TEMP

Revise VescWritableInterface
VescSerialDevice: add performance counter
2026-05-24 19:37:35 +08:00 · 2021-04-30 09:11:25 +02:00 · 2021-04-29 11:47:32 +02:00 · 2021-04-29 11:47:32 +02:00 · 2021-04-29 11:47:32 +02:00 · 2021-04-29 11:47:32 +02:00
232 changed files with 6237 additions and 1909 deletions
@@ -46,9 +46,7 @@ pipeline {
                     "cuav_can-gps-v1_default",
                     "cuav_nora_default",
                     "cuav_x7pro_default",
-                     "cubepilot_cubeorange_console",
                     "cubepilot_cubeorange_default",
-                     "cubepilot_cubeyellow_console",
                     "cubepilot_cubeyellow_default",
                     "holybro_can-gps-v1_canbootloader",
                     "holybro_can-gps-v1_default",
@@ -56,6 +54,7 @@ pipeline {
                     "holybro_kakutef7_default",
                     "holybro_pix32v5_default",
                     "modalai_fc-v1_default",
+                     "modalai_fc-v1_rtps",
                     "mro_ctrl-zero-f7_default",
                     "mro_ctrl-zero-f7-oem_default",
                     "mro_ctrl-zero-h7_default",
@@ -77,7 +76,6 @@ 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 +94,6 @@ 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",
@@ -7,9 +7,9 @@ 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'
@@ -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") {
@@ -84,9 +84,9 @@ pipeline {
          }
        }

-        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'
@@ -99,10 +99,10 @@ 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 +119,21 @@ 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") {
@@ -160,61 +160,9 @@ pipeline {
          }
        }

-        // 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'
@@ -227,10 +175,10 @@ 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 +195,21 @@ 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") {
@@ -288,9 +236,9 @@ pipeline {
          }
        }

-        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'
@@ -303,10 +251,10 @@ 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 +271,21 @@ 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") {
@@ -363,9 +312,9 @@ pipeline {
          }
        }

-        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'
@@ -378,10 +327,10 @@ 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 +347,21 @@ 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") {
@@ -439,9 +388,9 @@ pipeline {
          }
        }

-        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'
@@ -454,10 +403,10 @@ 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 +423,21 @@ 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") {
@@ -561,13 +510,14 @@ 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") {
@@ -637,12 +587,13 @@ 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") {
@@ -715,13 +666,14 @@ 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
+                    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") {
@@ -748,9 +700,9 @@ pipeline {
          }
        }

-        stage("modalai_fc-v1_default") {
+        stage("modalai_fc-v1_test") {
          stages {
-            stage("build modalai_fc-v1_default") {
+            stage("build modalai_fc-v1_test") {
              agent {
                docker {
                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
@@ -763,10 +715,10 @@ pipeline {
                sh 'make distclean'
                sh 'ccache -s'
                sh 'git fetch --tags'
-                sh 'make modalai_fc-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: 'modalai_fc-v1_default'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'modalai_fc-v1_test'
              }
              post {
                always {
@@ -783,20 +735,21 @@ pipeline {
                  steps {
                    sh 'export'
                    sh 'find /dev/serial'
-                    unstash 'modalai_fc-v1_default'
+                    unstash 'modalai_fc-v1_test'
                    // 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'
+                    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_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 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") {
@@ -823,9 +776,9 @@ pipeline {
          }
        }

-        stage("holybro_durandal-v1_default") {
+        stage("holybro_durandal-v1_test") {
          stages {
-            stage("build holybro_durandal-v1_default") {
+            stage("build holybro_durandal-v1_test") {
              agent {
                docker {
                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
@@ -838,10 +791,10 @@ pipeline {
                sh 'make distclean'
                sh 'ccache -s'
                sh 'git fetch --tags'
-                sh 'make holybro_durandal-v1_default'
+                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_default'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'holybro_durandal-v1_test'
              }
              post {
                always {
@@ -858,24 +811,21 @@ 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") {
@@ -903,9 +853,9 @@ pipeline {
          }
        }

-        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'
@@ -918,10 +868,10 @@ 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 +888,21 @@ 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") {
@@ -1027,6 +978,7 @@ 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 +990,7 @@ 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"'
@@ -27,10 +27,10 @@ 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,
          holybro_can-gps-v1_canbootloader,
          holybro_can-gps-v1_debug,
@@ -39,6 +39,7 @@ jobs:
          holybro_kakutef7_default,
          holybro_pix32v5_default,
          modalai_fc-v1_default,
+          modalai_fc-v1_rtps,
          mro_ctrl-zero-f7-oem_default,
          mro_ctrl-zero-f7_default,
          mro_ctrl-zero-h7-oem_default,
@@ -60,7 +61,6 @@ 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 +79,6 @@ 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,
@@ -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/v0.38.0/mavsdk_0.38.0_ubuntu20.04_amd64.deb
    - name: Install MAVSDK
-      run: dpkg -i mavsdk_0.36.0_ubuntu20.04_amd64.deb
+      run: dpkg -i mavsdk_0.38.0_ubuntu20.04_amd64.deb

    - name: Prepare ccache timestamp
      id: ccache_cache_timestamp
@@ -59,7 +59,7 @@
 	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
@@ -96,16 +96,11 @@ 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
@@ -89,6 +89,7 @@ pipeline {
          }
          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')
@@ -108,6 +109,7 @@ pipeline {
          }
          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')
@@ -127,6 +129,7 @@ pipeline {
          }
          steps {
            sh 'make distclean'
+            sh 'git fetch --all --tags'
            sh 'make module_documentation'
            dir('build/px4_sitl_default/docs') {
              archiveArtifacts(artifacts: 'modules/*.md')
@@ -150,6 +153,7 @@ pipeline {
          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')
@@ -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
@@ -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)


@@ -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
@@ -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
+
@@ -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
@@ -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
@@ -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
@@ -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
+
@@ -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
@@ -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
@@ -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
+
@@ -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
@@ -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
@@ -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
@@ -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}
@@ -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}
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -12,52 +12,47 @@

 . ${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-default ASPD_STALL 10.0

-	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_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 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_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 MIS_LTRMIN_ALT 50
-	param set MIS_TAKEOFF_ALT 3
+param set-default MIS_LTRMIN_ALT 50
+param set-default MIS_TAKEOFF_ALT 3

-	param set NAV_ACC_RAD 20
-	param set NAV_DLL_ACT 2
-	param set NAV_LOITER_RAD 100
+param set-default NAV_ACC_RAD 20
+param set-default NAV_DLL_ACT 2
+param set-default NAV_LOITER_RAD 100

-	param set RWTO_TKOFF 1
+param set-default RWTO_TKOFF 1

-	param set FW_ARSP_SCALE_EN 0
+param set-default FW_ARSP_SCALE_EN 0

-	param set FW_AIRSPD_MAX 35
-	param set FW_AIRSPD_MIN 7
-	param set FW_AIRSPD_TRIM 15
+param set-default FW_AIRSPD_MAX 35
+param set-default FW_AIRSPD_MIN 7
+param set-default FW_AIRSPD_TRIM 15

-	param set FW_P_LIM_MAX 25
-	param set FW_P_LIM_MIN -5
-	param set FW_R_LIM 30
+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_MAN_P_MAX 30.0
-	param set FW_MAN_R_MAX 30.0
-
-	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
@@ -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

@@ -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

@@ -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

@@ -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
@@ -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
@@ -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
@@ -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

@@ -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
@@ -144,6 +144,11 @@ then
 		set OUTPUT_DEV /dev/uavcan/esc
 	fi

+	if [ $OUTPUT_MODE = vesc ]
+	then
+		set OUTPUT_DEV /dev/vesc
+	fi
+
 	if mixer load ${OUTPUT_DEV} ${MIXER_FILE}
 	then
 		echo "INFO  [init] Mixer: ${MIXER_FILE} on ${OUTPUT_DEV}"
@@ -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
@@ -254,6 +254,39 @@ 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
+
+	if param greater -s VESC_PORT 0
+	then
+		set OUTPUT_MODE vesc
+	fi
+
 	#
 	# Check if PX4IO present and update firmware if needed.
 	# Assumption IOFW set to firmware file and IO_PRESENT = no
@@ -285,6 +318,8 @@ else
 					else
 						tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
 					fi
+				else
+					tune_control stop
 				fi
 			fi
 		fi
@@ -396,34 +431,6 @@ 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
 	#
@@ -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))

@@ -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 %}
@@ -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 }}
-
@@ -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
@@ -109,7 +108,6 @@ px4_add_board(
 		sd_bench
 		serial_test
 		system_time
-		tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -119,15 +117,15 @@ 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_gyro
+		#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
 	)
@@ -39,7 +39,6 @@ px4_add_board(
 	VENDOR atlflight
 	MODEL eagle
 	LABEL default
-	#TESTING
 	TOOLCHAIN arm-linux-gnueabihf
 	ROMFSROOT px4fmu_common
 	DRIVERS
@@ -108,7 +107,6 @@ px4_add_board(
 		sd_bench
 		shutdown
 		system_time
-		#tests # tests and test runner
 		#top
 		topic_listener
 		tune_control
@@ -39,7 +39,6 @@ px4_add_board(
 	VENDOR atlflight
 	MODEL excelsior
 	LABEL default
-	#TESTING
 	TOOLCHAIN arm-oemllib32-linux-gnueabi
 	DRIVERS
 		#barometer # all available barometer drivers
@@ -106,7 +105,6 @@ px4_add_board(
 		sd_bench
 		shutdown
 		system_time
-		#tests # tests and test runner
 		#top
 		topic_listener
 		tune_control
@@ -7,7 +7,6 @@ px4_add_board(
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m7
 	ROMFSROOT px4fmu_common
-	TESTING
 	UAVCAN_INTERFACES 2
 	ETHERNET
 	SERIAL_PORTS
@@ -30,6 +29,7 @@ px4_add_board(
 		#imu # all available imu drivers
 		imu/adis16477
 		imu/adis16497
+		imu/invensense/icm20948 # required for ak09916 mag
 		irlock
 		lights # all available light drivers
 		magnetometer # all available magnetometer drivers
@@ -46,7 +46,6 @@ px4_add_board(
 		roboclaw
 		rpm
 		telemetry # all available telemetry drivers
-		test_ppm
 		#tone_alarm
 		uavcan
 	MODULES
@@ -107,7 +106,6 @@ px4_add_board(
 		sd_bench
 		serial_test
 		system_time
-		tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -116,15 +114,15 @@ 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_gyro
+		#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
 	)
@@ -26,6 +26,7 @@ px4_add_board(
 		gps
 		#imu # all available imu drivers
 		imu/analog_devices/adis16448
+		imu/invensense/icm20948 # required for ak09916 mag
 		imu/invensense/mpu9250
 		linux_pwm_out
 		#magnetometer # all available magnetometer drivers
@@ -8,7 +8,6 @@ px4_add_board(
 	ARCHITECTURE cortex-m7
 	ROMFSROOT px4fmu_common
 	BUILD_BOOTLOADER
-	TESTING
 	UAVCAN_INTERFACES 2
 	UAVCAN_TIMER_OVERRIDE 2
 	SERIAL_PORTS
@@ -35,6 +34,7 @@ px4_add_board(
 		imu/bosch/bmi088
 		imu/invensense/icm20649
 		imu/invensense/icm20689
+		imu/invensense/icm20948 # required for ak09916 mag
 		irlock
 		lights # all available light drivers
 		lights/rgbled_pwm
@@ -52,7 +52,6 @@ px4_add_board(
 		rpm
 		safety_button
 		telemetry # all available telemetry drivers
-		test_ppm
 		tone_alarm
 		uavcan
 	MODULES
@@ -114,7 +113,6 @@ px4_add_board(
 		sd_bench
 		serial_test
 		system_time
-		tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -3,6 +3,9 @@
 # board specific defaults
 #------------------------------------------------------------------------------

+# Enables the 2nd bank of mixers
+set AUX_BANK2 yes
+
 param set-default BAT_V_DIV 18
 param set-default BAT1_V_DIV 18
 param set-default BAT2_V_DIV 18
@@ -250,25 +250,27 @@
 #define GPIO_CAN2_TX     GPIO_CAN2_TX_1        /* PB13 */

 /* SPI */
-#define GPIO_SPI1_SCK    GPIO_SPI1_SCK_3    /* PG11 */
-#define GPIO_SPI1_MISO   GPIO_SPI1_MISO_1   /* PA6 */
-#define GPIO_SPI1_MOSI   GPIO_SPI1_MOSI_3   /* PD7 */
+#define ADJ_SLEW_RATE(p) (((p) & ~GPIO_SPEED_MASK) | (GPIO_SPEED_2MHz))

-#define GPIO_SPI2_SCK    GPIO_SPI2_SCK_6    /* PI1 */
-#define GPIO_SPI2_MISO   GPIO_SPI2_MISO_3   /* PI2 */
-#define GPIO_SPI2_MOSI   GPIO_SPI2_MOSI_4   /* PI3 */
+#define GPIO_SPI1_SCK    ADJ_SLEW_RATE(GPIO_SPI1_SCK_3) /* PG11 */
+#define GPIO_SPI1_MISO   GPIO_SPI1_MISO_1               /* PA6  */
+#define GPIO_SPI1_MOSI   GPIO_SPI1_MOSI_3               /* PD7  */

-#define GPIO_SPI4_SCK    GPIO_SPI4_SCK_2    /* PE2 */
-#define GPIO_SPI4_MISO   GPIO_SPI4_MISO_1   /* PE13 */
-#define GPIO_SPI4_MOSI   GPIO_SPI4_MOSI_2   /* PE6 */
+#define GPIO_SPI2_SCK    ADJ_SLEW_RATE(GPIO_SPI2_SCK_6) /* PI1  */
+#define GPIO_SPI2_MISO   GPIO_SPI2_MISO_3               /* PI2  */
+#define GPIO_SPI2_MOSI   GPIO_SPI2_MOSI_4               /* PI3  */

-#define GPIO_SPI5_SCK    GPIO_SPI5_SCK_1    /* PF7 */
-#define GPIO_SPI5_MISO   GPIO_SPI5_MISO_1   /* PF8 */
-#define GPIO_SPI5_MOSI   GPIO_SPI5_MOSI_2   /* PF9 */
+#define GPIO_SPI4_SCK    ADJ_SLEW_RATE(GPIO_SPI4_SCK_2) /* PE2  */
+#define GPIO_SPI4_MISO   GPIO_SPI4_MISO_1               /* PE13 */
+#define GPIO_SPI4_MOSI   GPIO_SPI4_MOSI_2               /* PE6  */

-#define GPIO_SPI6_SCK    GPIO_SPI6_SCK_1    /* PG13 */
-#define GPIO_SPI6_MISO   GPIO_SPI6_MISO_1   /* PG12 */
-#define GPIO_SPI6_MOSI   GPIO_SPI6_MOSI_2   /* PA7 */
+#define GPIO_SPI5_SCK    ADJ_SLEW_RATE(GPIO_SPI5_SCK_1) /* PF7  */
+#define GPIO_SPI5_MISO   GPIO_SPI5_MISO_1               /* PF8  */
+#define GPIO_SPI5_MOSI   GPIO_SPI5_MOSI_2               /* PF9  */
+
+#define GPIO_SPI6_SCK    ADJ_SLEW_RATE(GPIO_SPI6_SCK_1) /* PG13 */
+#define GPIO_SPI6_MISO   GPIO_SPI6_MISO_1               /* PG12 */
+#define GPIO_SPI6_MOSI   GPIO_SPI6_MOSI_2               /* PA7  */

 /* I2C */
 #define GPIO_I2C1_SCL GPIO_I2C1_SCL_2       /* PB8  */
@@ -0,0 +1,139 @@
+
+px4_add_board(
+	PLATFORM nuttx
+	VENDOR cuav
+	MODEL nora
+	LABEL test
+	TOOLCHAIN arm-none-eabi
+	ARCHITECTURE cortex-m7
+	ROMFSROOT px4fmu_common
+	BUILD_BOOTLOADER
+	TESTING
+	UAVCAN_INTERFACES 2
+	UAVCAN_TIMER_OVERRIDE 2
+	SERIAL_PORTS
+		GPS1:/dev/ttyS0
+		TEL1:/dev/ttyS1
+		GPS2:/dev/ttyS2
+		TEL2:/dev/ttyS3
+		# CONSOLE: /dev/ttyS4
+		# RC: /dev/ttyS5
+	DRIVERS
+		adc/ads1115
+		adc/board_adc
+		barometer # all available barometer drivers
+		batt_smbus
+		camera_capture
+		camera_trigger
+		differential_pressure # all available differential pressure drivers
+		distance_sensor # all available distance sensor drivers
+		dshot
+		gps
+		heater
+		#imu # all available imu drivers
+		imu/analog_devices/adis16448
+		imu/bosch/bmi088
+		imu/invensense/icm20649
+		imu/invensense/icm20689
+		imu/invensense/icm20948 # required for ak09916 mag
+		#irlock
+		lights # all available light drivers
+		lights/rgbled_pwm
+		magnetometer # all available magnetometer drivers
+		optical_flow # all available optical flow drivers
+		osd
+		pca9685
+		pca9685_pwm_out
+		power_monitor/ina226
+		#protocol_splitter
+		pwm_out_sim
+		pwm_out
+		rc_input
+		#roboclaw
+		#rpm
+		safety_button
+		telemetry # all available telemetry drivers
+		test_ppm
+		tone_alarm
+		uavcan
+	MODULES
+		airspeed_selector
+		attitude_estimator_q
+		battery_status
+		camera_feedback
+		commander
+		dataman
+		ekf2
+		esc_battery
+		events
+		flight_mode_manager
+		fw_att_control
+		fw_pos_control_l1
+		gyro_calibration
+		gyro_fft
+		land_detector
+		landing_target_estimator
+		load_mon
+		local_position_estimator
+		logger
+		mavlink
+		mc_att_control
+		mc_hover_thrust_estimator
+		mc_pos_control
+		mc_rate_control
+		#micrortps_bridge
+		navigator
+		rc_update
+		#rover_pos_control
+		sensors
+		sih
+		temperature_compensation
+		#uuv_att_control
+		#uuv_pos_control
+		vmount
+		vtol_att_control
+	SYSTEMCMDS
+		bl_update
+		dmesg
+		dumpfile
+		esc_calib
+		gpio
+		hardfault_log
+		i2cdetect
+		led_control
+		mft
+		mixer
+		motor_ramp
+		motor_test
+		mtd
+		nshterm
+		param
+		perf
+		pwm
+		reboot
+		reflect
+		sd_bench
+		serial_test
+		system_time
+		tests # tests and test runner
+		top
+		topic_listener
+		tune_control
+		uorb
+		usb_connected
+		ver
+		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
+		#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
+	)
@@ -8,7 +8,6 @@ px4_add_board(
 	ARCHITECTURE cortex-m7
 	ROMFSROOT px4fmu_common
 	BUILD_BOOTLOADER
-	TESTING
 	UAVCAN_INTERFACES 2
 	UAVCAN_TIMER_OVERRIDE 2
 	SERIAL_PORTS
@@ -31,10 +30,12 @@ px4_add_board(
 		gps
 		heater
 		#imu # all available imu drivers
+		imu/analog_devices/adis16448
 		imu/analog_devices/adis16470
 		imu/bosch/bmi088
 		imu/invensense/icm20649
 		imu/invensense/icm20689
+		imu/invensense/icm20948 # required for ak09916 mag
 		irlock
 		lights # all available light drivers
 		lights/rgbled_pwm
@@ -52,7 +53,6 @@ px4_add_board(
 		rpm
 		safety_button
 		telemetry # all available telemetry drivers
-		test_ppm
 		tone_alarm
 		uavcan
 	MODULES
@@ -114,7 +114,6 @@ px4_add_board(
 		sd_bench
 		serial_test
 		system_time
-		tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -17,7 +17,5 @@ param set-default BAT2_A_PER_V 24
 # Enable IMU thermal control
 param set-default SENS_EN_THERMAL 1

-param set-default IMU_GYRO_FFT_EN 1
-
 rgbled_pwm start
 safety_button start
@@ -0,0 +1,140 @@
+
+px4_add_board(
+	PLATFORM nuttx
+	VENDOR cuav
+	MODEL x7pro
+	LABEL test
+	TOOLCHAIN arm-none-eabi
+	ARCHITECTURE cortex-m7
+	ROMFSROOT px4fmu_common
+	BUILD_BOOTLOADER
+	TESTING
+	UAVCAN_INTERFACES 2
+	UAVCAN_TIMER_OVERRIDE 2
+	SERIAL_PORTS
+		GPS1:/dev/ttyS0
+		TEL1:/dev/ttyS1
+		GPS2:/dev/ttyS2
+		TEL2:/dev/ttyS3
+		# CONSOLE: /dev/ttyS4
+		# RC: /dev/ttyS5
+	DRIVERS
+		adc/ads1115
+		adc/board_adc
+		barometer # all available barometer drivers
+		batt_smbus
+		camera_capture
+		camera_trigger
+		differential_pressure # all available differential pressure drivers
+		distance_sensor # all available distance sensor drivers
+		dshot
+		gps
+		heater
+		#imu # all available imu drivers
+		imu/analog_devices/adis16448
+		imu/analog_devices/adis16470
+		imu/bosch/bmi088
+		imu/invensense/icm20649
+		imu/invensense/icm20689
+		imu/invensense/icm20948 # required for ak09916 mag
+		#irlock
+		lights # all available light drivers
+		lights/rgbled_pwm
+		magnetometer # all available magnetometer drivers
+		optical_flow # all available optical flow drivers
+		osd
+		pca9685
+		pca9685_pwm_out
+		power_monitor/ina226
+		#protocol_splitter
+		pwm_out_sim
+		pwm_out
+		rc_input
+		#roboclaw
+		#rpm
+		safety_button
+		telemetry # all available telemetry drivers
+		test_ppm
+		tone_alarm
+		uavcan
+	MODULES
+		airspeed_selector
+		attitude_estimator_q
+		battery_status
+		camera_feedback
+		commander
+		dataman
+		ekf2
+		esc_battery
+		events
+		flight_mode_manager
+		fw_att_control
+		fw_pos_control_l1
+		gyro_calibration
+		gyro_fft
+		land_detector
+		landing_target_estimator
+		load_mon
+		local_position_estimator
+		logger
+		mavlink
+		mc_att_control
+		mc_hover_thrust_estimator
+		mc_pos_control
+		mc_rate_control
+		#micrortps_bridge
+		navigator
+		rc_update
+		#rover_pos_control
+		sensors
+		sih
+		temperature_compensation
+		#uuv_att_control
+		#uuv_pos_control
+		vmount
+		vtol_att_control
+	SYSTEMCMDS
+		bl_update
+		dmesg
+		dumpfile
+		esc_calib
+		gpio
+		hardfault_log
+		i2cdetect
+		led_control
+		mft
+		mixer
+		motor_ramp
+		motor_test
+		mtd
+		nshterm
+		param
+		perf
+		pwm
+		reboot
+		reflect
+		sd_bench
+		serial_test
+		system_time
+		tests # tests and test runner
+		top
+		topic_listener
+		tune_control
+		uorb
+		usb_connected
+		ver
+		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
+		#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
+	)
@@ -9,7 +9,6 @@ px4_add_board(
 	ROMFSROOT px4fmu_common
 	BUILD_BOOTLOADER
 	IO cubepilot_io-v2_default
-	TESTING
 	UAVCAN_INTERFACES 2
 	SERIAL_PORTS
 		TEL1:/dev/ttyS0
@@ -44,13 +43,13 @@ px4_add_board(
 		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
+		pwm_input
 		pwm_out_sim
 		pwm_out
 		px4io
 		roboclaw
 		rpm
 		telemetry # all available telemetry drivers
-		#test_ppm
 		tone_alarm
 		uavcan
 	MODULES
@@ -112,7 +111,6 @@ px4_add_board(
 		sd_bench
 		#serial_test
 		system_time
-		#tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -13,5 +13,3 @@ icm20948 -s -b 4 -R 10 -M start
 ms5611 -s -b 1 start
 icm20649 -s -b 1 start

-# standard Here/Here2 connected to GPS1
-ak09916 -X -b 1 -R 6 start # external AK09916 (Here2) is rotated 270 degrees yaw
@@ -115,6 +115,11 @@
 #define GPIO_TONE_ALARM_IDLE    GPIO_BUZZER_1
 #define GPIO_TONE_ALARM         GPIO_TIM2_CH1OUT_2

+/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */
+#define PWMIN_TIMER                       4
+#define PWMIN_TIMER_CHANNEL    /* T4C2 */ 2
+#define GPIO_PWM_IN            /* PD13 */ GPIO_TIM4_CH2IN_2
+
 /* USB
 *  OTG FS: PA9  OTG_FS_VBUS VBUS sensing
 */
@@ -3,7 +3,7 @@ px4_add_board(
 	PLATFORM nuttx
 	VENDOR cubepilot
 	MODEL cubeorange
-	LABEL console
+	LABEL test
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m7
 	ROMFSROOT px4fmu_common
@@ -43,6 +43,7 @@ px4_add_board(
 		#pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
+		pwm_input
 		pwm_out_sim
 		pwm_out
 		px4io
@@ -8,7 +8,6 @@ px4_add_board(
 	ARCHITECTURE cortex-m7
 	ROMFSROOT px4fmu_common
 	IO cubepilot_io-v2_default
-	TESTING
 	UAVCAN_INTERFACES 2
 	SERIAL_PORTS
 		TEL1:/dev/ttyS0
@@ -49,7 +48,6 @@ px4_add_board(
 		roboclaw
 		rpm
 		telemetry # all available telemetry drivers
-		#test_ppm
 		tone_alarm
 		uavcan
 	MODULES
@@ -111,7 +109,6 @@ px4_add_board(
 		sd_bench
 		#serial_test
 		system_time
-		#tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -13,5 +13,3 @@ icm20948 -s -b 4 -R 10 -M start
 ms5611 -s -b 1 start
 icm20649 -s -b 1 start

-# standard Here/Here2 connected to GPS1
-ak09916 -X -b 1 -R 6 start # external AK09916 (Here2) is rotated 270 degrees yaw
@@ -3,7 +3,7 @@ px4_add_board(
 	PLATFORM nuttx
 	VENDOR cubepilot
 	MODEL cubeyellow
-	LABEL console
+	LABEL test
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m7
 	ROMFSROOT px4fmu_common
@@ -24,6 +24,7 @@ px4_add_board(
 		gps
 		#imu # all available imu drivers
 		imu/analog_devices/adis16448
+		imu/invensense/icm20948 # required for ak09916 mag
 		imu/invensense/mpu9250
 		imu/st/lsm9ds1
 		linux_pwm_out
@@ -9,7 +9,6 @@ px4_add_board(
 	ROMFSROOT px4fmu_common
 	BUILD_BOOTLOADER
 	IO px4_io-v2_default
-	TESTING
 	UAVCAN_INTERFACES 2
 	SERIAL_PORTS
 		GPS1:/dev/ttyS0
@@ -33,7 +32,8 @@ px4_add_board(
 		imu/analog_devices/adis16448
 		imu/bosch/bmi088
 		imu/invensense/icm20689
-		irlock
+		imu/invensense/icm20948 # required for ak09916 mag
+		#irlock
 		lights # all available light drivers
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
@@ -48,7 +48,6 @@ px4_add_board(
 		roboclaw
 		rpm
 		telemetry # all available telemetry drivers
-		test_ppm
 		tone_alarm
 		uavcan
 	MODULES
@@ -83,8 +82,8 @@ px4_add_board(
 		sensors
 		sih
 		temperature_compensation
-		uuv_att_control
-		uuv_pos_control
+		#uuv_att_control
+		#uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -110,7 +109,6 @@ px4_add_board(
 		sd_bench
 		serial_test
 		system_time
-#		tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -120,15 +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_gyro
+		#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
 	)
@@ -0,0 +1,135 @@
+
+px4_add_board(
+	PLATFORM nuttx
+	VENDOR holybro
+	MODEL durandal-v1
+	LABEL test
+	TOOLCHAIN arm-none-eabi
+	ARCHITECTURE cortex-m7
+	ROMFSROOT px4fmu_common
+	BUILD_BOOTLOADER
+	IO px4_io-v2_default
+	TESTING
+	UAVCAN_INTERFACES 2
+	SERIAL_PORTS
+		GPS1:/dev/ttyS0
+		TEL1:/dev/ttyS1
+		TEL2:/dev/ttyS2
+		TEL3:/dev/ttyS4
+		TEL4:/dev/ttyS3
+	DRIVERS
+		#adc/ads1115
+		adc/board_adc
+		barometer # all available barometer drivers
+		batt_smbus
+		camera_capture
+		camera_trigger
+		differential_pressure # all available differential pressure drivers
+		distance_sensor # all available distance sensor drivers
+		dshot
+		gps
+		heater
+		#imu # all available imu drivers
+		#imu/analog_devices/adis16448
+		imu/bosch/bmi088
+		imu/invensense/icm20689
+		imu/invensense/icm20948 # required for ak09916 mag
+		#irlock
+		lights # all available light drivers
+		magnetometer # all available magnetometer drivers
+		optical_flow # all available optical flow drivers
+		#osd
+		#pca9685
+		#pca9685_pwm_out
+		power_monitor/ina226
+		#protocol_splitter
+		pwm_out_sim
+		pwm_out
+		px4io
+		#roboclaw
+		#rpm
+		telemetry # all available telemetry drivers
+		test_ppm
+		tone_alarm
+		uavcan
+	MODULES
+		airspeed_selector
+		#attitude_estimator_q
+		battery_status
+		camera_feedback
+		commander
+		dataman
+		ekf2
+		#esc_battery
+		events
+		flight_mode_manager
+		fw_att_control
+		fw_pos_control_l1
+		gyro_calibration
+		gyro_fft
+		land_detector
+		landing_target_estimator
+		load_mon
+		#local_position_estimator
+		logger
+		mavlink
+		mc_att_control
+		mc_hover_thrust_estimator
+		mc_pos_control
+		mc_rate_control
+		#micrortps_bridge
+		navigator
+		rc_update
+		#rover_pos_control
+		sensors
+		#sih
+		#temperature_compensation
+		#uuv_att_control
+		#uuv_pos_control
+		vmount
+		vtol_att_control
+	SYSTEMCMDS
+		bl_update
+		dmesg
+		dumpfile
+		esc_calib
+		gpio
+		hardfault_log
+		i2cdetect
+		led_control
+		mft
+		mixer
+		motor_ramp
+		motor_test
+		mtd
+		nshterm
+		param
+		perf
+		pwm
+		reboot
+		#reflect
+		sd_bench
+		serial_test
+		system_time
+		tests # tests and test runner
+		top
+		topic_listener
+		tune_control
+		uorb
+		usb_connected
+		ver
+		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
+		#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
+	)
@@ -6,6 +6,7 @@ px4_add_board(
 	LABEL default
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m7
+	EXTERNAL_METADATA
 	ROMFSROOT px4fmu_common
 	SERIAL_PORTS
 		TEL1:/dev/ttyS0 # UART1
@@ -8,7 +8,6 @@ px4_add_board(
 	ARCHITECTURE cortex-m7
 	ROMFSROOT px4fmu_common
 	IO px4_io-v2_default
-	TESTING
 	UAVCAN_INTERFACES 2
 	SERIAL_PORTS
 		GPS1:/dev/ttyS0
@@ -33,6 +32,7 @@ px4_add_board(
 		imu/bosch/bmi055
 		imu/invensense/icm20602
 		imu/invensense/icm20689
+		imu/invensense/icm20948 # required for ak09916 mag
 		irlock
 		lights # all available light drivers
 		lights/rgbled_pwm
@@ -52,7 +52,6 @@ px4_add_board(
 		rpm
 		safety_button
 		telemetry # all available telemetry drivers
-		test_ppm
 		tone_alarm
 		uavcan
 	MODULES
@@ -114,7 +113,6 @@ px4_add_board(
 		sd_bench
 		serial_test
 		system_time
-		tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -124,15 +122,15 @@ 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_gyro
+		#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
 	)
@@ -0,0 +1,139 @@
+
+px4_add_board(
+	PLATFORM nuttx
+	VENDOR holybro
+	MODEL pix32v5
+	LABEL test
+	TOOLCHAIN arm-none-eabi
+	ARCHITECTURE cortex-m7
+	ROMFSROOT px4fmu_common
+	IO px4_io-v2_default
+	TESTING
+	UAVCAN_INTERFACES 2
+	SERIAL_PORTS
+		GPS1:/dev/ttyS0
+		TEL1:/dev/ttyS1
+		TEL2:/dev/ttyS2
+		TEL3:/dev/ttyS4
+		TEL4:/dev/ttyS3
+	DRIVERS
+		adc/ads1115
+		adc/board_adc
+		barometer # all available barometer drivers
+		batt_smbus
+		camera_capture
+		camera_trigger
+		differential_pressure # all available differential pressure drivers
+		distance_sensor # all available distance sensor drivers
+		dshot
+		gps
+		#heater
+		#imu # all available imu drivers
+		imu/analog_devices/adis16448
+		imu/bosch/bmi055
+		imu/invensense/icm20602
+		imu/invensense/icm20689
+		imu/invensense/icm20948 # required for ak09916 mag
+		irlock
+		lights # all available light drivers
+		lights/rgbled_pwm
+		magnetometer # all available magnetometer drivers
+		optical_flow # all available optical flow drivers
+		osd
+		pca9685
+		pca9685_pwm_out
+		power_monitor/ina226
+		#protocol_splitter
+		pwm_input
+		pwm_out_sim
+		pwm_out
+		px4io
+		rc_input
+		roboclaw
+		rpm
+		safety_button
+		telemetry # all available telemetry drivers
+		test_ppm
+		tone_alarm
+		uavcan
+	MODULES
+		airspeed_selector
+		attitude_estimator_q
+		battery_status
+		camera_feedback
+		commander
+		dataman
+		ekf2
+		esc_battery
+		events
+		flight_mode_manager
+		fw_att_control
+		fw_pos_control_l1
+		gyro_calibration
+		gyro_fft
+		land_detector
+		landing_target_estimator
+		load_mon
+		local_position_estimator
+		logger
+		mavlink
+		mc_att_control
+		mc_hover_thrust_estimator
+		mc_pos_control
+		mc_rate_control
+		#micrortps_bridge
+		navigator
+		rc_update
+		rover_pos_control
+		sensors
+		sih
+		temperature_compensation
+		uuv_att_control
+		uuv_pos_control
+		vmount
+		vtol_att_control
+	SYSTEMCMDS
+		bl_update
+		dmesg
+		dumpfile
+		esc_calib
+		gpio
+		hardfault_log
+		i2cdetect
+		led_control
+		mft
+		mixer
+		motor_ramp
+		motor_test
+		mtd
+		nshterm
+		param
+		perf
+		pwm
+		reboot
+		reflect
+		sd_bench
+		serial_test
+		system_time
+		tests # tests and test runner
+		top
+		topic_listener
+		tune_control
+		uorb
+		usb_connected
+		ver
+		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
+		#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
+	)
@@ -7,7 +7,6 @@ px4_add_board(
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m7
 	ROMFSROOT px4fmu_common
-	TESTING
 	UAVCAN_INTERFACES 1
 	SERIAL_PORTS
 		GPS1:/dev/ttyS0 # UART1  / J10
@@ -27,6 +26,7 @@ px4_add_board(
 		gps
 		imu/bosch/bmi088
 		imu/invensense/icm20602
+		imu/invensense/icm20948 # required for ak09916 mag
 		imu/invensense/icm42688p
 		irlock
 		lights # all available light drivers
@@ -46,7 +46,6 @@ px4_add_board(
 		rpm
 		safety_button
 		telemetry # all available telemetry drivers
-		test_ppm
 		#tone_alarm
 		uavcan
 	MODULES
@@ -107,7 +106,6 @@ px4_add_board(
 		sd_bench
 		serial_test
 		system_time
-		tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -117,15 +115,15 @@ 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_gyro
+		#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
 	)
@@ -18,88 +18,10 @@
 # Common settings across Flight Core configurations
 #

-# Disable safety switch by default (pull high to 3.3V to enable)
-#  V106 - J13 pin 5
-#  V110 - J1011 pin 5
-param set-default CBRK_IO_SAFETY 22027
-
-#
-# Stand Alone configuration
-#
-if ver hwtypecmp V106
-then
-	echo "Configuring Flight Core - V106"
-
-	#
-	# In Flight Core, J1 can be setup to be used as a serial port for TELEM2
-	# and connected to VOXL via cables.  We'll configure this out of the box.
-	# The user can later change this if they want, as these are configurable
-	# and not necessarily required to be used with VOXL.
-	#
-	if [ $AUTOCNF = no ]
-	then
-		if param compare MAV_1_CONFIG 0
-		then
-			echo "V106 - Defualt configuration TELEM2 on /dev/ttyS4 at 921600 in Normal Mode"
-			# TELEM2
-			param set-default MAV_1_CONFIG 102
-			# Onboard
-			param set-default MAV_1_MODE 2
-			# VIO data
-			param set-default SER_TEL2_BAUD 921600
-		fi
-	fi
-
-	# User is setting defaults, so let's do it!
-	if [ $AUTOCNF = yes ]
-	then
-		echo "V106 - Auto Configuring TELEM2 on /dev/ttyS4 at 921600 in Normal Mode"
-		# TELEM2
-		param set-default MAV_1_CONFIG 102
-		# Onboard
-		param set-default MAV_1_MODE 2
-		# VIO data
-		param set-default SER_TEL2_BAUD 921600
-	fi
-fi
-
-#
-# VOXL-Flight configuration
-#
-if ver hwtypecmp V110
-then
-	echo "Configuring VOXL-Flight - V110"
-
-	#
-	# TELEM2 port is physically routed in the PCB, thus not configurable.
-	# The following will detect a fresh install, or if the user has changed the setting and
-	# revert to the VOXL-Flight defaults.  This does allow the user to change the mode and
-	# baud rates and mode if they choose to do so, although VOXL is expecting what is set below
-	#
-	if [ $AUTOCNF = no ]
-	then
-		if ! param compare MAV_1_CONFIG 102
-		then
-			echo "V110 - Default configuration TELEM2 on /dev/ttyS4 at 921600 in Normal Mode"
-			# TELEM2
-			param set-default MAV_1_CONFIG 102
-			# Onboard
-			param set-default MAV_1_MODE 2
-			param set-default SER_TEL2_BAUD 921600
-		fi
-	fi
-
-	# User is setting defaults, so let's do it!
-	if [ $AUTOCNF = yes ]
-	then
-		echo "V110 - Auto Configuring TELEM2 on /dev/ttyS4 at 921600 in Normal Mode"
-		# TELEM2
-		param set-default MAV_1_CONFIG 102
-		# Onboard
-		param set-default MAV_1_MODE 2
-		param set-default SER_TEL2_BAUD 921600
-	fi
-fi

+# TELEM2
+param set-default MAV_1_CONFIG 102
+param set-default MAV_1_MODE 2
+param set-default SER_TEL2_BAUD 921600

 safety_button start
@@ -0,0 +1,129 @@
+
+px4_add_board(
+	PLATFORM nuttx
+	VENDOR modalai
+	MODEL fc-v1
+	LABEL rtps
+	TOOLCHAIN arm-none-eabi
+	ARCHITECTURE cortex-m7
+	ROMFSROOT px4fmu_common
+	UAVCAN_INTERFACES 1
+	SERIAL_PORTS
+		GPS1:/dev/ttyS0 # UART1  / J10
+		TEL1:/dev/ttyS6 # UART7  / J5
+		TEL2:/dev/ttyS4 # UART5  / J1
+		TEL3:/dev/ttyS1 # USART2 / J4
+	DRIVERS
+		adc/ads1115
+		adc/board_adc
+		barometer # all available barometer drivers
+		batt_smbus
+		camera_capture
+		camera_trigger
+		differential_pressure # all available differential pressure drivers
+		distance_sensor # all available distance sensor drivers
+		dshot
+		gps
+		imu/bosch/bmi088
+		imu/invensense/icm20602
+		imu/invensense/icm20948 # required for ak09916 mag
+		imu/invensense/icm42688p
+		irlock
+		lights # all available light drivers
+		magnetometer # all available magnetometer drivers
+		optical_flow # all available optical flow drivers
+		osd
+		pca9685
+		pca9685_pwm_out
+		power_monitor/ina226
+		power_monitor/voxlpm
+		#protocol_splitter
+		#pwm_input
+		pwm_out_sim
+		pwm_out
+		rc_input
+		roboclaw
+		rpm
+		safety_button
+		telemetry # all available telemetry drivers
+		#tone_alarm
+		uavcan
+	MODULES
+		airspeed_selector
+		attitude_estimator_q
+		camera_feedback
+		commander
+		dataman
+		ekf2
+		esc_battery
+		events
+		flight_mode_manager
+		fw_att_control
+		fw_pos_control_l1
+		gyro_calibration
+		gyro_fft
+		land_detector
+		landing_target_estimator
+		load_mon
+		local_position_estimator
+		logger
+		mavlink
+		mc_att_control
+		mc_hover_thrust_estimator
+		mc_pos_control
+		mc_rate_control
+		micrortps_bridge
+		navigator
+		rc_update
+		rover_pos_control
+		sensors
+		sih
+		temperature_compensation
+		uuv_att_control
+		uuv_pos_control
+		vmount
+		vtol_att_control
+	SYSTEMCMDS
+		bl_update
+		dmesg
+		dumpfile
+		esc_calib
+		gpio
+		hardfault_log
+		i2cdetect
+		led_control
+		mft
+		mixer
+		motor_ramp
+		motor_test
+		mtd
+		nshterm
+		param
+		perf
+		pwm
+		reboot
+		reflect
+		sd_bench
+		serial_test
+		system_time
+		top
+		topic_listener
+		tune_control
+		uorb
+		usb_connected
+		ver
+		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
+		#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
+	)
@@ -184,6 +184,7 @@
 /* RC Serial port */

 #define RC_SERIAL_PORT                     "/dev/ttyS5"
+#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT

 /* Safety Switch: Enable the FMU to control it as there is no px4io in ModalAI FC-v1 */
 #define GPIO_SAFETY_SWITCH_IN              /* PF3 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTF|GPIO_PIN3)
@@ -0,0 +1,132 @@
+
+px4_add_board(
+	PLATFORM nuttx
+	VENDOR modalai
+	MODEL fc-v1
+	LABEL test
+	TOOLCHAIN arm-none-eabi
+	ARCHITECTURE cortex-m7
+	ROMFSROOT px4fmu_common
+	TESTING
+	UAVCAN_INTERFACES 1
+	SERIAL_PORTS
+		GPS1:/dev/ttyS0 # UART1  / J10
+		TEL1:/dev/ttyS6 # UART7  / J5
+		TEL2:/dev/ttyS4 # UART5  / J1
+		TEL3:/dev/ttyS1 # USART2 / J4
+	DRIVERS
+		adc/ads1115
+		adc/board_adc
+		barometer # all available barometer drivers
+		batt_smbus
+		camera_capture
+		camera_trigger
+		differential_pressure # all available differential pressure drivers
+		distance_sensor # all available distance sensor drivers
+		dshot
+		gps
+		imu/bosch/bmi088
+		imu/invensense/icm20602
+		imu/invensense/icm20948 # required for ak09916 mag
+		imu/invensense/icm42688p
+		irlock
+		lights # all available light drivers
+		magnetometer # all available magnetometer drivers
+		optical_flow # all available optical flow drivers
+		osd
+		pca9685
+		pca9685_pwm_out
+		power_monitor/ina226
+		power_monitor/voxlpm
+		#protocol_splitter
+		#pwm_input
+		pwm_out_sim
+		pwm_out
+		rc_input
+		roboclaw
+		rpm
+		safety_button
+		telemetry # all available telemetry drivers
+		test_ppm
+		#tone_alarm
+		uavcan
+	MODULES
+		airspeed_selector
+		attitude_estimator_q
+		camera_feedback
+		commander
+		dataman
+		ekf2
+		esc_battery
+		events
+		flight_mode_manager
+		fw_att_control
+		fw_pos_control_l1
+		gyro_calibration
+		gyro_fft
+		land_detector
+		landing_target_estimator
+		load_mon
+		local_position_estimator
+		logger
+		mavlink
+		mc_att_control
+		mc_hover_thrust_estimator
+		mc_pos_control
+		mc_rate_control
+		#micrortps_bridge
+		navigator
+		rc_update
+		rover_pos_control
+		sensors
+		sih
+		temperature_compensation
+		uuv_att_control
+		uuv_pos_control
+		vmount
+		vtol_att_control
+	SYSTEMCMDS
+		bl_update
+		dmesg
+		dumpfile
+		esc_calib
+		gpio
+		hardfault_log
+		i2cdetect
+		led_control
+		mft
+		mixer
+		motor_ramp
+		motor_test
+		mtd
+		nshterm
+		param
+		perf
+		pwm
+		reboot
+		reflect
+		sd_bench
+		serial_test
+		system_time
+		tests # tests and test runner
+		top
+		topic_listener
+		tune_control
+		uorb
+		usb_connected
+		ver
+		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
+		#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
+	)
@@ -7,7 +7,6 @@ px4_add_board(
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m7
 	ROMFSROOT px4fmu_common
-	TESTING
 	UAVCAN_INTERFACES 2
 	SERIAL_PORTS
 		TEL1:/dev/ttyS0
@@ -50,7 +49,6 @@ px4_add_board(
 		rpm
 		safety_button
 		telemetry # all available telemetry drivers
-		test_ppm
 		tone_alarm
 		uavcan
 	MODULES
@@ -112,7 +110,6 @@ px4_add_board(
 		sd_bench
 		serial_test
 		system_time
-		tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -122,15 +119,15 @@ 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_gyro
+		#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
 	)
@@ -7,7 +7,6 @@ px4_add_board(
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m7
 	ROMFSROOT px4fmu_common
-	TESTING
 	UAVCAN_INTERFACES 1
 	SERIAL_PORTS
 		TEL1:/dev/ttyS0
@@ -50,7 +49,6 @@ px4_add_board(
 		rpm
 		safety_button
 		telemetry # all available telemetry drivers
-		test_ppm
 		tone_alarm
 		uavcan
 	MODULES
@@ -112,7 +110,6 @@ px4_add_board(
 		sd_bench
 		serial_test
 		system_time
-		tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -122,15 +119,15 @@ 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_gyro
+		#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
 	)
@@ -108,7 +108,6 @@ px4_add_board(
 		sd_bench
 		serial_test
 		system_time
-		#tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -108,7 +108,6 @@ px4_add_board(
 		sd_bench
 		serial_test
 		system_time
-		#tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -109,7 +109,6 @@ px4_add_board(
 		sd_bench
 		serial_test
 		system_time
-		#tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -8,7 +8,6 @@ px4_add_board(
 	ARCHITECTURE cortex-m7
 	ROMFSROOT px4fmu_common
 	IO px4_io-v2_default
-	TESTING
 	UAVCAN_INTERFACES 1
 	SERIAL_PORTS
 		# IO DEBUG:/dev/ttyS0
@@ -32,6 +31,7 @@ px4_add_board(
 		#imu # all available imu drivers
 		imu/invensense/icm20602
 		imu/invensense/icm20608g
+		imu/invensense/icm20948 # required for ak09916 mag
 		imu/invensense/mpu9250
 		irlock
 		lights # all available light drivers
@@ -49,7 +49,6 @@ px4_add_board(
 		roboclaw
 		rpm
 		telemetry # all available telemetry drivers
-		test_ppm
 		tone_alarm
 		uavcan
 	MODULES
@@ -111,7 +110,6 @@ px4_add_board(
 		sd_bench
 		serial_test
 		system_time
-		tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -121,15 +119,15 @@ 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_gyro
+		#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
 	)
@@ -9,7 +9,6 @@ px4_add_board(
 	CONSTRAINED_MEMORY
 	ROMFSROOT px4fmu_common
 	IO px4_io-v2_default
-	TESTING
 	UAVCAN_INTERFACES 1
 	SERIAL_PORTS
 		# IO DEBUG:/dev/ttyS0
@@ -33,6 +32,7 @@ px4_add_board(
 		#imu # all available imu drivers
 		imu/invensense/icm20602
 		imu/invensense/icm20608g
+		imu/invensense/icm20948 # required for ak09916 mag
 		imu/invensense/mpu9250
 		irlock
 		lights # all available light drivers
@@ -50,7 +50,6 @@ px4_add_board(
 		roboclaw
 		rpm
 		telemetry # all available telemetry drivers
-		test_ppm
 		tone_alarm
 		uavcan
 	MODULES
@@ -112,7 +111,6 @@ px4_add_board(
 		sd_bench
 		serial_test
 		system_time
-		tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -122,15 +120,15 @@ 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_gyro
+		#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
 	)
@@ -8,7 +8,6 @@ px4_add_board(
 	ARCHITECTURE cortex-m4
 	CONSTRAINED_MEMORY
 	ROMFSROOT px4fmu_common
-	TESTING
 	UAVCAN_INTERFACES 2
 	SERIAL_PORTS
 		GPS1:/dev/ttyS3
@@ -28,6 +27,7 @@ px4_add_board(
 		gps
 		#imu # all available imu drivers
 		imu/bosch/bmi088
+		imu/invensense/icm20948 # required for ak09916 mag
 		imu/invensense/icm42688p
 		irlock
 		lights # all available light drivers
@@ -46,7 +46,6 @@ px4_add_board(
 		rpm
 		safety_button
 		telemetry # all available telemetry drivers
-		#test_ppm # NOT Portable YET
 		tone_alarm
 		uavcan
 	MODULES
@@ -107,7 +106,6 @@ px4_add_board(
 		sd_bench
 		serial_test
 		system_time
-		tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -117,15 +115,15 @@ 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_gyro
+		#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
 	)
@@ -8,7 +8,6 @@ px4_add_board(
 	ARCHITECTURE cortex-m4
 	CONSTRAINED_MEMORY
 	ROMFSROOT px4fmu_common
-	TESTING
 	UAVCAN_INTERFACES 2
 	SERIAL_PORTS
 		GPS1:/dev/ttyS3
@@ -28,6 +27,7 @@ px4_add_board(
 		gps
 		#imu # all available imu drivers
 		imu/bosch/bmi088
+		imu/invensense/icm20948 # required for ak09916 mag
 		imu/invensense/icm42688p
 		irlock
 		lights # all available light drivers
@@ -46,7 +46,6 @@ px4_add_board(
 		rpm
 		safety_button
 		telemetry # all available telemetry drivers
-		#test_ppm # NOT Portable YET
 		tone_alarm
 		uavcan
 	MODULES
@@ -117,15 +116,15 @@ 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_gyro
+		#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
 	)
@@ -8,7 +8,6 @@ px4_add_board(
 	ARCHITECTURE cortex-m4
 	CONSTRAINED_MEMORY
 	ROMFSROOT px4fmu_common
-	TESTING
 	UAVCAN_INTERFACES 2
 	SERIAL_PORTS
 		GPS1:/dev/ttyS3
@@ -28,6 +27,7 @@ px4_add_board(
 		gps
 		#imu # all available imu drivers
 		imu/bosch/bmi088
+		imu/invensense/icm20948 # required for ak09916 mag
 		imu/invensense/icm42688p
 		irlock
 		lights # all available light drivers
@@ -46,7 +46,6 @@ px4_add_board(
 		rpm
 		safety_button
 		telemetry # all available telemetry drivers
-		#test_ppm # NOT Portable YET
 		tone_alarm
 		#uavcannode_v1
 	MODULES
@@ -117,15 +116,15 @@ 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_gyro
+		#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
 	)
@@ -8,7 +8,6 @@ px4_add_board(
 	ARCHITECTURE cortex-m4
 	CONSTRAINED_MEMORY
 	ROMFSROOT px4fmu_common
-	TESTING
 	UAVCAN_INTERFACES 2
 	SERIAL_PORTS
 		GPS1:/dev/ttyS3
@@ -29,6 +28,7 @@ px4_add_board(
 		#imu # all available imu drivers
 		imu/fxas21002c
 		imu/fxos8701cq
+		imu/invensense/icm20948 # required for ak09916 mag
 		irlock
 		lights # all available light drivers
 		lights/rgbled_pwm
@@ -106,7 +106,6 @@ px4_add_board(
 		sd_bench
 		serial_test
 		system_time
-		tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -116,15 +115,15 @@ 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_gyro
+		#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
 	)
@@ -8,7 +8,6 @@ px4_add_board(
 	ARCHITECTURE cortex-m4
 	CONSTRAINED_MEMORY
 	ROMFSROOT px4fmu_common
-	TESTING
 	UAVCAN_INTERFACES 2
 	SERIAL_PORTS
 		GPS1:/dev/ttyS3
@@ -29,6 +28,7 @@ px4_add_board(
 		#imu # all available imu drivers
 		imu/fxas21002c
 		imu/fxos8701cq
+		imu/invensense/icm20948 # required for ak09916 mag
 		irlock
 		lights # all available light drivers
 		lights/rgbled_pwm
@@ -116,15 +116,15 @@ 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_gyro
+		#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
 	)
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Matthias Grob	912baafd5b	TEMP	2021-04-30 09:11:25 +02:00
Matthias Grob	4c52798b18	Revise VescWritableInterface	2021-04-29 11:47:32 +02:00
Matthias Grob	67b5633d55	VescSerialDevice: add performance counter	2021-04-29 11:47:32 +02:00
Matthias Grob	83f84fdc3e	VescDriver: support CAN forwarding	2021-04-29 11:47:32 +02:00
Matthias Grob	0f5e3f788f	VescDriver: support commanding motor duty cycle	2021-04-29 11:47:32 +02:00
Matthias Grob	883661fc51	Initial test	2021-04-29 11:47:32 +02:00
Beat Küng	2219e096d7	cmake: embed param metadata if not CONSTRAINED_FLASH and not "test" LABEL	2021-04-15 08:16:51 +02:00
PX4 BuildBot	592dc65bae	Update submodule matrix to latest Thu Apr 15 00:39:06 UTC 2021 - matrix in PX4/Firmware (d9ebf2a842f611976d7ba5078d3f31ad8cde55a7): https://github.com/PX4/PX4-Matrix/commit/3679f7fd5160c7d2a8271b1134ca1e601f1a4254 - matrix current upstream: https://github.com/PX4/PX4-Matrix/commit/1d0e7f1ca1187c90c70a9dac92ca6294a320b1d3 - Changes: https://github.com/PX4/PX4-Matrix/compare/3679f7fd5160c7d2a8271b1134ca1e601f1a4254...1d0e7f1ca1187c90c70a9dac92ca6294a320b1d3 `1d0e7f1` 2021-04-14 Daniel Agar - Matrix: use naive per element copy instead of memcpy call `1344ce0` 2021-04-14 Daniel Agar - Euler: simplify DCM constructor	2021-04-14 23:11:41 -04:00
Jukka Laitinen	b99e597a73	flashparams: Fix a null-pointer dereference crash Fix a potential crash caused by calling erase_sector with a null sector_descriptor (current_sector == 0). Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2021-04-14 07:55:33 -07:00
Daniel Agar	58b40fbbb9	boards: move testing to dedicated test variants	2021-04-14 09:21:31 +02:00
Daniel Agar	047fb13922	IMU_GYRO_RATEMAX: enforce reasonable constraint and update metadata	2021-04-13 20:26:57 -04:00
Barcis, Michal	7053919a9f	fixed micrortps_agent usage description	2021-04-13 21:28:27 +02:00
Daniel Agar	2d15c96b9b	ekf2: Multi-EKF let new instance schedule itself immediately on successful init - this is to minimize missed sensor data (and unnecessary error output) between EKF2 construction and once it actually starts running	2021-04-13 14:24:46 -04:00
Daniel Agar	6a4c589c62	examples/work_item: add ModuleParams and more uORB::Subscription example usage	2021-04-13 14:23:36 -04:00
Lorenz Meier	bf09089a26	PWM out: Collect settings for all outputs There are settings that have to be the same for a split output across multiple instances, like for example the PWM mask and rate configurations. This change collects them for all outputs of the same underlying driver structure and applies the complete set.	2021-04-13 18:39:27 +02:00
Lorenz Meier	6bc11596fe	VTOL mixer: Correct alt rate channels The baby shark config did mark main rate outputs (50 Hz) as alt rate, resulting in the alt rate being set to 50 Hz.	2021-04-13 18:39:27 +02:00
Daniel Agar	aa22407d87	drivers/pwm_out: only print rates if changed	2021-04-13 09:55:21 +02:00
Daniel Agar	a07bccc046	boards: modalai simplify defaults with new parameter defaults mechanism (AUTOCNF replacement)	2021-04-12 21:27:53 -04:00
Daniel Agar	f44f497e3f	parameters: better handle export failures and retry	2021-04-12 21:26:50 -04:00
Daniel Agar	edc445a1b2	parameters: tinybson fill total document length for bson compatibility	2021-04-12 21:26:50 -04:00
PX4 BuildBot	b9e0a16594	Update submodule public_regulated_data_types to latest Mon Apr 12 12:45:35 UTC 2021 - public_regulated_data_types in PX4/Firmware (9101f5707a251c33048289249bd565eba5d3a848): https://github.com/UAVCAN/public_regulated_data_types/commit/53a7dbbf85554e11517c13ad91b9efb871599ad1 - public_regulated_data_types current upstream: https://github.com/UAVCAN/public_regulated_data_types/commit/309b251a7e8d713d6bf428e18e28d91d5f07b73e - Changes: https://github.com/UAVCAN/public_regulated_data_types/compare/53a7dbbf85554e11517c13ad91b9efb871599ad1...309b251a7e8d713d6bf428e18e28d91d5f07b73e 309b251 2021-04-11 Peter van der Perk - reg.drone Battery parameters add nominal voltage (#113)	2021-04-12 19:51:35 -04:00
Lorenz Meier	991c07eef9	Global: Allow users to arm with USB This change reflects the medium-term experience with users using USB as data link or power source in R&D setups. While we still discourage this for volume products, not allowing it seems like a major hurdle and blocker in R&D setups.	2021-04-12 19:11:22 -04:00
Lorenz Meier	3a004ffd68	PWM Out: Simplify startup logic The simpler logic is more robust towards future refactoring.	2021-04-12 19:11:22 -04:00
PX4 BuildBot	5f6b8fcb9f	Update submodule sitl_gazebo to latest Mon Apr 12 12:45:32 UTC 2021 - sitl_gazebo in PX4/Firmware (`8acdb8ca3f`): https://github.com/PX4/PX4-SITL_gazebo/commit/5761bd66cd36ded2d0dccf8127e30a1522fe1ac6 - sitl_gazebo current upstream: https://github.com/PX4/PX4-SITL_gazebo/commit/05e2cd9c03ffa77f0c0d5bd3e788d33e06480b25 - Changes: https://github.com/PX4/PX4-SITL_gazebo/compare/5761bd66cd36ded2d0dccf8127e30a1522fe1ac6...05e2cd9c03ffa77f0c0d5bd3e788d33e06480b25 05e2cd9 2021-04-10 Manuel Galliker - Removed unused computation of CoG (#737)	2021-04-12 14:22:14 -04:00
Daniel Agar	f0f16b9cc5	mavlink: streams fix SCALED_IMU size reporting	2021-04-12 13:02:10 -04:00
Beat Küng	faaee0f077	fix pwm_out: avoid race condition when setting mode Bootup failed in some cases with: ERROR [mixer] can't reset mixers on /dev/pwm_output1 The reason was the mode change was not applied yet.	2021-04-12 18:39:51 +02:00
PX4 BuildBot	18f17dcb96	Update submodule public_regulated_data_types to latest Mon Apr 12 12:45:37 UTC 2021 - public_regulated_data_types in PX4/Firmware (9f25ac4175fd81259b11cfe79f0f875a21562d3d): https://github.com/UAVCAN/public_regulated_data_types/commit/53a7dbbf85554e11517c13ad91b9efb871599ad1 - public_regulated_data_types current upstream: https://github.com/UAVCAN/public_regulated_data_types/commit/309b251a7e8d713d6bf428e18e28d91d5f07b73e - Changes: https://github.com/UAVCAN/public_regulated_data_types/compare/53a7dbbf85554e11517c13ad91b9efb871599ad1...309b251a7e8d713d6bf428e18e28d91d5f07b73e 309b251 2021-04-11 Peter van der Perk - reg.drone Battery parameters add nominal voltage (#113)	2021-04-12 09:58:48 -04:00
Silvan Fuhrer	381c97d3c6	Commander: baro check: only report failure of mandatory instances Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2021-04-12 09:27:12 -04:00
tututu123-tu	8acdb8ca3f	Update .gitmodules	2021-04-12 08:18:16 -04:00
CUAVmengxiao	45b9e18195	UAVCANv0: add CUAV smart battery support	2021-04-11 21:27:31 -04:00
David Sidrane	96d0755afd	NuttX with SDMMC Backport	2021-04-09 15:53:26 -04:00
Tarik Agcayazi	1520805a20	README: remove redundant autogyro, add High altitude balloons	2021-04-09 08:48:17 +02:00
Daniel Agar	39c96a8884	gps add device_id	2021-04-08 08:27:07 +02:00
Alex Mikhalev	1f4960d480	boards: cubeorange enable pwm_input Signed-off-by: Alex Mikhalev <alex@corvus-robotics.com>	2021-04-07 21:34:44 -04:00
alexklimaj	0c3e64a7f5	Fix support for Cube Black Heater	2021-04-07 10:23:02 -04:00
benjinne	9b7eae4043	rc: enable crsf and ghst telemetry on supported boards Co-authored-by: Benjamin Linne <benjamin.linne.civ@mail.mil>	2021-04-07 08:51:49 +02:00
Hamish Willee	6fbb409e43	Param markdown - fix sensor param table	2021-04-07 08:46:11 +02:00
alessandro	b46e505b0d	Handle velocity fields in follow_target message The mavlink message FOLLOW_TARGET has additional fields that are not being parsed here. See https://mavlink.io/en/messages/common.html#FOLLOW_TARGET for more details.	2021-04-06 22:11:23 -04:00
Hamish Willee	aa94a60043	COM_ARM_WO_GPS - values round the wrong way	2021-04-06 22:10:02 -04:00
obicons	a7e920d276	Updated MavlinkReceiver::handle_message_landing_target to warn users when they provide a landing target with an unsupported coordinate frame. Updated Simulator::handle_message_landing_target to warn users when they provide a landing target that is not relative to a captured image.	2021-04-06 16:02:54 -04:00
Daniel Agar	31b9efdaeb	sensors/vehicle_imu: increase threshold for clipping warning	2021-04-06 15:42:26 -04:00
Daniel Agar	f33fee99c1	ROMFS: init.d-posix/airframes migrate EKF2_GPS_MASK -> SENS_GPS_MASK	2021-04-06 13:48:40 -04:00
Julian Oes	bb0fe9ee61	mavsdk_tests: losen time limit for VTOL mission	2021-04-06 11:35:18 -04:00
Julian Oes	2eaf677de3	mavsdk_tests: correctly locate plan	2021-04-06 11:35:18 -04:00
Julian Oes	cd66a79747	mavsdk_tests: move waypoints to vehicle position This way it shouldn't matter where the test is run.	2021-04-06 11:35:18 -04:00
Julian Oes	9eadabcb02	sitl_tests: update MAVSDK to v0.38.0	2021-04-06 11:35:18 -04:00
Julian Oes	d714c2faec	mavsdk_tests: add VTOL mission tests This adds VTOL mission tests to the CI integration tests. This depends on MAVSDK v0.38.0.	2021-04-06 11:35:18 -04:00
Julian Oes	1e88939605	mavsdk_tests: report speed factor every second This helps in debugging slow CI.	2021-04-06 11:35:18 -04:00
Daniel Agar	e05a4badf8	ROMFS: rcS start uavcan earlier - starting this earlier is a minor improvement for things like lights and buzzers on UAVCAN or parameter sync over mavlink	2021-04-06 09:48:11 -04:00
Daniel Agar	4189eb11f5	simulator: GPS populate all sensor_gps fields (alt_ellipsoid, etc)	2021-04-06 09:44:18 -04:00
Daniel Agar	015849b402	mathlib: LowPassFilter2p and NotchFilter add magnitude response getter	2021-04-05 22:47:30 -04:00
Daniel Agar	f9460107d0	cleanup PWM param naming inconsistencies	2021-04-05 22:41:06 -04:00
PX4 BuildBot	f741606c60	Update submodule sitl_gazebo to latest Tue Apr 6 00:39:03 UTC 2021 - sitl_gazebo in PX4/Firmware (`2a0a747598`): https://github.com/PX4/PX4-SITL_gazebo/commit/e703e2726a4cd82cf3c57614e9c33d6354310885 - sitl_gazebo current upstream: https://github.com/PX4/PX4-SITL_gazebo/commit/5761bd66cd36ded2d0dccf8127e30a1522fe1ac6 - Changes: https://github.com/PX4/PX4-SITL_gazebo/compare/e703e2726a4cd82cf3c57614e9c33d6354310885...5761bd66cd36ded2d0dccf8127e30a1522fe1ac6 5761bd6 2021-04-05 Jaeyoung-Lim - Switch tailsitter sdf version to 1.6	2021-04-05 22:28:47 -04:00
Daniel Agar	436a6fce38	Update submodule mavlink v2.0 to latest Tue Apr 6 00:39:07 UTC 2021	2021-04-05 22:28:10 -04:00
PX4 BuildBot	997abf382d	Update submodule public_regulated_data_types to latest Tue Apr 6 00:39:10 UTC 2021 - public_regulated_data_types in PX4/Firmware (5e242d366f2e266e8226f7baa33e5973783e2045): https://github/commit/7f5489e6e916cc8b13db0582dcf9930e225594b9 - public_regulated_data_types current upstream: https://github/commit/53a7dbbf85554e11517c13ad91b9efb871599ad1 - Changes: https://github/compare/7f5489e6e916cc8b13db0582dcf9930e225594b9...53a7dbbf85554e11517c13ad91b9efb871599ad1 53a7dbb 2021-03-31 Pavel Kirienko - Change wording in uavcan.pnp.NodeIDAllocationData to reflect the less static nature of UAVCAN v1 (#111) c3aa82f 2021-03-23 Pavel Kirienko - Update Readiness as discussed at the DS-015 call fcc1062 2021-03-16 Pavel Kirienko - Doc amendment for uavcan.register.Access: mapping between registers and environment variables (#109) 342f358 2021-02-22 Pavel Kirienko - Remove misleading comment in battery.Status.0.2 1baa9cb 2021-02-22 Pavel Kirienko - Add link to Nunaweb and synchronize the description with the front page (#108)	2021-04-05 21:23:06 -04:00
Benjamin Linne	2a0a747598	boards: modalai-fc-v1 add rtps.cmake add to ci	2021-04-05 17:01:35 -04:00
Benjamin Linne	a1bc520df8	boards: modalai-fc-v1 add rtps.cmake add to ci	2021-04-05 17:01:35 -04:00
Benjamin Linne	3261118538	boards: modalai-fc-v1 add rtps.cmake	2021-04-05 17:01:35 -04:00
Daniel Agar	54438140e1	ROMFS: posix airframes update to new parameter defaults mechanism (AUTOCNF replacement)	2021-04-05 15:29:34 -04:00
Daniel Agar	565c644b2e	boards: CUAV keep Nora and X7pro in sync	2021-04-05 12:54:41 -04:00
Daniel Agar	695adbc037	Jenkins: hardware skip AUTOCNF, don't force px4io update, show configured parameters	2021-04-05 12:30:55 -04:00
Daniel Agar	357b322eb5	ROMFS: tune_control stop if px4io update fails	2021-04-05 11:49:55 -04:00
PX4 BuildBot	74e848d57e	Update submodule public_regulated_data_types to latest Mon Apr 5 12:40:16 UTC 2021 - public_regulated_data_types in PX4/Firmware (1557f3a23461a144dd75edae4595665e5684597d): https://github.com/UAVCAN/public_regulated_data_types/commit/7f5489e6e916cc8b13db0582dcf9930e225594b9 - public_regulated_data_types current upstream: https://github.com/UAVCAN/public_regulated_data_types/commit/53a7dbbf85554e11517c13ad91b9efb871599ad1 - Changes: https://github.com/UAVCAN/public_regulated_data_types/compare/7f5489e6e916cc8b13db0582dcf9930e225594b9...53a7dbbf85554e11517c13ad91b9efb871599ad1 53a7dbb 2021-03-31 Pavel Kirienko - Change wording in uavcan.pnp.NodeIDAllocationData to reflect the less static nature of UAVCAN v1 (#111) c3aa82f 2021-03-23 Pavel Kirienko - Update Readiness as discussed at the DS-015 call fcc1062 2021-03-16 Pavel Kirienko - Doc amendment for uavcan.register.Access: mapping between registers and environment variables (#109) 342f358 2021-02-22 Pavel Kirienko - Remove misleading comment in battery.Status.0.2 1baa9cb 2021-02-22 Pavel Kirienko - Add link to Nunaweb and synchronize the description with the front page (#108)	2021-04-05 11:26:01 -04:00
Daniel Agar	e8d98c1f8a	uavcan: skip beep if CBRK_BUZZER circuit breaker set	2021-04-05 11:25:37 -04:00
Daniel Agar	8e8826c516	Makefile: uorb_graphs exclude src/lib from graph_full	2021-04-05 11:03:43 -04:00
Daniel Agar	186e987efb	Jenkins: fetch all tags before generating Airframe & Parameter documentation (master only)	2021-04-05 09:51:18 -04:00
Daniel Agar	2e390009f0	Jenkins: fetch all tags before make documentation (master only)	2021-04-05 09:24:21 -04:00
Julian Oes	8720655683	sitl_gazebo: update submodule This fixes the airspeed sensor orientation for tailsitter.	2021-04-05 14:14:31 +02:00
Silvan Fuhrer	8400f2c9bc	FW attitude controller: add protection against division by zero in airspeed scaling Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2021-04-04 21:22:28 -04:00
Beat Küng	436258c1c5	config: cleanup ethernet configuration	2021-04-04 21:20:36 -04:00
Daniel Agar	ad934b4911	icm20948 i2c passthrough driver for ak09916 magnetometer (Here+ GPS/compass) - include icm20948 on most boards by default - create more test variants for default boards near flash limit (cuav_nora_test, cuav_x7pro_test, holybro_durandal-v1_test)	2021-04-04 21:18:16 -04:00