                 stage("status") {
@@ -892,23 +812,20 @@ pipeline {
                 }
                 stage("reset") {
                   steps {
-                    cleanupFTDI();
+                    cleanupFTDI()
                   }
                 }
               }
-              options {
-                timeout(time: 90, unit: 'MINUTES')
-              }
             } // stage test
           }
         }
 
-        stage("nxp_fmuk66-v3_default") {
+        stage("nxp_fmuk66-v3_test") {
           stages {
-            stage("build nxp_fmuk66-v3_default") {
+            stage("build nxp_fmuk66-v3_test") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -918,10 +835,10 @@ pipeline {
                 sh 'make distclean'
                 sh 'ccache -s'
                 sh 'git fetch --tags'
-                sh 'make nxp_fmuk66-v3_default'
+                sh 'make nxp_fmuk66-v3_test'
                 sh 'make sizes'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'nxp_fmuk66-v3_default'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'nxp_fmuk66-v3_test'
               }
               post {
                 always {
@@ -938,20 +855,21 @@ pipeline {
                   steps {
                     sh 'export'
                     sh 'find /dev/serial'
-                    unstash 'nxp_fmuk66-v3_default'
+                    unstash 'nxp_fmuk66-v3_test'
                     // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_default/nxp_fmuk66-v3_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                   }
                 }
                 stage("configure") {
                   steps {
                     // configure
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'  // generic multicopter
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'     // update bootloader
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'    // generic quadcopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
                   }
                 }
                 stage("status") {
@@ -967,13 +885,10 @@ pipeline {
                 }
                 stage("reset") {
                   steps {
-                    cleanupFTDI();
+                    cleanupFTDI()
                   }
                 }
               }
-              options {
-                timeout(time: 90, unit: 'MINUTES')
-              }
             } // stage test
           }
         }
@@ -986,8 +901,8 @@ pipeline {
     CI = true
   }
   options {
-    buildDiscarder(logRotator(numToKeepStr: '20', artifactDaysToKeepStr: '40'))
-    timeout(time: 90, unit: 'MINUTES')
+    buildDiscarder(logRotator(numToKeepStr: '30', artifactDaysToKeepStr: '60'))
+    timeout(time: 120, unit: 'MINUTES')
     skipDefaultCheckout()
   }
 }
@@ -1027,6 +942,7 @@ void statusFTDI() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel_fifo"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_baro"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_combined"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gps"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro_fifo"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_mag"'
@@ -1038,6 +954,7 @@ void statusFTDI() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_acceleration"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_velocity"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_gps_position"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu_status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_local_position"'

.devcontainer/devcontainer.json

@@ -2,7 +2,7 @@
 // https://github.com/microsoft/vscode-dev-containers/tree/v0.134.0/containers/cpp
 {
 	"name": "px4-dev-nuttx",
-	"image": "px4io/px4-dev-nuttx-focal:2021-02-04",
+	"image": "px4io/px4-dev-nuttx-focal:2021-04-29",
 
 	"runArgs": [ "--cap-add=SYS_PTRACE", "--security-opt", "seccomp=unconfined" ],
 

.github/workflows/checks.yml

@@ -28,7 +28,7 @@ jobs:
           "parameters_metadata",
         ]
     container:
-      image: px4io/px4-dev-nuttx-focal:2021-02-04
+      image: px4io/px4-dev-nuttx-focal:2021-04-29
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
     - uses: actions/checkout@v1

.github/workflows/clang-tidy.yml

@@ -11,7 +11,7 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-clang:2021-02-04
+    container: px4io/px4-dev-clang:2021-04-29
     steps:
     - uses: actions/checkout@v1
       with:

.github/workflows/compile_linux.yml

@@ -11,7 +11,7 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-armhf:2021-02-04
+    container: px4io/px4-dev-armhf:2021-04-29
     strategy:
       matrix:
         config: [

.github/workflows/compile_linux_arm64.yml

@@ -11,7 +11,7 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-aarch64:2021-02-04
+    container: px4io/px4-dev-aarch64:2021-04-29
     strategy:
       matrix:
         config: [

.github/workflows/compile_nuttx.yml

@@ -11,7 +11,7 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-02-04
+    container: px4io/px4-dev-nuttx-focal:2021-04-29
     strategy:
       matrix:
         config: [
@@ -19,6 +19,9 @@ jobs:
           ark_can-flow_canbootloader,
           ark_can-flow_debug,
           ark_can-flow_default,
+          ark_can-gps_canbootloader,
+          ark_can-gps_debug,
+          ark_can-gps_default,
           av_x-v1_default,
           bitcraze_crazyflie21_default,
           bitcraze_crazyflie_default,
@@ -27,11 +30,13 @@ jobs:
           cuav_can-gps-v1_default,
           cuav_nora_default,
           cuav_x7pro_default,
-          cubepilot_cubeorange_console,
           cubepilot_cubeorange_default,
-          cubepilot_cubeyellow_console,
+          cubepilot_cubeorange_test,
           cubepilot_cubeyellow_default,
+          cubepilot_cubeyellow_test,
           cubepilot_io-v2_default,
+          freefly_can-rtk-gps_canbootloader,
+          freefly_can-rtk-gps_default,
           holybro_can-gps-v1_canbootloader,
           holybro_can-gps-v1_debug,
           holybro_can-gps-v1_default,
@@ -39,6 +44,8 @@ jobs:
           holybro_kakutef7_default,
           holybro_pix32v5_default,
           modalai_fc-v1_default,
+          modalai_fc-v1_rtps,
+          modalai_fc-v2_default,
           mro_ctrl-zero-f7-oem_default,
           mro_ctrl-zero-f7_default,
           mro_ctrl-zero-h7-oem_default,
@@ -60,7 +67,6 @@ jobs:
           px4_fmu-v2_fixedwing,
           px4_fmu-v2_multicopter,
           px4_fmu-v2_rover,
-          px4_fmu-v2_test,
           px4_fmu-v3_default,
           px4_fmu-v4_cannode,
           px4_fmu-v4_default,
@@ -79,7 +85,6 @@ jobs:
           px4_fmu-v5x_base_phy_DP83848C,
           px4_fmu-v5x_default,
           px4_fmu-v6u_default,
-          px4_fmu-v6u_test,
           px4_fmu-v6x_default,
           px4_io-v2_default,
           spracing_h7extreme_default,
@@ -124,6 +129,8 @@ jobs:
       run: make ${{matrix.config}} bloaty_symbols || true
     - name: make ${{matrix.config}} bloaty_templates
       run: make ${{matrix.config}} bloaty_templates || true
+    - name: make ${{matrix.config}} bloaty_ram
+      run: make ${{matrix.config}} bloaty_ram || true
     - name: make ${{matrix.config}} bloaty_compare_master
       run: make ${{matrix.config}} bloaty_compare_master || true
     - name: ccache post-run

.github/workflows/compile_nuttx_cannode.yml

@@ -11,12 +11,13 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-02-04
+    container: px4io/px4-dev-nuttx-focal:2021-04-29
     strategy:
       matrix:
         config: [
           ark_can-flow_default,
           cuav_can-gps-v1_default,
+          freefly_can-rtk-gps_default,
           holybro_can-gps-v1_default,
           #nxp_ucans32k146_default,
           px4_fmu-v4_cannode

.github/workflows/deploy_all.yml

@@ -23,7 +23,7 @@ jobs:
     needs: enumerate_targets
     strategy:
       matrix: ${{fromJson(needs.enumerate_targets.outputs.matrix)}}
-    container: px4io/px4-dev-${{ matrix.container }}:2021-02-04
+    container: px4io/px4-dev-${{ matrix.container }}:2021-04-29
     steps:
     - uses: actions/checkout@v1
       with:

.github/workflows/mavros_avoidance_tests.yml

@@ -1,131 +0,0 @@
-name: MAVROS Avoidance Tests
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      matrix:
-        config:
-          - {test_file: "mavros_posix_test_avoidance.test",    vehicle: "iris_obs_avoid", mission: "avoidance",       build_type: "RelWithDebInfo"}
-          - {test_file: "mavros_posix_test_safe_landing.test", vehicle: "iris_obs_avoid", mission: "MC_safe_landing", build_type: "RelWithDebInfo"}
-
-    container:
-      image: px4io/px4-dev-ros-melodic:2021-02-04
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 5" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: check environment
-      run: |
-          export
-          ulimit -a
-    - name: Build PX4 and sitl_gazebo
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: |
-        ccache -z
-        make px4_sitl_default
-        make px4_sitl_default sitl_gazebo
-        ccache -s
-
-    - name: Core dump settings
-      run: |
-          ulimit -c unlimited
-          echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
-
-    - name: Run SITL tests
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: |
-        export
-        ./test/rostest_avoidance_run.sh ${{matrix.config.test_file}} mission:=${{matrix.config.mission}} vehicle:=${{matrix.config.vehicle}} || true
-
-    - name: Look at core files
-      if: failure()
-      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
-    - name: Upload px4 coredump
-      if: failure()
-      uses: actions/upload-artifact@v2-preview
-      with:
-        name: coredump
-        path: px4.core
-
-    # - name: ecl EKF analysis
-    #   if: always()
-    #   run: ./Tools/ecl_ekf/process_logdata_ekf.py ~/.ros/log/*/*.ulg
-
-    - name: Upload logs to flight review
-      if: always()
-      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg
-
-    - name: Upload px4 binary
-      if: failure()
-      uses: actions/upload-artifact@v2
-      with:
-        name: binary
-        path: build/px4_sitl_default/bin/px4
-
-    - name: Store PX4 log
-      if: failure()
-      uses: actions/upload-artifact@v2
-      with:
-        name: px4_log
-        path: ~/.ros/log/*/*.ulg
-
-    - name: Store ROS log
-      if: failure()
-      uses: actions/upload-artifact@v2
-      with:
-        name: ros_log
-        path: ~/.ros/**/rostest-*.log
-
-    # Report test coverage
-    - name: Upload coverage
-      if: contains(matrix.config.build_type, 'Coverage')
-      run: |
-          git config --global credential.helper "" # disable the keychain credential helper
-          git config --global --add credential.helper store # enable the local store credential helper
-          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
-          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
-          mkdir -p coverage
-          lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
-    - name: Upload coverage information to Codecov
-      if: contains(matrix.config.build_type, 'Coverage')
-      uses: codecov/codecov-action@v1
-      with:
-        token: ${{ secrets.CODECOV_TOKEN }}
-        flags: mavros_avoidance
-        file: coverage/lcov.info

.github/workflows/mavros_mission_tests.yml

@@ -25,7 +25,7 @@ jobs:
           #- {vehicle: "tiltrotor",     mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}
 
     container:
-      image: px4io/px4-dev-ros-melodic:2021-02-04
+      image: px4io/px4-dev-ros-melodic:2021-04-29
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
     - uses: actions/checkout@v1

.github/workflows/mavros_offboard_tests.yml

@@ -20,7 +20,7 @@ jobs:
           #- {test_file: "mavros_posix_tests_offboard_rpyrt_ctl.test", vehicle: "iris", build_type: "RelWithDebInfo"}
 
     container:
-      image: px4io/px4-dev-ros-melodic:2021-02-04
+      image: px4io/px4-dev-ros-melodic:2021-04-29
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
     - uses: actions/checkout@v1

.github/workflows/metadata.yml

@@ -11,7 +11,7 @@ jobs:
 
   airframe:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-02-04
+    container: px4io/px4-dev-base-focal:2021-04-29
     steps:
     - uses: actions/checkout@v1
       with:
@@ -26,7 +26,7 @@ jobs:
 
   module:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-02-04
+    container: px4io/px4-dev-base-focal:2021-04-29
     steps:
     - uses: actions/checkout@v1
       with:
@@ -41,7 +41,7 @@ jobs:
 
   parameter:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-02-04
+    container: px4io/px4-dev-base-focal:2021-04-29
     steps:
     - uses: actions/checkout@v1
       with:
@@ -65,7 +65,7 @@ jobs:
 
   uorb_graph:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-02-04
+    container: px4io/px4-dev-nuttx-focal:2021-04-29
     steps:
     - uses: actions/checkout@v1
       with:
@@ -80,7 +80,7 @@ jobs:
 
   micrortps_agent:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-02-04
+    container: px4io/px4-dev-base-focal:2021-04-29
     steps:
     - uses: actions/checkout@v1
       with:
@@ -94,7 +94,7 @@ jobs:
 
   ROS_msgs:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-02-04
+    container: px4io/px4-dev-base-focal:2021-04-29
     steps:
     - uses: actions/checkout@v1
       with:
@@ -107,7 +107,7 @@ jobs:
 
   ROS2_bridge:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-02-04
+    container: px4io/px4-dev-base-focal:2021-04-29
     steps:
     - uses: actions/checkout@v1
       with:

.github/workflows/sitl_tests.yml

@@ -20,7 +20,7 @@ jobs:
           - {latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo", model: "tailsitter"    } # Florida
           - {latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage",       model: "standard_vtol" } # Zurich
     container:
-      image: px4io/px4-dev-simulation-focal:2021-02-04
+      image: px4io/px4-dev-simulation-focal:2021-04-29
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
     - uses: actions/checkout@v1
@@ -28,9 +28,9 @@ jobs:
         token: ${{ secrets.ACCESS_TOKEN }}
 
     - name: Download MAVSDK
-      run: wget https://github.com/mavlink/MAVSDK/releases/download/v0.36.0/mavsdk_0.36.0_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 mavsdk_0.36.0_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

.gitmodules

@@ -33,7 +33,7 @@
 [submodule "src/modules/micrortps_bridge/micro-CDR"]
 	path = src/modules/micrortps_bridge/micro-CDR
 	url = https://github.com/PX4/Micro-CDR.git
-	branch = px4
+	branch = master
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
 	url = https://github.com/PX4/NuttX.git
@@ -59,7 +59,11 @@
 	url = https://github.com/UAVCAN/public_regulated_data_types.git
 [submodule "src/drivers/uavcannode_gps_demo/public_regulated_data_types"]
 	path = src/drivers/uavcannode_gps_demo/public_regulated_data_types
-	url = https://github.com/UAVCAN/public_regulated_data_types
+	url = https://github.com/UAVCAN/public_regulated_data_types.git
 [submodule "src/drivers/uavcannode_gps_demo/libcanard"]
 	path = src/drivers/uavcannode_gps_demo/libcanard
-	url = https://github.com/UAVCAN/libcanard
+	url = https://github.com/UAVCAN/libcanard.git
+[submodule "src/drivers/uavcan_v1/legacy_data_types"]
+	path = src/drivers/uavcan_v1/legacy_data_types
+	url = https://github.com/PX4/public_regulated_data_types.git
+	branch = legacy

.vscode/cmake-variants.yaml

@@ -66,6 +66,16 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: ark_can-flow_canbootloader
+    ark_can-gps_default:
+      short: ark_can-gps_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_can-gps_default
+    ark_can-gps_canbootloader:
+      short: ark_can-gps_canbootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_can-gps_canbootloader
     av_x-v1_default:
       short: av_x-v1
       buildType: MinSizeRel
@@ -96,21 +106,26 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: cuav_x7pro_default
-    cubepilot_cubeorange_default:
+    cubepilot_cubeorange_test:
       short: cubepilot_cubeorange
       buildType: MinSizeRel
       settings:
-        CONFIG: cubepilot_orange_default
-    cubepilot_cubeyellow_default:
-      short: cubepilot_cubeyellow
-      buildType: MinSizeRel
-      settings:
-        CONFIG: cubepilot_cubeyellow_default
+        CONFIG: cubepilot_orange_test
     emlid_navio2_default:
       short: emlid_navio2
       buildType: MinSizeRel
       settings:
         CONFIG: emlid_navio2_default
+    freefly_can-rtk-gps_default:
+      short: freefly_can-rtk-gps_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: freefly_can-rtk-gps_default
+    freefly_can-rtk-gps_canbootloader:
+      short: freefly_can-rtk-gps_canbootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: freefly_can-rtk-gps_canbootloader
     holybro_can-gps-v1_canbootloader:
       short: holybro_can-gps-v1_canbootloader
       buildType: MinSizeRel
@@ -131,6 +146,11 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: modalai_fc-v1_default
+    modalai_fc-v2_default:
+      short: modalai_fc-v2
+      buildType: MinSizeRel
+      settings:
+        CONFIG: modalai_fc-v2_default
     mro_ctrl-zero-f7_default:
       short: mro_ctrl-zero-f7
       buildType: MinSizeRel

CMakeLists.txt

@@ -185,6 +185,8 @@ if((CMAKE_BUILD_TYPE STREQUAL "Debug") OR (CMAKE_BUILD_TYPE STREQUAL "Coverage")
 	set(MAX_CUSTOM_OPT_LEVEL -O0)
 elseif(CMAKE_BUILD_TYPE MATCHES "Sanitizer")
 	set(MAX_CUSTOM_OPT_LEVEL -O1)
+elseif(CMAKE_BUILD_TYPE MATCHES "Release")
+	set(MAX_CUSTOM_OPT_LEVEL -O3)
 else()
 	if(px4_constrained_flash_build)
 		set(MAX_CUSTOM_OPT_LEVEL -Os)

Jenkinsfile

@@ -15,7 +15,7 @@ pipeline {
         // stage('Catkin build on ROS workspace') {
         //   agent {
         //     docker {
-        //       image 'px4io/px4-dev-ros-melodic:2021-02-04'
+        //       image 'px4io/px4-dev-ros-melodic:2021-04-29'
         //       args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
         //     }
         //   }
@@ -56,7 +56,7 @@ pipeline {
         stage('Colcon build on ROS2 workspace') {
           agent {
             docker {
-              image 'px4io/px4-dev-ros2-foxy:2021-02-04'
+              image 'px4io/px4-dev-ros2-foxy:2021-04-29'
               args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
             }
           }
@@ -85,10 +85,11 @@ pipeline {
 
         stage('Airframe') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
           }
           steps {
             sh 'make distclean'
+            sh 'git fetch --all --tags'
             sh 'make airframe_metadata'
             dir('build/px4_sitl_default/docs') {
               archiveArtifacts(artifacts: 'airframes.md, airframes.xml')
@@ -104,10 +105,11 @@ pipeline {
 
         stage('Parameter') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
           }
           steps {
             sh 'make distclean'
+            sh 'git fetch --all --tags'
             sh 'make parameters_metadata'
             dir('build/px4_sitl_default/docs') {
               archiveArtifacts(artifacts: 'parameters.md, parameters.xml, parameters.json.xz')
@@ -123,10 +125,11 @@ pipeline {
 
         stage('Module') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
           }
           steps {
             sh 'make distclean'
+            sh 'git fetch --all --tags'
             sh 'make module_documentation'
             dir('build/px4_sitl_default/docs') {
               archiveArtifacts(artifacts: 'modules/*.md')
@@ -143,13 +146,14 @@ pipeline {
         stage('uORB graphs') {
           agent {
             docker {
-              image 'px4io/px4-dev-nuttx-focal:2021-02-04'
+              image 'px4io/px4-dev-nuttx-focal:2021-04-29'
               args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
             }
           }
           steps {
             sh 'export'
             sh 'make distclean'
+            sh 'git fetch --all --tags'
             sh 'make uorb_graphs'
             dir('Tools/uorb_graph') {
               archiveArtifacts(artifacts: 'graph_px4_sitl.json')
@@ -172,7 +176,7 @@ pipeline {
 
         stage('Userguide') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
           }
           steps {
             sh('export')
@@ -202,7 +206,7 @@ pipeline {
 
         stage('QGroundControl') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
           }
           steps {
             sh('export')
@@ -230,7 +234,7 @@ pipeline {
 
         stage('microRTPS agent') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
           }
           steps {
             sh('export')
@@ -260,7 +264,7 @@ pipeline {
 
         stage('PX4 ROS msgs') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
           }
           steps {
             sh('export')
@@ -289,7 +293,7 @@ pipeline {
 
         stage('PX4 ROS2 bridge') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
           }
           steps {
             sh('export')
@@ -332,7 +336,7 @@ pipeline {
 
         stage('S3') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
           }
           steps {
             sh('export')
@@ -370,7 +374,7 @@ pipeline {
     GIT_COMMITTER_NAME = "PX4BuildBot"
   }
   options {
-    buildDiscarder(logRotator(numToKeepStr: '10', artifactDaysToKeepStr: '20'))
-    timeout(time: 60, unit: 'MINUTES')
+    buildDiscarder(logRotator(numToKeepStr: '20', artifactDaysToKeepStr: '30'))
+    timeout(time: 90, unit: 'MINUTES')
   }
 }

Makefile

@@ -303,7 +303,7 @@ check_%:
 	@echo
 
 uorb_graphs:
-	@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --file Tools/uorb_graph/graph_full
+	@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --exclude-path src/lib --file Tools/uorb_graph/graph_full
 	@$(MAKE) --no-print-directory px4_fmu-v2_default uorb_graph
 	@$(MAKE) --no-print-directory px4_fmu-v4_default uorb_graph
 	@$(MAKE) --no-print-directory px4_sitl_default uorb_graph
@@ -468,25 +468,27 @@ validate_module_configs:
 .PHONY: clean submodulesclean submodulesupdate gazeboclean distclean
 
 clean:
-	@rm -rf "$(SRC_DIR)"/build
+	@[ ! -d "$(SRC_DIR)/build" ] || find "$(SRC_DIR)/build" -mindepth 1 -maxdepth 1 -type d -exec sh -c "echo {}; cmake --build {} -- clean || rm -rf {}" \; # use generated build system to clean, wipe build directory if it fails
+	@git submodule foreach git clean -dX --force # some submodules generate build artifacts in source
 
 submodulesclean:
 	@git submodule foreach --quiet --recursive git clean -ff -x -d
 	@git submodule update --quiet --init --recursive --force || true
 	@git submodule sync --recursive
-	@git submodule update --init --recursive --force
+	@git submodule update --init --recursive --force --jobs 4
 
 submodulesupdate:
-	@git submodule update --quiet --init --recursive || true
+	@git submodule update --quiet --init --recursive --jobs 4 || true
 	@git submodule sync --recursive
-	@git submodule update --init --recursive
+	@git submodule update --init --recursive --jobs 4
 
 gazeboclean:
 	@rm -rf ~/.gazebo/*
 
 distclean: gazeboclean
-	@git submodule deinit -f .
-	@git clean -ff -x -d -e ".project" -e ".cproject" -e ".idea" -e ".settings" -e ".vscode"
+	@git submodule deinit --force $(SRC_DIR)
+	@rm -rf "$(SRC_DIR)/build"
+	@git clean --force -X "$(SRC_DIR)/msg/" "$(SRC_DIR)/platforms/" "$(SRC_DIR)/posix-configs/" "$(SRC_DIR)/ROMFS/" "$(SRC_DIR)/src/" "$(SRC_DIR)/test/" "$(SRC_DIR)/Tools/"
 
 # Help / Error
 # --------------------------------------------------------------------

README.md

@@ -17,7 +17,7 @@ PX4 is highly portable, OS-independent and supports Linux, NuttX and QuRT out of
   * [VTOL](https://docs.px4.io/master/en/frames_vtol/)
   * [Autogyro](https://docs.px4.io/master/en/frames_autogyro/)
   * [Rover](https://docs.px4.io/master/en/frames_rover/)
-  * many more experimental types (Blimps, Boats, Submarines, Autogyros, etc)
+  * many more experimental types (Blimps, Boats, Submarines, High altitude balloons, etc)
 * Releases: [Downloads](https://github.com/PX4/PX4-Autopilot/releases)
 
 

ROMFS/CMakeLists.txt

@@ -115,6 +115,7 @@ add_custom_command(
 set(romfs_extract_stamp ${CMAKE_CURRENT_BINARY_DIR}/romfs_extract.stamp)
 add_custom_command(
 	OUTPUT ${romfs_extract_stamp}
+	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/*
 	COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file}
 	COMMAND ${CMAKE_COMMAND} -E touch ${romfs_extract_stamp}
 	WORKING_DIRECTORY ${romfs_gen_root_dir}

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

@@ -34,6 +34,9 @@
 add_subdirectory(airframes)
 
 px4_add_romfs_files(
+	px4-rc.params
+	px4-rc.simulator
+	px4-rc.mavlink
 	rc.replay
 	rcS
 )

ROMFS/px4fmu_common/init.d-posix/airframes/10017_iris_ctrlalloc

@@ -10,43 +10,39 @@
 . ${R}etc/init.d/rc.mc_defaults
 . ${R}etc/init.d/rc.ctrlalloc
 
-if [ $AUTOCNF = yes ]
-then
-	param set MPC_USE_HTE 0
+param set-default MPC_USE_HTE 0
 
-	param set VM_MASS 1.5
-	param set VM_INERTIA_XX 0.03
-	param set VM_INERTIA_YY 0.03
-	param set VM_INERTIA_ZZ 0.05
+param set-default VM_MASS 1.5
+param set-default VM_INERTIA_XX 0.03
+param set-default VM_INERTIA_YY 0.03
+param set-default VM_INERTIA_ZZ 0.05
 
-	param set CA_AIRFRAME 0
-	param set CA_METHOD 1
-	param set CA_ACT0_MIN 0.0
-	param set CA_ACT1_MIN 0.0
-	param set CA_ACT2_MIN 0.0
-	param set CA_ACT3_MIN 0.0
-	param set CA_ACT0_MAX 1.0
-	param set CA_ACT1_MAX 1.0
-	param set CA_ACT2_MAX 1.0
-	param set CA_ACT3_MAX 1.0
+param set-default CA_AIRFRAME 0
+param set-default CA_METHOD 1
+param set-default CA_ACT0_MIN 0.0
+param set-default CA_ACT1_MIN 0.0
+param set-default CA_ACT2_MIN 0.0
+param set-default CA_ACT3_MIN 0.0
+param set-default CA_ACT0_MAX 1.0
+param set-default CA_ACT1_MAX 1.0
+param set-default CA_ACT2_MAX 1.0
+param set-default CA_ACT3_MAX 1.0
 
-	param set CA_MC_R0_PX 0.1515
-	param set CA_MC_R0_PY 0.245
-	param set CA_MC_R0_CT 6.5
-	param set CA_MC_R0_KM 0.05
-	param set CA_MC_R1_PX -0.1515
-	param set CA_MC_R1_PY -0.1875
-	param set CA_MC_R1_CT 6.5
-	param set CA_MC_R1_KM 0.05
-	param set CA_MC_R2_PX 0.1515
-	param set CA_MC_R2_PY -0.245
-	param set CA_MC_R2_CT 6.5
-	param set CA_MC_R2_KM -0.05
-	param set CA_MC_R3_PX -0.1515
-	param set CA_MC_R3_PY 0.1875
-	param set CA_MC_R3_CT 6.5
-	param set CA_MC_R3_KM -0.05
-
-fi
+param set-default CA_MC_R0_PX 0.1515
+param set-default CA_MC_R0_PY 0.245
+param set-default CA_MC_R0_CT 6.5
+param set-default CA_MC_R0_KM 0.05
+param set-default CA_MC_R1_PX -0.1515
+param set-default CA_MC_R1_PY -0.1875
+param set-default CA_MC_R1_CT 6.5
+param set-default CA_MC_R1_KM 0.05
+param set-default CA_MC_R2_PX 0.1515
+param set-default CA_MC_R2_PY -0.245
+param set-default CA_MC_R2_CT 6.5
+param set-default CA_MC_R2_KM -0.05
+param set-default CA_MC_R3_PX -0.1515
+param set-default CA_MC_R3_PY 0.1875
+param set-default CA_MC_R3_CT 6.5
+param set-default CA_MC_R3_KM -0.05
 
 set MIXER direct

ROMFS/px4fmu_common/init.d-posix/airframes/10018_iris_foggy_lidar

@@ -7,8 +7,6 @@
 
 . ${R}etc/init.d-posix/airframes/10016_iris
 
-if [ $AUTOCNF = yes ]
-then
-	param set EKF2_RNG_AID 1
-	param set EKF2_RNG_A_HMAX 10
-fi
+param set-default EKF2_RNG_AID 1
+param set-default EKF2_RNG_A_HMAX 10
+

ROMFS/px4fmu_common/init.d-posix/airframes/10020_if750a

@@ -8,15 +8,12 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	# EKF2: Multi GPS blending (as the model has 2 GPS's)
-	param set EKF2_GPS_MASK 7 # Uses speed, hpos and vpos accuracy
-	param set TRIG_INTERFACE 3
-	param set TRIG_MODE 4
-	param set MNT_MODE_IN 4
-	param set MNT_MODE_OUT 2
-	param set MNT_DO_STAB 2
-fi
+# EKF2: Multi GPS blending (as the model has 2 GPS's)
+param set-default SENS_GPS_MASK 7
+param set-default TRIG_INTERFACE 3
+param set-default TRIG_MODE 4
+param set-default MNT_MODE_IN 4
+param set-default MNT_MODE_OUT 2
+param set-default MNT_DO_STAB 2
 
 set MIXER quad_x

ROMFS/px4fmu_common/init.d-posix/airframes/1010_iris_opt_flow

@@ -7,16 +7,14 @@
 
 . ${R}etc/init.d-posix/airframes/10016_iris
 
-if [ $AUTOCNF = yes ]
-then
-	# EKF2
-	param set EKF2_AID_MASK 2
-	param set EKF2_EVP_NOISE 0.05
-	param set EKF2_EVA_NOISE 0.05
+# EKF2
+param set-default EKF2_AID_MASK 2
+param set-default EKF2_EVP_NOISE 0.05
+param set-default EKF2_EVA_NOISE 0.05
 
-	# LPE: Flow-only mode
-	param set LPE_FUSION 242
-	param set LPE_FAKE_ORIGIN 1
+# LPE: Flow-only mode
+param set-default LPE_FUSION 242
+param set-default LPE_FAKE_ORIGIN 1
+
+param set-default MPC_ALT_MODE 2
 
-	param set MPC_ALT_MODE 2
-fi

ROMFS/px4fmu_common/init.d-posix/airframes/1011_iris_irlock

@@ -7,12 +7,9 @@
 
 . ${R}etc/init.d-posix/airframes/10016_iris
 
-if [ $AUTOCNF = yes ]
-then
-	# enable fusion of landing target velocity
-	param set LTEST_MODE 1
-	param set PLD_HACC_RAD 0.1
-fi
+# enable fusion of landing target velocity
+param set-default LTEST_MODE 1
+param set-default PLD_HACC_RAD 0.1
 
 # Start up Landing Target Estimator module
 landing_target_estimator start

ROMFS/px4fmu_common/init.d-posix/airframes/1012_iris_rplidar

@@ -7,7 +7,5 @@
 
 . ${R}etc/init.d-posix/airframes/10016_iris
 
-if [ $AUTOCNF = yes ]
-then
-	param set LPE_FUSION 242
-fi
+param set-default LPE_FUSION 242
+

ROMFS/px4fmu_common/init.d-posix/airframes/1013_iris_vision

@@ -7,15 +7,13 @@
 
 . ${R}etc/init.d-posix/airframes/10016_iris
 
-if [ $AUTOCNF = yes ]
-then
-	# EKF2: Vision position and heading
-	param set EKF2_AID_MASK 24
-	param set EKF2_EV_DELAY 5
+# EKF2: Vision position and heading
+param set-default EKF2_AID_MASK 24
+param set-default EKF2_EV_DELAY 5
 
-	# LPE: Vision + baro
-	param set LPE_FUSION 132
+# LPE: Vision + baro
+param set-default LPE_FUSION 132
+
+# AEQ: External heading set to use vision input
+param set-default ATT_EXT_HDG_M 1
 
-	# AEQ: External heading set to use vision input
-	param set ATT_EXT_HDG_M 1
-fi

ROMFS/px4fmu_common/init.d-posix/airframes/1014_solo

@@ -7,10 +7,7 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set MC_PITCHRATE_P 0.1
-	param set MC_ROLLRATE_P 0.1
-fi
+param set-default MC_PITCHRATE_P 0.1
+param set-default MC_ROLLRATE_P 0.1
 
 set MIXER quad_x

ROMFS/px4fmu_common/init.d-posix/airframes/1015_iris_obs_avoid

@@ -7,8 +7,6 @@
 
 . ${R}etc/init.d-posix/airframes/10016_iris
 
-if [ $AUTOCNF = yes ]
-then
-	param set COM_OBS_AVOID 1
-	param set MPC_XY_CRUISE 5.0
-fi
+param set-default COM_OBS_AVOID 1
+param set-default MPC_XY_CRUISE 5.0
+

ROMFS/px4fmu_common/init.d-posix/airframes/1017_iris_opt_flow_mockup

@@ -7,15 +7,12 @@
 
 . ${R}etc/init.d-posix/airframes/10016_iris
 
-if [ $AUTOCNF = yes ]
-then
-	# EKF2
-	param set EKF2_AID_MASK 2
-	param set SENS_FLOW_ROT 0
+# EKF2
+param set-default EKF2_AID_MASK 2
+param set-default SENS_FLOW_ROT 0
 
-	# LPE: Flow-only mode
-	param set LPE_FUSION 242
-	param set LPE_FAKE_ORIGIN 1
+# LPE: Flow-only mode
+param set-default LPE_FUSION 242
+param set-default LPE_FAKE_ORIGIN 1
 
-	param set MPC_ALT_MODE 2
-fi
+param set-default MPC_ALT_MODE 2

ROMFS/px4fmu_common/init.d-posix/airframes/1018_iris_vision_velocity

@@ -7,9 +7,6 @@
 
 . ${R}etc/init.d-posix/airframes/10016_iris
 
-if [ $AUTOCNF = yes ]
-then
-	# EKF2: Vision velocity and heading
-	param set EKF2_AID_MASK 272
-	param set EKF2_EV_DELAY 5
-fi
+# EKF2: Vision velocity and heading
+param set-default EKF2_AID_MASK 272
+param set-default EKF2_EV_DELAY 5

ROMFS/px4fmu_common/init.d-posix/airframes/1019_iris_dual_gps

@@ -7,8 +7,5 @@
 
 . ${R}etc/init.d-posix/airframes/10016_iris
 
-if [ $AUTOCNF = yes ]
-then
-	# EKF2: Multi GPS blending
-	param set EKF2_GPS_MASK 7 # Uses speed, hpos and vpos accuracy
-fi
+# EKF2: Multi GPS blending
+param set-default SENS_GPS_MASK 7

ROMFS/px4fmu_common/init.d-posix/airframes/1020_uuv_generic

@@ -5,16 +5,13 @@
 
 . ${R}etc/init.d/rc.uuv_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	#Set data link loss failsafe mode (0: disabled)
-	param set NAV_DLL_ACT 0
+#Set data link loss failsafe mode (0: disabled)
+param set-default NAV_DLL_ACT 0
 
-	# disable circuit breaker for airspeed sensor
-	param set CBRK_AIRSPD_CHK 162128
+# disable circuit breaker for airspeed sensor
+param set-default CBRK_AIRSPD_CHK 162128
 
-	#param set CBRK_GPSFAIL 240024
-fi
+#param set CBRK_GPSFAIL 240024
 
 set MAV_TYPE 12
 param set MAV_TYPE ${MAV_TYPE}

ROMFS/px4fmu_common/init.d-posix/airframes/1021_uuv_hippocampus

@@ -5,16 +5,13 @@
 
 . ${R}etc/init.d/rc.uuv_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	#Set data link loss failsafe mode (0: disabled)
-	param set NAV_DLL_ACT 0
+#Set data link loss failsafe mode (0: disabled)
+param set-default NAV_DLL_ACT 0
 
-	# disable circuit breaker for airspeed sensor
-	param set CBRK_AIRSPD_CHK 162128
+# disable circuit breaker for airspeed sensor
+param set-default CBRK_AIRSPD_CHK 162128
 
-	#param set CBRK_GPSFAIL 240024
-fi
+#param set CBRK_GPSFAIL 240024
 
 set MAV_TYPE 12
 param set MAV_TYPE ${MAV_TYPE}

ROMFS/px4fmu_common/init.d-posix/airframes/1022_uuv_bluerov2_heavy

@@ -5,15 +5,11 @@
 
 . ${R}etc/init.d/rc.uuv_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	#Set data link loss failsafe mode (0: disabled)
-	param set NAV_DLL_ACT 0
+#Set data link loss failsafe mode (0: disabled)
+param set-default NAV_DLL_ACT 0
 
-	# disable circuit breaker for airspeed sensor
-	param set CBRK_AIRSPD_CHK 162128
-
-fi
+# disable circuit breaker for airspeed sensor
+param set-default CBRK_AIRSPD_CHK 162128
 
 set PWM_OUT 12345678
 set MIXER_FILE etc/mixers-sitl/vectored6dof_sitl.main.mix

ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane

@@ -5,54 +5,50 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set EKF2_ARSP_THR 8
-	param set EKF2_FUSE_BETA 1
-	param set EKF2_MAG_ACCLIM 0
-	param set EKF2_MAG_YAWLIM 0
+param set-default EKF2_ARSP_THR 8
+param set-default EKF2_FUSE_BETA 1
+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0
 
-	param set FW_LND_AIRSPD_SC 1
-	param set FW_LND_ANG 8
-	param set FW_THR_LND_MAX 0
+param set-default FW_LND_AIRSPD_SC 1
+param set-default FW_LND_ANG 8
+param set-default FW_THR_LND_MAX 0
 
-	param set FW_L1_PERIOD 12
+param set-default FW_L1_PERIOD 12
 
-	param set FW_MAN_P_MAX 30
+param set-default FW_MAN_P_MAX 30
 
-	param set FW_PR_I 0.4
-	param set FW_PR_P 0.9
-	param set FW_PR_FF 0.2
-	param set FW_PSP_OFF 2
-	param set FW_P_LIM_MAX 32
-	param set FW_P_LIM_MIN -15
+param set-default FW_PR_I 0.4
+param set-default FW_PR_P 0.9
+param set-default FW_PR_FF 0.2
+param set-default FW_PSP_OFF 2
+param set-default FW_P_LIM_MAX 32
+param set-default FW_P_LIM_MIN -15
 
-	param set FW_RR_FF 0.1
-	param set FW_RR_P 0.3
+param set-default FW_RR_FF 0.1
+param set-default FW_RR_P 0.3
 
-	param set FW_THR_MAX 0.6
-	param set FW_THR_MIN 0.05
-	param set FW_THR_CRUISE 0.25
+param set-default FW_THR_MAX 0.6
+param set-default FW_THR_MIN 0.05
+param set-default FW_THR_CRUISE 0.25
 
-	param set FW_T_ALT_TC 2
-	param set FW_T_CLMB_MAX 8
-	param set FW_T_HRATE_FF 0.5
-	param set FW_T_SINK_MAX 2.7
-	param set FW_T_SINK_MIN 2.2
-	param set FW_T_TAS_TC 2
+param set-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
 
-	param set FW_W_EN 1
+param set-default FW_W_EN 1
 
-	param set MIS_LTRMIN_ALT 30
-	param set MIS_TAKEOFF_ALT 30
+param set-default MIS_LTRMIN_ALT 30
+param set-default MIS_TAKEOFF_ALT 30
 
-	param set NAV_ACC_RAD 15
-	param set NAV_DLL_ACT 2
-	param set NAV_LOITER_RAD 50
+param set-default NAV_ACC_RAD 15
+param set-default NAV_DLL_ACT 2
+param set-default NAV_LOITER_RAD 50
 
-	param set RWTO_TKOFF 1
-
-fi
+param set-default RWTO_TKOFF 1
 
 set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
 set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/1031_plane_cam

@@ -5,10 +5,8 @@
 
 . ${R}etc/init.d-posix/airframes/1030_plane
 
-if [ $AUTOCNF = yes ]
-then
-	# Camera trigger interface is MAVLink
-	param set TRIG_INTERFACE 3
-	# Distance trigger mode enabled
-	param set TRIG_MODE 4
-fi
+# Camera trigger interface is MAVLink
+param set-default TRIG_INTERFACE 3
+
+# Distance trigger mode enabled
+param set-default TRIG_MODE 4

ROMFS/px4fmu_common/init.d-posix/airframes/1032_plane_catapult

@@ -5,8 +5,5 @@
 
 . ${R}etc/init.d-posix/airframes/1030_plane
 
-if [ $AUTOCNF = yes ]
-then
-	param set RWTO_TKOFF 0
+param set-default RWTO_TKOFF 0
 
-fi

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

@@ -5,8 +5,5 @@
 
 . ${R}etc/init.d-posix/airframes/1030_plane
 
-if [ $AUTOCNF = yes ]
-then
-	param set FW_LND_USETER 1
+param set-default FW_LND_USETER 1
 
-fi

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

@@ -5,54 +5,55 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set EKF2_ARSP_THR 8
-	param set EKF2_FUSE_BETA 1
-	#param set EKF2_MAG_ACCLIM 0
-	#param set EKF2_MAG_YAWLIM 0
+param set-default EKF2_ARSP_THR 8
+param set-default EKF2_FUSE_BETA 1
 
-	param set FW_LND_AIRSPD_SC 1.1
-	param set FW_LND_ANG 5
-	param set FW_THR_LND_MAX 0
-	param set FW_LND_HHDIST 30
-	param set FW_LND_FL_PMIN 9.5
-	param set FW_LND_FL_PMAX 20
-	param set FW_LND_FLALT 5
-	param set FW_LND_TLALT 15
+param set-default FW_LND_AIRSPD_SC 1.1
+param set-default FW_LND_ANG 5
+param set-default FW_THR_LND_MAX 0
+param set-default FW_LND_HHDIST 30
+param set-default FW_LND_FL_PMIN 9.5
+param set-default FW_LND_FL_PMAX 20
+param set-default FW_LND_FLALT 5
+param set-default FW_LND_TLALT 15
 
-	param set FW_L1_PERIOD 25
+param set-default FW_L1_PERIOD 25
 
-	param set FW_P_TC 0.4
-	param set FW_PR_FF 0.40
-	param set FW_PR_I 0.05
-	param set FW_PR_P 0.05
+param set-default FW_P_TC 0.4
+param set-default FW_PR_FF 0.40
+param set-default FW_PR_I 0.05
+param set-default FW_PR_P 0.05
 
-	param set FW_R_TC 0.45
-	param set FW_RR_FF 0.40
-	param set FW_RR_I 0.132
-	param set FW_RR_P 0.085
+param set-default FW_R_TC 0.45
+param set-default FW_RR_FF 0.40
+param set-default FW_RR_I 0.132
+param set-default FW_RR_P 0.085
 
-	param set FW_W_EN 1
+param set-default FW_W_EN 1
 
-	param set MIS_LTRMIN_ALT 30
-	param set MIS_TAKEOFF_ALT 20
-	param set MIS_DIST_1WP 2500
-	param set MIS_DIST_WPS 10000
+param set-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 NAV_ACC_RAD 15
-	param set NAV_DLL_ACT 2
-	param set NAV_LOITER_RAD 50
+param set-default NAV_ACC_RAD 15
+param set-default NAV_DLL_ACT 2
+param set-default NAV_LOITER_RAD 50
 
-	param set RWTO_TKOFF 1
-	#param set FW_THR_SLEW_MAX 0.3 # fix takeoff failure for JSBsim in autonomous mission mode.
-	param set RWTO_MAX_PITCH 20
-	param set RWTO_MAX_ROLL 10
-	#param set RWTO_MAX_THR 0.6		# fix takeoff failure for JSBsim in autonomous mission mode.
-	param set RWTO_PSP 8
-	param set RWTO_AIRSPD_SCL 1.8
+param set-default RWTO_TKOFF 1
+
+# fix takeoff failure for JSBsim in autonomous mission mode.
+#param set FW_THR_SLEW_MAX 0.3
+
+param set-default RWTO_MAX_PITCH 20
+param set-default RWTO_MAX_ROLL 10
+
+# fix takeoff failure for JSBsim in autonomous mission mode.
+#param set-default RWTO_MAX_THR 0.6
+
+param set-default RWTO_PSP 8
+param set-default RWTO_AIRSPD_SCL 1.8
 
-fi
 
 set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
 set MIXER custom

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

@@ -5,54 +5,54 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set EKF2_ARSP_THR 8
-	param set EKF2_FUSE_BETA 1
-	#param set EKF2_MAG_ACCLIM 0
-	#param set EKF2_MAG_YAWLIM 0
+param set-default EKF2_ARSP_THR 8
+param set-default EKF2_FUSE_BETA 1
 
-	param set FW_LND_AIRSPD_SC 1.1
-	param set FW_LND_ANG 5
-	param set FW_THR_LND_MAX 0
-	param set FW_LND_HHDIST 30
-	param set FW_LND_FL_PMIN 9.5
-	param set FW_LND_FL_PMAX 20
-	param set FW_LND_FLALT 5
-	param set FW_LND_TLALT 15
+param set-default FW_LND_AIRSPD_SC 1.1
+param set-default FW_LND_ANG 5
+param set-default FW_THR_LND_MAX 0
+param set-default FW_LND_HHDIST 30
+param set-default FW_LND_FL_PMIN 9.5
+param set-default FW_LND_FL_PMAX 20
+param set-default FW_LND_FLALT 5
+param set-default FW_LND_TLALT 15
 
-	param set FW_L1_PERIOD 25
+param set-default FW_L1_PERIOD 25
 
-	param set FW_P_TC 0.4
-	param set FW_PR_FF 0.40
-	param set FW_PR_I 0.05
-	param set FW_PR_P 0.05
+param set-default FW_P_TC 0.4
+param set-default FW_PR_FF 0.40
+param set-default FW_PR_I 0.05
+param set-default FW_PR_P 0.05
 
-	param set FW_R_TC 0.45
-	param set FW_RR_FF 0.40
-	param set FW_RR_I 0.132
-	param set FW_RR_P 0.085
+param set-default FW_R_TC 0.45
+param set-default FW_RR_FF 0.40
+param set-default FW_RR_I 0.132
+param set-default FW_RR_P 0.085
 
-	param set FW_W_EN 1
+param set-default FW_W_EN 1
 
-	param set MIS_LTRMIN_ALT 30
-	param set MIS_TAKEOFF_ALT 20
-	param set MIS_DIST_1WP 2500
-	param set MIS_DIST_WPS 10000
+param set-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 NAV_ACC_RAD 15
-	param set NAV_DLL_ACT 2
-	param set NAV_LOITER_RAD 50
+param set-default NAV_ACC_RAD 15
+param set-default NAV_DLL_ACT 2
+param set-default NAV_LOITER_RAD 50
 
-	param set RWTO_TKOFF 1
-	#param set FW_THR_SLEW_MAX 0.3 # fix takeoff failure for JSBsim in autonomous mission mode.
-	param set RWTO_MAX_PITCH 20
-	param set RWTO_MAX_ROLL 10
-	#param set RWTO_MAX_THR 0.6		# fix takeoff failure for JSBsim in autonomous mission mode.
-	param set RWTO_PSP 8
-	param set RWTO_AIRSPD_SCL 1.8
+param set-default RWTO_TKOFF 1
 
-fi
+# fix takeoff failure for JSBsim in autonomous mission mode.
+#param set FW_THR_SLEW_MAX 0.3
+
+param set-default RWTO_MAX_PITCH 20
+param set-default RWTO_MAX_ROLL 10
+
+# fix takeoff failure for JSBsim in autonomous mission mode.
+#param set RWTO_MAX_THR 0.6
+
+param set-default RWTO_PSP 8
+param set-default RWTO_AIRSPD_SCL 1.8
 
 set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
 set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/1035_techpod

@@ -5,43 +5,39 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set EKF2_ARSP_THR 8
-	param set EKF2_FUSE_BETA 1
-	param set EKF2_MAG_ACCLIM 0
-	param set EKF2_MAG_YAWLIM 0
+param set-default EKF2_ARSP_THR 8
+param set-default EKF2_FUSE_BETA 1
+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0
 
-	param set FW_LND_AIRSPD_SC 1
-	param set FW_LND_ANG 8
-	param set FW_THR_LND_MAX 0
+param set-default FW_LND_AIRSPD_SC 1
+param set-default FW_LND_ANG 8
+param set-default FW_THR_LND_MAX 0
 
-	param set FW_L1_PERIOD 15
+param set-default FW_L1_PERIOD 15
 
-	param set FW_P_TC 0.5
-	param set FW_PR_FF 0.40
-	param set FW_PR_I 0.05
-	param set FW_PR_P 0.05
+param set-default FW_P_TC 0.5
+param set-default FW_PR_FF 0.40
+param set-default FW_PR_I 0.05
+param set-default FW_PR_P 0.05
 
-	param set FW_R_TC 0.7
-	param set FW_RR_FF 0.20
-	param set FW_RR_I 0.02
-	param set FW_RR_P 0.22
+param set-default FW_R_TC 0.7
+param set-default FW_RR_FF 0.20
+param set-default FW_RR_I 0.02
+param set-default FW_RR_P 0.22
 
-	param set FW_L1_PERIOD 12
+param set-default FW_L1_PERIOD 12
 
-	param set FW_W_EN 1
+param set-default FW_W_EN 1
 
-	param set MIS_LTRMIN_ALT 30
-	param set MIS_TAKEOFF_ALT 30
+param set-default MIS_LTRMIN_ALT 30
+param set-default MIS_TAKEOFF_ALT 30
 
-	param set NAV_ACC_RAD 15
-	param set NAV_DLL_ACT 2
-	param set NAV_LOITER_RAD 50
+param set-default NAV_ACC_RAD 15
+param set-default NAV_DLL_ACT 2
+param set-default NAV_LOITER_RAD 50
 
-	param set RWTO_TKOFF 1
-
-fi
+param set-default RWTO_TKOFF 1
 
 set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
 set MIXER custom

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

@@ -5,52 +5,46 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set EKF2_ARSP_THR 8
-	param set EKF2_FUSE_BETA 1
-	#param set EKF2_MAG_ACCLIM 0
-	#param set EKF2_MAG_YAWLIM 0
+param set-default EKF2_ARSP_THR 8
+param set-default EKF2_FUSE_BETA 1
 
-	param set FW_LND_AIRSPD_SC 1.1
-	param set FW_LND_ANG 5
-	param set FW_THR_LND_MAX 0
-	param set FW_LND_HHDIST 30
-	param set FW_LND_FL_PMIN 9.5
-	param set FW_LND_FL_PMAX 20
-	param set FW_LND_FLALT 5
-	param set FW_LND_TLALT 15
+param set-default FW_LND_AIRSPD_SC 1.1
+param set-default FW_LND_ANG 5
+param set-default FW_THR_LND_MAX 0
+param set-default FW_LND_HHDIST 30
+param set-default FW_LND_FL_PMIN 9.5
+param set-default FW_LND_FL_PMAX 20
+param set-default FW_LND_FLALT 5
+param set-default FW_LND_TLALT 15
 
-	param set FW_L1_PERIOD 25
+param set-default FW_L1_PERIOD 25
 
-	param set FW_P_TC 0.4
-	param set FW_PR_FF 0.40
-	param set FW_PR_I 0.05
-	param set FW_PR_P 0.05
+param set-default FW_P_TC 0.4
+param set-default FW_PR_FF 0.40
+param set-default FW_PR_I 0.05
+param set-default FW_PR_P 0.05
 
-	param set FW_R_TC 0.45
-	param set FW_RR_FF 0.40
-	param set FW_RR_I 0.132
-	param set FW_RR_P 0.085
+param set-default FW_R_TC 0.45
+param set-default FW_RR_FF 0.40
+param set-default FW_RR_I 0.132
+param set-default FW_RR_P 0.085
 
-	param set FW_W_EN 1
+param set-default FW_W_EN 1
 
-	param set MIS_LTRMIN_ALT 30
-	param set MIS_TAKEOFF_ALT 20
-	param set MIS_DIST_1WP 2500
-	param set MIS_DIST_WPS 10000
+param set-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 NAV_ACC_RAD 15
-	param set NAV_DLL_ACT 2
-	param set NAV_LOITER_RAD 50
+param set-default NAV_ACC_RAD 15
+param set-default NAV_DLL_ACT 2
+param set-default NAV_LOITER_RAD 50
 
-	param set RWTO_TKOFF 1
-	param set RWTO_MAX_PITCH 20
-	param set RWTO_MAX_ROLL 10
-	param set RWTO_PSP 8
-	param set RWTO_AIRSPD_SCL 1.8
-
-fi
+param set-default RWTO_TKOFF 1
+param set-default RWTO_MAX_PITCH 20
+param set-default RWTO_MAX_ROLL 10
+param set-default RWTO_PSP 8
+param set-default RWTO_AIRSPD_SCL 1.8
 
 set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
 set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol

@@ -7,50 +7,46 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set FW_L1_PERIOD 12
-	param set FW_MAN_P_MAX 30
-	param set FW_PR_FF 0.2
-	param set FW_PR_I 0.4
-	param set FW_PR_P 0.9
-	param set FW_PSP_OFF 2
-	param set FW_P_LIM_MAX 32
-	param set FW_P_LIM_MIN -15
-	param set FW_RR_FF 0.1
-	param set FW_RR_P 0.3
-	param set FW_THR_CRUISE 0.25
-	param set FW_THR_MAX 0.6
-	param set FW_THR_MIN 0.05
-	param set FW_T_ALT_TC 2
-	param set FW_T_CLMB_MAX 8
-	param set FW_T_HRATE_FF 0.5
-	param set FW_T_SINK_MAX 2.7
-	param set FW_T_SINK_MIN 2.2
-	param set FW_T_TAS_TC 2
+param set-default FW_L1_PERIOD 12
+param set-default FW_MAN_P_MAX 30
+param set-default FW_PR_FF 0.2
+param set-default FW_PR_I 0.4
+param set-default FW_PR_P 0.9
+param set-default FW_PSP_OFF 2
+param set-default FW_P_LIM_MAX 32
+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_THR_CRUISE 0.25
+param set-default FW_THR_MAX 0.6
+param set-default FW_THR_MIN 0.05
+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
 
-	param set MC_ROLLRATE_P 0.3
-	param set MC_YAW_P 1.6
+param set-default MC_ROLLRATE_P 0.3
+param set-default MC_YAW_P 1.6
 
-	param set MIS_TAKEOFF_ALT 10
+param set-default MIS_TAKEOFF_ALT 10
 
-	param set MPC_ACC_HOR_MAX 2
-	param set MPC_XY_P 0.8
-	param set MPC_XY_VEL_P_ACC 3
-	param set MPC_XY_VEL_I_ACC 4
-	param set MPC_XY_VEL_D_ACC 0.1
+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 NAV_ACC_RAD 5
-	param set NAV_LOITER_RAD 80
+param set-default NAV_ACC_RAD 5
+param set-default NAV_LOITER_RAD 80
 
-	param set VT_FWD_THRUST_EN 4
-	param set VT_F_TRANS_THR 0.75
-	param set VT_MOT_ID 1234
-	param set VT_FW_MOT_OFFID 1234
-	param set VT_B_TRANS_DUR 8
-	param set VT_TYPE 2
-
-fi
+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
 
 set MAV_TYPE 22
 

ROMFS/px4fmu_common/init.d-posix/airframes/1041_tailsitter

@@ -7,44 +7,40 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set FW_L1_PERIOD 12
-	param set FW_MAN_P_MAX 30
-	param set FW_PR_I 0.2
-	param set FW_PR_P 0.3
-	param set FW_PSP_OFF 2
-	param set FW_P_LIM_MAX 32
-	param set FW_P_LIM_MIN -15
-	param set FW_RR_P 0.3
-	param set FW_THR_CRUISE 0.33
-	param set FW_THR_MAX 0.6
-	param set FW_THR_MIN 0.05
-	param set FW_T_ALT_TC 2
-	param set FW_T_CLMB_MAX 8
-	param set FW_T_HRATE_FF 0.5
-	param set FW_T_SINK_MAX 2.7
-	param set FW_T_SINK_MIN 2.2
-	param set FW_T_TAS_TC 2
+param set-default FW_L1_PERIOD 12
+param set-default FW_MAN_P_MAX 30
+param set-default FW_PR_I 0.2
+param set-default FW_PR_P 0.3
+param set-default FW_PSP_OFF 2
+param set-default FW_P_LIM_MAX 32
+param set-default FW_P_LIM_MIN -15
+param set-default FW_RR_P 0.3
+param set-default FW_THR_CRUISE 0.33
+param set-default FW_THR_MAX 0.6
+param set-default FW_THR_MIN 0.05
+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
 
-	param set MC_ROLLRATE_P 0.3
+param set-default MC_ROLLRATE_P 0.3
 
-	param set MPC_ACC_HOR_MAX 2
-	param set MPC_XY_P 0.8
-	param set MPC_XY_VEL_P_ACC 3
-	param set MPC_XY_VEL_I_ACC 4
-	param set MPC_XY_VEL_D_ACC 0.1
+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 NAV_ACC_RAD 5
-	param set NAV_LOITER_RAD 80
+param set-default NAV_ACC_RAD 5
+param set-default NAV_LOITER_RAD 80
 
-	param set VT_F_TRANS_DUR 1.5
-	param set VT_F_TRANS_THR 0.7
-	param set VT_TYPE 0
+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 WV_EN 0
-
-fi
+param set-default WV_EN 0
 
 set MAV_TYPE 20
 

ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor

@@ -7,48 +7,44 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set FW_L1_PERIOD 12
-	param set FW_MAN_P_MAX 30
-	param set FW_PR_FF 0.2
-	param set FW_PR_I 0.4
-	param set FW_PR_P 0.9
-	param set FW_PSP_OFF 2
-	param set FW_P_LIM_MAX 32
-	param set FW_P_LIM_MIN -15
-	param set FW_RR_FF 0.1
-	param set FW_RR_P 0.3
-	param set FW_THR_CRUISE 0.38
-	param set FW_THR_MAX 0.6
-	param set FW_THR_MIN 0.05
-	param set FW_T_ALT_TC 2
-	param set FW_T_CLMB_MAX 8
-	param set FW_T_HRATE_FF 0.5
-	param set FW_T_SINK_MAX 2.7
-	param set FW_T_SINK_MIN 2.2
-	param set FW_T_TAS_TC 2
+param set-default FW_L1_PERIOD 12
+param set-default FW_MAN_P_MAX 30
+param set-default FW_PR_FF 0.2
+param set-default FW_PR_I 0.4
+param set-default FW_PR_P 0.9
+param set-default FW_PSP_OFF 2
+param set-default FW_P_LIM_MAX 32
+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_THR_CRUISE 0.38
+param set-default FW_THR_MAX 0.6
+param set-default FW_THR_MIN 0.05
+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
 
-	param set MC_YAW_P 1.6
+param set-default MC_YAW_P 1.6
 
-	param set MIS_TAKEOFF_ALT 10
+param set-default MIS_TAKEOFF_ALT 10
 
-	param set MPC_ACC_HOR_MAX 2
-	param set MPC_XY_P 0.8
-	param set MPC_XY_VEL_P_ACC 3
-	param set MPC_XY_VEL_I_ACC 4
-	param set MPC_XY_VEL_D_ACC 0.1
+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 NAV_ACC_RAD 5
-	param set NAV_LOITER_RAD 80
+param set-default NAV_ACC_RAD 5
+param set-default NAV_LOITER_RAD 80
 
-	param set VT_B_TRANS_DUR 8
-	param set VT_FWD_THRUST_EN 4
-	param set VT_MOT_ID 1234
-	param set VT_TILT_TRANS 0.6
-	param set VT_TYPE 1
-
-fi
+param set-default VT_B_TRANS_DUR 8
+param set-default VT_FWD_THRUST_EN 4
+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
 

ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop

@@ -7,53 +7,50 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set FW_L1_PERIOD 12
-	param set FW_MAN_P_MAX 30
-	param set FW_PR_FF 0.2
-	param set FW_PR_I 0.4
-	param set FW_PR_P 0.9
-	param set FW_PSP_OFF 2
-	param set FW_P_LIM_MAX 32
-	param set FW_P_LIM_MIN -15
-	param set FW_RR_FF 0.1
-	param set FW_RR_P 0.3
-	param set FW_THR_CRUISE 0.25
-	param set FW_THR_MAX 0.6
-	param set FW_THR_MIN 0.05
-	param set FW_T_ALT_TC 2
-	param set FW_T_CLMB_MAX 8
-	param set FW_T_HRATE_FF 0.5
-	param set FW_T_SINK_MAX 2.7
-	param set FW_T_SINK_MIN 2.2
-	param set FW_T_TAS_TC 2
+param set-default FW_L1_PERIOD 12
+param set-default FW_MAN_P_MAX 30
+param set-default FW_PR_FF 0.2
+param set-default FW_PR_I 0.4
+param set-default FW_PR_P 0.9
+param set-default FW_PSP_OFF 2
+param set-default FW_P_LIM_MAX 32
+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_THR_CRUISE 0.25
+param set-default FW_THR_MAX 0.6
+param set-default FW_THR_MIN 0.05
+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
 
-	param set MC_ROLLRATE_P 0.3
-	param set MC_YAW_P 1.6
+param set-default MC_ROLLRATE_P 0.3
+param set-default MC_YAW_P 1.6
 
-	param set MIS_TAKEOFF_ALT 10
+param set-default MIS_TAKEOFF_ALT 10
 
-	param set MPC_ACC_HOR_MAX 2
-	param set MPC_XY_P 0.8
-	param set MPC_XY_VEL_P_ACC 3
-	param set MPC_XY_VEL_I_ACC 4
-	param set MPC_XY_VEL_D_ACC 0.1
+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 NAV_ACC_RAD 5
-	param set NAV_LOITER_RAD 80
+param set-default NAV_ACC_RAD 5
+param set-default NAV_LOITER_RAD 80
 
-	param set VT_FWD_THRUST_EN 4
-	param set VT_F_TRANS_THR 0.75
-	param set VT_MOT_ID 1234
-	param set VT_FW_MOT_OFFID 1234
-	param set VT_B_TRANS_DUR 8
-	param set VT_TYPE 2
+param set-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
 
-	param set RC_MAP_AUX1 8
-	param set RC_MAP_AUX2 9
-	param set RC_MAP_AUX3 10
-fi
+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
 

ROMFS/px4fmu_common/init.d-posix/airframes/1060_rover

@@ -5,32 +5,28 @@
 
 . ${R}etc/init.d/rc.rover_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set GND_L1_DIST 5
-	param set GND_L1_PERIOD 10
-	param set GND_SP_CTRL_MODE 1
-	param set GND_SPEED_D 0.001
-	param set GND_SPEED_I 3
-	param set GND_SPEED_IMAX 0.125
-	param set GND_SPEED_P 0.25
-	param set GND_SPEED_THR_SC 1
-	param set GND_SPEED_TRIM 4
-	param set GND_THR_CRUISE 0.3
-	param set GND_THR_MAX 0.5
-	param set GND_THR_MIN 0
+param set-default GND_L1_DIST 5
+param set-default GND_L1_PERIOD 10
+param set-default GND_SP_CTRL_MODE 1
+param set-default GND_SPEED_D 0.001
+param set-default GND_SPEED_I 3
+param set-default GND_SPEED_IMAX 0.125
+param set-default GND_SPEED_P 0.25
+param set-default GND_SPEED_THR_SC 1
+param set-default GND_SPEED_TRIM 4
+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 MIS_LTRMIN_ALT 0.01
-	param set MIS_TAKEOFF_ALT 0.01
-	param set NAV_ACC_RAD 0.5
-	param set NAV_LOITER_RAD 2
+param set-default MIS_LTRMIN_ALT 0.01
+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 CBRK_AIRSPD_CHK 162128
+param set-default CBRK_AIRSPD_CHK 162128
 
-	param set GND_MAX_ANG 0.6
-	param set GND_WHEEL_BASE 2.0
-
-fi
+param set-default GND_MAX_ANG 0.6
+param set-default GND_WHEEL_BASE 2.0
 
 set MAV_TYPE 10
 

ROMFS/px4fmu_common/init.d-posix/airframes/1061_r1_rover

@@ -6,31 +6,27 @@
 
 . ${R}etc/init.d/rc.rover_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set GND_L1_DIST 5
-	param set GND_SP_CTRL_MODE 1
-	param set GND_SPEED_D 3
-	param set GND_SPEED_I 0.001
-	param set GND_SPEED_IMAX 0.125
-	param set GND_SPEED_P 0.25
-	param set GND_SPEED_THR_SC 1
-	param set GND_SPEED_TRIM 4
-	param set GND_THR_CRUISE 0.3
-	param set GND_THR_MAX 0.5
-	param set GND_THR_MIN 0
+param set-default GND_L1_DIST 5
+param set-default GND_SP_CTRL_MODE 1
+param set-default GND_SPEED_D 3
+param set-default GND_SPEED_I 0.001
+param set-default GND_SPEED_IMAX 0.125
+param set-default GND_SPEED_P 0.25
+param set-default GND_SPEED_THR_SC 1
+param set-default GND_SPEED_TRIM 4
+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 MIS_LTRMIN_ALT 0.01
-	param set MIS_TAKEOFF_ALT 0.01
-	param set NAV_ACC_RAD 0.5
-	param set NAV_LOITER_RAD 2
+param set-default MIS_LTRMIN_ALT 0.01
+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 CBRK_AIRSPD_CHK 162128
+param set-default CBRK_AIRSPD_CHK 162128
 
-	param set GND_MAX_ANG 0.6
-	param set GND_WHEEL_BASE 2.0
-
-fi
+param set-default GND_MAX_ANG 0.6
+param set-default GND_WHEEL_BASE 2.0
 
 set MAV_TYPE 10
 

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

@@ -10,32 +10,28 @@
 
 . ${R}etc/init.d/rc.rover_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set GND_L1_DIST 5
-	param set GND_SP_CTRL_MODE 1
-	param set GND_SPEED_D 3
-	param set GND_SPEED_I 0.001
-	param set GND_SPEED_IMAX 0.125
-	param set GND_SPEED_P 0.25
-	param set GND_SPEED_THR_SC 1
-	param set GND_SPEED_TRIM 15
-	param set GND_SPEED_MAX 25
-	param set GND_THR_CRUISE 0.3
-	param set GND_THR_MAX 0.5
-	param set GND_THR_MIN 0
+param set-default GND_L1_DIST 5
+param set-default GND_SP_CTRL_MODE 1
+param set-default GND_SPEED_D 3
+param set-default GND_SPEED_I 0.001
+param set-default GND_SPEED_IMAX 0.125
+param set-default GND_SPEED_P 0.25
+param set-default GND_SPEED_THR_SC 1
+param set-default GND_SPEED_TRIM 15
+param set-default GND_SPEED_MAX 25
+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 MIS_LTRMIN_ALT 0.01
-	param set MIS_TAKEOFF_ALT 0.01
-	param set NAV_ACC_RAD 0.5
-	param set NAV_LOITER_RAD 2
+param set-default MIS_LTRMIN_ALT 0.01
+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 CBRK_AIRSPD_CHK 162128
+param set-default CBRK_AIRSPD_CHK 162128
 
-	param set GND_MAX_ANG 0.6
-	param set GND_WHEEL_BASE 3.0
-
-fi
+param set-default GND_MAX_ANG 0.6
+param set-default GND_WHEEL_BASE 3.0
 
 set MAV_TYPE 10
 

ROMFS/px4fmu_common/init.d-posix/airframes/1070_boat

@@ -5,32 +5,28 @@
 
 . ${R}etc/init.d/rc.boat_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set GND_L1_DIST 5
-	param set GND_L1_PERIOD 100
-	param set GND_SP_CTRL_MODE 1
-	param set GND_SPEED_D 0.001
-	param set GND_SPEED_I 8
-	param set GND_SPEED_IMAX 0.125
-	param set GND_SPEED_P 2
-	param set GND_SPEED_THR_SC 1
-	param set GND_SPEED_TRIM 1
-	param set GND_THR_CRUISE 0.85
-	param set GND_THR_MAX 1
-	param set GND_THR_MIN 0
+param set-default GND_L1_DIST 5
+param set-default GND_L1_PERIOD 100
+param set-default GND_SP_CTRL_MODE 1
+param set-default GND_SPEED_D 0.001
+param set-default GND_SPEED_I 8
+param set-default GND_SPEED_IMAX 0.125
+param set-default GND_SPEED_P 2
+param set-default GND_SPEED_THR_SC 1
+param set-default GND_SPEED_TRIM 1
+param set-default GND_THR_CRUISE 0.85
+param set-default GND_THR_MAX 1
+param set-default GND_THR_MIN 0
 
-	param set MIS_LTRMIN_ALT 0.01
-	param set MIS_TAKEOFF_ALT 0.01
-	param set NAV_ACC_RAD 0.5
-	param set NAV_LOITER_RAD 2
+param set-default MIS_LTRMIN_ALT 0.01
+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 CBRK_AIRSPD_CHK 162128
+param set-default CBRK_AIRSPD_CHK 162128
 
-	param set GND_MAX_ANG 0.6
-	param set GND_WHEEL_BASE 2.0
-
-fi
+param set-default GND_MAX_ANG 0.6
+param set-default GND_WHEEL_BASE 2.0
 
 set MAV_TYPE 11
 

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

@@ -12,52 +12,48 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set EKF2_ARSP_THR 8
-	param set EKF2_FUSE_BETA 1
-	param set ASPD_STALL 10.0
+param set-default EKF2_ARSP_THR 8
+param set-default EKF2_FUSE_BETA 1
 
-	param set FW_P_RMAX_NEG 20.0
-	param set FW_P_RMAX_POS 60.0
-	param set FW_W_RMAX 10
-	param set FW_W_EN 1
+param set-default FW_AIRSPD_STALL 8
 
-	param set FW_PR_IMAX 0.4
-	param set FW_R_TC 0.4
-	param set FW_RR_FF 0.5
-	param set FW_RR_I 0.1
-	param set FW_RR_IMAX 0.2
-	param set FW_RR_P 0.08
+param set-default FW_P_RMAX_NEG 20.0
+param set-default FW_P_RMAX_POS 60.0
+param set-default FW_W_RMAX 10
+param set-default FW_W_EN 1
 
-	param set MIS_LTRMIN_ALT 50
-	param set MIS_TAKEOFF_ALT 3
+param set-default FW_PR_IMAX 0.4
+param set-default FW_R_TC 0.4
+param set-default FW_RR_FF 0.5
+param set-default FW_RR_I 0.1
+param set-default FW_RR_IMAX 0.2
+param set-default FW_RR_P 0.08
 
-	param set NAV_ACC_RAD 20
-	param set NAV_DLL_ACT 2
-	param set NAV_LOITER_RAD 100
+param set-default MIS_LTRMIN_ALT 50
+param set-default MIS_TAKEOFF_ALT 3
 
-	param set RWTO_TKOFF 1
+param set-default NAV_ACC_RAD 20
+param set-default NAV_DLL_ACT 2
+param set-default NAV_LOITER_RAD 100
 
-	param set FW_ARSP_SCALE_EN 0
+param set-default RWTO_TKOFF 1
 
-	param set FW_AIRSPD_MAX 35
-	param set FW_AIRSPD_MIN 7
-	param set FW_AIRSPD_TRIM 15
+param set-default FW_ARSP_SCALE_EN 0
 
-	param set FW_P_LIM_MAX 25
-	param set FW_P_LIM_MIN -5
-	param set FW_R_LIM 30
+param set-default FW_AIRSPD_MAX 35
+param set-default FW_AIRSPD_MIN 7
+param set-default FW_AIRSPD_TRIM 15
 
-	param set FW_MAN_P_MAX 30.0
-	param set FW_MAN_R_MAX 30.0
+param set-default FW_P_LIM_MAX 25
+param set-default FW_P_LIM_MIN -5
+param set-default FW_R_LIM 30
 
-	param set FW_THR_CRUISE 0.8
-	param set FW_THR_IDLE 0
-	param set COM_DISARM_PRFLT 0
-
-fi
+param set-default FW_MAN_P_MAX 30.0
+param set-default FW_MAN_R_MAX 30.0
 
+param set-default FW_THR_CRUISE 0.8
+param set-default FW_THR_IDLE 0
+param set-default COM_DISARM_PRFLT 0
 
 set MIXER_FILE etc/mixers-sitl/autogyro_sitl.main.mix
 set MIXER custom

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

@@ -9,24 +9,21 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set MC_PITCHRATE_P 0.1
-	param set MC_PITCHRATE_I 0.05
-	param set MC_PITCH_P 6.0
-	param set MC_ROLLRATE_P 0.15
-	param set MC_ROLLRATE_I 0.1
-	param set MC_ROLL_P 6.0
-	param set MPC_XY_VEL_I_ACC 4
-	param set MPC_XY_VEL_P_ACC 3
+param set-default MC_PITCHRATE_P 0.1
+param set-default MC_PITCHRATE_I 0.05
+param set-default MC_PITCH_P 6.0
+param set-default MC_ROLLRATE_P 0.15
+param set-default MC_ROLLRATE_I 0.1
+param set-default MC_ROLL_P 6.0
+param set-default MPC_XY_VEL_I_ACC 4
+param set-default MPC_XY_VEL_P_ACC 3
 
-	param set RTL_DESCEND_ALT 10
+param set-default RTL_DESCEND_ALT 10
 
-	param set TRIG_INTERFACE 3
-	param set TRIG_MODE 4
-	param set MNT_MODE_IN 4
-	param set MNT_DO_STAB 2
-fi
+param set-default TRIG_INTERFACE 3
+param set-default TRIG_MODE 4
+param set-default MNT_MODE_IN 4
+param set-default MNT_DO_STAB 2
 
 set MAV_TYPE 13
 

ROMFS/px4fmu_common/init.d-posix/airframes/6011_typhoon_h480

@@ -7,27 +7,24 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set MC_PITCHRATE_P 0.0800
-	param set MC_PITCHRATE_I 0.0400
-	param set MC_PITCHRATE_D 0.0010
-	param set MC_PITCH_P 9.0
-	param set MC_ROLLRATE_P 0.0800
-	param set MC_ROLLRATE_I 0.0400
-	param set MC_ROLLRATE_D 0.0010
-	param set MC_ROLL_P 9.0
-	param set MPC_XY_VEL_I_ACC 4
-	param set MPC_XY_VEL_P_ACC 3
+param set-default MC_PITCHRATE_P 0.0800
+param set-default MC_PITCHRATE_I 0.0400
+param set-default MC_PITCHRATE_D 0.0010
+param set-default MC_PITCH_P 9.0
+param set-default MC_ROLLRATE_P 0.0800
+param set-default MC_ROLLRATE_I 0.0400
+param set-default MC_ROLLRATE_D 0.0010
+param set-default MC_ROLL_P 9.0
+param set-default MPC_XY_VEL_I_ACC 4
+param set-default MPC_XY_VEL_P_ACC 3
 
-	param set RTL_DESCEND_ALT 10
+param set-default RTL_DESCEND_ALT 10
 
-	param set TRIG_INTERFACE 3
-	param set TRIG_MODE 4
-	param set MNT_MODE_IN 4
-	param set MNT_MODE_OUT 2
-	param set MAV_PROTO_VER 2
-fi
+param set-default TRIG_INTERFACE 3
+param set-default TRIG_MODE 4
+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
 

ROMFS/px4fmu_common/init.d-posix/airframes/6012_typhoon_ctrlalloc

@@ -8,66 +8,63 @@
 . ${R}etc/init.d/rc.mc_defaults
 . ${R}etc/init.d/rc.ctrlalloc
 
-if [ $AUTOCNF = yes ]
-then
-	param set MPC_XY_VEL_I_ACC 4
-	param set MPC_XY_VEL_P_ACC 3
+param set-default MPC_XY_VEL_I_ACC 4
+param set-default MPC_XY_VEL_P_ACC 3
 
-	param set RTL_DESCEND_ALT 10
-	param set RTL_LAND_DELAY 0
+param set-default RTL_DESCEND_ALT 10
+param set-default RTL_LAND_DELAY 0
 
-	param set TRIG_INTERFACE 3
-	param set TRIG_MODE 4
-	param set MNT_MODE_IN 0
-	param set MAV_PROTO_VER 2
+param set-default TRIG_INTERFACE 3
+param set-default TRIG_MODE 4
+param set-default MNT_MODE_IN 0
+param set-default MAV_PROTO_VER 2
 
-	param set MPC_USE_HTE 0
+param set-default MPC_USE_HTE 0
 
-	param set VM_MASS 2.66
-	param set VM_INERTIA_XX 0.06
-	param set VM_INERTIA_YY 0.06
-	param set VM_INERTIA_ZZ 0.10
+param set-default VM_MASS 2.66
+param set-default VM_INERTIA_XX 0.06
+param set-default VM_INERTIA_YY 0.06
+param set-default VM_INERTIA_ZZ 0.10
 
-	param set CA_AIRFRAME 0
-	param set CA_METHOD 1
-	param set CA_ACT0_MIN 0.0
-	param set CA_ACT1_MIN 0.0
-	param set CA_ACT2_MIN 0.0
-	param set CA_ACT3_MIN 0.0
-	param set CA_ACT4_MIN 0.0
-	param set CA_ACT5_MIN 0.0
-	param set CA_ACT0_MAX 1.0
-	param set CA_ACT1_MAX 1.0
-	param set CA_ACT2_MAX 1.0
-	param set CA_ACT3_MAX 1.0
-	param set CA_ACT4_MAX 1.0
-	param set CA_ACT5_MAX 1.0
+param set-default CA_AIRFRAME 0
+param set-default CA_METHOD 1
+param set-default CA_ACT0_MIN 0.0
+param set-default CA_ACT1_MIN 0.0
+param set-default CA_ACT2_MIN 0.0
+param set-default CA_ACT3_MIN 0.0
+param set-default CA_ACT4_MIN 0.0
+param set-default CA_ACT5_MIN 0.0
+param set-default CA_ACT0_MAX 1.0
+param set-default CA_ACT1_MAX 1.0
+param set-default CA_ACT2_MAX 1.0
+param set-default CA_ACT3_MAX 1.0
+param set-default CA_ACT4_MAX 1.0
+param set-default CA_ACT5_MAX 1.0
 
-	param set CA_MC_R0_PX 0.0
-	param set CA_MC_R0_PY 1.0
-	param set CA_MC_R0_CT 9.5
-	param set CA_MC_R0_KM -0.05
-	param set CA_MC_R1_PX 0.0
-	param set CA_MC_R1_PY -1.0
-	param set CA_MC_R1_CT 9.5
-	param set CA_MC_R1_KM 0.05
-	param set CA_MC_R2_PX 0.866025
-	param set CA_MC_R2_PY -0.5
-	param set CA_MC_R2_CT 9.5
-	param set CA_MC_R2_KM -0.05
-	param set CA_MC_R3_PX -0.866025
-	param set CA_MC_R3_PY 0.5
-	param set CA_MC_R3_CT 9.5
-	param set CA_MC_R3_KM 0.05
-	param set CA_MC_R4_PX 0.866025
-	param set CA_MC_R4_PY 0.5
-	param set CA_MC_R4_CT 9.5
-	param set CA_MC_R4_KM 0.05
-	param set CA_MC_R5_PX -0.866025
-	param set CA_MC_R5_PY -0.5
-	param set CA_MC_R5_CT 9.5
-	param set CA_MC_R5_KM -0.05
-fi
+param set-default CA_MC_R0_PX 0.0
+param set-default CA_MC_R0_PY 1.0
+param set-default CA_MC_R0_CT 9.5
+param set-default CA_MC_R0_KM -0.05
+param set-default CA_MC_R1_PX 0.0
+param set-default CA_MC_R1_PY -1.0
+param set-default CA_MC_R1_CT 9.5
+param set-default CA_MC_R1_KM 0.05
+param set-default CA_MC_R2_PX 0.866025
+param set-default CA_MC_R2_PY -0.5
+param set-default CA_MC_R2_CT 9.5
+param set-default CA_MC_R2_KM -0.05
+param set-default CA_MC_R3_PX -0.866025
+param set-default CA_MC_R3_PY 0.5
+param set-default CA_MC_R3_CT 9.5
+param set-default CA_MC_R3_KM 0.05
+param set-default CA_MC_R4_PX 0.866025
+param set-default CA_MC_R4_PY 0.5
+param set-default CA_MC_R4_CT 9.5
+param set-default CA_MC_R4_KM 0.05
+param set-default CA_MC_R5_PX -0.866025
+param set-default CA_MC_R5_PY -0.5
+param set-default CA_MC_R5_CT 9.5
+param set-default CA_MC_R5_KM -0.05
 
 set MAV_TYPE 13
 

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

@@ -0,0 +1,32 @@
+#!/bin/sh
+# shellcheck disable=SC2154
+
+udp_offboard_port_local=$((14580+px4_instance))
+udp_offboard_port_remote=$((14540+px4_instance))
+[ $px4_instance -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps
+udp_onboard_payload_port_local=$((14280+px4_instance))
+udp_onboard_payload_port_remote=$((14030+px4_instance))
+udp_onboard_gimbal_port_local=$((13030+px4_instance))
+udp_onboard_gimbal_port_remote=$((13280+px4_instance))
+udp_gcs_port_local=$((18570+px4_instance))
+
+# GCS link
+mavlink start -x -u $udp_gcs_port_local -r 4000000 -f
+mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u $udp_gcs_port_local
+mavlink stream -r 50 -s LOCAL_POSITION_NED -u $udp_gcs_port_local
+mavlink stream -r 50 -s GLOBAL_POSITION_INT -u $udp_gcs_port_local
+mavlink stream -r 50 -s ATTITUDE -u $udp_gcs_port_local
+mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_gcs_port_local
+mavlink stream -r 50 -s ATTITUDE_TARGET -u $udp_gcs_port_local
+mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u $udp_gcs_port_local
+mavlink stream -r 20 -s RC_CHANNELS -u $udp_gcs_port_local
+mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local
+
+# API/Offboard link
+mavlink start -x -u $udp_offboard_port_local -r 4000000 -f -m onboard -o $udp_offboard_port_remote
+
+# Onboard link to camera
+mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote
+
+# Onboard link to gimbal
+mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote

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

@@ -0,0 +1,5 @@
+#!/bin/sh
+# shellcheck disable=SC2154
+
+#param set MAV_SYS_ID $((px4_instance+1))
+#param set IMU_INTEG_RATE 250

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

@@ -0,0 +1,20 @@
+#!/bin/sh
+# shellcheck disable=SC2154
+
+simulator_tcp_port=$((4560+px4_instance))
+
+# Check if PX4_SIM_HOSTNAME environment variable is empty
+# If empty check if PX4_SIM_HOST_ADDR environment variable is empty
+# If both are empty use localhost for simulator
+if [ -z "${PX4_SIM_HOSTNAME}" ]; then
+  if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
+    echo "PX4 SIM HOST: localhost"
+    simulator start -c $simulator_tcp_port
+  else
+    echo "PX4 SIM HOST: $PX4_SIM_HOST_ADDR"
+    simulator start -t $PX4_SIM_HOST_ADDR $simulator_tcp_port
+  fi
+else
+  echo "PX4 SIM HOST: $PX4_SIM_HOSTNAME"
+  simulator start -h $PX4_SIM_HOSTNAME $simulator_tcp_port
+fi

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -5,7 +5,8 @@
 # shellcheck disable=SC1091
 . px4-alias.sh
 
-SCRIPT_DIR="$(CDPATH='' cd -- "$(dirname -- "$0")" && pwd)"
+#search path for sourcing px4-rc.*
+PATH="$PATH:${R}etc/init.d-posix"
 
 #
 # Main SITL startup script
@@ -45,9 +46,9 @@ else
 	# Find the matching Autostart ID (file name has the form: [0-9]+_${PX4_SIM_MODEL})
 	# TODO: unify with rc.autostart generation
 	# shellcheck disable=SC2012
-	REQUESTED_AUTOSTART=$(ls "$SCRIPT_DIR/airframes" | sed -n 's/^\([0-9][0-9]*\)_'${PX4_SIM_MODEL}'$/\1/p')
+	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: Unknown model $PX4_SIM_MODEL (not found by name on $SCRIPT_DIR/airframes)"
+		echo "Error: Unknown model $PX4_SIM_MODEL (not found by name on ${R}etc/init.d-posix/airframes)"
 		exit 1
 	else
 		echo "Info: found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
@@ -104,15 +105,6 @@ fi
 # multi-instance setup
 # shellcheck disable=SC2154
 param set MAV_SYS_ID $((px4_instance+1))
-simulator_tcp_port=$((4560+px4_instance))
-udp_offboard_port_local=$((14580+px4_instance))
-udp_offboard_port_remote=$((14540+px4_instance))
-[ $px4_instance -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps
-udp_onboard_payload_port_local=$((14280+px4_instance))
-udp_onboard_payload_port_remote=$((14030+px4_instance))
-udp_onboard_gimbal_port_local=$((13030+px4_instance))
-udp_onboard_gimbal_port_remote=$((13280+px4_instance))
-udp_gcs_port_local=$((18570+px4_instance))
 
 if [ $AUTOCNF = yes ]
 then
@@ -216,25 +208,14 @@ fi
 # Simulator IMU data provided at 250 Hz
 param set IMU_INTEG_RATE 250
 
+#user defined params for instances can be in PATH
+. px4-rc.params
+
 dataman start
 # only start the simulator if not in replay mode, as both control the lockstep time
 if ! replay tryapplyparams
 then
-  # Check if PX4_SIM_HOSTNAME environment variable is empty
-  # If empty check if PX4_SIM_HOST_ADDR environment variable is empty
-  # If both are empty use localhost for simulator
-  if [ -z "${PX4_SIM_HOSTNAME}" ]; then
-    if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
-      echo "PX4 SIM HOST: localhost"
-      simulator start -c $simulator_tcp_port
-    else
-      echo "PX4 SIM HOST: $PX4_SIM_HOST_ADDR"
-      simulator start -t $PX4_SIM_HOST_ADDR $simulator_tcp_port 
-    fi
-  else
-    echo "PX4 SIM HOST: $PX4_SIM_HOSTNAME"
-    simulator start -h $PX4_SIM_HOSTNAME $simulator_tcp_port 
-  fi
+  . px4-rc.simulator
 fi
 load_mon start
 battery_simulator start
@@ -272,32 +253,8 @@ fi
 #
 . ${R}etc/init.d/rc.vehicle_setup
 
-if [ -e etc/init.d-posix/rc.mavlink_override ]
-then
-	echo "Running non-default mavlink config rc.mavlink_override"
-	. ${R}etc/init.d-posix/rc.mavlink_override
-else
-	# GCS link
-	mavlink start -x -u $udp_gcs_port_local -r 4000000 -f
-	mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u $udp_gcs_port_local
-	mavlink stream -r 50 -s LOCAL_POSITION_NED -u $udp_gcs_port_local
-	mavlink stream -r 50 -s GLOBAL_POSITION_INT -u $udp_gcs_port_local
-	mavlink stream -r 50 -s ATTITUDE -u $udp_gcs_port_local
-	mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_gcs_port_local
-	mavlink stream -r 50 -s ATTITUDE_TARGET -u $udp_gcs_port_local
-	mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u $udp_gcs_port_local
-	mavlink stream -r 20 -s RC_CHANNELS -u $udp_gcs_port_local
-	mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local
-
-	# API/Offboard link
-	mavlink start -x -u $udp_offboard_port_local -r 4000000 -f -m onboard -o $udp_offboard_port_remote
-
-	# Onboard link to camera
-	mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote
-
-	# Onboard link to gimbal
-	mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote
-fi
+#user defined mavlink streams for instances can be in PATH
+. px4-rc.mavlink
 
 # execute autostart post script if any
 [ -e "$autostart_file".post ] && . "$autostart_file".post

ROMFS/px4fmu_common/init.d/airframes/13010_claire

@@ -14,7 +14,7 @@
 . ${R}etc/init.d/rc.vtol_defaults
 
 
-param set-default PWM_AUX_DISARMED 1000
+param set-default PWM_AUX_DISARM 1000
 param set-default PWM_AUX_MAX 2000
 param set-default PWM_AUX_MIN 1000
 param set-default PWM_AUX_RATE 50

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

@@ -112,7 +112,7 @@ param set-default MPC_YAWRAUTO_MAX 20
 param set-default NAV_DLL_ACT 0
 param set-default NAV_LOITER_RAD 100
 
-param set-default PWM_AUX_DISARMED 950
+param set-default PWM_AUX_DISARM 950
 
 param set-default PWM_MAIN_DIS5 1500
 param set-default PWM_MAIN_DIS6 1500

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

@@ -111,5 +111,6 @@ set MAV_TYPE 22
 set MIXER babyshark
 set MIXER_AUX pass
 
+# Mark outputs for the alternate rate
+# or D-Shot
 set PWM_OUT 5678
-set PWM_AUX_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox

@@ -31,7 +31,7 @@ set VEHICLE_TYPE mc
 param set-default NAV_ACC_RAD 2
 
 param set-default PWM_AUX_RATE 400
-param set-default PWM_AUX_DISARMED 900
+param set-default PWM_AUX_DISARM 900
 param set-default PWM_AUX_MIN 1075
 param set-default PWM_AUX_MAX 1950
 

ROMFS/px4fmu_common/init.d/airframes/4040_reaper

@@ -33,7 +33,7 @@ param set-default MC_YAW_P 4
 
 param set-default NAV_ACC_RAD 2
 
-param set-default PWM_AUX_DISARMED 950
+param set-default PWM_AUX_DISARM 950
 param set-default PWM_AUX_RATE 50
 param set-default PWM_MAIN_MIN 1100
 param set-default PWM_MAIN_MAX 1900

ROMFS/px4fmu_common/init.d/rc.fw_defaults

@@ -16,6 +16,8 @@ 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
 
 param set-default EKF2_ARSP_THR 8
 param set-default EKF2_FUSE_BETA 1

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -117,8 +117,9 @@ fi
 # probe for optional external I2C devices
 if param compare SENS_EXT_I2C_PRB 1
 then
+	icm20948_i2c_passthrough -X -q start
+
 	# compasses
-	ak09916 -X -R 6 -q start # external AK09916 (Here2) is rotated 270 degrees yaw
 	hmc5883 -T -X -q start
 	ist8308 -X -q start
 	ist8310 -X -q start
@@ -127,6 +128,9 @@ then
 	qmc5883l -X -q start
 	rm3100 -X -q start
 
+	# start last (wait for possible icm20948 passthrough mode)
+	ak09916 -X -q start
+
 	# differential pressure sensors
 	if [ ${VEHICLE_TYPE} = fw -o ${VEHICLE_TYPE} = vtol ]
 	then

ROMFS/px4fmu_common/init.d/rc.vtol_defaults

@@ -23,6 +23,7 @@ param set-default MPC_XY_ERR_MAX 5
 param set-default MPC_XY_VEL_MAX 4
 param set-default MPC_Z_VEL_MAX_DN 1.5
 param set-default MPC_JERK_MAX 4.5
+param set-default MPC_YAW_MODE 4
 
 param set-default NAV_ACC_RAD 3
 

ROMFS/px4fmu_common/init.d/rcS

@@ -30,7 +30,7 @@ set FRC /fs/microsd/etc/rc.txt
 set IOFW "/etc/extras/px4_io-v2_default.bin"
 set IO_PRESENT no
 set LOGGER_ARGS ""
-set LOGGER_BUF  14
+set LOGGER_BUF 8
 set MAV_TYPE none
 set MIXER none
 set MIXER_AUX none
@@ -254,6 +254,34 @@ else
 		param set SYS_AUTOCONFIG 0
 	fi
 
+	#
+	# Check if UAVCAN is enabled, default to it for ESCs.
+	#
+	if param greater -s UAVCAN_ENABLE 0
+	then
+		# Start core UAVCAN module.
+		if uavcan start
+		then
+			if param greater UAVCAN_ENABLE 1
+			then
+				# Start UAVCAN firmware update server and dynamic node ID allocation server.
+				uavcan start fw
+				tune_control play -t 1
+				if param greater UAVCAN_ENABLE 2
+				then
+					set OUTPUT_MODE uavcan_esc
+				fi
+			fi
+		else
+			tune_control play error
+		fi
+	else
+		if param greater -s UAVCAN_V1_ENABLE 0
+		then
+			uavcan_v1 start
+		fi
+	fi
+
 	#
 	# Check if PX4IO present and update firmware if needed.
 	# Assumption IOFW set to firmware file and IO_PRESENT = no
@@ -285,6 +313,8 @@ else
 					else
 						tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
 					fi
+				else
+					tune_control stop
 				fi
 			fi
 		fi
@@ -396,34 +426,6 @@ else
 		camera_feedback start
 	fi
 
-	#
-	# Check if UAVCAN is enabled, default to it for ESCs.
-	#
-	if param greater -s UAVCAN_ENABLE 0
-	then
-		# Start core UAVCAN module.
-		if uavcan start
-		then
-			if param greater UAVCAN_ENABLE 1
-			then
-				# Start UAVCAN firmware update server and dynamic node ID allocation server.
-				uavcan start fw
-				tune_control play -t 1
-				if param greater UAVCAN_ENABLE 2
-				then
-					set OUTPUT_MODE uavcan_esc
-				fi
-			fi
-		else
-			tune_control play error
-		fi
-	fi
-
-	if param greater -s UAVCAN_V1_ENABLE 0
-	then
-		uavcan_v1 start
-	fi
-
 	#
 	# Optional board mavlink streams: rc.board_mavlink
 	#

Tools/astyle/check_code_style_all.sh

@@ -59,7 +59,7 @@ if [ ! -f $HOOK_FILE ] && [ "$CI" != "true" ]; then
 	fi
 fi
 
-${DIR}/files_to_check_code_style.sh | xargs -n 1 -P 8 -I % ${DIR}/check_code_style.sh %
+${DIR}/files_to_check_code_style.sh | xargs -P 8 -I % ${DIR}/check_code_style.sh %
 
 if [ $? -eq 0 ]; then
     echo "Format checks passed"

Tools/bloaty_static_ram.bloaty

@@ -0,0 +1,13 @@
+custom_data_source: {
+  name: "bloaty_static_ram"
+  base_data_source: "sections"
+
+  rewrite: {
+    pattern: "^\\.bss"
+    replacement: "ram"
+  }
+  rewrite: {
+    pattern: "^\\.data"
+    replacement: "ram"
+  }
+}

Tools/docker_run.sh

@@ -4,7 +4,7 @@ if [ -z ${PX4_DOCKER_REPO+x} ]; then
 	echo "guessing PX4_DOCKER_REPO based on input";
 	if [[ $@ =~ .*px4_fmu.* ]]; then
 		# nuttx-px4fmu-v{1,2,3,4,5}
-		PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-02-04"
+		PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-04-29"
 	elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]]; then
 		# beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_pilotpi_default
 		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-02-04"
@@ -30,7 +30,7 @@ fi
 
 # otherwise default to nuttx
 if [ -z ${PX4_DOCKER_REPO+x} ]; then
-	PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2020-09-14"
+	PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-04-29"
 fi
 
 # docker hygiene

Tools/process_sensor_caldata.py

@@ -1,4 +1,4 @@
-#! /usr/bin/env python
+#! /usr/bin/env python3
 
 from __future__ import print_function
 
@@ -7,6 +7,7 @@ import os
 import math
 import matplotlib.pyplot as plt
 import numpy as np
+import scipy as sp
 
 from pyulog import *
 
@@ -63,6 +64,9 @@ def resampleWithDeltaX(x,y):
 
     return resampledX,resampledY
 
+def median_filter(data):
+    return sp.signal.medfilt(data, 31)
+
 parser = argparse.ArgumentParser(description='Reads in IMU data from a static thermal calibration test and performs a curve fit of gyro, accel and baro bias vs temperature')
 parser.add_argument('filename', metavar='file.ulg', help='ULog input file')
 parser.add_argument('--no_resample', dest='noResample', action='store_const',
@@ -184,12 +188,16 @@ if num_gyros >= 1 and not math.isnan(sensor_gyro_0['temperature'][0]):
     temp_rel_resample = np.linspace(gyro_0_params['TC_G0_TMIN']-gyro_0_params['TC_G0_TREF'], gyro_0_params['TC_G0_TMAX']-gyro_0_params['TC_G0_TREF'], 100)
     temp_resample = temp_rel_resample + gyro_0_params['TC_G0_TREF']
 
+    sensor_gyro_0['x'] = median_filter(sensor_gyro_0['x'])
+    sensor_gyro_0['y'] = median_filter(sensor_gyro_0['y'])
+    sensor_gyro_0['z'] = median_filter(sensor_gyro_0['z'])
+
     # fit X axis
     if noResample:
-        coef_gyro_0_x = np.polyfit(temp_rel,sensor_gyro_0['x'],3)
+        coef_gyro_0_x = np.polyfit(temp_rel, sensor_gyro_0['x'], 3)
     else:
-        temp, sens = resampleWithDeltaX(temp_rel,sensor_gyro_0['x'])
-        coef_gyro_0_x = np.polyfit(temp, sens ,3)
+        temp, sens = resampleWithDeltaX(temp_rel, sensor_gyro_0['x'])
+        coef_gyro_0_x = np.polyfit(temp, sens, 3)
 
     gyro_0_params['TC_G0_X3_0'] = coef_gyro_0_x[0]
     gyro_0_params['TC_G0_X2_0'] = coef_gyro_0_x[1]
@@ -200,10 +208,10 @@ if num_gyros >= 1 and not math.isnan(sensor_gyro_0['temperature'][0]):
 
     # fit Y axis
     if noResample:
-        coef_gyro_0_y = np.polyfit(temp_rel,sensor_gyro_0['y'],3)
+        coef_gyro_0_y = np.polyfit(temp_rel, sensor_gyro_0['y'], 3)
     else:
         temp, sens = resampleWithDeltaX(temp_rel,sensor_gyro_0['y'])
-        coef_gyro_0_y = np.polyfit(temp, sens ,3)
+        coef_gyro_0_y = np.polyfit(temp, sens, 3)
 
     gyro_0_params['TC_G0_X3_1'] = coef_gyro_0_y[0]
     gyro_0_params['TC_G0_X2_1'] = coef_gyro_0_y[1]
@@ -214,9 +222,9 @@ if num_gyros >= 1 and not math.isnan(sensor_gyro_0['temperature'][0]):
 
     # fit Z axis
     if noResample:
-        coef_gyro_0_z = np.polyfit(temp_rel,sensor_gyro_0['z'],3)
+        coef_gyro_0_z = np.polyfit(temp_rel, sensor_gyro_0['z'],3)
     else:
-        temp, sens = resampleWithDeltaX(temp_rel,sensor_gyro_0['z'])
+        temp, sens = resampleWithDeltaX(temp_rel, sensor_gyro_0['z'])
         coef_gyro_0_z = np.polyfit(temp, sens ,3)
 
     gyro_0_params['TC_G0_X3_2'] = coef_gyro_0_z[0]
@@ -292,6 +300,10 @@ if num_gyros >= 2 and not math.isnan(sensor_gyro_1['temperature'][0]):
     temp_rel_resample = np.linspace(gyro_1_params['TC_G1_TMIN']-gyro_1_params['TC_G1_TREF'], gyro_1_params['TC_G1_TMAX']-gyro_1_params['TC_G1_TREF'], 100)
     temp_resample = temp_rel_resample + gyro_1_params['TC_G1_TREF']
 
+    sensor_gyro_1['x'] = median_filter(sensor_gyro_1['x'])
+    sensor_gyro_1['y'] = median_filter(sensor_gyro_1['y'])
+    sensor_gyro_1['z'] = median_filter(sensor_gyro_1['z'])
+
     # fit X axis
     if noResample:
         coef_gyro_1_x = np.polyfit(temp_rel,sensor_gyro_1['x'],3)
@@ -400,6 +412,10 @@ if num_gyros >= 3 and not math.isnan(sensor_gyro_2['temperature'][0]):
     temp_rel_resample = np.linspace(gyro_2_params['TC_G2_TMIN']-gyro_2_params['TC_G2_TREF'], gyro_2_params['TC_G2_TMAX']-gyro_2_params['TC_G2_TREF'], 100)
     temp_resample = temp_rel_resample + gyro_2_params['TC_G2_TREF']
 
+    sensor_gyro_2['x'] = median_filter(sensor_gyro_2['x'])
+    sensor_gyro_2['y'] = median_filter(sensor_gyro_2['y'])
+    sensor_gyro_2['z'] = median_filter(sensor_gyro_2['z'])
+
     # fit X axis
     if noResample:
         coef_gyro_2_x = np.polyfit(temp_rel,sensor_gyro_2['x'],3)
@@ -416,10 +432,10 @@ if num_gyros >= 3 and not math.isnan(sensor_gyro_2['temperature'][0]):
 
     # fit Y axis
     if noResample:
-        coef_gyro_2_y = np.polyfit(temp_rel,sensor_gyro_2['y'],3)
+        coef_gyro_2_y = np.polyfit(temp_rel, sensor_gyro_2['y'], 3)
     else:
-        temp, sens = resampleWithDeltaX(temp_rel,sensor_gyro_2['y'])
-        coef_gyro_2_y = np.polyfit(temp, sens ,3)
+        temp, sens = resampleWithDeltaX(temp_rel, sensor_gyro_2['y'])
+        coef_gyro_2_y = np.polyfit(temp, sens, 3)
 
     gyro_2_params['TC_G2_X3_1'] = coef_gyro_2_y[0]
     gyro_2_params['TC_G2_X2_1'] = coef_gyro_2_y[1]
@@ -430,10 +446,10 @@ if num_gyros >= 3 and not math.isnan(sensor_gyro_2['temperature'][0]):
 
     # fit Z axis
     if noResample:
-        coef_gyro_2_z = np.polyfit(temp_rel,sensor_gyro_2['z'],3)
+        coef_gyro_2_z = np.polyfit(temp_rel,sensor_gyro_2['z'], 3)
     else:
         temp, sens = resampleWithDeltaX(temp_rel,sensor_gyro_2['z'])
-        coef_gyro_2_z = np.polyfit(temp, sens ,3)
+        coef_gyro_2_z = np.polyfit(temp, sens, 3)
 
     gyro_2_params['TC_G2_X3_2'] = coef_gyro_2_z[0]
     gyro_2_params['TC_G2_X2_2'] = coef_gyro_2_z[1]
@@ -508,8 +524,12 @@ if num_gyros >= 4 and not math.isnan(sensor_gyro_3['temperature'][0]):
     temp_rel_resample = np.linspace(gyro_3_params['TC_G3_TMIN']-gyro_3_params['TC_G3_TREF'], gyro_3_params['TC_G3_TMAX']-gyro_3_params['TC_G3_TREF'], 100)
     temp_resample = temp_rel_resample + gyro_3_params['TC_G3_TREF']
 
+    sensor_gyro_3['x'] = median_filter(sensor_gyro_3['x'])
+    sensor_gyro_3['y'] = median_filter(sensor_gyro_3['y'])
+    sensor_gyro_3['z'] = median_filter(sensor_gyro_3['z'])
+
     # fit X axis
-    coef_gyro_3_x = np.polyfit(temp_rel,sensor_gyro_3['x'],3)
+    coef_gyro_3_x = np.polyfit(temp_rel,sensor_gyro_3['x'], 3)
     gyro_3_params['TC_G3_X3_0'] = coef_gyro_3_x[0]
     gyro_3_params['TC_G3_X2_0'] = coef_gyro_3_x[1]
     gyro_3_params['TC_G3_X1_0'] = coef_gyro_3_x[2]
@@ -518,7 +538,7 @@ if num_gyros >= 4 and not math.isnan(sensor_gyro_3['temperature'][0]):
     gyro_3_x_resample = fit_coef_gyro_3_x(temp_rel_resample)
 
     # fit Y axis
-    coef_gyro_3_y = np.polyfit(temp_rel,sensor_gyro_3['y'],3)
+    coef_gyro_3_y = np.polyfit(temp_rel,sensor_gyro_3['y'], 3)
     gyro_3_params['TC_G3_X3_1'] = coef_gyro_3_y[0]
     gyro_3_params['TC_G3_X2_1'] = coef_gyro_3_y[1]
     gyro_3_params['TC_G3_X1_1'] = coef_gyro_3_y[2]
@@ -527,7 +547,7 @@ if num_gyros >= 4 and not math.isnan(sensor_gyro_3['temperature'][0]):
     gyro_3_y_resample = fit_coef_gyro_3_y(temp_rel_resample)
 
     # fit Z axis
-    coef_gyro_3_z = np.polyfit(temp_rel,sensor_gyro_3['z'],3)
+    coef_gyro_3_z = np.polyfit(temp_rel,sensor_gyro_3['z'], 3)
     gyro_3_params['TC_G3_X3_2'] = coef_gyro_3_z[0]
     gyro_3_params['TC_G3_X2_2'] = coef_gyro_3_z[1]
     gyro_3_params['TC_G3_X1_2'] = coef_gyro_3_z[2]
@@ -540,8 +560,8 @@ if num_gyros >= 4 and not math.isnan(sensor_gyro_3['temperature'][0]):
 
     # draw plots
     plt.subplot(3,1,1)
-    plt.plot(sensor_gyro_3['temperature'],sensor_gyro_3['x'],'b')
-    plt.plot(temp_resample,gyro_3_x_resample,'r')
+    plt.plot(sensor_gyro_3['temperature'],sensor_gyro_3['x'], 'b')
+    plt.plot(temp_resample,gyro_3_x_resample, 'r')
     plt.title('Gyro 2 ({}) Bias vs Temperature'.format(gyro_3_params['TC_G3_ID']))
     plt.ylabel('X bias (rad/s)')
     plt.xlabel('temperature (degC)')
@@ -601,13 +621,17 @@ if num_accels >= 1 and not math.isnan(sensor_accel_0['temperature'][0]):
     temp_rel_resample = np.linspace(accel_0_params['TC_A0_TMIN']-accel_0_params['TC_A0_TREF'], accel_0_params['TC_A0_TMAX']-accel_0_params['TC_A0_TREF'], 100)
     temp_resample = temp_rel_resample + accel_0_params['TC_A0_TREF']
 
+    sensor_accel_0['x'] = median_filter(sensor_accel_0['x'])
+    sensor_accel_0['y'] = median_filter(sensor_accel_0['y'])
+    sensor_accel_0['z'] = median_filter(sensor_accel_0['z'])
+
     # fit X axis
     correction_x = sensor_accel_0['x'] - np.median(sensor_accel_0['x'])
     if noResample:
-        coef_accel_0_x = np.polyfit(temp_rel,correction_x,3)
+        coef_accel_0_x = np.polyfit(temp_rel,correction_x, 3)
     else:
         temp, sens = resampleWithDeltaX(temp_rel,correction_x)
-        coef_accel_0_x = np.polyfit(temp, sens ,3)
+        coef_accel_0_x = np.polyfit(temp, sens, 3)
 
     accel_0_params['TC_A0_X3_0'] = coef_accel_0_x[0]
     accel_0_params['TC_A0_X2_0'] = coef_accel_0_x[1]
@@ -617,12 +641,12 @@ if num_accels >= 1 and not math.isnan(sensor_accel_0['temperature'][0]):
     correction_x_resample = fit_coef_accel_0_x(temp_rel_resample)
 
     # fit Y axis
-    correction_y = sensor_accel_0['y']-np.median(sensor_accel_0['y'])
+    correction_y = sensor_accel_0['y'] - np.median(sensor_accel_0['y'])
     if noResample:
-        coef_accel_0_y = np.polyfit(temp_rel,correction_y,3)
+        coef_accel_0_y = np.polyfit(temp_rel, correction_y, 3)
     else:
         temp, sens = resampleWithDeltaX(temp_rel,correction_y)
-        coef_accel_0_y = np.polyfit(temp, sens ,3)
+        coef_accel_0_y = np.polyfit(temp, sens, 3)
 
     accel_0_params['TC_A0_X3_1'] = coef_accel_0_y[0]
     accel_0_params['TC_A0_X2_1'] = coef_accel_0_y[1]
@@ -632,12 +656,12 @@ if num_accels >= 1 and not math.isnan(sensor_accel_0['temperature'][0]):
     correction_y_resample = fit_coef_accel_0_y(temp_rel_resample)
 
     # fit Z axis
-    correction_z = sensor_accel_0['z']-np.median(sensor_accel_0['z'])
+    correction_z = sensor_accel_0['z'] - np.median(sensor_accel_0['z'])
     if noResample:
-        coef_accel_0_z = np.polyfit(temp_rel,correction_z,3)
+        coef_accel_0_z = np.polyfit(temp_rel,correction_z, 3)
     else:
         temp, sens = resampleWithDeltaX(temp_rel,correction_z)
-        coef_accel_0_z = np.polyfit(temp, sens ,3)
+        coef_accel_0_z = np.polyfit(temp, sens, 3)
 
     accel_0_params['TC_A0_X3_2'] = coef_accel_0_z[0]
     accel_0_params['TC_A0_X2_2'] = coef_accel_0_z[1]
@@ -712,13 +736,17 @@ if num_accels >= 2 and not math.isnan(sensor_accel_1['temperature'][0]):
     temp_rel_resample = np.linspace(accel_1_params['TC_A1_TMIN']-accel_1_params['TC_A1_TREF'], accel_1_params['TC_A1_TMAX']-accel_1_params['TC_A1_TREF'], 100)
     temp_resample = temp_rel_resample + accel_1_params['TC_A1_TREF']
 
+    sensor_accel_1['x'] = median_filter(sensor_accel_1['x'])
+    sensor_accel_1['y'] = median_filter(sensor_accel_1['y'])
+    sensor_accel_1['z'] = median_filter(sensor_accel_1['z'])
+
     # fit X axis
-    correction_x = sensor_accel_1['x']-np.median(sensor_accel_1['x'])
+    correction_x = sensor_accel_1['x'] - np.median(sensor_accel_1['x'])
     if noResample:
-        coef_accel_1_x = np.polyfit(temp_rel,correction_x,3)
+        coef_accel_1_x = np.polyfit(temp_rel, correction_x, 3)
     else:
-        temp, sens = resampleWithDeltaX(temp_rel,correction_x)
-        coef_accel_1_x = np.polyfit(temp, sens ,3)
+        temp, sens = resampleWithDeltaX(temp_rel, correction_x)
+        coef_accel_1_x = np.polyfit(temp, sens, 3)
 
     accel_1_params['TC_A1_X3_0'] = coef_accel_1_x[0]
     accel_1_params['TC_A1_X2_0'] = coef_accel_1_x[1]
@@ -728,7 +756,7 @@ if num_accels >= 2 and not math.isnan(sensor_accel_1['temperature'][0]):
     correction_x_resample = fit_coef_accel_1_x(temp_rel_resample)
 
     # fit Y axis
-    correction_y = sensor_accel_1['y']-np.median(sensor_accel_1['y'])
+    correction_y = sensor_accel_1['y'] - np.median(sensor_accel_1['y'])
     if noResample:
         coef_accel_1_y = np.polyfit(temp_rel,correction_y,3)
     else:
@@ -743,12 +771,12 @@ if num_accels >= 2 and not math.isnan(sensor_accel_1['temperature'][0]):
     correction_y_resample = fit_coef_accel_1_y(temp_rel_resample)
 
     # fit Z axis
-    correction_z = (sensor_accel_1['z'])-np.median(sensor_accel_1['z'])
+    correction_z = sensor_accel_1['z'] - np.median(sensor_accel_1['z'])
     if noResample:
-        coef_accel_1_z = np.polyfit(temp_rel,correction_z,3)
+        coef_accel_1_z = np.polyfit(temp_rel,correction_z, 3)
     else:
         temp, sens = resampleWithDeltaX(temp_rel,correction_z)
-        coef_accel_1_z = np.polyfit(temp, sens ,3)
+        coef_accel_1_z = np.polyfit(temp, sens, 3)
 
     accel_1_params['TC_A1_X3_2'] = coef_accel_1_z[0]
     accel_1_params['TC_A1_X2_2'] = coef_accel_1_z[1]
@@ -824,13 +852,17 @@ if num_accels >= 3 and not math.isnan(sensor_accel_2['temperature'][0]):
     temp_rel_resample = np.linspace(accel_2_params['TC_A2_TMIN']-accel_2_params['TC_A2_TREF'], accel_2_params['TC_A2_TMAX']-accel_2_params['TC_A2_TREF'], 100)
     temp_resample = temp_rel_resample + accel_2_params['TC_A2_TREF']
 
+    sensor_accel_2['x'] = median_filter(sensor_accel_2['x'])
+    sensor_accel_2['y'] = median_filter(sensor_accel_2['y'])
+    sensor_accel_2['z'] = median_filter(sensor_accel_2['z'])
+
     # fit X axis
-    correction_x = sensor_accel_2['x']-np.median(sensor_accel_2['x'])
+    correction_x = sensor_accel_2['x'] - np.median(sensor_accel_2['x'])
     if noResample:
-        coef_accel_2_x = np.polyfit(temp_rel,correction_x,3)
+        coef_accel_2_x = np.polyfit(temp_rel,correction_x, 3)
     else:
-        temp, sens = resampleWithDeltaX(temp_rel,correction_x)
-        coef_accel_2_x = np.polyfit(temp, sens ,3)
+        temp, sens = resampleWithDeltaX(temp_rel, correction_x)
+        coef_accel_2_x = np.polyfit(temp, sens, 3)
 
     accel_2_params['TC_A2_X3_0'] = coef_accel_2_x[0]
     accel_2_params['TC_A2_X2_0'] = coef_accel_2_x[1]
@@ -840,7 +872,7 @@ if num_accels >= 3 and not math.isnan(sensor_accel_2['temperature'][0]):
     correction_x_resample = fit_coef_accel_2_x(temp_rel_resample)
 
     # fit Y axis
-    correction_y = sensor_accel_2['y']-np.median(sensor_accel_2['y'])
+    correction_y = sensor_accel_2['y'] - np.median(sensor_accel_2['y'])
     if noResample:
         coef_accel_2_y = np.polyfit(temp_rel,correction_y,3)
     else:
@@ -855,7 +887,7 @@ if num_accels >= 3 and not math.isnan(sensor_accel_2['temperature'][0]):
     correction_y_resample = fit_coef_accel_2_y(temp_rel_resample)
 
     # fit Z axis
-    correction_z = sensor_accel_2['z']-np.median(sensor_accel_2['z'])
+    correction_z = sensor_accel_2['z'] - np.median(sensor_accel_2['z'])
     if noResample:
         coef_accel_2_z = np.polyfit(temp_rel,correction_z,3)
     else:
@@ -935,9 +967,13 @@ if num_accels >= 4 and not math.isnan(sensor_accel_3['temperature'][0]):
     temp_rel_resample = np.linspace(accel_3_params['TC_A3_TMIN']-accel_3_params['TC_A3_TREF'], accel_3_params['TC_A3_TMAX']-accel_3_params['TC_A3_TREF'], 100)
     temp_resample = temp_rel_resample + accel_3_params['TC_A3_TREF']
 
+    sensor_accel_3['x'] = median_filter(sensor_accel_3['x'])
+    sensor_accel_3['y'] = median_filter(sensor_accel_3['y'])
+    sensor_accel_3['z'] = median_filter(sensor_accel_3['z'])
+
     # fit X axis
-    correction_x = sensor_accel_3['x']-np.median(sensor_accel_3['x'])
-    coef_accel_3_x = np.polyfit(temp_rel,correction_x,3)
+    correction_x = sensor_accel_3['x'] - np.median(sensor_accel_3['x'])
+    coef_accel_3_x = np.polyfit(temp_rel, correction_x, 3)
     accel_3_params['TC_A3_X3_0'] = coef_accel_3_x[0]
     accel_3_params['TC_A3_X2_0'] = coef_accel_3_x[1]
     accel_3_params['TC_A3_X1_0'] = coef_accel_3_x[2]
@@ -946,8 +982,8 @@ if num_accels >= 4 and not math.isnan(sensor_accel_3['temperature'][0]):
     correction_x_resample = fit_coef_accel_3_x(temp_rel_resample)
 
     # fit Y axis
-    correction_y = sensor_accel_3['y']-np.median(sensor_accel_3['y'])
-    coef_accel_3_y = np.polyfit(temp_rel,correction_y,3)
+    correction_y = sensor_accel_3['y'] - np.median(sensor_accel_3['y'])
+    coef_accel_3_y = np.polyfit(temp_rel, correction_y, 3)
     accel_3_params['TC_A3_X3_1'] = coef_accel_3_y[0]
     accel_3_params['TC_A3_X2_1'] = coef_accel_3_y[1]
     accel_3_params['TC_A3_X1_1'] = coef_accel_3_y[2]
@@ -956,8 +992,8 @@ if num_accels >= 4 and not math.isnan(sensor_accel_3['temperature'][0]):
     correction_y_resample = fit_coef_accel_3_y(temp_rel_resample)
 
     # fit Z axis
-    correction_z = sensor_accel_3['z']-np.median(sensor_accel_3['z'])
-    coef_accel_3_z = np.polyfit(temp_rel,correction_z,3)
+    correction_z = sensor_accel_3['z'] - np.median(sensor_accel_3['z'])
+    coef_accel_3_z = np.polyfit(temp_rel, correction_z, 3)
     accel_3_params['TC_A3_X3_2'] = coef_accel_3_z[0]
     accel_3_params['TC_A3_X2_2'] = coef_accel_3_z[1]
     accel_3_params['TC_A3_X1_2'] = coef_accel_3_z[2]
@@ -1024,8 +1060,10 @@ temp_rel = sensor_baro_0['temperature'] - baro_0_params['TC_B0_TREF']
 temp_rel_resample = np.linspace(baro_0_params['TC_B0_TMIN']-baro_0_params['TC_B0_TREF'], baro_0_params['TC_B0_TMAX']-baro_0_params['TC_B0_TREF'], 100)
 temp_resample = temp_rel_resample + baro_0_params['TC_B0_TREF']
 
+sensor_baro_0['pressure'] = median_filter(sensor_baro_0['pressure'])
+
 # fit data
-median_pressure = np.median(sensor_baro_0['pressure']);
+median_pressure = np.median(sensor_baro_0['pressure'])
 if noResample:
     coef_baro_0_x = np.polyfit(temp_rel,100*(sensor_baro_0['pressure']-median_pressure),5) # convert from hPa to Pa
 else:
@@ -1081,8 +1119,10 @@ if num_baros >= 2:
     temp_rel_resample = np.linspace(baro_1_params['TC_B1_TMIN']-baro_1_params['TC_B1_TREF'], baro_1_params['TC_B1_TMAX']-baro_1_params['TC_B1_TREF'], 100)
     temp_resample = temp_rel_resample + baro_1_params['TC_B1_TREF']
 
+    sensor_baro_1['pressure'] = median_filter(sensor_baro_1['pressure'])
+
     # fit data
-    median_pressure = np.median(sensor_baro_1['pressure']);
+    median_pressure = np.median(sensor_baro_1['pressure'])
     if noResample:
         coef_baro_1_x = np.polyfit(temp_rel,100*(sensor_baro_1['pressure']-median_pressure),5) # convert from hPa to Pa
     else:
@@ -1139,8 +1179,10 @@ if num_baros >= 3:
     temp_rel_resample = np.linspace(baro_2_params['TC_B2_TMIN']-baro_2_params['TC_B2_TREF'], baro_2_params['TC_B2_TMAX']-baro_2_params['TC_B2_TREF'], 100)
     temp_resample = temp_rel_resample + baro_2_params['TC_B2_TREF']
 
+    sensor_baro_2['pressure'] = median_filter(sensor_baro_2['pressure'])
+
     # fit data
-    median_pressure = np.median(sensor_baro_2['pressure']);
+    median_pressure = np.median(sensor_baro_2['pressure'])
     if noResample:
         coef_baro_2_x = np.polyfit(temp_rel,100*(sensor_baro_2['pressure']-median_pressure),5) # convert from hPa to Pa
     else:
@@ -1197,6 +1239,8 @@ if num_baros >= 4:
     temp_rel_resample = np.linspace(baro_3_params['TC_B3_TMIN']-baro_3_params['TC_B3_TREF'], baro_3_params['TC_B3_TMAX']-baro_3_params['TC_B3_TREF'], 100)
     temp_resample = temp_rel_resample + baro_3_params['TC_B3_TREF']
 
+    sensor_baro_3['pressure'] = median_filter(sensor_baro_3['pressure'])
+
     # fit data
     median_pressure = np.median(sensor_baro_3['pressure'])
     coef_baro_3_x = np.polyfit(temp_rel,100*(sensor_baro_3['pressure']-median_pressure),5) # convert from hPa to Pa

Tools/px4airframes/srcparser.py

@@ -98,6 +98,8 @@ class ParameterGroup(object):
             return "Boat"
         elif (self.name == "Balloon"):
             return "Balloon"
+        elif (self.name == "Vectored 6 DOF UUV"):
+            return "Vectored6DofUUV"
         return "AirframeUnknown"
 
     def GetParams(self):

Tools/px_uploader.py

@@ -56,7 +56,6 @@ from __future__ import print_function
 import sys
 import argparse
 import binascii
-import serial
 import socket
 import struct
 import json
@@ -68,6 +67,16 @@ import os
 
 from sys import platform as _platform
 
+try:
+    import serial
+except ImportError as e:
+    print("Failed to import serial: " + str(e))
+    print("")
+    print("You may need to install it using:")
+    print("    pip3 install --user pyserial")
+    print("")
+    sys.exit(1)
+
 # Detect python version
 if sys.version_info[0] < 3:
     runningPython3 = False
@@ -726,29 +735,6 @@ def main():
         print("WARNING: You should uninstall ModemManager as it conflicts with any non-modem serial device (like Pixhawk)")
         print("==========================================================================================================")
 
-    # We need to check for pyserial because the import itself doesn't
-    # seem to fail, at least not on macOS.
-    pyserial_installed = False
-    try:
-        if serial.__version__:
-            pyserial_installed = True
-    except:
-        pass
-
-    try:
-        if serial.VERSION:
-            pyserial_installed = True
-    except:
-        pass
-
-    if not pyserial_installed:
-        print("Error: pyserial not installed!")
-        print("")
-        print("You may need to install it using:")
-        print("    pip3 install --user pyserial")
-        print("")
-        sys.exit(1)
-
     # Load the firmware file
     fw = firmware(args.firmware)
 

Tools/serial/generate_config.py

@@ -190,7 +190,6 @@ if rc_serial_output_dir is None and serial_params_output_file is None:
 serial_commands = []
 ethernet_configuration = []
 additional_params = ""
-additional_ethernet_params = ""
 
 if ethernet_supported:
     ethernet_configuration.append({
@@ -211,7 +210,7 @@ def parse_yaml_serial_config(yaml_config):
         ret.append(serial_config)
     return ret
 
-def parse_yaml_parameters_config(yaml_config):
+def parse_yaml_parameters_config(yaml_config, ethernet_supported):
     """ parse the parameters section from the yaml config file """
     if 'parameters' not in yaml_config:
         return ''
@@ -224,79 +223,7 @@ def parse_yaml_parameters_config(yaml_config):
         param_group = parameters_section.get('group', None)
         for param_name in definitions:
             param = definitions[param_name]
-            if 'ethernet' in param:
-                continue
-            num_instances = param.get('num_instances', 1)
-            instance_start = param.get('instance_start', 0) # offset
-
-            # get the type and extract all tags
-            tags = '@group {:}'.format(param_group)
-            if param['type'] == 'enum':
-                param_type = 'INT32'
-                for key in param['values']:
-                    tags += '\n * @value {:} {:}'.format(key, param['values'][key])
-            elif param['type'] == 'boolean':
-                param_type = 'INT32'
-                tags += '\n * @boolean'
-            elif param['type'] == 'int32':
-                param_type = 'INT32'
-            elif param['type'] == 'float':
-                param_type = 'FLOAT'
-            else:
-                raise Exception("unknown param type {:}".format(param['type']))
-
-            for tag in ['decimal', 'increment', 'category', 'volatile', 'bit',
-                        'min', 'max', 'unit', 'reboot_required']:
-                if tag in param:
-                    tags += '\n * @{:} {:}'.format(tag, param[tag])
-
-            for i in range(num_instances):
-                # default value
-                default_value = 0
-                if 'default' in param:
-                    # default can be a list of num_instances or a single value
-                    if type(param['default']) == list:
-                        assert len(param['default']) == num_instances
-                        default_value = param['default'][i]
-                    else:
-                        default_value = param['default']
-
-                if type(default_value) == bool:
-                    default_value = int(default_value)
-
-                # output the existing C-style format
-                ret += '''
-/**
- * {short_descr}
- *
- * {long_descr}
- *
- * {tags}
- */
-PARAM_DEFINE_{param_type}({name}, {default_value});
-'''.format(short_descr=param['description']['short'].replace("\n", "\n * "),
-           long_descr=param['description']['long'].replace("\n", "\n * "),
-           tags=tags,
-           param_type=param_type,
-           name=param_name,
-           default_value=default_value,
-          ).replace('${i}', str(i+instance_start))
-    return ret
-
-def parse_yaml_ethernet_parameters_config(yaml_config):
-    """ parse the parameters section from the yaml config file """
-    if 'parameters' not in yaml_config:
-        return ''
-    parameters_section_list = yaml_config['parameters']
-    for parameters_section in parameters_section_list:
-        if 'definitions' not in parameters_section:
-            return ''
-        definitions = parameters_section['definitions']
-        ret = ''
-        param_group = parameters_section.get('group', None)
-        for param_name in definitions:
-            param = definitions[param_name]
-            if 'ethernet' not in param:
+            if param.get('requires_ethernet', False) and not ethernet_supported:
                 continue
             num_instances = param.get('num_instances', 1)
             instance_start = param.get('instance_start', 0) # offset
@@ -362,9 +289,8 @@ for yaml_file in args.config_files:
             serial_commands.extend(parse_yaml_serial_config(yaml_config))
 
             # TODO: additional params should be parsed in a separate script
-            additional_params += parse_yaml_parameters_config(yaml_config)
-            if ethernet_supported:
-                additional_ethernet_params += parse_yaml_ethernet_parameters_config(yaml_config)
+            additional_params += parse_yaml_parameters_config(
+                yaml_config, ethernet_supported)
 
         except yaml.YAMLError as exc:
             print(exc)
@@ -429,7 +355,7 @@ for serial_command in serial_commands:
             'default_port': default_port,
             'param_group': port_config['group'],
             'description_extended': port_config.get('description_extended', ''),
-			'ethernet_config': serial_command.get('ethernet', 'none')
+			'supports_networking': serial_command.get('supports_networking', False)
             })
 
 if verbose:
@@ -473,6 +399,5 @@ if serial_params_output_file is not None:
         fid.write(template.render(serial_devices=serial_devices,
             ethernet_configuration=ethernet_configuration,
             commands=commands, serial_ports=serial_ports,
-            additional_definitions=additional_params,
-            additional_ethernet_definitions=additional_ethernet_params))
+            additional_definitions=additional_params))
 

Tools/serial/rc.serial_port.jinja

@@ -17,9 +17,9 @@ if param compare "$PRT" {{ serial_device.index }}; then
 fi
 
 {% endfor %}
+
 {% for config in ethernet_configuration -%}
 if param compare "$PRT" {{ config.index }}; then
 	set SERIAL_DEV ethernet
 fi
-
 {% endfor %}

Tools/serial/serial_params.c.jinja

@@ -58,10 +58,11 @@ PARAM_DEFINE_INT32(SER_{{ serial_device.tag }}_BAUD, {{ serial_device.default_ba
 {%- for serial_device in serial_devices %}
  * @value {{ serial_device.index }} {{ serial_device.label }}
 {%- endfor %}
-{%- if command.ethernet_config != "none" %}
+{%- if command.supports_networking %}
 {%- for config in ethernet_configuration %}
  * @value {{ config.index }} {{ config.label }}
-{%- endfor %}{% endif %}
+{%- endfor %}
+{%- endif %}
  * @group {{ command.param_group }}
  * @reboot_required true
  */
@@ -72,5 +73,3 @@ PARAM_DEFINE_INT32({{ command.port_param_name }}, {{ command.default_port }});
 
 {{ additional_definitions }}
 
-{{ additional_ethernet_definitions }}
-

Tools/setup/arch.sh

@@ -155,8 +155,7 @@ if [[ $INSTALL_SIM == "true" ]]; then
 			# fix VMWare 3D graphics acceleration for gazebo
 			exportline="export SVGA_VGPU10=0"
 
-			if grep -Fxq "$exportline" $HOME/.profile; then
-			else
+			if !grep -Fxq "$exportline" $HOME/.profile; then
 				echo $exportline >> $HOME/.profile;
 			fi
 		fi

Tools/setup/macos.sh

@@ -45,7 +45,7 @@ fi
 
 # Python dependencies
 echo "Installing PX4 Python3 dependencies"
-pip3 install --user -r ${DIR}/requirements.txt
+python3 -m pip install --user -r ${DIR}/requirements.txt
 
 # Optional, but recommended additional simulation tools:
 if [[ $INSTALL_SIM == "--sim-tools" ]]; then

Tools/setup/requirements.txt

@@ -6,7 +6,7 @@ empy>=3.3
 jinja2>=2.8
 matplotlib>=3.0.*
 numpy>=1.13
-nunavut
+nunavut>=1.1.0
 packaging
 pandas>=0.21
 pkgconfig
@@ -15,7 +15,7 @@ pygments
 wheel>=0.31.1
 pymavlink
 pyros-genmsg
-pyserial>=3.0
+pyserial
 pyulog>=0.5.0
 pyyaml
 requests

Tools/setup/ubuntu.sh

@@ -115,18 +115,32 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 	echo "Installing NuttX dependencies"
 
 	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
-		autoconf \
 		automake \
+		binutils-dev \
 		bison \
-		bzip2 \
-		file \
+		build-essential \
 		flex \
+		g++-multilib \
+		gcc-multilib \
 		gdb-multiarch \
+		genromfs \
+		gettext \
 		gperf \
-		libncurses-dev \
+		kconfig-frontends \
+		libelf-dev \
+		libexpat-dev \
+		libgmp-dev \
+		libisl-dev \
+		libmpc-dev \
+		libmpfr-dev \
+		libncurses5-dev \
+		libncursesw5-dev \
 		libtool \
 		pkg-config \
 		screen \
+		texinfo \
+		u-boot-tools \
+		util-linux \
 		vim-common \
 		;
 

boards/airmind/mindpx-v2/default.cmake

@@ -8,7 +8,6 @@ px4_add_board(
 	ARCHITECTURE cortex-m4
 	CONSTRAINED_MEMORY
 	ROMFSROOT px4fmu_common
-	TESTING
 	UAVCAN_INTERFACES 1
 	SERIAL_PORTS
 		GPS1:/dev/ttyS3
@@ -27,6 +26,7 @@ px4_add_board(
 		gps
 		#heater
 		#imu # all available imu drivers
+		imu/invensense/icm20948 # required for ak09916 mag
 		imu/l3gd20
 		imu/lsm303d
 		imu/invensense/mpu6000
@@ -47,7 +47,6 @@ px4_add_board(
 		roboclaw
 		rpm
 		telemetry # all available telemetry drivers
-		test_ppm
 		tone_alarm
 		uavcan
 	MODULES
@@ -95,6 +94,7 @@ px4_add_board(
 		hardfault_log
 		i2cdetect
 		led_control
+		manual_control
 		mft
 		mixer
 		motor_ramp
@@ -109,7 +109,6 @@ px4_add_board(
 		sd_bench
 		serial_test
 		system_time
-		tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -119,15 +118,15 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		fake_gyro
-		fake_magnetometer
-		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		hello
-		hwtest # Hardware test
+		#fake_imu
+		#fake_magnetometer
+		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		#hello
+		#hwtest # Hardware test
 		#matlab_csv_serial
-		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		rover_steering_control # Rover example app
-		uuv_example_app
-		work_item
+		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
+		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
+		#rover_steering_control # Rover example app
+		#uuv_example_app
+		#work_item
 	)

boards/ark/can-gps/canbootloader.cmake

@@ -0,0 +1,13 @@
+include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)
+
+px4_add_board(
+	PLATFORM nuttx
+	VENDOR ark
+	MODEL can-gps
+	LABEL canbootloader
+	TOOLCHAIN arm-none-eabi
+	ARCHITECTURE cortex-m4
+	CONSTRAINED_MEMORY
+	DRIVERS
+		bootloaders
+)

boards/ark/can-gps/debug.cmake

@@ -0,0 +1,38 @@
+include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)
+
+px4_add_board(
+	PLATFORM nuttx
+	VENDOR ark
+	MODEL can-gps
+	LABEL debug
+	TOOLCHAIN arm-none-eabi
+	ARCHITECTURE cortex-m4
+	CONSTRAINED_MEMORY
+	ROMFSROOT cannode
+	UAVCAN_INTERFACES 1
+	DRIVERS
+		barometer/bmp388
+		bootloaders
+		gps
+		imu/invensense/icm42688p
+		magnetometer/bosch/bmm150
+		safety_button
+		tone_alarm
+		uavcannode
+	MODULES
+		#ekf2
+		#load_mon
+		#sensors
+	SYSTEMCMDS
+		i2cdetect
+		led_control
+		param
+		perf
+		reboot
+		top
+		topic_listener
+		tune_control
+		uorb
+		ver
+		work_queue
+)

boards/ark/can-gps/default.cmake

@@ -0,0 +1,38 @@
+include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)
+
+px4_add_board(
+	PLATFORM nuttx
+	VENDOR ark
+	MODEL can-gps
+	LABEL default
+	TOOLCHAIN arm-none-eabi
+	ARCHITECTURE cortex-m4
+	#CONSTRAINED_FLASH
+	CONSTRAINED_MEMORY
+	ROMFSROOT cannode
+	UAVCAN_INTERFACES 1
+	DRIVERS
+		barometer/bmp388
+		bootloaders
+		gps
+		imu/invensense/icm42688p
+		magnetometer/bosch/bmm150
+		safety_button
+		tone_alarm
+		uavcannode
+	MODULES
+		#ekf2
+		#load_mon
+		#sensors
+	SYSTEMCMDS
+		#mft
+		#mtd
+		param
+		#perf
+		#reboot
+		#system_time
+		#top
+		#topic_listener
+		#ver
+		#work_queue
+)

boards/ark/can-gps/firmware.prototype

@@ -0,0 +1,13 @@
+{
+    "board_id": 81,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the ARK gps board",
+    "image": "",
+    "build_time": 0,
+    "summary": "ARKGPS",
+    "version": "0.1",
+    "image_size": 0,
+    "image_maxsize": 2080768,
+    "git_identity": "",
+    "board_revision": 0
+}

boards/ark/can-gps/init/rc.board_defaults

@@ -0,0 +1,9 @@
+#!/bin/sh
+#
+# board specific defaults
+#------------------------------------------------------------------------------
+
+param set-default CBRK_IO_SAFETY 0
+
+safety_button start
+tone_alarm start

boards/ark/can-gps/init/rc.board_sensors

@@ -0,0 +1,11 @@
+#!/bin/sh
+#
+# board sensors init
+#------------------------------------------------------------------------------
+gps start -d /dev/ttyS0 -p ubx
+
+icm42688p -R 0 -s start
+
+bmp388 -I -b 2 start
+
+bmm150 -I -b 1 start

boards/ark/can-gps/nuttx-config/canbootloader/defconfig

@@ -0,0 +1,68 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32"
+CONFIG_ARCH_CHIP_STM32=y
+CONFIG_ARCH_CHIP_STM32F412CE=y
+CONFIG_ARCH_INTERRUPTSTACK=4096
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_BINFMT_DISABLE=y
+CONFIG_BOARD_LOOPSPERMSEC=16717
+CONFIG_C99_BOOL8=y
+CONFIG_CLOCK_MONOTONIC=y
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_DISABLE_MOUNTPOINT=y
+CONFIG_DISABLE_MQUEUE=y
+CONFIG_DISABLE_PTHREAD=y
+CONFIG_EXPERIMENTAL=y
+CONFIG_FDCLONE_DISABLE=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_IDLETHREAD_STACKSIZE=4096
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_STRERROR=y
+CONFIG_LIB_BOARDCTL=y
+CONFIG_MAX_TASKS=0
+CONFIG_MM_REGIONS=2
+CONFIG_NAME_MAX=0
+CONFIG_NUNGET_CHARS=0
+CONFIG_NXFONTS_DISABLE_16BPP=y
+CONFIG_NXFONTS_DISABLE_1BPP=y
+CONFIG_NXFONTS_DISABLE_24BPP=y
+CONFIG_NXFONTS_DISABLE_2BPP=y
+CONFIG_NXFONTS_DISABLE_32BPP=y
+CONFIG_NXFONTS_DISABLE_4BPP=y
+CONFIG_NXFONTS_DISABLE_8BPP=y
+CONFIG_PREALLOC_TIMERS=0
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAM_SIZE=262144
+CONFIG_RAM_START=0x20010000
+CONFIG_RAW_BINARY=y
+CONFIG_SDCLONE_DISABLE=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_DISABLE_BUFFERING=y
+CONFIG_STM32_NOEXT_VECTORS=y
+CONFIG_STM32_TIM8=y
+CONFIG_TASK_NAME_SIZE=0
+CONFIG_USEC_PER_TICK=1000
+CONFIG_USERMAIN_STACKSIZE=4096

boards/ark/can-gps/nuttx-config/include/board.h

@@ -0,0 +1,152 @@
+/************************************************************************************
+ * configs/px4fmu/include/board.h
+ * include/arch/board/board.h
+ *
+ *   Copyright (C) 2009 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ************************************************************************************/
+#include "board_dma_map.h"
+
+#ifndef __ARCH_BOARD_BOARD_H
+#define __ARCH_BOARD_BOARD_H
+
+#include <nuttx/config.h>
+#ifndef __ASSEMBLY__
+# include <stdint.h>
+#endif
+
+#include <stm32.h>
+
+/* HSI - 8 MHz RC factory-trimmed
+ * LSI - 32 KHz RC
+ * HSE - 8  MHz Crystal
+ * LSE - not installed
+ */
+#define STM32_BOARD_USEHSE      1
+#define STM32_BOARD_XTAL        8000000
+#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
+
+#define STM32_HSI_FREQUENCY     16000000ul
+#define STM32_LSI_FREQUENCY     32000
+
+/* Main PLL Configuration */
+#define STM32_PLLCFG_PLLM       RCC_PLLCFG_PLLM(8)
+#define STM32_PLLCFG_PLLN       RCC_PLLCFG_PLLN(384)
+#define STM32_PLLCFG_PLLP       RCC_PLLCFG_PLLP_4
+#define STM32_PLLCFG_PLLQ       RCC_PLLCFG_PLLQ(8)
+#define STM32_PLLCFG_PLLR       RCC_PLLCFG_PLLR(2)
+
+#define STM32_RCC_PLLI2SCFGR_PLLI2SM RCC_PLLI2SCFGR_PLLI2SM(16)
+#define STM32_RCC_PLLI2SCFGR_PLLI2SN RCC_PLLI2SCFGR_PLLI2SN(192)
+#define STM32_RCC_PLLI2SCFGR_PLLI2SQ RCC_PLLI2SCFGR_PLLI2SQ(2)
+#define STM32_RCC_PLLI2SCFGR_PLLI2SR RCC_PLLI2SCFGR_PLLI2SR(2)
+#define STM32_RCC_PLLI2SCFGR_PLLI2SSRC RCC_PLLI2SCFGR_PLLI2SSRC(0) /* HSE or HSI depending on PLLSRC of PLLCFGR*/
+
+#define STM32_RCC_DCKCFGR2_CK48MSEL RCC_DCKCFGR2_CK48MSEL_PLL
+#define STM32_RCC_DCKCFGR2_FMPI2C1SEL RCC_DCKCFGR2_FMPI2C1SEL_APB
+#define STM32_RCC_DCKCFGR2_SDIOSEL RCC_DCKCFGR2_SDIOSEL_48MHZ
+
+#define STM32_SYSCLK_FREQUENCY  96000000ul
+
+/* AHB clock (HCLK) is SYSCLK (96MHz) */
+#define STM32_RCC_CFGR_HPRE     RCC_CFGR_HPRE_SYSCLK      /* HCLK  = SYSCLK / 1 */
+#define STM32_HCLK_FREQUENCY    STM32_SYSCLK_FREQUENCY
+#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY      /* Same as above, to satisfy compiler */
+
+/* APB1 clock (PCLK1) is HCLK/2 (48MHz) */
+#define STM32_RCC_CFGR_PPRE1    RCC_CFGR_PPRE1_HCLKd2     /* PCLK1 = HCLK / 2 */
+#define STM32_PCLK1_FREQUENCY   (STM32_HCLK_FREQUENCY/2)
+
+/* Timers driven from APB1 will be twice PCLK1 (see page 112 of reference manual) */
+#define STM32_APB1_TIM2_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM3_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM4_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM5_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM12_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM13_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM14_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+
+/* APB2 clock (PCLK2) is HCLK (96MHz) */
+#define STM32_RCC_CFGR_PPRE2    RCC_CFGR_PPRE2_HCLK       /* PCLK2 = HCLK */
+#define STM32_PCLK2_FREQUENCY   (STM32_HCLK_FREQUENCY)
+
+/* Timers driven from APB2 will be PCLK2 since no prescale division */
+#define STM32_APB2_TIM1_CLKIN   (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM8_CLKIN   (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM9_CLKIN   (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM10_CLKIN  (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM11_CLKIN  (STM32_PCLK2_FREQUENCY)
+
+/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx otherwise frequency is 2xAPBx. */
+#define BOARD_TIM2_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM3_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM4_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM5_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM6_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM7_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM8_FREQUENCY    (2 * STM32_PCLK2_FREQUENCY)
+
+/* Alternate function pin selections ************************************************/
+
+/* UARTs */
+#define GPIO_USART1_RX	GPIO_USART1_RX_2
+#define GPIO_USART1_TX	GPIO_USART1_TX_3
+
+#define GPIO_USART2_RX	GPIO_USART2_RX_1
+#define GPIO_USART2_TX	GPIO_USART2_TX_1
+
+/* CAN */
+#define GPIO_CAN1_RX	GPIO_CAN1_RX_1
+#define GPIO_CAN1_TX	GPIO_CAN1_TX_1
+
+/* I2C */
+
+#define GPIO_MCU_I2C1_SCL
+#define GPIO_MCU_I2C1_SDA
+
+#define GPIO_I2C1_SCL	GPIO_I2C1_SCL_1
+#define GPIO_I2C1_SDA	GPIO_I2C1_SDA_1
+
+#define GPIO_I2C1_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN6)
+#define GPIO_I2C1_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN7)
+
+#define GPIO_I2C2_SCL	GPIO_I2C2_SCL_1
+#define GPIO_I2C2_SDA	GPIO_I2C2_SDA_4
+
+#define GPIO_I2C2_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN9)
+#define GPIO_I2C2_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN10)
+
+/* SPI */
+#define GPIO_SPI1_MISO  GPIO_SPI1_MISO_1
+#define GPIO_SPI1_MOSI  GPIO_SPI1_MOSI_1
+#define GPIO_SPI1_SCK   GPIO_SPI1_SCK_1
+
+#endif /* __ARCH_BOARD_BOARD_H */

boards/ark/can-gps/nuttx-config/include/board_dma_map.h

@@ -0,0 +1,43 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+// DMA1 Channel/Stream Selections
+//--------------------------------------------//---------------------------//----------------
+
+
+//  DMA2 Channel/Stream Selections
+//--------------------------------------------//---------------------------//----------------
+#define DMACHAN_SPI1_RX    DMAMAP_SPI1_RX_2   // DMA2, Stream 2, Channel 3
+#define DMACHAN_SPI1_TX    DMAMAP_SPI1_TX_1   // DMA2, Stream 5, Channel 3

boards/ark/can-gps/nuttx-config/nsh/defconfig

@@ -0,0 +1,164 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_DISABLE_OS_API is not set
+# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_NSH_DISABLEBG is not set
+# CONFIG_NSH_DISABLESCRIPT is not set
+# CONFIG_NSH_DISABLE_DF is not set
+# CONFIG_NSH_DISABLE_EXEC is not set
+# CONFIG_NSH_DISABLE_EXIT is not set
+# CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_ITEF is not set
+# CONFIG_NSH_DISABLE_LOOPS is not set
+# CONFIG_NSH_DISABLE_SEMICOLON is not set
+# CONFIG_NSH_DISABLE_TIME is not set
+# CONFIG_STM32_DMACAPABLE is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32"
+CONFIG_ARCH_CHIP_STM32=y
+CONFIG_ARCH_CHIP_STM32F412CE=y
+CONFIG_ARCH_INTERRUPTSTACK=512
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_LOOPSPERMSEC=16717
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_BUILTIN=y
+CONFIG_C99_BOOL8=y
+CONFIG_CLOCK_MONOTONIC=y
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_HARDFAULT_ALERT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_DEV_FIFO_SIZE=0
+CONFIG_DEV_PIPE_MAXSIZE=1024
+CONFIG_DEV_PIPE_SIZE=70
+CONFIG_FDCLONE_STDIO=y
+CONFIG_FS_BINFS=y
+CONFIG_FS_CROMFS=y
+CONFIG_FS_FAT=y
+CONFIG_FS_FATTIME=y
+CONFIG_FS_PROCFS=y
+CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
+CONFIG_FS_PROCFS_REGISTER=y
+CONFIG_FS_ROMFS=y
+CONFIG_GRAN=y
+CONFIG_GRAN_INTR=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_I2C=y
+CONFIG_I2C_RESET=y
+CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_STRERROR=y
+CONFIG_MEMSET_64BIT=y
+CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MM_REGIONS=2
+CONFIG_MTD=y
+CONFIG_MTD_BYTE_WRITE=y
+CONFIG_MTD_PARTITION=y
+CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
+CONFIG_NFILE_DESCRIPTORS=12
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_ARCHROMFS=y
+CONFIG_NSH_ARGCAT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_CMDPARMS=y
+CONFIG_NSH_CROMFSETC=y
+CONFIG_NSH_DISABLE_IFCONFIG=y
+CONFIG_NSH_DISABLE_IFUPDOWN=y
+CONFIG_NSH_DISABLE_MB=y
+CONFIG_NSH_DISABLE_MH=y
+CONFIG_NSH_DISABLE_MW=y
+CONFIG_NSH_DISABLE_TELNETD=y
+CONFIG_NSH_LINELEN=128
+CONFIG_NSH_MAXARGUMENTS=15
+CONFIG_NSH_NESTDEPTH=8
+CONFIG_NSH_QUOTE=y
+CONFIG_NSH_ROMFSETC=y
+CONFIG_NSH_ROMFSSECTSIZE=128
+CONFIG_NSH_STRERROR=y
+CONFIG_NSH_VARS=y
+CONFIG_PIPES=y
+CONFIG_PREALLOC_TIMERS=50
+CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAMTRON_SETSPEED=y
+CONFIG_RAMTRON_WRITEWAIT=y
+CONFIG_RAM_SIZE=262144
+CONFIG_RAM_START=0x20000000
+CONFIG_RAW_BINARY=y
+CONFIG_RTC_DATETIME=y
+CONFIG_SCHED_ATEXIT=y
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_HPWORKPRIORITY=249
+CONFIG_SCHED_HPWORKSTACKSIZE=1280
+CONFIG_SCHED_INSTRUMENTATION=y
+CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_LPWORK=y
+CONFIG_SCHED_LPWORKPRIORITY=50
+CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_WAITPID=y
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SERIAL_TERMIOS=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_SIG_SIGWORK=4
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_BUFFER_SIZE=32
+CONFIG_STM32_ADC1=y
+CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
+CONFIG_STM32_DMA1=y
+CONFIG_STM32_DMA2=y
+CONFIG_STM32_FLASH_PREFETCH=y
+CONFIG_STM32_FLOWCONTROL_BROKEN=y
+CONFIG_STM32_I2C1=y
+CONFIG_STM32_I2C2=y
+CONFIG_STM32_JTAG_SW_ENABLE=y
+CONFIG_STM32_PWR=y
+CONFIG_STM32_RTC=y
+CONFIG_STM32_RTC_HSECLOCK=y
+CONFIG_STM32_RTC_MAGIC=0xfacefeee
+CONFIG_STM32_RTC_MAGIC_REG=1
+CONFIG_STM32_RTC_MAGIC_TIME_SET=0xfacefeef
+CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
+CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
+CONFIG_STM32_SPI1=y
+CONFIG_STM32_SPI1_DMA=y
+CONFIG_STM32_SPI1_DMA_BUFFER=1024
+CONFIG_STM32_SPI_DMA=y
+CONFIG_STM32_TIM8=y
+CONFIG_STM32_USART1=y
+CONFIG_STM32_USART2=y
+CONFIG_STM32_USART_BREAKS=y
+CONFIG_STM32_WWDG=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_USART1_BAUD=57600
+CONFIG_USART1_RXBUFSIZE=600
+CONFIG_USART1_TXBUFSIZE=1100
+CONFIG_USART2_BAUD=57600
+CONFIG_USART2_RXBUFSIZE=600
+CONFIG_USART2_SERIAL_CONSOLE=y
+CONFIG_USART2_TXBUFSIZE=1100
+CONFIG_USEC_PER_TICK=1000
+CONFIG_USERMAIN_STACKSIZE=2624
+CONFIG_USER_ENTRYPOINT="nsh_main"

boards/ark/can-gps/nuttx-config/scripts/canbootloader_script.ld

@@ -0,0 +1,134 @@
+/****************************************************************************
+ * nuttx-config/scripts/canbootloader_script.ld
+ *
+ *   Copyright (C) 2015 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/* The STM32F412 has 512Kb of FLASH beginning at address 0x0800:0000 and
+ * 256Kb of SRAM. SRAM is split up into three blocks:
+ *
+ * 1) 112Kb of SRAM beginning at address 0x2000:0000
+ * 2)  16Kb of SRAM beginning at address 0x2001:c000
+ * 3)  64Kb of SRAM beginning at address 0x2002:0000
+ * 4)  64Kb of TCM SRAM beginning at address 0x1000:0000
+ *
+ * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
+ * where the code expects to begin execution by jumping to the entry point in
+ * the 0x0800:0000 address range.
+ *
+ * The first 0x10000 of flash is reserved for the bootloader.
+ */
+
+MEMORY
+{
+    flash (rx)   : ORIGIN = 0x08000000, LENGTH = 32K
+    sram (rwx)   : ORIGIN = 0x20000000, LENGTH = 192K
+}
+
+OUTPUT_ARCH(arm)
+
+ENTRY(__start)		/* treat __start as the anchor for dead code stripping */
+EXTERN(_vectors)	/* force the vectors to be included in the output */
+
+/*
+ * Ensure that abort() is present in the final object.  The exception handling
+ * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
+ */
+EXTERN(abort)
+SECTIONS
+{
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.vectors)
+		*(.text .text.*)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)
+		*(.gnu.linkonce.t.*)
+		*(.got)
+		*(.gcc_except_table)
+		*(.gnu.linkonce.r.*)
+		_etext = ABSOLUTE(.);
+	} > flash
+
+	/*
+	 * Init functions (static constructors and the like)
+	 */
+        .init_section : {
+                _sinit = ABSOLUTE(.);
+                KEEP(*(.init_array .init_array.*))
+                _einit = ABSOLUTE(.);
+        } > flash
+
+	.ARM.extab : {
+		*(.ARM.extab*)
+	} > flash
+
+	__exidx_start = ABSOLUTE(.);
+	.ARM.exidx : {
+		*(.ARM.exidx*)
+	} > flash
+	__exidx_end = ABSOLUTE(.);
+
+	_eronly = ABSOLUTE(.);
+
+	.data : {
+		_sdata = ABSOLUTE(.);
+		*(.data .data.*)
+		*(.gnu.linkonce.d.*)
+		CONSTRUCTORS
+		_edata = ABSOLUTE(.);
+	} > sram AT > flash
+
+	.bss : {
+		_sbss = ABSOLUTE(.);
+		*(.bss .bss.*)
+		*(.gnu.linkonce.b.*)
+		*(COMMON)
+		. = ALIGN(4);
+		_ebss = ABSOLUTE(.);
+	} > sram
+
+	/* Stabs debugging sections. */
+	.stab 0 : { *(.stab) }
+	.stabstr 0 : { *(.stabstr) }
+	.stab.excl 0 : { *(.stab.excl) }
+	.stab.exclstr 0 : { *(.stab.exclstr) }
+	.stab.index 0 : { *(.stab.index) }
+	.stab.indexstr 0 : { *(.stab.indexstr) }
+	.comment 0 : { *(.comment) }
+	.debug_abbrev 0 : { *(.debug_abbrev) }
+	.debug_info 0 : { *(.debug_info) }
+	.debug_line 0 : { *(.debug_line) }
+	.debug_pubnames 0 : { *(.debug_pubnames) }
+	.debug_aranges 0 : { *(.debug_aranges) }
+}

boards/ark/can-gps/nuttx-config/scripts/script.ld

@@ -0,0 +1,146 @@
+/****************************************************************************
+ * scripts/ld.script
+ *
+ *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/* The STM32F412 has 512Kb of FLASH beginning at address 0x0800:0000 and
+ * 256Kb of SRAM. SRAM is split up into three blocks:
+ *
+ * 1) 112Kb of SRAM beginning at address 0x2000:0000
+ * 2)  16Kb of SRAM beginning at address 0x2001:c000
+ * 3)  64Kb of SRAM beginning at address 0x2002:0000
+ * 4)  64Kb of TCM SRAM beginning at address 0x1000:0000
+ *
+ * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
+ * where the code expects to begin execution by jumping to the entry point in
+ * the 0x0800:0000 address range.
+ *
+ * The first 0x10000 of flash is reserved for the bootloader.
+ */
+
+MEMORY
+{
+    flash (rx)   : ORIGIN = 0x08010000, LENGTH = 448K
+    sram (rwx)   : ORIGIN = 0x20000000, LENGTH = 192K
+}
+
+OUTPUT_ARCH(arm)
+
+ENTRY(__start)		/* treat __start as the anchor for dead code stripping */
+EXTERN(_vectors)	/* force the vectors to be included in the output */
+
+/*
+ * Ensure that abort() is present in the final object.  The exception handling
+ * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
+ */
+EXTERN(abort)
+EXTERN(_bootdelay_signature)
+
+SECTIONS
+{
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.vectors)
+		. = ALIGN(8);
+		/*
+		* This section positions the app_descriptor_t used
+		* by the make_can_boot_descriptor.py tool to set
+		* the application image's descriptor so that the
+		* uavcan bootloader has the ability to validate the
+		* image crc, size etc
+		*/
+		KEEP(*(.app_descriptor))
+		*(.text .text.*)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)
+		*(.gnu.linkonce.t.*)
+		*(.got)
+		*(.gcc_except_table)
+		*(.gnu.linkonce.r.*)
+		_etext = ABSOLUTE(.);
+	} > flash
+
+	/*
+	 * Init functions (static constructors and the like)
+	 */
+        .init_section : {
+                _sinit = ABSOLUTE(.);
+                KEEP(*(.init_array .init_array.*))
+                _einit = ABSOLUTE(.);
+        } > flash
+
+
+	.ARM.extab : {
+		*(.ARM.extab*)
+	} > flash
+
+	__exidx_start = ABSOLUTE(.);
+	.ARM.exidx : {
+		*(.ARM.exidx*)
+	} > flash
+	__exidx_end = ABSOLUTE(.);
+
+	_eronly = ABSOLUTE(.);
+
+	.data : {
+		_sdata = ABSOLUTE(.);
+		*(.data .data.*)
+		*(.gnu.linkonce.d.*)
+		CONSTRUCTORS
+		_edata = ABSOLUTE(.);
+	} > sram AT > flash
+
+	.bss : {
+		_sbss = ABSOLUTE(.);
+		*(.bss .bss.*)
+		*(.gnu.linkonce.b.*)
+		*(COMMON)
+		. = ALIGN(4);
+		_ebss = ABSOLUTE(.);
+	} > sram
+
+	/* Stabs debugging sections. */
+	.stab 0 : { *(.stab) }
+	.stabstr 0 : { *(.stabstr) }
+	.stab.excl 0 : { *(.stab.excl) }
+	.stab.exclstr 0 : { *(.stab.exclstr) }
+	.stab.index 0 : { *(.stab.index) }
+	.stab.indexstr 0 : { *(.stab.indexstr) }
+	.comment 0 : { *(.comment) }
+	.debug_abbrev 0 : { *(.debug_abbrev) }
+	.debug_info 0 : { *(.debug_info) }
+	.debug_line 0 : { *(.debug_line) }
+	.debug_pubnames 0 : { *(.debug_pubnames) }
+	.debug_aranges 0 : { *(.debug_aranges) }
+}

boards/ark/can-gps/src/CMakeLists.txt

@@ -0,0 +1,68 @@
+############################################################################
+#
+#   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+if("${PX4_BOARD_LABEL}" STREQUAL  "canbootloader")
+
+	add_library(drivers_board
+		boot_config.h
+		boot.c
+		led.c
+		led.h
+	)
+	target_link_libraries(drivers_board
+		PRIVATE
+			nuttx_arch
+			nuttx_drivers
+			canbootloader
+	)
+	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/canbootloader)
+
+else()
+	add_library(drivers_board
+		can.c
+		i2c.cpp
+		init.c
+		led.c
+		spi.cpp
+	)
+
+	target_link_libraries(drivers_board
+		PRIVATE
+			arch_spi
+			drivers__led # drv_led_start
+			nuttx_arch
+			nuttx_drivers
+			px4_layer
+			arch_io_pins
+	)
+endif()