uORB: Add subscription with single field selection

2026-05-23 23:37:34 +08:00 · 2023-03-27 09:44:20 +02:00
2897 changed files with 72540 additions and 155070 deletions
@@ -0,0 +1 @@
+--ignore-dir=Documentation
@@ -9,7 +9,7 @@ pipeline {
        script {
          def build_nodes = [:]
          def docker_images = [
-            armhf: "px4io/px4-dev-armhf:2023-06-26",
+            armhf: "px4io/px4-dev-armhf:2022-08-12",
            arm64: "px4io/px4-dev-aarch64:2022-08-12",
            base: "px4io/px4-dev-ros2-foxy:2022-08-12",
            nuttx: "px4io/px4-dev-nuttx-focal:2022-08-12",
@@ -35,7 +35,6 @@ pipeline {

          def nuttx_builds_archive = [
            target: [
-                     "3dr_ctrl-zero-h7-oem-revg_default",
                     "airmind_mindpx-v2_default",
                     "ark_can-flow_canbootloader",
                     "ark_can-flow_default",
@@ -43,25 +42,19 @@ pipeline {
                     "ark_can-gps_default",
                     "ark_can-rtk-gps_canbootloader",
                     "ark_can-rtk-gps_default",
-                     "ark_cannode_canbootloader",
-                     "ark_cannode_default",
                     "ark_fmu-v6x_bootloader",
                     "ark_fmu-v6x_default",
-                     "ark_pi6x_bootloader",
-                     "ark_pi6x_default",
                     "atl_mantis-edu_default",
                     "av_x-v1_default",
-                     "bitcraze_crazyflie21_default",
                     "bitcraze_crazyflie_default",
+                     "bitcraze_crazyflie21_default",
                     "cuav_can-gps-v1_canbootloader",
                     "cuav_can-gps-v1_default",
                     "cuav_nora_default",
                     "cuav_x7pro_default",
                     "cubepilot_cubeorange_default",
-                     "cubepilot_cubeorangeplus_default",
                     "cubepilot_cubeyellow_default",
                     "diatone_mamba-f405-mk2_default",
-                     "flywoo_gn-f405_default",
                     "freefly_can-rtk-gps_canbootloader",
                     "freefly_can-rtk-gps_default",
                     "holybro_can-gps-v1_canbootloader",
@@ -69,8 +62,8 @@ pipeline {
                     "holybro_durandal-v1_default",
                     "holybro_kakutef7_default",
                     "holybro_kakuteh7_default",
-                     "holybro_kakuteh7mini_default",
                     "holybro_kakuteh7v2_default",
+                     "holybro_kakuteh7mini_default",
                     "holybro_pix32v5_default",
                     "matek_gnss-m9n-f4_canbootloader",
                     "matek_gnss-m9n-f4_default",
@@ -79,9 +72,9 @@ pipeline {
                     "matek_h743_default",
                     "modalai_fc-v1_default",
                     "modalai_fc-v2_default",
-                     "mro_ctrl-zero-classic_default",
-                     "mro_ctrl-zero-f7-oem_default",
+                     "modalai_voxl2-io_default",
                     "mro_ctrl-zero-f7_default",
+                     "mro_ctrl-zero-f7-oem_default",
                     "mro_ctrl-zero-h7-oem_default",
                     "mro_ctrl-zero-h7_default",
                     "mro_pixracerpro_default",
@@ -91,7 +84,7 @@ pipeline {
                     "nxp_fmuk66-e_socketcan",
                     "nxp_fmuk66-v3_default",
                     "nxp_fmuk66-v3_socketcan",
-                     "nxp_mr-canhubk3_default",
+                     "nxp_fmurt1062-v1_default",
                     "nxp_ucans32k146_canbootloader",
                     "nxp_ucans32k146_default",
                     "omnibus_f4sd_default",
@@ -107,28 +100,19 @@ pipeline {
                     "px4_fmu-v5_debug",
                     "px4_fmu-v5_default",
                     "px4_fmu-v5_lto",
-                     "px4_fmu-v5_rover",
                     "px4_fmu-v5_stackcheck",
                     "px4_fmu-v5_uavcanv0periph",
                     "px4_fmu-v5x_default",
-                     "px4_fmu-v5x_rover",
                     "px4_fmu-v6c_default",
-                     "px4_fmu-v6c_rover",
                     "px4_fmu-v6u_default",
-                     "px4_fmu-v6u_rover",
                     "px4_fmu-v6x_default",
-                     "px4_fmu-v6x_rover",
-                     "px4_fmu-v6xrt_bootloader",
-                     "px4_fmu-v6xrt_default",
-                     "px4_fmu-v6xrt_rover",
                     "px4_io-v2_default",
                     "raspberrypi_pico_default",
-                     "siyi_n7_default",
                     "sky-drones_smartap-airlink_default",
                     "spracing_h7extreme_default",
                     "thepeach_k1_default",
                     "thepeach_r1_default",
-                     "uvify_core_default",
+                     "uvify_core_default"
            ],
            image: docker_images.nuttx,
            archive: true
@@ -180,7 +164,7 @@ pipeline {
  }
  options {
    buildDiscarder(logRotator(numToKeepStr: '5', artifactDaysToKeepStr: '14'))
-    timeout(time: 120, unit: 'MINUTES')
+    timeout(time: 90, unit: 'MINUTES')
  }
 }

@@ -12,7 +12,7 @@ pipeline {
            stage("build cubepilot_cubeorange_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2022-08-12'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -91,7 +91,7 @@ pipeline {
            stage("build cuav_x7pro_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2022-08-12'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -165,7 +165,7 @@ pipeline {
            stage("build px4_fmu-v4_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2022-08-12'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -238,7 +238,7 @@ pipeline {
            stage("build px4_fmu-v4pro_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2022-08-12'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -312,7 +312,7 @@ pipeline {
            stage("build px4_fmu-v5_debug") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2022-08-12'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -362,7 +362,7 @@ pipeline {
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'

                    // test dataman
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman" --ignore-stdout-errors'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman"'

                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests file" || true'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
@@ -403,7 +403,7 @@ pipeline {
            stage("build px4_fmu-v5_stackcheck") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2022-08-12'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -449,7 +449,7 @@ pipeline {
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'

                    // test dataman
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman" --ignore-stdout-errors'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman"'
                  }
                }
                stage("status") {
@@ -486,7 +486,7 @@ pipeline {
            stage("build px4_fmu-v5_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2022-08-12'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -560,7 +560,7 @@ pipeline {
            stage("build nxp_fmuk66-v3_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2022-08-12'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -2,7 +2,7 @@
 // https://github.com/microsoft/vscode-dev-containers/tree/v0.134.0/containers/cpp
 {
 	"name": "px4-dev-nuttx",
-	"image": "px4io/px4-dev-nuttx-focal:2022-08-12",
+	"image": "px4io/px4-dev-nuttx-focal:2021-09-08",

 	"runArgs": [ "--cap-add=SYS_PTRACE", "--security-opt", "seccomp=unconfined" ],

@@ -15,7 +15,6 @@
 	"extensions": [
 		"chiehyu.vscode-astyle",
 		"dan-c-underwood.arm",
-		"editorconfig.editorconfig",
 		"fredericbonnet.cmake-test-adapter",
 		"github.vscode-pull-request-github",
 		"marus25.cortex-debug",
@@ -30,8 +29,7 @@
 		"twxs.cmake",
 		"uavcan.dsdl",
 		"wholroyd.jinja",
-		"zixuanwang.linkerscript",
-		"ms-vscode.makefile-tools"
+		"zixuanwang.linkerscript"
 	],

 	"containerUser": "user",
@@ -1,14 +0,0 @@
-root = true
-
-[*]
-insert_final_newline = true
-
-[{*.{c,cpp,cc,h,hpp},CMakeLists.txt,Kconfig}]
-indent_style = tab
-tab_width = 8
-# Not in the official standard, but supported by many editors
-max_line_length = 120
-
-[*.yaml, *.yml]
-indent_style = space
-indent_size = 2
@@ -0,0 +1,34 @@
+---
+name: 🐛 Bug report
+about: Create a report to help us improve
+labels: bug-report
+
+---
+
+## Describe the bug
+A clear and concise description of the bug.
+
+## To Reproduce
+Steps to reproduce the behavior:
+1. Drone switched on '...'
+2. Uploaded mission '....' (attach QGC mission file)
+3. Took off '....'
+4. See error
+
+## Expected behavior
+A clear and concise description of what you expected to happen.
+
+## Log Files and Screenshots
+*Always* provide a link to the flight log file:
+- Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/main/en/getting_started/flight_reporting.html)).
+- Upload the log to the [PX4 Flight Review](http://logs.px4.io/)
+- Share the link to the log (Copy and paste the URL of the log)
+
+Add screenshots to help explain your problem.
+
+## Drone (please complete the following information):
+- Describe the type of drone.
+- Photo of the IMU / autopilot setup if possible.
+
+## Additional context
+Add any other context about the problem here.
@@ -0,0 +1,20 @@
+---
+name: 🚀 Feature Request
+about: Suggest an idea for this project
+labels: feature-request
+
+---
+
+For general questions please use [PX4 Discuss](http://discuss.px4.io/) or Discord (you can find an invite link on this project README).
+
+## Describe problem solved by the proposed feature
+A clear and concise description of the problem, if any, this feature will solve. E.g. I'm always frustrated when ...
+
+## Describe your preferred solution
+A clear and concise description of what you want to happen.
+
+## Describe possible alternatives
+A clear and concise description of alternative solutions or features you've considered.
+
+## Additional context
+Add any other context or screenshots for the feature request here.
@@ -0,0 +1,13 @@
+---
+name: ⛔ Support Question
+about: See http://discuss.px4.io/ for questions about using PX4.
+
+---
+
+## Attention! Please read the note below
+
+We use GitHub issues only to discuss PX4 bugs and new features.
+
+**For questions about using PX4 or related components, please use [PX4 Discuss](http://discuss.px4.io/).**
+
+Thanks!
@@ -0,0 +1,11 @@
+---
+name: ⛔ Documentation Issue
+about: See https://github.com/PX4/px4_user_guide for documentation issues
+
+---
+
+## Attention! Please read the note below
+
+**Please submit the documentation issue to the [User Guide](https://github.com/PX4/px4_user_guide) repository.**
+
+Thanks!
@@ -1,94 +0,0 @@
-name: 🐛 Bug report
-description: Create a report to help us improve
-title: "[Bug] "
-labels: ["bug-report"]
-body:
-  - type: textarea
-    attributes:
-      label: Describe the bug
-      description: A clear and concise description of the bug.
-    validations:
-      required: true
-
-  - type: textarea
-    attributes:
-      label: To Reproduce
-      description: |
-          Steps to reproduce the behavior.
-          1. Drone switched on '...'
-          2. Uploaded mission '....' (attach QGC mission file)
-          3. Took off '....'
-          4. See error
-    validations:
-      required: false
-
-  - type: textarea
-    attributes:
-      label: Expected behavior
-      description: A clear and concise description of what you expected to happen.
-    validations:
-      required: false
-
-  - type: textarea
-    attributes:
-      label: Screenshot / Media
-      description: Add screenshot / media if you have them
-
-  - type: textarea
-    attributes:
-      label: Flight Log
-      description: |
-          *Always* provide a link to the flight log file:
-          - Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/main/en/getting_started/flight_reporting.html)).
-          - Upload the log to the [PX4 Flight Review](http://logs.px4.io/)
-          - Share the link to the log (Copy and paste the URL of the log)
-      placeholder: |
-          # PASTE HERE THE LINK TO THE LOG
-    validations:
-      required: false
-
-  - type: markdown
-    attributes:
-      value: |
-        ## Setup
-
-  - type: textarea
-    attributes:
-      label: Software Version
-      description: |
-          Which version of PX4 are you using?
-      placeholder: |
-          # If you don't know the version, paste the output of `ver all` in the MAVLink Shell of QGC
-    validations:
-      required: false
-
-  - type: input
-    attributes:
-      label: Flight controller
-      description: Specify your flight controller model (what type is it, where was it bought from, ...).
-    validations:
-      required: false
-
-  - type: dropdown
-    attributes:
-      label: Vehicle type
-      options:
-        - Multicopter
-        - Helicopter
-        - Fixed Wing
-        - Hybrid VTOL
-        - Airship/Balloon
-        - Rover
-        - Boat
-        - Submarine
-        - Other
-
-  - type: textarea
-    attributes:
-      label: How are the different components wired up (including port information)
-      description: Details about how all is wired.
-
-  - type: textarea
-    attributes:
-      label: Additional context
-      description: Add any other context about the problem here.
@@ -1,8 +0,0 @@
-blank_issues_enabled: false
-contact_links:
-  - name: Support Question
-    url: https://docs.px4.io/main/en/contribute/support.html#forums-and-chat
-    about: For questions about using PX4 or related components, please use the discuss forum and discord server
-  - name: Documentation Issue
-    url: https://github.com/PX4/PX4-user_guide/issues
-    about: If you found an issue in documentation, please submit it directly to the docs repository issues
@@ -1,35 +0,0 @@
-name: 🚀 Feature Request
-description: Suggest an idea for this project
-labels: ["feature-request"]
-body:
-  - type: markdown
-    attributes:
-      value: |
-        ## Please note that feature requests are not 'fire and forget'
-        It is a lot more likely that the feature you would like to have will be implemented if you keep watching your feature request, and provide more details to developers looking into implementing your feature, and help them with testing.
-
-  - type: textarea
-    attributes:
-      label: Describe problem solved by the proposed feature
-      description: A clear and concise description of the problem, if any, this feature will solve. E.g. I'm always frustrated when ...
-    validations:
-      required: true
-
-  - type: textarea
-    attributes:
-      label: Describe your preferred solution
-      description: A clear and concise description of what you want to happen.
-    validations:
-      required: true
-
-  - type: textarea
-    attributes:
-      label: Describe possible alternatives
-      description: A clear and concise description of any alternative solutions or features you've considered.
-    validations:
-      required: true
-
-  - type: textarea
-    attributes:
-      label: Additional context
-      description: Add any other context or screenshots for the feature request here.
@@ -18,14 +18,6 @@ Fixes #{Github issue ID}
 - Add ... for ...
 - Refactor ...

-### Changelog Entry
-For release notes:
-```
-Feature/Bugfix XYZ
-New parameter: XYZ_Z
-Documentation: Need to clarify page ... / done, read docs.px4.io/...
-```
-
 ### Alternatives
 We could also ...

@@ -0,0 +1,24 @@
+<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="90" height="20">
+  <linearGradient id="smooth" x2="0" y2="100%">
+    <stop offset="0" stop-color="#bbb" stop-opacity=".1"/>
+    <stop offset="1" stop-opacity=".1"/>
+  </linearGradient>
+
+  <mask id="round">
+    <rect width="90" height="20" rx="3" fill="#fff"/>
+  </mask>
+
+  <g mask="url(#round)">
+    <rect width="42" height="20" fill="#555"/>
+    <rect x="42" width="48" height="20" fill="#E01563"/>
+    <rect width="90" height="20" fill="url(#smooth)"/>
+  </g>
+
+  <g fill="#fff" text-anchor="middle" font-family="DejaVu Sans,Verdana,Geneva,sans-serif" font-size="11">
+    <text x="22" y="15" fill="#010101" fill-opacity=".3">slack</text>
+    <text x="22" y="14">slack</text>
+    <text x="65" y="15" fill="#010101" fill-opacity=".3">Join us!</text>
+    <text x="65" y="14">Join us!</text>
+  </g>
+</svg>
+
@@ -0,0 +1,15 @@
+# Number of days of inactivity before an issue becomes stale
+daysUntilStale: 90
+# Number of days of inactivity before a stale issue is closed, or `false` to disable
+daysUntilClose: false
+# Issues with these labels will never be considered stale
+exemptLabels:
+  - pinned
+# Label to use when marking an issue as stale
+staleLabel: stale
+# Comment to post when marking an issue as stale. Set to `false` to disable
+markComment: >
+  This issue has been automatically marked as stale because it has not had
+  recent activity. Thank you for your contributions.
+# Comment to post when closing a stale issue. Set to `false` to disable
+closeComment: false
@@ -1,90 +0,0 @@
-# NOTE: this workflow is now running on Dronecode / PX4 AWS account.
-# - If you want to keep the tests running in GitHub Actions you need to uncomment the "runs-on: ubuntu-latest" lines
-#   and comment the "runs-on: [runs-on,runner=..." lines.
-# - If you would like to duplicate this setup try setting up "RunsOn" on your own AWS account try https://runs-on.com
-
-name: Build all targets
-
-on:
-  push:
-    branches:
-    - 'main'
-    - 'stable'
-    - 'beta'
-    - 'release/*'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  group_targets:
-    name: Scan for Board Targets
-    # runs-on: ubuntu-latest
-    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}"]
-    outputs:
-      matrix: ${{ steps.set-matrix.outputs.matrix }}
-      timestamp: ${{ steps.set-timestamp.outputs.timestamp }}
-    steps:
-      - uses: actions/checkout@v4
-
-      - name: Install Python Dependencies
-        uses: py-actions/py-dependency-install@v4
-        with:
-          path: "./Tools/setup/requirements.txt"
-
-      - id: set-matrix
-        run: echo "::set-output name=matrix::$(./Tools/generate_board_targets_json.py --group)"
-
-      - id: set-timestamp
-        run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")"
-
-  setup:
-    name: ${{ matrix.group }}
-    # runs-on: ubuntu-latest
-    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}"]
-    needs: group_targets
-    strategy:
-      matrix: ${{ fromJson(needs.group_targets.outputs.matrix) }}
-    container:
-      image: ${{ matrix.container }}
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-
-      - name: ownership workaround
-        run: git config --system --add safe.directory '*'
-
-      - name: ccache setup keys
-        uses: actions/cache@v4
-        with:
-          path: ~/.ccache
-          key: ${{ matrix.group }}-ccache-${{ needs.group_targets.outputs.timestamp }}
-          restore-keys: ${{ matrix.group }}-ccache-${{ needs.group_targets.outputs.timestamp }}
-
-      - name: setup ccache
-        run: |
-            mkdir -p ~/.ccache
-            echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-            echo "compression = true" >> ~/.ccache/ccache.conf
-            echo "compression_level = 6" >> ~/.ccache/ccache.conf
-            echo "max_size = 120M" >> ~/.ccache/ccache.conf
-            echo "hash_dir = false" >> ~/.ccache/ccache.conf
-            ccache -s
-            ccache -z
-
-      - name: build target group
-        run: |
-            ./Tools/ci_build_all_runner.sh ${{matrix.targets}}
-
-      - name: Upload px4 package
-        uses: actions/upload-artifact@v4
-        with:
-          name: px4_${{matrix.group}}_build_artifacts
-          path: |
-            build/**/*.px4
-            build/**/*.bin
-          compression-level: 0
-
-      - name: ccache post-run
-        run: ccache -s
@@ -16,7 +16,6 @@ jobs:
      matrix:
        check: [
          "check_format",
-          "check_newlines",
          "tests",
          "tests_coverage",
          "px4_fmu-v2_default stack_check",
@@ -24,13 +23,12 @@ jobs:
          "shellcheck_all",
          "NO_NINJA_BUILD=1 px4_fmu-v5_default",
          "NO_NINJA_BUILD=1 px4_sitl_default",
-          "px4_sitl_allyes",
          "airframe_metadata",
          "module_documentation",
          "parameters_metadata",
        ]
    container:
-      image: px4io/px4-dev-nuttx-focal:2022-08-12
+      image: px4io/px4-dev-nuttx-focal:2021-09-08
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -0,0 +1,54 @@
+name: Linux Targets
+
+on:
+  push:
+    branches:
+    - 'main'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-armhf:2021-09-08
+    strategy:
+      matrix:
+        config: [
+          beaglebone_blue_default,
+          emlid_navio2_default,
+          px4_raspberrypi_default,
+          scumaker_pilotpi_default,
+          ]
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: ${{matrix.config}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: make ${{matrix.config}}
+      run: make ${{matrix.config}}
+    - name: ccache post-run
+      run: ccache -s
@@ -0,0 +1,51 @@
+name: Linux ARM64 Targets
+
+on:
+  push:
+    branches:
+    - 'main'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-aarch64:2021-09-08
+    strategy:
+      matrix:
+        config: [
+          scumaker_pilotpi_arm64,
+          ]
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: ${{matrix.config}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: make ${{matrix.config}}
+      run: make ${{matrix.config}}
+    - name: ccache post-run
+      run: ccache -s
@@ -10,19 +10,15 @@ on:

 jobs:
  build:
-    runs-on: macos-latest
+    runs-on: macos-10.15
    strategy:
      matrix:
        config: [
          px4_fmu-v5_default,
          px4_sitl
+          #tests, # includes px4_sitl
          ]
    steps:
-    - name: install Python 3.10
-      uses: actions/setup-python@v4
-      with:
-        python-version: "3.10"
-
    - uses: actions/checkout@v1
      with:
        token: ${{secrets.ACCESS_TOKEN}}
@@ -0,0 +1,129 @@
+name: Nuttx Targets
+
+on:
+  push:
+    branches:
+    - 'main'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-nuttx-focal:2021-09-08
+    strategy:
+      fail-fast: false
+      matrix:
+        config: [
+          airmind_mindpx-v2,
+          ark_can-flow,
+          ark_can-gps,
+          ark_can-rtk-gps,
+          ark_cannode,
+          ark_fmu-v6x,
+          atl_mantis-edu,
+          av_x-v1,
+          bitcraze_crazyflie,
+          bitcraze_crazyflie21,
+          cuav_can-gps-v1,
+          cuav_nora,
+          cuav_x7pro,
+          cubepilot_cubeorange,
+          cubepilot_cubeorangeplus,
+          cubepilot_cubeyellow,
+          diatone_mamba-f405-mk2,
+          freefly_can-rtk-gps,
+          holybro_can-gps-v1,
+          holybro_durandal-v1,
+          holybro_kakutef7,
+          holybro_kakuteh7,
+          holybro_pix32v5,
+          matek_gnss-m9n-f4,
+          matek_h743,
+          matek_h743-mini,
+          matek_h743-slim,
+          modalai_fc-v1,
+          modalai_fc-v2,
+          mro_ctrl-zero-f7,
+          mro_ctrl-zero-f7-oem,
+          mro_ctrl-zero-h7,
+          mro_ctrl-zero-h7-oem,
+          mro_pixracerpro,
+          mro_x21,
+          mro_x21-777,
+          nxp_fmuk66-e,
+          nxp_fmuk66-v3,
+          nxp_fmurt1062-v1,
+          nxp_mr-canhubk3,
+          nxp_ucans32k146,
+          omnibus_f4sd,
+          px4_fmu-v2,
+          px4_fmu-v3,
+          px4_fmu-v4,
+          px4_fmu-v4pro,
+          px4_fmu-v5,
+          px4_fmu-v5x,
+          px4_fmu-v6c,
+          px4_fmu-v6u,
+          px4_fmu-v6x,
+          raspberrypi_pico,
+          sky-drones_smartap-airlink,
+          spracing_h7extreme,
+          uvify_core
+          ]
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: ${{matrix.config}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 120M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: make all_variants_${{matrix.config}}
+      run: make all_variants_${{matrix.config}}
+      timeout-minutes: 45
+    - name: make ${{matrix.config}} bloaty_compileunits
+      run: make ${{matrix.config}} bloaty_compileunits || true
+    - name: make ${{matrix.config}} bloaty_inlines
+      run: make ${{matrix.config}} bloaty_inlines || true
+    - name: make ${{matrix.config}} bloaty_segments
+      run: make ${{matrix.config}} bloaty_segments || true
+    - name: make ${{matrix.config}} bloaty_symbols
+      run: make ${{matrix.config}} bloaty_symbols || true
+    - name: make ${{matrix.config}} bloaty_templates
+      run: make ${{matrix.config}} bloaty_templates || true
+    - name: make ${{matrix.config}} bloaty_ram
+      run: make ${{matrix.config}} bloaty_ram || true
+    - name: make ${{matrix.config}} bloaty_compare_master
+      run: make ${{matrix.config}} bloaty_compare_master || true
+    - name: ccache post-run
+      run: ccache -s
+
+    - name: Upload px4 package
+      uses: actions/upload-artifact@v2
+      with:
+        name: px4_package_${{matrix.config}}
+        path: |
+          build/**/*.px4
+          build/**/*.bin
@@ -24,15 +24,12 @@ jobs:
    needs: enumerate_targets
    strategy:
      matrix: ${{fromJson(needs.enumerate_targets.outputs.matrix)}}
-    container: ${{ matrix.container }}
+    container: px4io/px4-dev-${{ matrix.container }}:2021-09-08
    steps:
    - uses: actions/checkout@v1
      with:
        token: ${{secrets.ACCESS_TOKEN}}

-    - name: ownership workaround
-      run: git config --system --add safe.directory '*'
-
    - name: make ${{matrix.target}}
      run: make ${{matrix.target}}

@@ -54,3 +51,4 @@ jobs:
        AWS_REGION: 'us-west-1'
        SOURCE_DIR: 'build/${{ matrix.target }}/_metadata/'
        DEST_DIR: 'Firmware/${{ env.version }}/${{ matrix.target }}/'
+
@@ -21,7 +21,7 @@ jobs:
          "failsafe_web",
        ]
    container:
-      image: px4io/px4-dev-nuttx-focal:2022-08-12
+      image: px4io/px4-dev-nuttx-focal:2021-09-08
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -11,8 +11,6 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    env:
-      ACTIONS_ALLOW_USE_UNSECURE_NODE_VERSION: true
    strategy:
      fail-fast: false
      matrix:
@@ -11,8 +11,6 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    env:
-      ACTIONS_ALLOW_USE_UNSECURE_NODE_VERSION: true
    strategy:
      fail-fast: false
      matrix:
@@ -103,7 +103,7 @@ jobs:

  uorb_graph:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2022-08-12
+    container: px4io/px4-dev-nuttx-focal:2021-09-08
    steps:
    - uses: actions/checkout@v1
      with:
@@ -128,6 +128,4 @@ jobs:
      run: |
        git clone https://github.com/PX4/px4_msgs.git
        rm px4_msgs/msg/*.msg
-        rm px4_msgs/srv/*.srv
        cp msg/*.msg px4_msgs/msg/
-        cp srv/*.srv px4_msgs/srv/
@@ -1,32 +0,0 @@
-name: Nuttx Target with extra env config
-
-on:
-  push:
-    branches:
-    - 'main'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2022-08-12
-    strategy:
-      matrix:
-        config: [
-          px4_fmu-v5,
-          ]
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-
-    - name: make ${{matrix.config}}
-      env:
-        PX4_EXTRA_NUTTX_CONFIG: "CONFIG_NSH_LOGIN_PASSWORD=\"test\";CONFIG_NSH_CONSOLE_LOGIN=y"
-      run: |
-        echo "PX4_EXTRA_NUTTX_CONFIG: $PX4_EXTRA_NUTTX_CONFIG"
-        make ${{matrix.config}} nuttx_context
-        # Check that the config option is set
-        grep CONFIG_NSH_LOGIN_PASSWORD build/${{matrix.config}}_default/NuttX/nuttx/.config
@@ -1,8 +1,3 @@
-# NOTE: this workflow is now running on Dronecode / PX4 AWS account.
-# - If you want to keep the tests running in GitHub Actions you need to uncomment the "runs-on: ubuntu-latest" lines
-#   and comment the "runs-on: [runs-on,runner=..." lines.
-# - If you would like to duplicate this setup try setting up "RunsOn" on your own AWS account try https://runs-on.com
-
 name: SITL Tests

 on:
@@ -15,139 +10,126 @@ on:

 jobs:
  build:
-    name: Testing PX4 ${{ matrix.config.model }}
-    runs-on: [runs-on,runner=16cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}"]
-    container:
-      image: px4io/px4-dev-simulation-focal:2021-09-08
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
+    runs-on: ubuntu-latest
    strategy:
      fail-fast: false
      matrix:
        config:
          - {model: "iris",          latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo" } # Alaska
+          # - {model: "standard_vtol", latitude: "-38.071235", longitude:  "145.281220", altitude:  "31", build_type: "AddressSanitizer" } # Australia
          - {model: "tailsitter" ,   latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo" } # Florida
          - {model: "standard_vtol", latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage" } # Zurich

+    container:
+      image: px4io/px4-dev-simulation-focal:2021-09-08
+      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}

-      - name: Git Ownership Workaround
-        run: git config --system --add safe.directory '*'
+    - name: Download MAVSDK
+      run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
+    - name: Install MAVSDK
+      run: dpkg -i "libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"

-      - id: set-timestamp
-        name: Set timestamp for cache
-        run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")"
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z

-      - name: Cache Key Config
-        uses: actions/cache@v4
-        with:
-          path: ~/.ccache
-          key: sitl-ccache-${{ steps.set-timestamp.outputs.timestamp }}
-          restore-keys: sitl-ccache-${{ steps.set-timestamp.outputs.timestamp }}
+    - name: check environment
+      env:
+        PX4_HOME_LAT: ${{matrix.config.latitude}}
+        PX4_HOME_LON: ${{matrix.config.longitude}}
+        PX4_HOME_ALT: ${{matrix.config.altitude}}
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: |
+          export
+          ulimit -a
+    - name: Build PX4
+      env:
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: make px4_sitl_default
+    - name: ccache post-run px4/firmware
+      run: ccache -s
+    - name: Build SITL Gazebo
+      env:
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: make px4_sitl_default sitl_gazebo-classic
+    - name: ccache post-run sitl_gazebo-classic
+      run: ccache -s
+    - name: Build MAVSDK tests
+      env:
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+        DONT_RUN: 1
+      run: make px4_sitl_default sitl_gazebo-classic mavsdk_tests
+    - name: ccache post-run mavsdk_tests
+      run: ccache -s

-      - name: Cache Conf Config
-        run: |
-            mkdir -p ~/.ccache
-            echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-            echo "compression = true" >> ~/.ccache/ccache.conf
-            echo "compression_level = 6" >> ~/.ccache/ccache.conf
-            echo "max_size = 120M" >> ~/.ccache/ccache.conf
-            echo "hash_dir = false" >> ~/.ccache/ccache.conf
-            ccache -s
-            ccache -z
+    - name: Core dump settings
+      run: |
+          ulimit -c unlimited
+          echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern

-      - name: Build PX4
-        env:
-          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-        run: make px4_sitl_default
+    - name: Run SITL tests
+      env:
+        PX4_HOME_LAT: ${{matrix.config.latitude}}
+        PX4_HOME_LON: ${{matrix.config.longitude}}
+        PX4_HOME_ALT: ${{matrix.config.altitude}}
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose
+      timeout-minutes: 45

-      - name: Cache Post-Run [px4_sitl_default]
-        run: ccache -s
+    - name: Look at core files
+      if: failure()
+      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
+    - name: Upload px4 coredump
+      if: failure()
+      uses: actions/upload-artifact@v2-preview
+      with:
+        name: coredump
+        path: px4.core

-      - name: Build SITL Gazebo
-        env:
-          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-        run: make px4_sitl_default sitl_gazebo-classic
+    - name: Upload px4 binary
+      if: failure()
+      uses: actions/upload-artifact@v2-preview
+      with:
+        name: binary
+        path: build/px4_sitl_default/bin/px4

-      - name: Cache Post-Run [sitl_gazebo-classic]
-        run: ccache -s
-
-      - name: Download MAVSDK
-        run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
-
-      - name: Install MAVSDK
-        run: dpkg -i "libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
-
-      - name: Check PX4 Environment Variables
-        env:
-          PX4_HOME_LAT: ${{matrix.config.latitude}}
-          PX4_HOME_LON: ${{matrix.config.longitude}}
-          PX4_HOME_ALT: ${{matrix.config.altitude}}
-          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-        run: |
-            export
-            ulimit -a
-
-      - name: Build PX4 / MAVSDK tests
-        env:
-          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-          DONT_RUN: 1
-        run: make px4_sitl_default sitl_gazebo-classic mavsdk_tests
-
-      - name: Cache Post-Run [px4_sitl_default sitl_gazebo-classic mavsdk_tests]
-        run: ccache -s
-
-      - name: Core Dump Settings
-        run: |
-            ulimit -c unlimited
-            echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
-
-      - name: Run SITL / MAVSDK Tests
-        env:
-          PX4_HOME_LAT: ${{matrix.config.latitude}}
-          PX4_HOME_LON: ${{matrix.config.longitude}}
-          PX4_HOME_ALT: ${{matrix.config.altitude}}
-          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-        run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 10 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose
-        timeout-minutes: 45
-
-      - name: Upload failed logs
-        if: failure()
-        uses: actions/upload-artifact@v4
-        with:
-          name: failed-${{matrix.config.model}}-logs.zip
-          path: |
-            logs/**/**/**/*.log
-            logs/**/**/**/*.ulg
-            build/px4_sitl_default/tmp_mavsdk_tests/rootfs/*.ulg
-
-      - name: Look at Core files
-        if: failure() && ${{ hashFiles('px4.core') != '' }}
-        run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
-
-      - name: Upload PX4 coredump
-        if: failure() && ${{ hashFiles('px4.core') != '' }}
-        uses: actions/upload-artifact@v4
-        with:
-          name: coredump
-          path: px4.core
-
-      - name: Setup & Generate Coverage Report
-        if: contains(matrix.config.build_type, 'Coverage')
-        run: |
-            git config --global credential.helper "" # disable the keychain credential helper
-            git config --global --add credential.helper store # enable the local store credential helper
-            echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
-            git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
-            mkdir -p coverage
-            lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
-
-      - name: Upload Coverage Information to Codecov
-        if: contains(matrix.config.build_type, 'Coverage')
-        uses: codecov/codecov-action@v4
-        with:
-          token: ${{ secrets.CODECOV_TOKEN }}
-          flags: mavsdk
-          file: coverage/lcov.info
+    # Report test coverage
+    - name: Upload coverage
+      if: contains(matrix.config.build_type, 'Coverage')
+      run: |
+          git config --global credential.helper "" # disable the keychain credential helper
+          git config --global --add credential.helper store # enable the local store credential helper
+          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
+          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
+          mkdir -p coverage
+          lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
+    - name: Upload coverage information to Codecov
+      if: contains(matrix.config.build_type, 'Coverage')
+      uses: codecov/codecov-action@v1
+      with:
+        token: ${{ secrets.CODECOV_TOKEN }}
+        flags: mavsdk
+        file: coverage/lcov.info
@@ -1,16 +0,0 @@
-name: 'Handle stale issues and PRs'
-on:
-  schedule:
-    - cron: '30 1 * * *'
-
-jobs:
-  stale:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/stale@v8
-        with:
-          days-before-stale: 30
-          days-before-close: -1
-          stale-issue-label: 'stale'
-          stale-pr-label: 'stale'
-          remove-stale-when-updated: true
@@ -0,0 +1,33 @@
+# How to install:
+#   gem install github_changelog_generator
+# How to run:
+#   github_changelog_generator -u PX4 -p Firmware
+# Description:
+#   The following params are sensible defaults for the PX4 project,
+#   if you want to do a changelog before a release you need to update since-tag and future-releases,
+
+# Params:
+#   github_changelog_generator --help for all options
+
+# max-issues
+#   max threshold for github api queries
+#   make sure you set your CHANGELOG_GITHUB_TOKEN before
+#   running
+max-issues=1500
+
+# exclude-tags-regex
+#   excludes release candidates
+exclude-tags-regex=rc[0-9]{1,}|beta[0-9]{1,}
+
+# since-tag
+#   version of last stable release
+#   you need to change this depending on what you need
+#   if you want a changelog between versions this is the lowest version
+since-tag=1.6.5
+
+# future-release
+#   version you are about to release
+#   if you want a changelog between a version and all unreleased changes grouped as a release
+#     eg: v1.6.5 to v1.7.0
+future-release=v1.7.0
+
@@ -58,28 +58,7 @@
 	path = src/lib/crypto/libtommath
 	url = https://github.com/PX4/libtommath.git
 	branch = px4
-[submodule "src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client"]
-	path = src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client
+[submodule "src/modules/microdds_client/Micro-XRCE-DDS-Client"]
+	path = src/modules/microdds_client/Micro-XRCE-DDS-Client
 	url = https://github.com/PX4/Micro-XRCE-DDS-Client.git
 	branch = px4
-[submodule "src/lib/cdrstream/cyclonedds"]
-	path = src/lib/cdrstream/cyclonedds
-	url = https://github.com/px4/cyclonedds
-[submodule "src/lib/cdrstream/rosidl"]
-	path = src/lib/cdrstream/rosidl
-	url = https://github.com/px4/rosidl
-[submodule "src/modules/zenoh/zenoh-pico"]
-	path = src/modules/zenoh/zenoh-pico
-	url = https://github.com/px4/zenoh-pico
-	branch = dev/1.0.0-px4
-[submodule "src/lib/heatshrink/heatshrink"]
-	path = src/lib/heatshrink/heatshrink
-	url = https://github.com/PX4/heatshrink.git
-	branch = px4
-[submodule "Tools/simulation/gz"]
-	path = Tools/simulation/gz
-	url = https://github.com/PX4/PX4-gazebo-models.git
-	branch = main
-[submodule "boards/modalai/voxl2/libfc-sensor-api"]
-	path = boards/modalai/voxl2/libfc-sensor-api
-	url = https://gitlab.com/voxl-public/voxl-sdk/core-libs/libfc-sensor-api.git
@@ -0,0 +1,35 @@
+language: cpp
+
+git:
+  depth: 100
+  submodules: false
+
+matrix:
+  fast_finish: true
+  include:
+    - os: linux
+      dist: xenial
+      # In order to stay under the coverity rate limit, we only run this weekly
+      # and not on push which is configured in travis-ci settings.
+      if: branch = main
+
+before_install:
+    - echo -n | openssl s_client -connect scan.coverity.com:443 | sed -ne '/-BEGIN CERTIFICATE-/,/-END CERTIFICATE-/p' | sudo tee -a /etc/ssl/certs/ca-
+
+install:
+    - export PATH=$HOME/.local/bin:$PATH
+    - pip install --user --upgrade pip
+    - pip install --user -r Tools/setup/requirements.txt
+
+script:
+    - make
+
+addons:
+  coverity_scan:
+    project:
+      name: "PX4/Firmware"
+      description: "Build submitted via Travis CI"
+    notification_email: ci@px4.io
+    build_command_prepend: "make distclean"
+    build_command: "make px4_sitl_default"
+    branch_pattern: coverity_scan
@@ -2,4 +2,4 @@
 	{
 		"name": "PX4 detect"
 	}
-]
+]
@@ -71,26 +71,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: px4_fmu-v5x_default
-    px4_fmu-v6c_default:
-      short: px4_fmu-v6c
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_fmu-v6c_default
-    px4_fmu-v6c_bootloader:
-      short: px4_fmu-v6c_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_fmu-v6c_bootloader
-    px4_fmu-v6u_default:
-      short: px4_fmu-v6u
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_fmu-v6u_default
-    px4_fmu-v6u_bootloader:
-      short: px4_fmu-v6u_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_fmu-v6u_bootloader
    px4_fmu-v6x_default:
      short: px4_fmu-v6x
      buildType: MinSizeRel
@@ -101,21 +81,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: px4_fmu-v6x_bootloader
-    px4_fmu-v6xrt_default:
-      short: px4_fmu-v6xrt
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_fmu-v6xrt_default
-    px4_fmu-v6xrt_bootloader:
-      short: px4_fmu-v6xrt_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_fmu-v6xrt_bootloader
-    3dr_ctrl-zero-h7-oem-revg_default:
-      short: 3dr_ctrl-zero-h7-oem-revg
-      buildType: MinSizeRel
-      settings:
-        CONFIG: 3dr_ctrl-zero-h7-oem-revg_default
    airmind_mindpx-v2_default:
      short: airmind_mindpx-v2
      buildType: MinSizeRel
@@ -156,16 +121,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: ark_can-rtk-gps_canbootloader
-    ark_septentrio-gps_default:
-      short: ark_septentrio-gps_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_septentrio-gps_default
-    ark_septentrio-gps_canbootloader:
-      short: ark_septentrio-gps_canbootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_septentrio-gps_canbootloader
    ark_cannode_default:
      short: ark_cannode_default
      buildType: MinSizeRel
@@ -186,16 +141,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: ark_fmu-v6x_default
-    ark_pi6x_bootloader:
-      short: ark_pi6x_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_pi6x_bootloader
-    ark_pi6x_default:
-      short: ark_pi6x_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_pi6x_default
    atl_mantis-edu_default:
      short: atl_mantis-edu
      buildType: MinSizeRel
@@ -236,11 +181,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: cubepilot_cubeorange_test
-    cubepilot_cubeorangeplus_test:
-      short: cubepilot_cubeorangeplus
-      buildType: MinSizeRel
-      settings:
-        CONFIG: cubepilot_cubeorangeplus_test
    emlid_navio2_default:
      short: emlid_navio2
      buildType: MinSizeRel
@@ -4,7 +4,6 @@
    "recommendations": [
        "chiehyu.vscode-astyle",
        "dan-c-underwood.arm",
-        "editorconfig.editorconfig",
        "fredericbonnet.cmake-test-adapter",
        "github.vscode-pull-request-github",
        "marus25.cortex-debug",
@@ -19,7 +18,6 @@
        "twxs.cmake",
        "uavcan.dsdl",
        "wholroyd.jinja",
-        "zixuanwang.linkerscript",
-        "ms-vscode.makefile-tools"
+        "zixuanwang.linkerscript"
    ]
 }
@@ -15,7 +15,6 @@
        "cmake.buildDirectory": "${workspaceFolder}/build/${variant:CONFIG}",
        "cmake.configureOnOpen": true,
        "cmake.ctest.parallelJobs": 1,
-        "cmake.options.statusBarVisibility": "compact",
        "cmake.skipConfigureIfCachePresent": true,
        "cmakeExplorer.buildDir": "${workspaceFolder}/build/px4_sitl_test",
        "cmakeExplorer.parallelJobs": 1,
@@ -128,6 +127,5 @@
        "terminal.integrated.scrollback": 15000,
        "yaml.schemas": {
                "${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml"
-        },
-        "ros.distro": "humble"
+        }
 }
@@ -0,0 +1,172 @@
+# This file is NOT licensed under the GPLv3, which is the license for the rest
+# of YouCompleteMe.
+#
+# Here's the license text for this file:
+#
+# This is free and unencumbered software released into the public domain.
+#
+# Anyone is free to copy, modify, publish, use, compile, sell, or
+# distribute this software, either in source code form or as a compiled
+# binary, for any purpose, commercial or non-commercial, and by any
+# means.
+#
+# In jurisdictions that recognize copyright laws, the author or authors
+# of this software dedicate any and all copyright interest in the
+# software to the public domain. We make this dedication for the benefit
+# of the public at large and to the detriment of our heirs and
+# successors. We intend this dedication to be an overt act of
+# relinquishment in perpetuity of all present and future rights to this
+# software under copyright law.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+# IN NO EVENT SHALL THE AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR
+# OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
+# ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
+# OTHER DEALINGS IN THE SOFTWARE.
+#
+# For more information, please refer to <http://unlicense.org/>
+
+import os
+import ycm_core
+
+# These are the compilation flags that will be used in case there's no
+# compilation database set (by default, one is not set).
+# CHANGE THIS LIST OF FLAGS. YES, THIS IS THE DROID YOU HAVE BEEN LOOKING FOR.
+flags = [
+'-Wall',
+'-Wextra',
+'-Werror',
+#'-Wc++98-compat',
+'-Wno-long-long',
+'-Wno-variadic-macros',
+'-fexceptions',
+'-DNDEBUG',
+# You 100% do NOT need -DUSE_CLANG_COMPLETER in your flags; only the YCM
+# source code needs it.
+#'-DUSE_CLANG_COMPLETER',
+# THIS IS IMPORTANT! Without a "-std=<something>" flag, clang won't know which
+# language to use when compiling headers. So it will guess. Badly. So C++
+# headers will be compiled as C headers. You don't want that so ALWAYS specify
+# a "-std=<something>".
+# For a C project, you would set this to something like 'c99' instead of
+# 'c++14'.
+'-std=c++14',
+# ...and the same thing goes for the magic -x option which specifies the
+# language that the files to be compiled are written in. This is mostly
+# relevant for c++ headers.
+# For a C project, you would set this to 'c' instead of 'c++'.
+'-x',
+'c++',
+'-undef', # get rid of standard definitions to allow us to include arm math header
+'-I', os.path.join(os.path.expanduser("~"),'gcc-arm-none-eabi-4_7-2013q3/arm-none-eabi/include'),
+'-I', 'Build/px4_io-v2_default.build/nuttx-export/include/',
+'-I', './NuttX/nuttx/arch/arm/include',
+'-include', './src/include/visibility.h',
+'-I', './src',
+'-I', './src/modules',
+'-I', './src/include',
+'-I', './src/lib',
+'-I', './NuttX',
+]
+
+
+# Set this to the absolute path to the folder (NOT the file!) containing the
+# compile_commands.json file to use that instead of 'flags'. See here for
+# more details: http://clang.llvm.org/docs/JSONCompilationDatabase.html
+#
+# Most projects will NOT need to set this to anything; you can just change the
+# 'flags' list of compilation flags. Notice that YCM itself uses that approach.
+compilation_database_folder = ''
+
+if os.path.exists( compilation_database_folder ):
+  database = ycm_core.CompilationDatabase( compilation_database_folder )
+else:
+  database = None
+
+SOURCE_EXTENSIONS = [ '.cpp', '.cxx', '.cc', '.c', '.m', '.mm' ]
+
+def DirectoryOfThisScript():
+  return os.path.dirname( os.path.abspath( __file__ ) )
+
+
+def MakeRelativePathsInFlagsAbsolute( flags, working_directory ):
+  if not working_directory:
+    return list( flags )
+  new_flags = []
+  make_next_absolute = False
+  path_flags = [ '-isystem', '-I', '-iquote', '--sysroot=' ]
+  for flag in flags:
+    new_flag = flag
+
+    if make_next_absolute:
+      make_next_absolute = False
+      if not flag.startswith( '/' ):
+        new_flag = os.path.join( working_directory, flag )
+
+    for path_flag in path_flags:
+      if flag == path_flag:
+        make_next_absolute = True
+        break
+
+      if flag.startswith( path_flag ):
+        path = flag[ len( path_flag ): ]
+        new_flag = path_flag + os.path.join( working_directory, path )
+        break
+
+    if new_flag:
+      new_flags.append( new_flag )
+  return new_flags
+
+
+def IsHeaderFile( filename ):
+  extension = os.path.splitext( filename )[ 1 ]
+  return extension in [ '.h', '.hxx', '.hpp', '.hh' ]
+
+
+def GetCompilationInfoForFile( filename ):
+  # The compilation_commands.json file generated by CMake does not have entries
+  # for header files. So we do our best by asking the db for flags for a
+  # corresponding source file, if any. If one exists, the flags for that file
+  # should be good enough.
+  if IsHeaderFile( filename ):
+    basename = os.path.splitext( filename )[ 0 ]
+    for extension in SOURCE_EXTENSIONS:
+      replacement_file = basename + extension
+      if os.path.exists( replacement_file ):
+        compilation_info = database.GetCompilationInfoForFile(
+          replacement_file )
+        if compilation_info.compiler_flags_:
+          return compilation_info
+    return None
+  return database.GetCompilationInfoForFile( filename )
+
+
+def FlagsForFile( filename, **kwargs ):
+  if database:
+    # Bear in mind that compilation_info.compiler_flags_ does NOT return a
+    # python list, but a "list-like" StringVec object
+    compilation_info = GetCompilationInfoForFile( filename )
+    if not compilation_info:
+      return None
+
+    final_flags = MakeRelativePathsInFlagsAbsolute(
+      compilation_info.compiler_flags_,
+      compilation_info.compiler_working_dir_ )
+
+    # NOTE: This is just for YouCompleteMe; it's highly likely that your project
+    # does NOT need to remove the stdlib flag. DO NOT USE THIS IN YOUR
+    # ycm_extra_conf IF YOU'RE NOT 100% SURE YOU NEED IT.
+    #try:
+    #  final_flags.remove( '-stdlib=libc++' )
+    #except ValueError:
+    #  pass
+  else:
+    relative_to = DirectoryOfThisScript()
+    final_flags = MakeRelativePathsInFlagsAbsolute( flags, relative_to )
+
+  return {
+    'flags': final_flags,
+    'do_cache': True
+  }
@@ -1,6 +1,6 @@
 ############################################################################
 #
-# Copyright (c) 2017 - 2024 PX4 Development Team. All rights reserved.
+# Copyright (c) 2017 - 2022 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -113,20 +113,12 @@ include(px4_parse_function_args)
 include(px4_git)

 execute_process(
-	COMMAND git describe --exclude ext/* --tags --match "v[0-9]*"
+	COMMAND git describe --exclude ext/* --always --tags
 	OUTPUT_VARIABLE PX4_GIT_TAG
 	OUTPUT_STRIP_TRAILING_WHITESPACE
-	RESULTS_VARIABLE GIT_DESCRIBE_RESULT
 	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 	)

-# if proper git tag unavilable default to v0.0.0
-if(NOT ${GIT_DESCRIBE_RESULT} MATCHES "0")
-	set(PX4_GIT_TAG "v0.0.0")
-endif()
-
-message(STATUS "PX4_GIT_TAG: ${PX4_GIT_TAG}")
-
 # git describe to X.Y.Z version
 string(REPLACE "." ";" VERSION_LIST ${PX4_GIT_TAG})

@@ -140,9 +132,7 @@ list(GET VERSION_LIST 2 PX4_VERSION_PATCH)
 string(REPLACE "-" ";" PX4_VERSION_PATCH ${PX4_VERSION_PATCH})
 list(GET PX4_VERSION_PATCH 0 PX4_VERSION_PATCH)

-# # Capture only the hash part after 'g'
-string(REGEX MATCH "g([a-f0-9]+)$" GIT_HASH "${PX4_GIT_TAG}")
-set(PX4_GIT_HASH ${CMAKE_MATCH_1})
+message(STATUS "PX4 version: ${PX4_GIT_TAG} (${PX4_VERSION_MAJOR}.${PX4_VERSION_MINOR}.${PX4_VERSION_PATCH})")

 define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES
                 BRIEF_DOCS "PX4 module libs"
@@ -158,7 +148,6 @@ define_property(GLOBAL PROPERTY PX4_MODULE_PATHS
                 BRIEF_DOCS "PX4 module paths"
                 FULL_DOCS "List of paths to all PX4 modules"
                 )
-
 define_property(GLOBAL PROPERTY PX4_SRC_FILES
                 BRIEF_DOCS "src files from all PX4 modules & libs"
                 FULL_DOCS "SRC files from px4_add_{module,library}"
@@ -267,7 +256,7 @@ endif()

 set(package-contact "px4users@googlegroups.com")

-set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_C_STANDARD 11)
 set(CMAKE_C_STANDARD_REQUIRED ON)
@@ -425,8 +414,6 @@ endif()
 #
 add_library(parameters_interface INTERFACE)
 add_library(kernel_parameters_interface INTERFACE)
-add_library(events_interface INTERFACE)
-add_library(kernel_events_interface INTERFACE)

 include(px4_add_library)
 add_subdirectory(src/lib EXCLUDE_FROM_ALL)
@@ -453,11 +440,8 @@ add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL)
 if(${PX4_PLATFORM} STREQUAL "nuttx" AND NOT CONFIG_BUILD_FLAT)
 	target_link_libraries(parameters_interface INTERFACE usr_parameters)
 	target_link_libraries(kernel_parameters_interface INTERFACE parameters)
-	target_link_libraries(events_interface INTERFACE usr_events)
-	target_link_libraries(kernel_events_interface INTERFACE events)
 else()
 	target_link_libraries(parameters_interface INTERFACE parameters)
-	target_link_libraries(events_interface INTERFACE events)
 endif()

 # firmware added last to generate the builtin for included modules
@@ -495,7 +479,7 @@ include(package)

 # install python requirements using configured python
 add_custom_target(install_python_requirements
-	COMMAND ${PYTHON_EXECUTABLE} -m pip install --break-system-packages --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
+	COMMAND ${PYTHON_EXECUTABLE} -m pip install --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
 	DEPENDS ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
 	USES_TERMINAL
 )
@@ -0,0 +1,83 @@
+{
+	"folders":
+	[
+		{
+			"path": ".",
+			"file_exclude_patterns":
+			[
+				"*.o",
+				"*.a",
+				"*.d",
+				".built",
+				".context",
+				".depend",
+				".config",
+				".version",
+				"Make.dep",
+				".configured",
+				"*.sublime-project",
+				"*.sublime-workspace",
+				".project",
+				".cproject",
+				"cscope.out"
+			],
+			"folder_exclude_patterns":
+			[
+				".settings",
+				"nuttx/arch/arm/src/board",
+				"nuttx/arch/arm/src/chip",
+				"build_*"
+			]
+		}
+	],
+	"settings":
+	{
+		"tab_size": 8,
+		"translate_tabs_to_spaces": false,
+		"highlight_line": true,
+		"AStyleFormatter":
+		{
+			"options_c":
+			{
+				"use_only_additional_options": true,
+				"additional_options_file": "${project_path}/Tools/astyle/astylerc"
+			},
+			"options_c++":
+			{
+				"use_only_additional_options": true,
+				"additional_options_file": "${project_path}/Tools/astyle/astylerc"
+			}
+		}
+	},
+	"build_systems":
+	[
+		{
+			"name": "PX4: make all",
+			"working_dir": "${project_path}",
+			"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
+			"cmd": ["make"],
+			"shell": true
+		},
+		{
+			"name": "PX4: make and upload",
+			"working_dir": "${project_path}",
+			"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
+			"cmd": ["make upload px4_fmu-v2_default -j8"],
+			"shell": true
+		},
+		{
+			"name": "PX4: make posix",
+			"working_dir": "${project_path}",
+			"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
+			"cmd": ["make posix"],
+			"shell": true
+		},
+		{
+			"name": "MindPX_V2: make and upload",
+			"working_dir": "${project_path}",
+			"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
+			"cmd": ["make upload mindpx-v2_default -j8"],
+			"shell": true
+		}
+	]
+}
@@ -94,7 +94,7 @@ pipeline {

        stage('failsafe docs') {
          agent {
-            docker { image 'px4io/px4-dev-nuttx-focal:2022-08-12' }
+            docker { image 'px4io/px4-dev-nuttx-focal:2021-08-18' }
          }
          steps {
            sh '''#!/bin/bash -l
@@ -105,7 +105,6 @@ pipeline {
            ./emsdk activate latest;
            cd ..;
            . ./_emscripten_sdk/emsdk_env.sh;
-            git fetch --all --tags;
            make failsafe_web;
            cd build/px4_sitl_default_failsafe_web;
            mkdir -p failsafe_sim;
@@ -126,7 +125,7 @@ pipeline {
        stage('uORB graphs') {
          agent {
            docker {
-              image 'px4io/px4-dev-nuttx-focal:2022-08-12'
+              image 'px4io/px4-dev-nuttx-focal:2021-08-18'
              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
            }
          }
@@ -171,9 +170,9 @@ pipeline {
              sh('cp airframes.md PX4-user_guide/en/airframes/airframe_reference.md')
              sh('cp parameters.md PX4-user_guide/en/advanced_config/parameter_reference.md')
              sh('cp -R modules/*.md PX4-user_guide/en/modules/')
-              sh('cp -R graph_*.json PX4-user_guide/public/middleware/')  // vitepress
+              sh('cp -R graph_*.json PX4-user_guide/.vuepress/public/en/middleware/')
              sh('cp -R msg_docs/*.md PX4-user_guide/en/msg_docs/')
-              sh('cp -R failsafe_sim/* PX4-user_guide/public/config/failsafe')  // vitepress
+              sh('cp -R failsafe_sim/* PX4-user_guide/.vuepress/public/en/config/failsafe')
              sh('cd PX4-user_guide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
              sh('cd PX4-user_guide; git push origin main || true')
              sh('rm -rf PX4-user_guide')
@@ -231,9 +230,7 @@ pipeline {
              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
              // 'main' branch
              sh('rm -f px4_msgs/msg/*.msg')
-              sh('rm -f px4_msgs/srv/*.srv')
              sh('cp msg/*.msg px4_msgs/msg/')
-              sh('cp srv/*.srv px4_msgs/srv/')
              sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
              sh('cd px4_msgs; git push origin main || true')
              sh('rm -rf px4_msgs')
@@ -185,17 +185,6 @@ menu "Serial ports"
        string "EXT2 tty port"
 endmenu

-menu "File paths"
-
-    config BOARD_ROOT_PATH
-        string "PX4 Root file path"
-        default "/fs/microsd"
-
-    config BOARD_PARAM_FILE
-        string "Parameter file"
-        default "/fs/mtd_params"
-endmenu
-
 menu "drivers"
 source "src/drivers/Kconfig"
 endmenu
@@ -216,5 +205,3 @@ menu "platforms"
 depends on PLATFORM_QURT || PLATFORM_POSIX
 source "platforms/common/Kconfig"
 endmenu
-
-source "src/lib/*/Kconfig"
@@ -1,6 +1,6 @@
 ############################################################################
 #
-# Copyright (c) 2015 - 2024 PX4 Development Team. All rights reserved.
+# Copyright (c) 2015 - 2020 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -266,6 +266,7 @@ px4fmu_firmware: \

 misc_qgc_extra_firmware: \
 	check_nxp_fmuk66-v3_default \
+	check_nxp_fmurt1062-v1_default \
 	check_mro_x21_default \
 	check_bitcraze_crazyflie_default \
 	check_bitcraze_crazyflie21_default \
@@ -323,33 +324,7 @@ px4io_update:
 	cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
 	git status

-bootloaders_update: \
-	3dr_ctrl-zero-h7-oem-revg_bootloader \
-	ark_fmu-v6x_bootloader \
-	ark_pi6x_bootloader \
-	cuav_nora_bootloader \
-	cuav_x7pro_bootloader \
-	cubepilot_cubeorange_bootloader \
-	cubepilot_cubeorangeplus_bootloader \
-	hkust_nxt-dual_bootloader \
-	hkust_nxt-v1_bootloader \
-	holybro_durandal-v1_bootloader \
-	holybro_kakuteh7_bootloader \
-	holybro_kakuteh7mini_bootloader \
-	holybro_kakuteh7v2_bootloader \
-	matek_h743_bootloader \
-	matek_h743-mini_bootloader \
-	matek_h743-slim_bootloader \
-	modalai_fc-v2_bootloader \
-	mro_ctrl-zero-classic_bootloader \
-	mro_ctrl-zero-h7_bootloader \
-	mro_ctrl-zero-h7-oem_bootloader \
-	mro_pixracerpro_bootloader \
-	px4_fmu-v6c_bootloader \
-	px4_fmu-v6u_bootloader \
-	px4_fmu-v6x_bootloader \
-	px4_fmu-v6xrt_bootloader \
-	siyi_n7_bootloader
+bootloaders_update: ark_fmu-v6x_bootloader cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader holybro_kakuteh7_bootloader matek_h743_bootloader matek_h743-mini_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-classic_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6c_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader
 	git status

 .PHONY: coverity_scan
@@ -380,9 +355,9 @@ doxygen:
 	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/doxygen
 	@touch "$(SRC_DIR)"/build/doxygen/Documentation/.nojekyll

-# Style
+# Astyle
 # --------------------------------------------------------------------
-.PHONY: check_format format check_newlines
+.PHONY: check_format format

 check_format:
 	$(call colorecho,'Checking formatting with astyle')
@@ -393,10 +368,6 @@ format:
 	$(call colorecho,'Formatting with astyle')
 	@"$(SRC_DIR)"/Tools/astyle/check_code_style_all.sh --fix

-check_newlines:
-	$(call colorecho,'Checking for missing or duplicate newlines at the end of files')
-	@"$(SRC_DIR)"/Tools/astyle/check_newlines.sh
-
 # Testing
 # --------------------------------------------------------------------
 .PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard tests_avoidance
@@ -512,10 +483,7 @@ shellcheck_all:
 validate_module_configs:
 	@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f \
 	-not -path "$(SRC_DIR)/src/lib/mixer_module/*" \
-	-not -path "$(SRC_DIR)/src/modules/uxrce_dds_client/dds_topics.yaml" \
-	-not -path "$(SRC_DIR)/src/modules/zenoh/zenoh-pico/*" \
-	-not -path "$(SRC_DIR)/src/lib/events/libevents/*" \
-	-not -path "$(SRC_DIR)/src/lib/cdrstream/*" \
+	-not -path "$(SRC_DIR)/src/modules/microdds_client/dds_topics.yaml" \
 	-not -path "$(SRC_DIR)/src/lib/crypto/libtommath/*" -print0 | \
 	xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml

@@ -550,14 +518,14 @@ distclean:
 # All other targets are handled by PX4_MAKE. Add a rule here to avoid printing an error.
 %:
 	$(if $(filter $(FIRST_ARG),$@), \
-		$(error "Make target $@ not found. It either does not exist or $@ cannot be the first argument. Use '$(MAKE) list_config_targets' to get a list of all possible [configuration] targets."),@#)
+		$(error "Make target $@ not found. It either does not exist or $@ cannot be the first argument. Use '$(MAKE) help|list_config_targets' to get a list of all possible [configuration] targets."),@#)

 # Print a list of non-config targets (based on http://stackoverflow.com/a/26339924/1487069)
 help:
 	@echo "Usage: $(MAKE) <target>"
 	@echo "Where <target> is one of:"
 	@$(MAKE) -pRrq -f $(lastword $(MAKEFILE_LIST)) : 2>/dev/null | \
-		awk -v RS= -F: '/(^|\n)# Files(\n|$$)/,/(^|\n)# Finished Make data base/ {if ($$1 !~ "^[#.]") {print $$1}}' | sort | \
+		awk -v RS= -F: '/^# File/,/^# Finished Make data base/ {if ($$1 !~ "^[#.]") {print $$1}}' | sort | \
 		egrep -v -e '^[^[:alnum:]]' -e '^($(subst $(space),|,$(ALL_CONFIG_TARGETS)))$$' -e '_default$$' -e '^(Makefile)'
 	@echo
 	@echo "Or, $(MAKE) <config_target> [<make_target(s)>]"
@@ -114,7 +114,7 @@ These boards are maintained to be compatible with PX4-Autopilot by the Manufactu

 ### Community supported

-These boards don't fully comply industry standards, and thus is solely maintained by the PX4 public community members.
+These boards don't fully comply industry standards, and thus is solely maintained by the PX4 publc community members.

 ### Experimental

@@ -120,7 +120,6 @@ add_custom_command(
 		${romfs_gen_root_dir}/init.d/rc.serial
 		${romfs_gen_root_dir}/init.d/rc.autostart
 		${romfs_gen_root_dir}/init.d/rc.autostart.post
-		${romfs_gen_root_dir}/init.d/rc.filepaths
 		${romfs_copy_stamp}
 	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/*
 	COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file}
@@ -132,9 +131,6 @@ add_custom_command(
 		--rc-dir ${romfs_gen_root_dir}/init.d
 		--serial-ports ${board_serial_ports} ${added_arguments}
 		--config-files ${module_config_files} #--verbose
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/filepaths/generate_config.py
-		--rc-dir ${romfs_gen_root_dir}/init.d
-		--params-file ${CONFIG_BOARD_PARAM_FILE}
 	COMMAND ${CMAKE_COMMAND} -E touch ${romfs_copy_stamp}
 	WORKING_DIRECTORY ${romfs_gen_root_dir}
 	DEPENDS ${romfs_tar_file}
@@ -324,7 +320,6 @@ add_custom_target(romfs_gen_files_target
 	DEPENDS
 		${romfs_copy_stamp}
 		${romfs_gen_root_dir}/init.d/rc.serial
-		${romfs_gen_root_dir}/init.d/rc.filepaths
 		romfs_extras.stamp
 	)

@@ -21,14 +21,25 @@ set R /
 #
 ver all

-# Load param file location from kconfig
-. ${R}etc/init.d/rc.filepaths
+if mft query -q -k MTD -s MTD_PARAMETERS -v /fs/mtd_params
+then
+	set PARAM_FILE /fs/mtd_params
+fi
+
+if mft query -q -k MTD -s MTD_PARAMETERS -v /dev/eeeprom0
+then
+	set PARAM_FILE /dev/eeeprom0
+fi
+
+if mft query -q -k MTD -s MTD_PARAMETERS -v /mnt/qspi/params
+then
+	set PARAM_FILE /mnt/qspi/params
+fi

 #
 # Load parameters.
 #
 param select $PARAM_FILE
-
 if ! param load
 then
 	param reset_all
@@ -1,30 +0,0 @@
-#!/bin/sh
-#
-# @name Generic Iris Quadrotor SITL
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-
-param set-default CA_AIRFRAME 0
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.1515
-param set-default CA_ROTOR0_PY 0.245
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.1515
-param set-default CA_ROTOR1_PY -0.1875
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.1515
-param set-default CA_ROTOR2_PY -0.245
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.1515
-param set-default CA_ROTOR3_PY 0.1875
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
@@ -29,3 +29,4 @@ param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
+
@@ -30,3 +30,4 @@ param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104

 param set-default EKF2_RNG_A_HMAX 10
+
@@ -94,3 +94,4 @@ param set-default CA_METHOD 0
 # disable attitude failure detection
 param set-default FD_FAIL_P 0
 param set-default FD_FAIL_R 0
+
@@ -12,3 +12,4 @@ param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
+
@@ -17,22 +17,26 @@ param set-default SENS_EN_BAROSIM 1
 param set-default SENS_EN_MAGSIM 1

 # disable some checks to allow to fly:
+# - with usb
+param set-default CBRK_USB_CHK 197848
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
+param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027

-# Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 1
-param set-default CA_ROTOR0_PY 1
-param set-default CA_ROTOR1_PX -1
-param set-default CA_ROTOR1_PY -1
-param set-default CA_ROTOR2_PX 1
-param set-default CA_ROTOR2_PY -1
+param set-default CA_ROTOR0_PX 0.15
+param set-default CA_ROTOR0_PY 0.15
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.15
+param set-default CA_ROTOR1_PY -0.15
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.15
+param set-default CA_ROTOR2_PY -0.15
 param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -1
-param set-default CA_ROTOR3_PY 1
+param set-default CA_ROTOR3_PX -0.15
+param set-default CA_ROTOR3_PY 0.15
 param set-default CA_ROTOR3_KM -0.05

 param set-default PWM_MAIN_FUNC1 101
@@ -22,9 +22,12 @@ param set-default CBRK_USB_CHK 197848
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
+param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027

-param set-default SIH_T_MAX 6
+param set-default BAT_N_CELLS 3
+
+param set-default SIH_T_MAX 6.0
 param set-default SIH_MASS 0.3
 param set-default SIH_IXX 0.00402
 param set-default SIH_IYY 0.0144
@@ -43,9 +46,9 @@ param set-default CA_ROTOR_COUNT 1
 param set-default CA_SV_CS_COUNT 3
 param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
-param set-default CA_SV_CS1_TRQ_P 1
+param set-default CA_SV_CS1_TRQ_P 1.0
 param set-default CA_SV_CS1_TYPE 3
-param set-default CA_SV_CS2_TRQ_Y 1
+param set-default CA_SV_CS2_TRQ_Y 1.0
 param set-default CA_SV_CS2_TYPE 4
 param set-default PWM_MAIN_FUNC3 201
 param set-default PWM_MAIN_FUNC4 202
@@ -17,7 +17,6 @@ param set-default SENS_EN_GPSSIM 1
 param set-default SENS_EN_BAROSIM 1
 param set-default SENS_EN_MAGSIM 1

-param set-default VT_B_TRANS_DUR 5
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_TYPE 0
 param set-default VT_FW_DIFTHR_EN 1
@@ -28,19 +27,24 @@ param set-default MC_PITCH_P 5
 param set-default MAV_TYPE 19

 # disable some checks to allow to fly:
+# - with usb
+param set-default CBRK_USB_CHK 197848
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
+param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027

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

@@ -30,22 +30,18 @@ param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104

 # EKF2
+param set-default EKF2_AID_MASK 2
 param set-default EKF2_GPS_CTRL 0
-param set-default EKF2_HGT_REF 0
 param set-default EKF2_EVP_NOISE 0.05
 param set-default EKF2_EVA_NOISE 0.05
-param set-default EKF2_OF_CTRL 1

 # LPE: Flow-only mode
 param set-default LPE_FUSION 242
 param set-default LPE_FAKE_ORIGIN 1

-# Commander
-# param set-default COM_HOME_EN 0 # Disable setting of home position
-
 param set-default MPC_ALT_MODE 2

 param set-default SENS_FLOW_ROT 6
 param set-default SENS_FLOW_MINHGT 0.7
-param set-default SENS_FLOW_MAXHGT 15
+param set-default SENS_FLOW_MAXHGT 3.0
 param set-default SENS_FLOW_MAXR 2.5
@@ -30,3 +30,4 @@ param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104

 param set-default LPE_FUSION 242
+
@@ -18,3 +18,4 @@ param set-default LPE_FUSION 132

 # AEQ: External heading set to use vision input
 param set-default ATT_EXT_HDG_M 1
+
@@ -1,8 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor with a depth camera (forward-facing)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d-posix/airframes/10015_gazebo-classic_iris
@@ -30,3 +30,5 @@ param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104

 param set-default COM_OBS_AVOID 1
+param set-default MPC_XY_CRUISE 5.0
+
@@ -1,8 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor with a depth camera (downward-facing)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d-posix/airframes/10015_gazebo-classic_iris
@@ -30,8 +30,8 @@ param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104

 # EKF2
+param set-default EKF2_AID_MASK 2
 param set-default EKF2_GPS_CTRL 0
-param set-default EKF2_OF_CTRL 1

 # LPE: Flow-only mode
 param set-default LPE_FUSION 242
@@ -5,39 +5,43 @@

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

+# disable circuit breaker for airspeed sensor
+param set-default CBRK_AIRSPD_CHK 162128
+
 param set-default CA_AIRFRAME 7
 param set-default CA_ROTOR_COUNT 4
 param set-default CA_R_REV 255
-param set-default CA_ROTOR0_AX 1
-param set-default CA_ROTOR0_AY 0
-param set-default CA_ROTOR0_AZ 0
-param set-default CA_ROTOR0_KM 0
-param set-default CA_ROTOR0_PX 0
-param set-default CA_ROTOR0_PY -0.3
-param set-default CA_ROTOR0_PZ -0.3
-param set-default CA_ROTOR1_AX 1
-param set-default CA_ROTOR1_AY 0
-param set-default CA_ROTOR1_AZ 0
-param set-default CA_ROTOR1_KM 0
-param set-default CA_ROTOR1_PX 0
-param set-default CA_ROTOR1_PY 0.3
-param set-default CA_ROTOR1_PZ -0.3
-param set-default CA_ROTOR2_AX 1
-param set-default CA_ROTOR2_AY 0
-param set-default CA_ROTOR2_AZ 0
-param set-default CA_ROTOR2_KM 0
-param set-default CA_ROTOR2_PX 0
-param set-default CA_ROTOR2_PY 0.3
-param set-default CA_ROTOR2_PZ 0.3
-param set-default CA_ROTOR3_AX 1
-param set-default CA_ROTOR3_AY 0
-param set-default CA_ROTOR3_AZ 0
-param set-default CA_ROTOR3_KM 0
-param set-default CA_ROTOR3_PX 0
-param set-default CA_ROTOR3_PY -0.3
-param set-default CA_ROTOR3_PZ 0.3
+param set-default CA_ROTOR0_AX 1.0000
+param set-default CA_ROTOR0_AY 0.0000
+param set-default CA_ROTOR0_AZ 0.0000
+param set-default CA_ROTOR0_KM 0.0000
+param set-default CA_ROTOR0_PX 0.0000
+param set-default CA_ROTOR0_PY -0.3000
+param set-default CA_ROTOR0_PZ -0.3000
+param set-default CA_ROTOR1_AX 1.0000
+param set-default CA_ROTOR1_AY 0.0000
+param set-default CA_ROTOR1_AZ 0.0000
+param set-default CA_ROTOR1_KM 0.0000
+param set-default CA_ROTOR1_PX 0.0000
+param set-default CA_ROTOR1_PY 0.3000
+param set-default CA_ROTOR1_PZ -0.3000
+param set-default CA_ROTOR2_AX 1.0000
+param set-default CA_ROTOR2_AY 0.0000
+param set-default CA_ROTOR2_AZ 0.0000
+param set-default CA_ROTOR2_KM 0.0000
+param set-default CA_ROTOR2_PX 0.0000
+param set-default CA_ROTOR2_PY 0.3000
+param set-default CA_ROTOR2_PZ 0.3000
+param set-default CA_ROTOR3_AX 1.0000
+param set-default CA_ROTOR3_AY 0.0000
+param set-default CA_ROTOR3_AZ 0.0000
+param set-default CA_ROTOR3_KM 0.0000
+param set-default CA_ROTOR3_PX 0.0000
+param set-default CA_ROTOR3_PY -0.3000
+param set-default CA_ROTOR3_PZ 0.3000

 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
+
@@ -5,53 +5,56 @@

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

+# disable circuit breaker for airspeed sensor
+param set-default CBRK_AIRSPD_CHK 162128
+
 param set-default CA_AIRFRAME 7

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

 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
@@ -61,3 +64,4 @@ param set-default PWM_MAIN_FUNC5 105
 param set-default PWM_MAIN_FUNC6 106
 param set-default PWM_MAIN_FUNC7 107
 param set-default PWM_MAIN_FUNC8 108
+
@@ -5,6 +5,9 @@

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

+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0
+
 param set-default FW_LND_ANG 8

 param set-default NPFG_PERIOD 12
@@ -54,9 +57,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1
+param set-default CA_SV_CS2_TRQ_P 1.0
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1
+param set-default CA_SV_CS3_TRQ_Y 1.0
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10
@@ -68,3 +71,5 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
+
+
@@ -5,8 +5,10 @@

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

+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0

-
+param set-default FW_LND_AIRSPD_SC 1
 param set-default FW_LND_ANG 8

 param set-default NPFG_PERIOD 12
@@ -39,6 +41,7 @@ param set-default FW_T_SINK_MIN 2.2

 param set-default FW_W_EN 1

+param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 30

 param set-default NAV_ACC_RAD 15
@@ -56,9 +59,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1
+param set-default CA_SV_CS2_TRQ_P 1.0
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1
+param set-default CA_SV_CS3_TRQ_Y 1.0
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10
@@ -5,10 +5,10 @@

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

-param set-default FW_LAUN_DETCN_ON 1
-param set-default FW_THR_IDLE 0.1 # needs to be running before throw as that's how gazebo detects arming
-param set-default FW_LAUN_AC_THLD 10
+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0

+param set-default FW_LND_AIRSPD_SC 1
 param set-default FW_LND_ANG 8

 param set-default NPFG_PERIOD 12
@@ -41,11 +41,14 @@ param set-default FW_T_SINK_MIN 2.2

 param set-default FW_W_EN 1

+param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 30

 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2

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

 param set-default CA_ROTOR_COUNT 1
@@ -56,9 +59,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1
+param set-default CA_SV_CS2_TRQ_P 1.0
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1
+param set-default CA_SV_CS3_TRQ_Y 1.0
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10
@@ -70,3 +73,6 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
+
+param set-default RWTO_TKOFF 0
+
@@ -24,6 +24,8 @@ param set-default FW_RR_P 0.085
 param set-default FW_W_EN 1

 param set-default MIS_TAKEOFF_ALT 20
+param set-default MIS_DIST_1WP 2500
+param set-default MIS_DIST_WPS 10000

 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
@@ -41,9 +43,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1
+param set-default CA_SV_CS2_TRQ_P 1.0
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1
+param set-default CA_SV_CS3_TRQ_Y 1.0
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10
@@ -55,3 +57,4 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
+
@@ -24,6 +24,8 @@ param set-default FW_RR_P 0.085
 param set-default FW_W_EN 1

 param set-default MIS_TAKEOFF_ALT 20
+param set-default MIS_DIST_1WP 2500
+param set-default MIS_DIST_WPS 10000

 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
@@ -41,9 +43,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1
+param set-default CA_SV_CS2_TRQ_P 1.0
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1
+param set-default CA_SV_CS3_TRQ_Y 1.0
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10
@@ -5,7 +5,8 @@

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

-
+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0

 param set-default FW_LND_ANG 8

@@ -40,9 +41,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1
+param set-default CA_SV_CS2_TRQ_P 1.0
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1
+param set-default CA_SV_CS3_TRQ_Y 1.0
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10
@@ -54,3 +55,4 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
+
@@ -24,6 +24,8 @@ param set-default FW_RR_P 0.085
 param set-default FW_W_EN 1

 param set-default MIS_TAKEOFF_ALT 20
+param set-default MIS_DIST_1WP 2500
+param set-default MIS_DIST_WPS 10000

 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
@@ -41,9 +43,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1
+param set-default CA_SV_CS2_TRQ_P 1.0
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1
+param set-default CA_SV_CS3_TRQ_Y 1.0
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10
@@ -55,3 +57,4 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
+
@@ -5,7 +5,8 @@

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

-
+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0

 param set-default FW_LND_ANG 8

@@ -25,6 +26,7 @@ param set-default FW_THR_TRIM 0.25

 param set-default FW_T_ALT_TC 2
 param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_HRATE_FF 0.5
 param set-default FW_T_SINK_MAX 2.7
 param set-default FW_T_SINK_MIN 2.2
 param set-default FW_T_TAS_TC 2
@@ -48,9 +50,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1
+param set-default CA_SV_CS2_TRQ_P 1.0
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1
+param set-default CA_SV_CS3_TRQ_Y 1.0
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10
@@ -62,3 +64,4 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
+
@@ -5,8 +5,10 @@

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

+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0

-
+param set-default FW_LND_AIRSPD_SC 1
 param set-default FW_LND_ANG 8

 param set-default NPFG_PERIOD 12
@@ -39,11 +41,14 @@ param set-default FW_T_SINK_MIN 2.2

 param set-default FW_W_EN 1

+param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 30

 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2

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

 param set-default CA_ROTOR_COUNT 1
@@ -54,9 +59,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1
+param set-default CA_SV_CS2_TRQ_P 1.0
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1
+param set-default CA_SV_CS3_TRQ_Y 1.0
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10
@@ -70,3 +75,4 @@ param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256

 param set-default FW_THR_TRIM 0.0
+param set-default RWTO_TKOFF 0
@@ -5,6 +5,7 @@

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

+param set-default FW_LND_AIRSPD_SC 1.1
 param set-default FW_LND_ANG 5
 param set-default FW_LND_FL_PMIN 9.5
 param set-default FW_LND_FL_PMAX 20
@@ -23,7 +24,10 @@ param set-default FW_RR_P 0.085

 param set-default FW_W_EN 1

+param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 20
+param set-default MIS_DIST_1WP 2500
+param set-default MIS_DIST_WPS 10000

 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
@@ -45,9 +49,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1
+param set-default CA_SV_CS2_TRQ_P 1.0
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1
+param set-default CA_SV_CS3_TRQ_Y 1.0
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10
@@ -5,9 +5,11 @@

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

-
+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0

 param set-default FW_LND_ANG 8
+param set-default FW_THR_LND_MAX 0

 param set-default NPFG_PERIOD 12

@@ -35,6 +37,7 @@ param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1

+#param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 1

 param set-default CA_ROTOR_COUNT 1
@@ -45,9 +48,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1
+param set-default CA_SV_CS2_TRQ_P 1.0
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1
+param set-default CA_SV_CS3_TRQ_Y 1.0
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10
@@ -59,3 +62,7 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
+
+
+set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
+set MIXER custom
@@ -27,8 +27,8 @@ param set-default CA_ROTOR2_KM -0.05
 param set-default CA_ROTOR3_PX -0.1515
 param set-default CA_ROTOR3_PY 0.1875
 param set-default CA_ROTOR3_KM -0.05
-param set-default CA_ROTOR4_AX 1
-param set-default CA_ROTOR4_AZ 0
+param set-default CA_ROTOR4_AX 1.0
+param set-default CA_ROTOR4_AZ 0.0
 param set-default CA_ROTOR4_PX 0.2

 param set-default CA_SV_CS_COUNT 3
@@ -37,7 +37,7 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS1_TYPE 2
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS2_TRQ_P 1
+param set-default CA_SV_CS2_TRQ_P 1.0
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103
@@ -47,8 +47,6 @@ param set-default PWM_MAIN_FUNC6 201
 param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203

-param set-default FW_AIRSPD_MAX 25
-param set-default FW_THR_ASPD_MAX 0.4
 param set-default NPFG_PERIOD 12
 param set-default FW_PR_FF 0.2
 param set-default FW_PR_P 0.9
@@ -64,17 +62,21 @@ param set-default FW_T_SINK_MAX 2.7
 param set-default FW_T_SINK_MIN 2.2

 param set-default MC_AIRMODE 1
-param set-default MC_ROLL_P 4
 param set-default MC_ROLLRATE_P 0.3
 param set-default MC_YAW_P 1.6
-param set-default MC_YAWRATE_P 0.3
-

 param set-default MIS_TAKEOFF_ALT 10

+param set-default MPC_ACC_HOR_MAX 2
+param set-default MPC_XY_P 0.8
+param set-default MPC_XY_VEL_P_ACC 3
+param set-default MPC_XY_VEL_I_ACC 4
+param set-default MPC_XY_VEL_D_ACC 0.1
+
 param set-default NAV_ACC_RAD 5

 param set-default VT_FWD_THRUST_EN 4
-param set-default VT_FWD_THRUST_SC 1
 param set-default VT_F_TRANS_THR 0.75
+param set-default VT_B_TRANS_DUR 8
 param set-default VT_TYPE 2
+
@@ -44,34 +44,38 @@ param set-default PWM_MAIN_FUNC6 201
 param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_REV 96 # invert both elevons

-# Single-EKF (for replay)
-param set-default EKF2_MULTI_IMU 0
-param set-default SENS_IMU_MODE 1
-
-param set-default FW_P_TC 0.6
-
-param set-default FW_PR_FF 0.0
+param set-default NPFG_PERIOD 12
+param set-default FW_PR_I 0.2
+param set-default FW_PR_P 0.2
 param set-default FW_PSP_OFF 2
-param set-default FW_RR_FF 0.1
-param set-default FW_RR_I 0.2
-param set-default FW_RR_P 0.5
-param set-default FW_THR_TRIM 0.35
-param set-default FW_THR_MAX 0.8
+param set-default FW_P_LIM_MIN -15
+param set-default FW_RR_P 0.2
+param set-default FW_THR_TRIM 0.33
+param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
-param set-default FW_T_CLMB_MAX 6
+param set-default FW_T_ALT_TC 2
+param set-default FW_T_CLMB_MAX 8
 param set-default FW_T_HRATE_FF 0.5
-param set-default FW_T_SINK_MAX 3
-param set-default FW_T_SINK_MIN 1.6
+param set-default FW_T_SINK_MAX 2.7
+param set-default FW_T_SINK_MIN 2.2
+param set-default FW_T_TAS_TC 2

 param set-default MC_AIRMODE 1
-param set-default MC_ROLL_P 3
-param set-default MC_PITCH_P 3
+param set-default MC_ROLLRATE_P 0.3
+
+param set-default MPC_ACC_HOR_MAX 2
+param set-default MPC_XY_P 0.8
+param set-default MPC_XY_VEL_P_ACC 3
+param set-default MPC_XY_VEL_I_ACC 4
+param set-default MPC_XY_VEL_D_ACC 0.1
+
+param set-default NAV_ACC_RAD 5

-param set-default VT_ARSP_TRANS 10
-param set-default VT_B_TRANS_DUR 5
 param set-default VT_FW_DIFTHR_EN 1
-param set-default VT_FW_DIFTHR_S_Y 1
+param set-default VT_FW_DIFTHR_S_Y 0.5
 param set-default VT_F_TRANS_DUR 1.5
+param set-default VT_F_TRANS_THR 0.7
 param set-default VT_TYPE 0

 param set-default WV_EN 0
+
@@ -31,7 +31,7 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1
+param set-default CA_SV_CS2_TRQ_P 1.0
 param set-default CA_SV_CS2_TYPE 3
 param set-default CA_SV_CS_COUNT 3
 param set-default CA_SV_TL_COUNT 2
@@ -70,6 +70,7 @@ param set-default MPC_XY_VEL_D_ACC 0.1

 param set-default MIS_TAKEOFF_ALT 10

+param set-default VT_B_TRANS_DUR 8
 param set-default VT_FWD_THRUST_EN 4
 param set-default VT_FWD_THRUST_SC 0.6
 param set-default VT_TILT_TRANS 0.6
@@ -27,8 +27,8 @@ param set-default CA_ROTOR2_KM -0.05
 param set-default CA_ROTOR3_PX -0.1515
 param set-default CA_ROTOR3_PY 0.1875
 param set-default CA_ROTOR3_KM -0.05
-param set-default CA_ROTOR4_AX 1
-param set-default CA_ROTOR4_AZ 0
+param set-default CA_ROTOR4_AX 1.0
+param set-default CA_ROTOR4_AZ 0.0
 param set-default CA_ROTOR4_PX 0.2

 param set-default CA_SV_CS_COUNT 3
@@ -37,7 +37,7 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS1_TYPE 2
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS2_TRQ_P 1
+param set-default CA_SV_CS2_TRQ_P 1.0
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103
@@ -66,6 +66,7 @@ param set-default MC_YAW_P 1.6

 param set-default MIS_TAKEOFF_ALT 10

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


@@ -88,3 +90,4 @@ param set-default PWM_MAIN_FUNC11 422
 param set-default RC_MAP_AUX1 8
 param set-default RC_MAP_AUX2 9
 param set-default RC_MAP_AUX3 10
+
@@ -5,8 +5,10 @@

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

+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0

-
+param set-default FW_LND_AIRSPD_SC 1
 param set-default FW_LND_ANG 8

 param set-default NPFG_PERIOD 12
@@ -39,6 +41,7 @@ param set-default FW_T_SINK_MIN 2.2

 param set-default FW_W_EN 1

+param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 30

 param set-default NAV_ACC_RAD 15
@@ -56,9 +59,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1
+param set-default CA_SV_CS2_TRQ_P 1.0
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1
+param set-default CA_SV_CS3_TRQ_Y 1.0
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10
@@ -1,74 +0,0 @@
-#!/bin/sh
-#
-# @name Quadrotor + Tailsitter
-#
-# @type VTOL Quad Tailsitter
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-param set-default MAV_TYPE 20
-
-param set-default CA_AIRFRAME 4
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.23
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.23
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.23
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.23
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default CA_SV_CS_COUNT 0
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-param set-default PWM_MAIN_FUNC5 0
-
-param set-default FD_FAIL_R 70
-
-param set-default FW_P_TC 0.6
-
-param set-default FW_PR_I 0.3
-param set-default FW_PR_P 0.5
-param set-default FW_PSP_OFF 2
-param set-default FW_RR_FF 0.1
-param set-default FW_RR_I 0.1
-param set-default FW_RR_P 0.2
-param set-default FW_YR_FF 0 # make yaw rate controller very weak, only keep default P
-param set-default FW_YR_I 0
-param set-default FW_THR_TRIM 0.35
-param set-default FW_THR_MAX 0.8
-param set-default FW_THR_MIN 0.05
-param set-default FW_T_CLMB_MAX 6
-param set-default FW_T_HRATE_FF 0.5
-param set-default FW_T_SINK_MAX 3
-param set-default FW_T_SINK_MIN 1.6
-param set-default FW_AIRSPD_STALL 10
-param set-default FW_AIRSPD_MIN 14
-param set-default FW_AIRSPD_TRIM 18
-param set-default FW_AIRSPD_MAX 22
-
-param set-default MC_AIRMODE 2
-param set-default MAN_ARM_GESTURE 0 # required for yaw airmode
-param set-default MC_ROLL_P 3
-param set-default MC_PITCH_P 3
-param set-default MC_ROLLRATE_P 0.3
-param set-default MC_PITCHRATE_P 0.3
-
-param set-default VT_ARSP_TRANS 15
-param set-default VT_B_TRANS_DUR 5
-param set-default VT_FW_DIFTHR_EN 7
-param set-default VT_FW_DIFTHR_S_Y 1
-param set-default VT_F_TRANS_DUR 1.5
-param set-default VT_TYPE 0
-
-param set-default WV_EN 0
@@ -18,11 +18,14 @@ param set-default GND_THR_CRUISE 0.3
 param set-default GND_THR_MAX 0.5
 param set-default GND_THR_MIN 0

+param set-default MIS_TAKEOFF_ALT 0.01
 param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2

+param set-default CBRK_AIRSPD_CHK 162128
+
 param set-default GND_MAX_ANG 0.6
-param set-default GND_WHEEL_BASE 2
+param set-default GND_WHEEL_BASE 2.0

 param set-default CA_AIRFRAME 5

@@ -31,3 +34,4 @@ param set-default PWM_MAIN_FUNC1 201
 param set-default PWM_MAIN_FUNC2 201
 param set-default PWM_MAIN_FUNC6 101
 param set-default PWM_MAIN_FUNC7 101
+
@@ -4,9 +4,34 @@
 # @type Rover
 # @class Rover

-. ${R}etc/init.d/rc.rover_differential_defaults
+. ${R}etc/init.d/rc.rover_defaults

+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-default MIS_TAKEOFF_ALT 0.01
+param set-default NAV_ACC_RAD 0.5
+param set-default NAV_LOITER_RAD 2
+
+param set-default CBRK_AIRSPD_CHK 162128
+
+param set-default GND_MAX_ANG 0.6
+param set-default GND_WHEEL_BASE 2.0
+
+param set-default CA_AIRFRAME 6
+
+param set-default CA_R_REV 3
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 101
 param set-default PWM_MAIN_FUNC6 102
 param set-default PWM_MAIN_FUNC7 102
+
@@ -25,11 +25,14 @@ param set-default GND_THR_CRUISE 0.3
 param set-default GND_THR_MAX 0.5
 param set-default GND_THR_MIN 0

+param set-default MIS_TAKEOFF_ALT 0.01
 param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2

+param set-default CBRK_AIRSPD_CHK 162128
+
 param set-default GND_MAX_ANG 0.6
-param set-default GND_WHEEL_BASE 3
+param set-default GND_WHEEL_BASE 3.0

 param set-default CA_AIRFRAME 5

@@ -38,3 +41,4 @@ param set-default PWM_MAIN_FUNC1 201
 param set-default PWM_MAIN_FUNC2 201
 param set-default PWM_MAIN_FUNC6 101
 param set-default PWM_MAIN_FUNC7 101
+
@@ -18,11 +18,14 @@ param set-default GND_THR_CRUISE 0.85
 param set-default GND_THR_MAX 1
 param set-default GND_THR_MIN 0

+param set-default MIS_TAKEOFF_ALT 0.01
 param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2

+param set-default CBRK_AIRSPD_CHK 162128
+
 param set-default GND_MAX_ANG 0.6
-param set-default GND_WHEEL_BASE 2
+param set-default GND_WHEEL_BASE 2.0

 param set-default CA_AIRFRAME 9

@@ -41,3 +44,4 @@ param set-default CA_R_REV 3

 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
+
@@ -14,7 +14,7 @@

 param set-default FW_AIRSPD_STALL 8

-param set-default FW_P_RMAX_NEG 20
+param set-default FW_P_RMAX_NEG 20.0
 param set-default FW_W_RMAX 10
 param set-default FW_W_EN 1

@@ -37,7 +37,7 @@ param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
 param set-default FW_R_LIM 30

-param set-default FW_MAN_R_MAX 30
+param set-default FW_MAN_R_MAX 30.0

 param set-default FW_THR_TRIM 0.8
 param set-default FW_THR_IDLE 0
@@ -64,3 +64,4 @@ param set-default PWM_MAIN_FUNC4 203
 param set-default PWM_MAIN_FUNC5 407
 param set-default PWM_MAIN_FUNC6 408
 param set-default PWM_MAIN_FUNC7 409
+
@@ -14,7 +14,7 @@

 param set-default FW_AIRSPD_STALL 5

-param set-default FW_P_RMAX_NEG 20
+param set-default FW_P_RMAX_NEG 20.0
 param set-default FW_W_RMAX 10
 param set-default FW_W_EN 1

@@ -26,12 +26,13 @@ param set-default NAV_ACC_RAD 20
 param set-default NAV_DLL_ACT 2
 param set-default NAV_LOITER_RAD 50

+param set-default RWTO_TKOFF 0
 # Parameters related to autogyro takeoff PR
 #param set-default AG_TKOFF 1
 #param set-default AG_PROT_TYPE 1
-#param set-default AG_PROT_MIN_RPM 50
-#param set-default AG_PROT_TRG_RPM 900
-#param set-defoult AG_ROTOR_RPM 900
+#param set-default AG_PROT_MIN_RPM 50.0
+#param set-default AG_PROT_TRG_RPM 900.0
+#param set-defoult AG_ROTOR_RPM 900.0

 param set-default FW_ARSP_SCALE_EN 0

@@ -42,7 +43,7 @@ param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
 param set-default FW_R_LIM 30

-param set-default FW_MAN_R_MAX 30
+param set-default FW_MAN_R_MAX 30.0

 param set-default FW_THR_CRUISE 0.8
 param set-default FW_THR_IDLE 0
@@ -69,3 +70,4 @@ param set-default PWM_MAIN_FUNC4 203
 param set-default PWM_MAIN_FUNC5 407
 param set-default PWM_MAIN_FUNC6 408
 param set-default PWM_MAIN_FUNC7 409
+
@@ -14,21 +14,21 @@
 param set-default CA_AIRFRAME 9

 param set-default CA_ROTOR_COUNT 3
-param set-default CA_ROTOR0_AX 1
-param set-default CA_ROTOR0_AZ 0
-param set-default CA_ROTOR0_KM 0
-param set-default CA_ROTOR0_PY 2
-param set-default CA_ROTOR1_AX 1
-param set-default CA_ROTOR1_AZ 0
-param set-default CA_ROTOR1_KM 0
-param set-default CA_ROTOR1_PY -2
-param set-default CA_ROTOR2_AY -1
-param set-default CA_ROTOR2_AZ 0
-param set-default CA_ROTOR2_KM 0
-param set-default CA_ROTOR2_PX -10
+param set-default CA_ROTOR0_AX 1.0000
+param set-default CA_ROTOR0_AZ 0.0000
+param set-default CA_ROTOR0_KM 0.0000
+param set-default CA_ROTOR0_PY 2.0000
+param set-default CA_ROTOR1_AX 1.0000
+param set-default CA_ROTOR1_AZ 0.0000
+param set-default CA_ROTOR1_KM 0.0000
+param set-default CA_ROTOR1_PY -2.0000
+param set-default CA_ROTOR2_AY -1.0000
+param set-default CA_ROTOR2_AZ 0.0000
+param set-default CA_ROTOR2_KM 0.0000
+param set-default CA_ROTOR2_PX -10.0000

 param set-default CA_SV_CS_COUNT 1
-param set-default CA_SV_CS0_TRQ_P 1
+param set-default CA_SV_CS0_TRQ_P 1.0000

 param set-default CA_R_REV 7

@@ -36,3 +36,4 @@ param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 201
 param set-default PWM_MAIN_FUNC4 103
+
@@ -13,9 +13,9 @@ param set-default MAV_TYPE 13

 param set-default MC_PITCHRATE_P 0.1
 param set-default MC_PITCHRATE_I 0.05
-param set-default MC_PITCH_P 6
+param set-default MC_PITCH_P 6.0
 param set-default MC_ROLLRATE_I 0.1
-param set-default MC_ROLL_P 6
+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

@@ -27,11 +27,11 @@ param set-default MNT_MODE_IN 4
 param set-default MNT_DO_STAB 2


-param set-default CA_ROTOR0_PX 0
-param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR0_PX 0.0
+param set-default CA_ROTOR0_PY 1.0
 param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR1_PX 0
-param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR1_PX 0.0
+param set-default CA_ROTOR1_PY -1.0
 param set-default CA_ROTOR1_KM 0.05
 param set-default CA_ROTOR2_PX 0.866025
 param set-default CA_ROTOR2_PY -0.5
@@ -52,4 +52,3 @@ param set-default SIM_GZ_EC_MAX3 1000
 param set-default SIM_GZ_EC_MAX4 1000

 param set-default MPC_THR_HOVER 0.60
-param set-default NAV_DLL_ACT 2
@@ -5,6 +5,50 @@
 # @type Quadrotor
 #

+. ${R}etc/init.d/rc.mc_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_depth}

-. ${R}etc/init.d-posix/airframes/4001_gz_x500
+param set-default SIM_GZ_EN 1
+
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 0
+param set-default SENS_EN_MAGSIM 1
+
+param set-default CA_AIRFRAME 0
+param set-default CA_ROTOR_COUNT 4
+
+param set-default CA_ROTOR0_PX 0.13
+param set-default CA_ROTOR0_PY 0.22
+param set-default CA_ROTOR0_KM  0.05
+
+param set-default CA_ROTOR1_PX -0.13
+param set-default CA_ROTOR1_PY -0.20
+param set-default CA_ROTOR1_KM  0.05
+
+param set-default CA_ROTOR2_PX 0.13
+param set-default CA_ROTOR2_PY -0.22
+param set-default CA_ROTOR2_KM -0.05
+
+param set-default CA_ROTOR3_PX -0.13
+param set-default CA_ROTOR3_PY 0.20
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default SIM_GZ_EC_FUNC1 101
+param set-default SIM_GZ_EC_FUNC2 102
+param set-default SIM_GZ_EC_FUNC3 103
+param set-default SIM_GZ_EC_FUNC4 104
+
+param set-default SIM_GZ_EC_MIN1 150
+param set-default SIM_GZ_EC_MIN2 150
+param set-default SIM_GZ_EC_MIN3 150
+param set-default SIM_GZ_EC_MIN4 150
+
+param set-default SIM_GZ_EC_MAX1 1000
+param set-default SIM_GZ_EC_MAX2 1000
+param set-default SIM_GZ_EC_MAX3 1000
+param set-default SIM_GZ_EC_MAX4 1000
+
+param set-default MPC_THR_HOVER 0.60
@@ -10,14 +10,13 @@ PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
 PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=rc_cessna}

-param set-default SIM_GZ_EN 1
-
 param set-default SENS_EN_GPSSIM 1
 param set-default SENS_EN_BAROSIM 0
 param set-default SENS_EN_MAGSIM 1
 param set-default SENS_EN_ARSPDSIM 1

-
+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0

 param set-default FW_LND_ANG 8

@@ -70,9 +69,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1
+param set-default CA_SV_CS2_TRQ_P 1.0
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1
+param set-default CA_SV_CS3_TRQ_Y 1.0
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10
@@ -11,8 +11,6 @@ PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
 PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=standard_vtol}

-param set-default SIM_GZ_EN 1
-
 param set-default SENS_EN_GPSSIM 1
 param set-default SENS_EN_BAROSIM 0
 param set-default SENS_EN_MAGSIM 1
@@ -40,8 +38,8 @@ param set-default CA_ROTOR2_KM -0.05
 param set-default CA_ROTOR3_PX -0.1515
 param set-default CA_ROTOR3_PY 0.1875
 param set-default CA_ROTOR3_KM -0.05
-param set-default CA_ROTOR4_AX 1
-param set-default CA_ROTOR4_AZ 0
+param set-default CA_ROTOR4_AX 1.0
+param set-default CA_ROTOR4_AZ 0.0
 param set-default CA_ROTOR4_PX 0.2

 param set-default SIM_GZ_EC_FUNC1 101
@@ -66,6 +64,7 @@ param set-default SIM_GZ_SV_FUNC2 202
 param set-default SIM_GZ_SV_FUNC3 203

 param set-default COM_RC_IN_MODE 1
+param set-default ASPD_PRIMARY 1

 param set-default CA_SV_CS_COUNT 3
 param set-default CA_SV_CS0_TYPE 1
@@ -73,9 +72,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS1_TYPE 2
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS2_TRQ_P 1
+param set-default CA_SV_CS2_TRQ_P 1.0

-param set-default NPFG_PERIOD 12
+param set-default FW_L1_PERIOD 12
 param set-default FW_PR_FF 0.2
 param set-default FW_PR_P 0.9
 param set-default FW_PSP_OFF 2
@@ -95,15 +94,16 @@ param set-default MC_YAW_P 1.6

 param set-default MIS_TAKEOFF_ALT 10

+param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_XY_P 0.8
 param set-default MPC_XY_VEL_P_ACC 3
 param set-default MPC_XY_VEL_I_ACC 4
 param set-default MPC_XY_VEL_D_ACC 0.1

 param set-default NAV_ACC_RAD 5
-param set-default NAV_DLL_ACT 2

 param set-default VT_FWD_THRUST_EN 4
-param set-default VT_F_TRANS_THR 0.3
+param set-default VT_F_TRANS_THR 0.75
+param set-default VT_B_TRANS_DUR 8
 param set-default VT_TYPE 2
 param set-default FD_ESCS_EN 0
@@ -5,6 +5,8 @@
 # @type Quadrotor
 #

-PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_vision}
-
 . ${R}etc/init.d-posix/airframes/4001_gz_x500
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_vision}
@@ -1,136 +0,0 @@
-#!/bin/sh
-#
-# @name PX4Vision SITL
-# Holybro px4vision. Gazebo Only.
-#
-# @type Quadrotor
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=px4vision}
-
-param set-default SIM_GZ_EN 1
-
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
-
-# Commander Parameters
-param set-default COM_OBS_AVOID 0
-param set-default COM_DISARM_LAND 0.5
-
-# EKF2 parameters
-param set-default EKF2_DRAG_CTRL 1
-param set-default EKF2_IMU_POS_X 0.02
-param set-default EKF2_GPS_POS_X 0.055
-param set-default EKF2_GPS_POS_Z -0.15
-param set-default EKF2_MIN_RNG 0.03
-param set-default EKF2_OF_CTRL 1
-param set-default EKF2_OF_POS_X 0.055
-param set-default EKF2_OF_POS_Y 0.02
-param set-default EKF2_OF_POS_Z 0.065
-param set-default EKF2_REQ_HDRIFT 0.3
-param set-default EKF2_REQ_SACC 1
-param set-default EKF2_REQ_VDRIFT 0.3
-param set-default EKF2_RNG_A_HMAX 8
-param set-default EKF2_RNG_A_VMAX 2
-param set-default EKF2_RNG_POS_X 0.055
-param set-default EKF2_RNG_POS_Y -0.01
-param set-default EKF2_RNG_POS_Z 0.065
-param set-default EKF2_PCOEF_XP -0.25
-param set-default EKF2_PCOEF_YN -0.55
-param set-default EKF2_PCOEF_YP -0.55
-
-# MAVLink parameters
-# param set-default MAV_0_CONFIG 101		Not found
-# param set-default MAV_1_CONFIG 102		Not found
-param set-default MAV_1_RATE 80000
-param set-default MAV_1_MODE 9
-# param set-default SER_TEL1_BAUD 921600	Not found
-
-# Vehicle attitude PID tuning
-param set-default MC_ACRO_P_MAX 200
-param set-default MC_ACRO_R_MAX 200
-param set-default MC_ACRO_Y_MAX 150
-param set-default MC_PITCHRATE_D 0.0015
-param set-default MC_ROLLRATE_D 0.0015
-param set-default MC_YAWRATE_P 0.3
-
-# Position Control Tuning
-param set-default CP_DIST 6
-param set-default MPC_ACC_DOWN_MAX 5
-param set-default MPC_ACC_HOR_MAX 10
-param set-default MPC_MANTHR_MIN 0
-param set-default MPC_MAN_Y_MAX 120
-param set-default MPC_THR_HOVER 0.3
-param set-default MPC_VEL_MANUAL 5
-param set-default MPC_XY_VEL_MAX 5
-param set-default MPC_XY_VEL_P_ACC 1.58
-param set-default MPC_XY_TRAJ_P 0.3
-# param set-default MPC_Z_TRAJ_P 0.3		Not found
-param set-default MPC_Z_VEL_P_ACC 5
-param set-default MPC_Z_VEL_I_ACC 3
-param set-default MPC_LAND_ALT1 3
-param set-default MPC_LAND_ALT2 1
-param set-default MPC_POS_MODE 3
-param set-default CP_GO_NO_DATA 1
-
-# Navigator Parameters
-param set-default NAV_ACC_RAD 2
-
-# RTL Parameters
-param set-default RTL_DESCEND_ALT 5
-param set-default RTL_RETURN_ALT 5
-
-# Logging Parameters
-param set-default SDLOG_PROFILE 131
-
-# Sensors Parameters
-# param set-default SENS_CM8JL65_CFG 202 	Not found
-param set-default SENS_FLOW_MAXHGT 25
-param set-default SENS_FLOW_MINHGT 0.5
-param set-default IMU_GYRO_CUTOFF 100
-# param set-default SENS_TFLOW_CFG 103		Not found
-
-# Power Parameters
-param set-default BAT1_N_CELLS 4
-# param set-default BAT1_A_PER_V 36.364		Not found
-# param set-default BAT1_V_DIV 18.182		Not found
-
-# Circuit breakers
-param set-default CBRK_IO_SAFETY 22027
-
-param set-default THR_MDL_FAC 0.3
-
-# Square quadrotor X PX4 numbering
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 1
-param set-default CA_ROTOR0_PY 1
-param set-default CA_ROTOR1_PX -1
-param set-default CA_ROTOR1_PY -1
-param set-default CA_ROTOR2_PX 1
-param set-default CA_ROTOR2_PY -1
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -1
-param set-default CA_ROTOR3_PY 1
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default SIM_GZ_EC_FUNC1 101
-param set-default SIM_GZ_EC_FUNC2 102
-param set-default SIM_GZ_EC_FUNC3 103
-param set-default SIM_GZ_EC_FUNC4 104
-
-param set-default SIM_GZ_EC_MIN1 150
-param set-default SIM_GZ_EC_MIN2 150
-param set-default SIM_GZ_EC_MIN3 150
-param set-default SIM_GZ_EC_MIN4 150
-
-param set-default SIM_GZ_EC_MAX1 1100
-param set-default SIM_GZ_EC_MAX2 1100
-param set-default SIM_GZ_EC_MAX3 1100
-param set-default SIM_GZ_EC_MAX4 1100
-
-param set-default NAV_DLL_ACT 2
@@ -1,82 +0,0 @@
-#!/bin/sh
-#
-# @name Advanced Plane SITL
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=advanced_plane}
-
-param set-default SIM_GZ_EN 1
-
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_MAGSIM 1
-param set-default SENS_EN_ARSPDSIM 1
-
-param set-default FW_LND_ANG 8
-param set-default NPFG_PERIOD 12
-
-param set-default FW_MAN_P_MAX 30
-param set-default FW_PR_P 0.9
-param set-default FW_PR_FF 0.5
-param set-default FW_PR_I 0.5
-
-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 0.5
-param set-default FW_RR_P 0.3
-param set-default FW_RR_I 0.5
-
-param set-default FW_YR_FF 0.5
-param set-default FW_YR_P 0.6
-param set-default FW_YR_I 0.5
-
-param set-default FW_SPOILERS_LND 0.4
-
-param set-default FW_THR_MIN 0.05
-param set-default FW_THR_TRIM 0.25
-
-param set-default FW_T_CLMB_MAX 8
-param set-default FW_T_SINK_MAX 2.7
-param set-default FW_T_SINK_MIN 2.2
-
-param set-default FW_W_EN 1
-
-param set-default MIS_TAKEOFF_ALT 30
-
-param set-default NAV_ACC_RAD 15
-param set-default NAV_DLL_ACT 2
-
-param set-default RWTO_TKOFF 1
-
-param set-default CA_AIRFRAME 1
-
-param set-default CA_ROTOR_COUNT 1
-param set-default CA_ROTOR0_PX 0.3
-
-param set-default CA_SV_CS_COUNT 6
-param set-default CA_SV_CS0_TRQ_R -0.5
-param set-default CA_SV_CS0_TYPE 1
-param set-default CA_SV_CS1_TRQ_R 0.5
-param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1
-param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1
-param set-default CA_SV_CS3_TYPE 4
-param set-default CA_SV_CS4_TYPE 9
-param set-default CA_SV_CS5_TYPE 10
-
-param set-default SIM_GZ_EC_FUNC1 101
-param set-default SIM_GZ_EC_MIN1 10
-param set-default SIM_GZ_EC_MAX1 1600
-
-param set-default SIM_GZ_SV_FUNC1 201
-param set-default SIM_GZ_SV_FUNC2 202
-param set-default SIM_GZ_SV_FUNC3 203
-param set-default SIM_GZ_SV_FUNC4 204
-param set-default SIM_GZ_SV_FUNC5 205
-param set-default SIM_GZ_SV_FUNC6 206
@@ -1,53 +0,0 @@
-#!/bin/sh
-# @name Aion Robotics R1 Rover
-# @type Rover
-# @class Rover
-
-. ${R}etc/init.d/rc.rover_differential_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=rover}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=r1_rover}
-
-param set-default SIM_GZ_EN 1 # Gazebo bridge
-
-# Rover parameters
-param set-default RD_WHEEL_TRACK 0.3
-param set-default RD_MAN_YAW_SCALE 0.1
-param set-default RD_MAX_ACCEL 6
-param set-default RD_MAX_JERK 30
-param set-default RD_MAX_SPEED 7
-param set-default RD_YAW_RATE_P 5
-param set-default RD_YAW_RATE_I 0
-param set-default RD_YAW_P 5
-param set-default RD_YAW_I 0
-param set-default RD_SPEED_P 1
-param set-default RD_SPEED_I 0
-param set-default RD_MAX_YAW_RATE 180
-param set-default RD_MISS_SPD_DEF 5
-param set-default RD_TRANS_DRV_TRN 0.349066
-param set-default RD_TRANS_TRN_DRV 0.174533
-
-# Pure pursuit parameters
-param set-default PP_LOOKAHD_MAX 30
-param set-default PP_LOOKAHD_MIN 2
-param set-default PP_LOOKAHD_GAIN 1
-
-# Simulated sensors
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
-param set-default SENS_EN_ARSPDSIM 0
-
-# Actuator mapping
-param set-default SIM_GZ_WH_FUNC1 101 # right wheel
-param set-default SIM_GZ_WH_MIN1 0
-param set-default SIM_GZ_WH_MAX1 200
-param set-default SIM_GZ_WH_DIS1 100
-
-param set-default SIM_GZ_WH_FUNC2 102 # left wheel
-param set-default SIM_GZ_WH_MIN2 0
-param set-default SIM_GZ_WH_MAX2 200
-param set-default SIM_GZ_WH_DIS2 100
-
-param set-default SIM_GZ_WH_REV 1 # reverse right wheel
@@ -1,10 +0,0 @@
-#!/bin/sh
-#
-# @name Gazebo x500 mono cam
-#
-# @type Quadrotor
-#
-
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_mono_cam}
-
-. ${R}etc/init.d-posix/airframes/4001_gz_x500
@@ -1,95 +0,0 @@
-#!/bin/sh
-# @name Gazebo lawnmower
-# @type Rover
-# @class Rover
-
-. ${R}etc/init.d/rc.rover_differential_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=lawnmower}
-
-param set-default SIM_GZ_EN 1 # Gazebo bridge
-
-# Simulated sensors
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
-param set-default SENS_EN_ARSPDSIM 0
-# We can arm and drive in manual mode when it slides and GPS check fails:
-param set-default COM_ARM_WO_GPS 1
-
-# Rover parameters
-param set-default RD_WHEEL_TRACK 0.9
-param set-default RD_MAN_YAW_SCALE 0.1
-param set-default RD_YAW_RATE_I 0.1
-param set-default RD_YAW_RATE_P 5
-param set-default RD_MAX_ACCEL 1
-param set-default RD_MAX_JERK 3
-param set-default RD_MAX_SPEED 8
-param set-default RD_YAW_P 5
-param set-default RD_YAW_I 0.1
-param set-default RD_MAX_YAW_RATE 30
-param set-default RD_MISS_SPD_DEF 8
-param set-default RD_TRANS_DRV_TRN 0.349066
-param set-default RD_TRANS_TRN_DRV 0.174533
-
-# Pure pursuit parameters
-param set-default PP_LOOKAHD_MAX 30
-param set-default PP_LOOKAHD_MIN 2
-param set-default PP_LOOKAHD_GAIN 1
-
-# Actuator mapping - set SITL motors/servos output parameters:
-
-# "Motors" - motor channels 0 (Right) and 1 (Left) - via Wheels GZ bridge:
-param set-default SIM_GZ_WH_FUNC1 101 # right wheel
-#param set-default SIM_GZ_WH_MIN1 0
-#param set-default SIM_GZ_WH_MAX1 200
-#param set-default SIM_GZ_WH_DIS1 100
-#param set-default SIM_GZ_WH_FAIL1 100
-
-param set-default SIM_GZ_WH_FUNC2 102 # left wheel
-#param set-default SIM_GZ_WH_MIN2 0
-#param set-default SIM_GZ_WH_MAX2 200
-#param set-default SIM_GZ_WH_DIS2 100
-#param set-default SIM_GZ_WH_FAIL2 100
-
-param set-default SIM_GZ_WH_REV 0 # no need to reverse any wheels
-
-# Note: The servo configurations ( SIM_GZ_SV_FUNC*) outlined below are intended for educational purposes in this simulation.
-# They do not have physical effects in the simulated environment, except for actuating the joints. Their definitions are meant to demonstrate
-# how actuators could be mapped and configured in a real-world application, providing a foundation for understanding and implementing actuator
-# controls in practical scenarios.
-
-# Cutter deck blades clutch, PCA9685 servo channel 3,  "RC FLAPS" (406) - leftmost switch, or "Servo 3" (203):
-param set-default SIM_GZ_SV_FUNC3 203
-param set-default SIM_GZ_SV_MIN3 0
-param set-default SIM_GZ_SV_MAX3 1000
-param set-default SIM_GZ_SV_DIS3 500
-param set-default SIM_GZ_SV_FAIL3 500
-
-# Gas engine throttle, PCA9685 servo channel 4, "RC AUX1" (407) - left knob, or "Servo 4" (204):
-#    - on minimum when disarmed or failed:
-param set-default SIM_GZ_SV_FUNC4 204
-param set-default SIM_GZ_SV_MIN4 0
-param set-default SIM_GZ_SV_MAX4 1000
-param set-default SIM_GZ_SV_DIS4 500
-param set-default SIM_GZ_SV_FAIL4 500
-
-# Controlling PCA9685 servos 5,6,7,8 directly via "Servo 5..8" setting, by publishing actuator_servos.control[]:
-
-# Strobes, PCA9685 servo channel 5, "Servo 5" (205) - flashing indicates Mission mode:
-#param set-default SIM_GZ_SV_FUNC5 205
-#param set-default SIM_GZ_SV_MIN5 1000
-#param set-default SIM_GZ_SV_MAX5 2000
-#param set-default SIM_GZ_SV_DIS5 1000
-#param set-default SIM_GZ_SV_FAIL5 1000
-
-# Horn, PCA9685 servo channel 6, "Servo 6" (206) - for alarms like GPS failure:
-#param set-default SIM_GZ_SV_FUNC6 206
-
-# Spare PCA9685 servo channel 7 on "RC AUX2" (408) - right knob, or "Servo 7" (207):
-#param set-default SIM_GZ_SV_FUNC7 207
-
-# Spare PCA9685 servo channel 8 - "Servo 8" (208):
-#param set-default SIM_GZ_SV_FUNC8 208
@@ -1,49 +0,0 @@
-#!/bin/sh
-# @name Rover Ackermann
-# @type Rover
-# @class Rover
-
-. ${R}etc/init.d/rc.rover_ackermann_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=rover}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover_ackermann}
-
-param set-default SIM_GZ_EN 1 # Gazebo bridge
-
-# Rover parameters
-param set-default NAV_ACC_RAD 0.5
-param set-default RA_ACC_RAD_GAIN 2
-param set-default RA_ACC_RAD_MAX 3
-param set-default RA_MAX_ACCEL 1.5
-param set-default RA_MAX_JERK 15
-param set-default RA_MAX_SPEED 3
-param set-default RA_MAX_STR_ANG 0.5236
-param set-default RA_MAX_STR_RATE 360
-param set-default RA_MISS_VEL_DEF 3
-param set-default RA_MISS_VEL_GAIN 5
-param set-default RA_MISS_VEL_MIN 1
-param set-default RA_SPEED_I 0.01
-param set-default RA_SPEED_P 2
-param set-default RA_WHEEL_BASE 0.321
-
-# Pure Pursuit parameters
-param set-default PP_LOOKAHD_GAIN 1
-param set-default PP_LOOKAHD_MAX 10
-param set-default PP_LOOKAHD_MIN 1
-
-# Simulated sensors
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
-param set-default SENS_EN_ARSPDSIM 0
-
-# Wheels
-param set-default SIM_GZ_WH_FUNC1 101
-param set-default SIM_GZ_WH_MIN1 0
-param set-default SIM_GZ_WH_MAX1 200
-param set-default SIM_GZ_WH_DIS1 100
-
-# Steering
-param set-default SIM_GZ_SV_FUNC1 201
-param set-default SIM_GZ_SV_REV 1
--- a/Show More
+++ b/Show More