ModuleBase add common base type and cleanup

systemcmds/topic_listener: remove excludes
- this is a bit wasteful, but we can afford it for now everywhere listener is enabled
2026-05-23 23:57:35 +08:00 · 2020-11-10 14:03:58 -05:00 · 2020-11-10 13:46:48 -05:00 · 2020-11-10 13:11:51 -05:00 · 2020-11-10 11:04:47 -05:00 · 2020-11-10 10:38:46 -05:00
3322 changed files with 235018 additions and 123531 deletions
@@ -1,174 +0,0 @@
-#!/usr/bin/env groovy
-
-pipeline {
-  agent none
-
-  stages {
-
-    stage('Build') {
-      agent {
-        docker {
-          image 'px4io/px4-dev-ros-kinetic:2019-10-04'
-          args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
-        }
-      }
-      steps {
-        sh 'export'
-        sh 'make distclean'
-        sh 'ccache -z'
-        sh 'git fetch --tags'
-        sh 'make px4_sitl_default'
-        sh 'make px4_sitl_default sitl_gazebo'
-        sh 'make px4_sitl_default package'
-        sh 'ccache -s'
-        stash(name: "px4_sitl_package", includes: "build/px4_sitl_default/*.bz2")
-        archiveArtifacts(artifacts: "build/px4_sitl_default/*.bz2", fingerprint: true, onlyIfSuccessful: true)
-      }
-      post {
-        always {
-            sh 'make distclean'
-        }
-      }
-    } // stage Build
-
-    stage('ROS Tests') {
-      steps {
-        script {
-          def missions = [
-            [
-              name: "FW",
-              test: "mavros_posix_test_mission.test",
-              mission: "FW_mission_1",
-              vehicle: "plane"
-            ],
-
-            [
-              name: "MC_box",
-              test: "mavros_posix_test_mission.test",
-              mission: "MC_mission_box",
-              vehicle: "iris"
-            ],
-            [
-              name: "MC_offboard_att",
-              test: "mavros_posix_tests_offboard_attctl.test",
-              mission: "",
-              vehicle: "iris"
-            ],
-            [
-              name: "MC_offboard_pos",
-              test: "mavros_posix_tests_offboard_posctl.test",
-              mission: "",
-              vehicle: "iris"
-            ],
-
-            [
-              name: "Rover 1",
-              test: "mavros_posix_test_mission.test",
-              mission: "rover_mission_1",
-              vehicle: "rover"
-            ],
-
-            [
-              name: "VTOL_standard",
-              test: "mavros_posix_test_mission.test",
-              mission: "VTOL_mission_1",
-              vehicle: "standard_vtol"
-            ],
-            [
-              name: "VTOL_tailsitter",
-              test: "mavros_posix_test_mission.test",
-              mission: "VTOL_mission_1",
-              vehicle: "tailsitter"
-            ],
-            [
-              name: "VTOL_tiltrotor",
-              test: "mavros_posix_test_mission.test",
-              mission: "VTOL_mission_1",
-              vehicle: "tiltrotor"
-            ],
-            [
-              name: "MC_avoidance",
-              test: "mavros_posix_test_avoidance.test",
-              mission: "avoidance",
-              vehicle: "iris_obs_avoid",
-              run_script: "rostest_avoidance_run.sh"
-            ],
-            [
-              name: "MC_safe_landing",
-              test: "mavros_posix_test_safe_landing.test",
-              mission: "MC_safe_landing",
-              vehicle: "iris_obs_avoid",
-              run_script: "rostest_avoidance_run.sh"
-            ],
-
-          ]
-
-          def test_nodes = [:]
-          for (def i = 0; i < missions.size(); i++) {
-            test_nodes.put(missions[i].name, createTestNode(missions[i]))
-          }
-
-          parallel test_nodes
-        } // script
-      } // steps
-    } // stage ROS Tests
-
-  } //stages
-
-  environment {
-    CCACHE_DIR = '/tmp/ccache'
-    CI = true
-  }
-
-  options {
-    buildDiscarder(logRotator(numToKeepStr: '10', artifactDaysToKeepStr: '30'))
-    timeout(time: 60, unit: 'MINUTES')
-  }
-} // pipeline
-
-def createTestNode(Map test_def) {
-  return {
-    node {
-      cleanWs()
-      docker.image("px4io/px4-dev-ros-kinetic:2019-10-04").inside('-e HOME=${WORKSPACE}') {
-        stage(test_def.name) {
-          def run_script = test_def.get('run_script', 'rostest_px4_run.sh')
-          def test_ok = true
-          sh('export')
-
-          unstash('px4_sitl_package')
-          sh('tar -xjpvf build/px4_sitl_default/px4-px4_sitl_default*.bz2')
-
-          // run test
-          try {
-            sh('px4-px4_sitl_default*/px4/test/' + run_script + ' ' + test_def.test + ' mission:=' + test_def.mission + ' vehicle:=' + test_def.vehicle)
-
-          } catch (exc) {
-            // save all test artifacts for debugging
-            archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.ulg, .ros/**/rosunit-*.xml, .ros/**/rostest-*.log')
-            test_ok = false
-          }
-
-          // log analysis
-          // process ekf log data
-          try {
-            sh('px4-px4_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py .ros/log/*/*.ulg')
-          } catch (exc) {
-            // save log analysis artifacts for debugging
-            archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.pdf, .ros/**/*.csv')
-            // FIXME: don't let the script to fail the build
-            // test_ok = false
-          }
-
-          // upload log to flight review (https://logs.px4.io/)
-          sh('px4-px4_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/log/*/*.ulg')
-
-          if (!test_ok) {
-            error('ROS Test failed')
-          }
-        } // stage
-        cleanWs()
-      } // docker.image
-    } // node
-  } // return
-} // createTestNode
@@ -1,175 +0,0 @@
-#!/usr/bin/env groovy
-
-pipeline {
-  agent none
-
-  stages {
-
-    stage('Build') {
-      agent {
-        docker {
-          image 'px4io/px4-dev-ros-kinetic:2019-10-04'
-          args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
-        }
-      }
-      steps {
-        sh 'export'
-        sh 'make distclean'
-        sh 'ccache -z'
-        sh 'git fetch --tags'
-        sh 'make px4_sitl_default'
-        sh 'make px4_sitl_default sitl_gazebo'
-        sh 'make px4_sitl_default package'
-        sh 'ccache -s'
-        stash(name: "px4_sitl_package", includes: "build/px4_sitl_default/*.bz2")
-        //archiveArtifacts(artifacts: "build/px4_sitl_default/*.bz2", fingerprint: true, onlyIfSuccessful: true)
-      }
-      post {
-        always {
-            sh 'make distclean'
-        }
-      }
-    } // stage Build
-
-    stage('ROS Tests') {
-      steps {
-        script {
-          def missions = [
-            [
-              name: "FW",
-              test: "mavros_posix_test_mission.test",
-              mission: "FW_mission_1",
-              vehicle: "plane"
-            ],
-
-            [
-              name: "MC_box",
-              test: "mavros_posix_test_mission.test",
-              mission: "MC_mission_box",
-              vehicle: "iris"
-            ],
-            [
-              name: "MC_offboard_att",
-              test: "mavros_posix_tests_offboard_attctl.test",
-              mission: "",
-              vehicle: "iris"
-            ],
-            [
-              name: "MC_offboard_pos",
-              test: "mavros_posix_tests_offboard_posctl.test",
-              mission: "",
-              vehicle: "iris"
-            ],
-
-            [
-              name: "Rover 1",
-              test: "mavros_posix_test_mission.test",
-              mission: "rover_mission_1",
-              vehicle: "rover"
-            ],
-
-            [
-              name: "VTOL_standard",
-              test: "mavros_posix_test_mission.test",
-              mission: "VTOL_mission_1",
-              vehicle: "standard_vtol"
-            ],
-            [
-              name: "VTOL_tailsitter",
-              test: "mavros_posix_test_mission.test",
-              mission: "VTOL_mission_1",
-              vehicle: "tailsitter"
-            ],
-            [
-              name: "VTOL_tiltrotor",
-              test: "mavros_posix_test_mission.test",
-              mission: "VTOL_mission_1",
-              vehicle: "tiltrotor"
-            ],
-            [
-              name: "MC_avoidance",
-              test: "mavros_posix_test_avoidance.test",
-              mission: "avoidance",
-              vehicle: "iris_obs_avoid",
-              run_script: "rostest_avoidance_run.sh"
-            ],
-            [
-              name: "MC_safe_landing",
-              test: "mavros_posix_test_safe_landing.test",
-              mission: "MC_safe_landing",
-              vehicle: "iris_obs_avoid",
-              run_script: "rostest_avoidance_run.sh"
-            ],
-
-          ]
-
-          def test_nodes = [:]
-          for (def i = 0; i < missions.size(); i++) {
-            test_nodes.put(missions[i].name, createTestNode(missions[i]))
-          }
-
-          parallel test_nodes
-        } // script
-      } // steps
-    } // stage ROS Tests
-
-  } //stages
-
-  environment {
-    CCACHE_DIR = '/tmp/ccache'
-    CI = true
-    PX4_CMAKE_BUILD_TYPE = 'AddressSanitizer'
-  }
-
-  options {
-    buildDiscarder(logRotator(numToKeepStr: '10', artifactDaysToKeepStr: '30'))
-    timeout(time: 60, unit: 'MINUTES')
-  }
-} // pipeline
-
-def createTestNode(Map test_def) {
-  return {
-    node {
-      cleanWs()
-      docker.image("px4io/px4-dev-ros-kinetic:2019-10-04").inside('-e HOME=${WORKSPACE}') {
-        stage(test_def.name) {
-          def run_script = test_def.get('run_script', 'rostest_px4_run.sh')
-          def test_ok = true
-          sh('export')
-
-          unstash('px4_sitl_package')
-          sh('tar -xjpvf build/px4_sitl_default/px4-px4_sitl_default*.bz2')
-
-          // run test
-          try {
-            sh('px4-px4_sitl_default*/px4/test/' + run_script + ' ' + test_def.test + ' mission:=' + test_def.mission + ' vehicle:=' + test_def.vehicle)
-
-          } catch (exc) {
-            // save all test artifacts for debugging
-            archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.ulg, .ros/**/rosunit-*.xml, .ros/**/rostest-*.log')
-            test_ok = false
-          }
-
-          // log analysis
-          // process ekf log data
-          try {
-            sh('px4-px4_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py .ros/log/*/*.ulg')
-          } catch (exc) {
-            // save log analysis artifacts for debugging
-            archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.pdf, .ros/**/*.csv')
-            // FIXME: don't let the script to fail the build
-            // test_ok = false
-          }
-
-          // upload log to flight review (https://logs.px4.io/)
-          sh('px4-px4_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/log/*/*.ulg')
-
-          if (!test_ok) {
-            error('ROS Test failed')
-          }
-        } // stage
-        cleanWs()
-      } // docker.image
-    } // node
-  } // return
-} // createTestNode
@@ -1,192 +0,0 @@
-#!/usr/bin/env groovy
-
-pipeline {
-  agent none
-
-  stages {
-
-    stage('ROS Tests') {
-      steps {
-        script {
-          def missions = [
-            [
-              name: "FW",
-              test: "mavros_posix_test_mission.test",
-              mission: "FW_mission_1",
-              vehicle: "plane"
-            ],
-
-            [
-              name: "MC_box",
-              test: "mavros_posix_test_mission.test",
-              mission: "MC_mission_box",
-              vehicle: "iris"
-            ],
-            [
-              name: "MC_offboard_att",
-              test: "mavros_posix_tests_offboard_attctl.test",
-              mission: "",
-              vehicle: "iris"
-            ],
-            [
-              name: "MC_offboard_pos",
-              test: "mavros_posix_tests_offboard_posctl.test",
-              mission: "",
-              vehicle: "iris"
-            ],
-
-            [
-              name: "Rover 1",
-              test: "mavros_posix_test_mission.test",
-              mission: "rover_mission_1",
-              vehicle: "rover"
-            ],
-
-            [
-              name: "VTOL_standard",
-              test: "mavros_posix_test_mission.test",
-              mission: "VTOL_mission_1",
-              vehicle: "standard_vtol"
-            ],
-            [
-              name: "VTOL_tailsitter",
-              test: "mavros_posix_test_mission.test",
-              mission: "VTOL_mission_1",
-              vehicle: "tailsitter"
-            ],
-            // [
-            //   name: "VTOL_tiltrotor",
-            //   test: "mavros_posix_test_mission.test",
-            //   mission: "VTOL_mission_1",
-            //   vehicle: "tiltrotor"
-            // ],
-
-          ]
-
-          def test_nodes = [:]
-          for (def i = 0; i < missions.size(); i++) {
-            test_nodes.put(missions[i].name, createTestNode(missions[i]))
-          }
-
-          parallel test_nodes
-        } // script
-      } // steps
-    } // stage ROS Tests
-
-    stage('Coverage') {
-      parallel {
-
-        stage('code coverage (python)') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-base-bionic:2019-10-04'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-            }
-          }
-          steps {
-            sh 'export'
-            sh 'make distclean'
-            sh 'git fetch --tags'
-            sh 'make python_coverage'
-            withCredentials([string(credentialsId: 'FIRMWARE_CODECOV_TOKEN', variable: 'CODECOV_TOKEN')]) {
-              sh 'curl -s https://codecov.io/bash | bash -s - -F python'
-            }
-
-            sh 'make distclean'
-          }
-        }
-
-        stage('unit tests') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-base-bionic:2019-10-04'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-            }
-          }
-          steps {
-            sh 'export'
-            sh 'make distclean'
-            sh 'git fetch --tags'
-            sh 'make px4_sitl_test test_results_junit'
-            withCredentials([string(credentialsId: 'FIRMWARE_CODECOV_TOKEN', variable: 'CODECOV_TOKEN')]) {
-              sh 'curl -s https://codecov.io/bash | bash -s - -F unittest'
-            }
-            sh 'make distclean'
-          }
-        }
-
-      } // parallel
-    } // stage Coverage
-
-  } //stages
-
-  environment {
-    CCACHE_DIR = '/tmp/ccache'
-    CI = true
-    CTEST_OUTPUT_ON_FAILURE = 1
-    PX4_CMAKE_BUILD_TYPE = 'Coverage'
-  }
-
-  options {
-    buildDiscarder(logRotator(numToKeepStr: '10', artifactDaysToKeepStr: '30'))
-    timeout(time: 60, unit: 'MINUTES')
-  }
-} // pipeline
-
-def createTestNode(Map test_def) {
-  return {
-    node {
-      cleanWs()
-      docker.image("px4io/px4-dev-ros-kinetic:2019-10-04").inside('-e HOME=${WORKSPACE}') {
-        stage(test_def.name) {
-          def test_ok = true
-          sh('export')
-
-          checkout(scm)
-
-          // run test
-          try {
-            sh('make distclean')
-            sh 'git fetch --tags'
-            sh('ccache -z')
-            sh('make px4_sitl_default')
-            sh('make px4_sitl_default sitl_gazebo')
-            sh('ccache -s')
-            sh('make rostest_run TEST_FILE=' + test_def.test + ' TEST_MISSION=' + test_def.mission + ' TEST_VEHICLE=' + test_def.vehicle)
-          } catch (exc) {
-            // save all test artifacts for debugging
-            archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.ulg, .ros/**/rosunit-*.xml, .ros/**/rostest-*.log')
-            test_ok = false
-          }
-
-          // log analysis
-          withCredentials([string(credentialsId: 'FIRMWARE_CODECOV_TOKEN', variable: 'CODECOV_TOKEN')]) {
-            sh 'curl -s https://codecov.io/bash | bash -s - -F sitl_mission_${STAGE_NAME}'
-
-            // process log data (with python code coverage)
-            try {
-              //sh('coverage run -p Tools/ecl_ekf/process_logdata_ekf.py .ros/log/*/*.ulg')
-              sh('Tools/ecl_ekf/process_logdata_ekf.py .ros/log/*/*.ulg')
-            } catch (exc) {
-              // save log analysis artifacts for debugging
-              archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.pdf, .ros/**/*.csv')
-              // FIXME: don't let the script to fail the build
-              // test_ok = false
-            }
-
-            // upload log to flight review (https://logs.px4.io/) with python code coverage
-            sh('coverage run -p Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/log/*/*.ulg')
-
-            // upload python code coverage to codecov.io
-            sh 'curl -s https://codecov.io/bash | bash -s - -X gcov -F sitl_python_${STAGE_NAME}'
-          }
-
-          if (!test_ok) {
-            error('ROS Test failed')
-          }
-        } // stage
-        cleanWs()
-      } // docker.image
-    } // node
-  } // return
-} // createTestNode
@@ -9,19 +9,25 @@ pipeline {
        script {
          def build_nodes = [:]
          def docker_images = [
-            armhf: "px4io/px4-dev-armhf:2019-10-04",
-            base: "px4io/px4-dev-base-bionic:2019-10-04",
-            nuttx: "px4io/px4-dev-nuttx:2019-10-04",
-            rpi: "px4io/px4-dev-raspi:2019-10-04",
-            snapdragon: "lorenzmeier/px4-dev-snapdragon:2018-09-12"
+            armhf: "px4io/px4-dev-armhf:2020-04-01",
+            arm64: "px4io/px4-dev-aarch64:latest",
+            base: "px4io/px4-dev-base-bionic:2020-04-01",
+            nuttx: "px4io/px4-dev-nuttx-focal:2020-09-14",
+            snapdragon: "lorenzmeier/px4-dev-snapdragon:2020-04-01"
          ]

          def armhf_builds = [
-            target: ["aerotenna_ocpoc_ubuntu"],
+            target: ["aerotenna_ocpoc_default", "beaglebone_blue_default", "emlid_navio2_default", "px4_raspberrypi_default", "scumaker_pilotpi_default"],
            image: docker_images.armhf,
            archive: false
          ]

+          def arm64_builds = [
+            target: ["scumaker_pilotpi_arm64"],
+            image: docker_images.arm64,
+            archive: false
+          ]
+
          def base_builds = [
            target: ["px4_sitl_rtps"],
            image: docker_images.base,
@@ -30,39 +36,69 @@ pipeline {

          def nuttx_builds_archive = [
            target: [
-                     "px4_fmu-v2_default", "px4_fmu-v2_fixedwing", "px4_fmu-v2_lpe", "px4_fmu-v2_multicopter", "px4_fmu-v2_rover", "px4_fmu-v2_test",
+                     "airmind_mindpx-v2_default",
+                     "av_x-v1_default",
+                     "bitcraze_crazyflie_default",
+                     "cuav_can-gps-v1_canbootloader",
+                     "cuav_can-gps-v1_default",
+                     "cuav_nora_default",
+                     "cuav_x7pro_default",
+                     "cubepilot_cubeorange_console",
+                     "cubepilot_cubeorange_default",
+                     "cubepilot_cubeyellow_console",
+                     "cubepilot_cubeyellow_default",
+                     "holybro_durandal-v1_default",
+                     "holybro_kakutef7_default",
+                     "holybro_pix32v5_default",
+                     "intel_aerofc-v1_default",
+                     "modalai_fc-v1_default",
+                     "mro_ctrl-zero-f7_default",
+                     "mro_x21-777_default",
+                     "mro_x21_default",
+                     "nxp_fmuk66-v3_default",
+                     "nxp_fmuk66-v3_socketcan",
+                     "nxp_fmuk66-v3_rtps",
+                     "nxp_fmurt1062-v1_default",
+                     "nxp_ucans32k146_default",
+                     "omnibus_f4sd_default",
+                     "px4_fmu-v2_default",
+                     "px4_fmu-v2_fixedwing",
+                     "px4_fmu-v2_lpe",
+                     "px4_fmu-v2_multicopter",
+                     "px4_fmu-v2_rover",
+                     "px4_fmu-v2_test",
                     "px4_fmu-v3_default",
+                     "px4_fmu-v4_cannode",
                     "px4_fmu-v4_default",
+                     "px4_fmu-v4_optimized",
                     "px4_fmu-v4pro_default",
-                     "px4_fmu-v5_default", "px4_fmu-v5_fixedwing", "px4_fmu-v5_multicopter", "px4_fmu-v5_rover", "px4_fmu-v5_rtps", "px4_fmu-v5_stackcheck",
+                     "px4_fmu-v5_default",
+                     "px4_fmu-v5_debug",
+                     "px4_fmu-v5_fixedwing",
+                     "px4_fmu-v5_multicopter",
+                     "px4_fmu-v5_optimized",
+                     "px4_fmu-v5_rover",
+                     "px4_fmu-v5_rtps",
+                     "px4_fmu-v5_stackcheck",
+                     "px4_fmu-v5x_base_phy_DP83848C",
                     "px4_fmu-v5x_default",
-                     "intel_aerofc-v1_default", "auav_x21_default", "av_x-v1_default", "bitcraze_crazyflie_default", "airmind_mindpx-v2_default",
-                     "holybro_kakutef7", "modalai_fc-v1_default", "mro_ctrl-zero-f7_default", "nxp_fmuk66-v3_default", "omnibus_f4sd_default",
-                     "uvify_core_default"],
+                     "px4_fmu-v6x_default",
+                     "px4_io-v2_default",
+                     "spracing_h7extreme_default",
+                     "uvify_core_default"
+            ],
            image: docker_images.nuttx,
            archive: true
          ]

-          def nuttx_builds_other = [
-            target: ["px4_esc-v1_default", "thiemar_s2740vc-v1_default"],
-            image: docker_images.nuttx,
-            archive: false
-          ]
-
-          def rpi_builds = [
-            target: ["emlid_navio2_cross", "parrot_bebop_default"],
-            image: docker_images.rpi,
-            archive: false
-          ]
-
          def snapdragon_builds = [
-            target: ["atlflight_eagle_qurt-default", "atlflight_eagle_default"],
+            target: ["atlflight_eagle_qurt", "atlflight_eagle_default"],
            image: docker_images.snapdragon,
            archive: false
          ]

          def docker_builds = [
-            armhf_builds, base_builds, nuttx_builds_archive, nuttx_builds_other, rpi_builds, snapdragon_builds
+            armhf_builds, base_builds, nuttx_builds_archive//, snapdragon_builds
          ]

          for (def build_type = 0; build_type < docker_builds.size(); build_type++) {
@@ -82,7 +118,7 @@ pipeline {
    // TODO: actually upload artifacts to S3
    // stage('S3 Upload') {
    //   agent {
-    //     docker { image 'px4io/px4-dev-base-bionic:2019-10-04' }
+    //     docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
    //   }
    //   options {
    //         skipDefaultCheckout()
@@ -106,7 +142,7 @@ pipeline {
    CI = true
  }
  options {
-    buildDiscarder(logRotator(numToKeepStr: '2', artifactDaysToKeepStr: '14'))
+    buildDiscarder(logRotator(numToKeepStr: '5', artifactDaysToKeepStr: '14'))
    timeout(time: 60, unit: 'MINUTES')
  }
 }
@@ -116,7 +152,7 @@ def createBuildNode(Boolean archive, String docker_image, String target) {

    // TODO: fix the snapdragon image
    bypass_entrypoint = ''
-    if (docker_image == 'lorenzmeier/px4-dev-snapdragon:2018-09-12') {
+    if (docker_image == 'lorenzmeier/px4-dev-snapdragon:2020-04-01') {
      bypass_entrypoint = ' --entrypoint=""'
    }

@@ -129,7 +165,7 @@ def createBuildNode(Boolean archive, String docker_image, String target) {
              checkout(scm)
              sh('make distclean')
              sh('git fetch --tags')
-              sh('ccache -z')
+              sh('ccache -s')
              sh('make ' + target)
              sh('ccache -s')
              sh('make sizes')
@@ -1,90 +0,0 @@
-#!/usr/bin/env groovy
-
-pipeline {
-  agent none
-  stages {
-
-    stage('Build') {
-
-      parallel {
-
-        stage('px4_sitl_default (OSX)') {
-          agent {
-            label 'mac'
-          }
-          environment {
-            CCACHE_BASEDIR = "${env.WORKSPACE}"
-          }
-          steps {
-            sh 'export'
-            sh 'make distclean'
-            sh 'git fetch --tags'
-            sh 'ccache -z'
-            sh 'make px4_sitl_default'
-            sh 'ccache -s'
-          }
-          post {
-            always {
-              sh 'make distclean'
-            }
-          }
-        } // stage px4_sitl_default
-
-        stage('px4_fmu-v5_default (OSX)') {
-          agent {
-            label 'mac'
-          }
-          environment {
-            CCACHE_BASEDIR = "${env.WORKSPACE}"
-          }
-          steps {
-            sh 'export'
-            sh 'make distclean'
-            sh 'git fetch --tags'
-            sh 'ccache -z'
-            sh 'make px4_fmu-v5_default'
-            sh 'ccache -s'
-          }
-          post {
-            always {
-              sh 'make distclean'
-            }
-          }
-        } // stage px4_fmu-v5_default
-
-        stage('sitl tests (OSX)') {
-          agent {
-            label 'mac'
-          }
-          environment {
-            CCACHE_BASEDIR = "${env.WORKSPACE}"
-          }
-          steps {
-            sh 'export'
-            sh 'make distclean'
-            sh 'git fetch --tags'
-            sh 'ccache -z'
-            sh 'make tests'
-            sh 'ccache -s'
-          }
-          post {
-            always {
-              sh 'make distclean'
-            }
-          }
-        } // stage sitl tests
-
-      } // parallel
-    } // stage Build
-
-  } // stages
-  environment {
-    CCACHE_CPP2 = '1'
-    CCACHE_DIR = '/tmp/ccache'
-    CI = true
-  }
-  options {
-    buildDiscarder(logRotator(numToKeepStr: '10', artifactDaysToKeepStr: '30'))
-    timeout(time: 120, unit: 'MINUTES')
-  }
-}
@@ -1,41 +0,0 @@
-#!/usr/bin/env groovy
-
-pipeline {
-  agent none
-  stages {
-    stage('Build and Verify') {
-
-      agent {
-        label 'navio2'
-      }
-      steps {
-        sh 'export'
-        sh 'make distclean'
-        sh 'ccache -z'
-        sh 'git fetch --tags'
-        sh 'CCACHE_BASEDIR=${WORKSPACE} make emlid_navio2_native'
-        sh 'ccache -s'
-        // sanity check
-        sh 'cd build/emlid_navio2_native/ && ./bin/px4 -s ../../posix-configs/rpi/px4_test.config'
-      }
-      post {
-        always {
-          sh 'make distclean'
-        }
-      }
-      options {
-        timeout(time: 30, unit: 'MINUTES')
-      }
-
-    }
-
-  } // stages
-  environment {
-    CCACHE_DIR = '/tmp/ccache'
-    CI = true
-  }
-  options {
-    buildDiscarder(logRotator(numToKeepStr: '20', artifactDaysToKeepStr: '30'))
-    timeout(time: 60, unit: 'MINUTES')
-  }
-}
@@ -1,48 +0,0 @@
-#!/usr/bin/env groovy
-
-pipeline {
-  agent none
-  stages {
-    stage('Build and Verify') {
-
-      agent {
-        label 'snapdragon'
-      }
-      steps {
-        sh 'export'
-        sh 'make distclean'
-        sh 'ccache -z'
-        sh 'git fetch --tags'
-        sh 'CCACHE_BASEDIR=${WORKSPACE} make eagle_default'
-        sh 'ccache -s'
-        // sanity check
-        sh 'adb devices'
-        sh 'make eagle_default sanity || true'
-      }
-      post {
-        always {
-          sh 'cat boards/atlflight/eagle/scripts/px4.log'
-          sh 'cat boards/atlflight/eagle/scripts/minidm.log'
-          sh 'make distclean'
-        }
-      }
-      options {
-        timeout(time: 30, unit: 'MINUTES')
-      }
-
-    }
-
-  } // stages
-  environment {
-    CCACHE_DIR = '/tmp/ccache'
-    CI = true
-    ARM_CROSS_GCC_ROOT="/home/jenkins/Qualcomm/ARM_Tools/gcc-4.9-2014.11"
-    HEXAGON_ARM_SYSROOT="/home/jenkins/Qualcomm/qrlinux_sysroot"
-    HEXAGON_SDK_ROOT="/home/jenkins/Qualcomm/Hexagon_SDK/3.0"
-    HEXAGON_TOOLS_ROOT="/home/jenkins/Qualcomm/HEXAGON_Tools/7.2.12/Tools"
-  }
-  options {
-    buildDiscarder(logRotator(numToKeepStr: '20', artifactDaysToKeepStr: '30'))
-    timeout(time: 60, unit: 'MINUTES')
-  }
-}
@@ -1,19 +0,0 @@
-version: 2
-jobs:
-  build:
-    docker:
-      - image: px4io/px4-dev-nuttx:2019-07-29
-    steps:
-      - checkout
-      - run:
-          name: Fetch tags
-          command: git fetch --tags
-      - run:
-          name: Build px4_fmu-v5_default
-          command: make px4_fmu-v5_default
-      - store_artifacts:
-          path: build/px4_fmu-v5_default/px4_fmu-v5_default.px4
-          destination: px4_fmu-v5_default.px4
-      - store_artifacts:
-          path: build/px4_fmu-v5_default/px4_fmu-v5_default.elf
-          destination: px4_fmu-v5_default.elf
@@ -1,89 +1,107 @@
-Checks:          '*
-		,-cert-dcl50-cpp
-		,-cert-env33-c
-		,-cert-err34-c
-		,-cert-err58-cpp
-		,-cert-msc30-c
-		,-cert-msc50-cpp
-		,-clang-analyzer-core.CallAndMessage
-		,-clang-analyzer-core.NullDereference
-		,-clang-analyzer-core.UndefinedBinaryOperatorResult
-		,-clang-analyzer-core.uninitialized.Assign
-		,-clang-analyzer-core.VLASize
-		,-clang-analyzer-cplusplus.NewDelete
-		,-clang-analyzer-cplusplus.NewDeleteLeaks
-		,-clang-analyzer-deadcode.DeadStores
-		,-clang-analyzer-optin.cplusplus.VirtualCall
-		,-clang-analyzer-optin.performance.Padding
-		,-clang-analyzer-security.insecureAPI.strcpy
-		,-clang-analyzer-unix.API
-		,-clang-analyzer-unix.cstring.BadSizeArg
-		,-clang-analyzer-unix.Malloc
-		,-clang-analyzer-unix.MallocSizeof
-		,-cppcoreguidelines-c-copy-assignment-signature
-		,-cppcoreguidelines-interfaces-global-init
-		,-cppcoreguidelines-no-malloc
-		,-cppcoreguidelines-pro-bounds-array-to-pointer-decay
-		,-cppcoreguidelines-pro-bounds-constant-array-index
-		,-cppcoreguidelines-pro-bounds-pointer-arithmetic
-		,-cppcoreguidelines-pro-type-const-cast
-		,-cppcoreguidelines-pro-type-cstyle-cast
-		,-cppcoreguidelines-pro-type-member-init
-		,-cppcoreguidelines-pro-type-reinterpret-cast
-		,-cppcoreguidelines-pro-type-union-access
-		,-cppcoreguidelines-pro-type-vararg
-		,-cppcoreguidelines-special-member-functions
-		,-google-build-using-namespace
-		,-google-explicit-constructor
-		,-google-global-names-in-headers
-		,-google-readability-casting
-		,-google-readability-namespace-comments
-		,-google-readability-todo
-		,-google-runtime-int
-		,-google-runtime-references
-		,-llvm-header-guard
-		,-llvm-include-order
-		,-llvm-namespace-comment
-		,-misc-incorrect-roundings
-		,-misc-macro-parentheses
-		,-misc-misplaced-widening-cast
-		,-misc-redundant-expression
-		,-misc-unconventional-assign-operator
-		,-misc-unused-parameters
-		,-modernize-deprecated-headers
-		,-modernize-loop-convert
-		,-modernize-use-auto
-		,-modernize-use-bool-literals
-		,-modernize-use-default-member-init
-		,-modernize-use-emplace
-		,-modernize-use-equals-default
-		,-modernize-use-equals-delete
-		,-modernize-use-override
-		,-modernize-use-using
-		,-modernize-pass-by-value
-		,-performance-inefficient-string-concatenation
-		,-readability-avoid-const-params-in-decls
-		,-readability-else-after-return
-		,-readability-implicit-bool-cast
-		,-readability-inconsistent-declaration-parameter-name
-		,-readability-non-const-parameter
-		,-readability-redundant-declaration
-		,-readability-redundant-member-init
-		,-readability-simplify-boolean-expr
-		'
+---
+Checks:          '*,
+                  -android*,
+                  -bugprone-integer-division,
+                  -cert-dcl50-cpp,
+                  -cert-env33-c,
+                  -cert-err34-c,
+                  -cert-err58-cpp,
+                  -cert-msc30-c,
+                  -cert-msc50-cpp,
+                  -clang-analyzer-core.CallAndMessage,
+                  -clang-analyzer-core.NullDereference,
+                  -clang-analyzer-core.UndefinedBinaryOperatorResult,
+                  -clang-analyzer-core.uninitialized.Assign,
+                  -clang-analyzer-core.VLASize,
+                  -clang-analyzer-cplusplus.NewDelete,
+                  -clang-analyzer-cplusplus.NewDeleteLeaks,
+                  -clang-analyzer-deadcode.DeadStores,
+                  -clang-analyzer-optin.cplusplus.VirtualCall,
+                  -clang-analyzer-optin.performance.Padding,
+                  -clang-analyzer-security.insecureAPI.strcpy,
+                  -clang-analyzer-unix.API,
+                  -clang-analyzer-unix.cstring.BadSizeArg,
+                  -clang-analyzer-unix.Malloc,
+                  -clang-analyzer-unix.MallocSizeof,
+                  -cppcoreguidelines-c-copy-assignment-signature,
+                  -cppcoreguidelines-interfaces-global-init,
+                  -cppcoreguidelines-no-malloc,
+                  -cppcoreguidelines-owning-memory,
+                  -cppcoreguidelines-pro-bounds-array-to-pointer-decay,
+                  -cppcoreguidelines-pro-bounds-constant-array-index,
+                  -cppcoreguidelines-pro-bounds-pointer-arithmetic,
+                  -cppcoreguidelines-pro-type-const-cast,
+                  -cppcoreguidelines-pro-type-cstyle-cast,
+                  -cppcoreguidelines-pro-type-member-init,
+                  -cppcoreguidelines-pro-type-reinterpret-cast,
+                  -cppcoreguidelines-pro-type-union-access,
+                  -cppcoreguidelines-pro-type-vararg,
+                  -cppcoreguidelines-special-member-functions,
+                  -fuchsia-default-arguments,
+                  -fuchsia-overloaded-operator,
+                  -google-build-using-namespace,
+                  -google-explicit-constructor,
+                  -google-global-names-in-headers,
+                  -google-readability-casting,
+                  -google-readability-function-size,
+                  -google-readability-namespace-comments,
+                  -google-readability-todo,
+                  -google-runtime-int,
+                  -google-runtime-references,
+                  -hicpp-deprecated-headers,
+                  -hicpp-explicit-conversions,
+                  -hicpp-function-size,
+                  -hicpp-member-init,
+                  -hicpp-no-array-decay,
+                  -hicpp-no-assembler,
+                  -hicpp-no-malloc,
+                  -hicpp-signed-bitwise,
+                  -hicpp-special-member-functions,
+                  -hicpp-use-auto,
+                  -hicpp-use-equals-default,
+                  -hicpp-use-equals-delete,
+                  -hicpp-use-override,
+                  -hicpp-vararg,
+                  -llvm-header-guard,
+                  -llvm-include-order,
+                  -llvm-namespace-comment,
+                  -misc-incorrect-roundings,
+                  -misc-macro-parentheses,
+                  -misc-misplaced-widening-cast,
+                  -misc-redundant-expression,
+                  -misc-unconventional-assign-operator,
+                  -misc-unused-parameters,
+                  -modernize-deprecated-headers,
+                  -modernize-loop-convert,
+                  -modernize-pass-by-value,
+                  -modernize-return-braced-init-list,
+                  -modernize-use-auto,
+                  -modernize-use-bool-literals,
+                  -modernize-use-default-member-init,
+                  -modernize-use-equals-default,
+                  -modernize-use-equals-delete,
+                  -modernize-use-override,
+                  -modernize-use-using,
+                  -performance-inefficient-string-concatenation,
+                  -readability-avoid-const-params-in-decls,
+                  -readability-container-size-empty,
+                  -readability-else-after-return,
+                  -readability-function-size,
+                  -readability-implicit-bool-cast,
+                  -readability-implicit-bool-conversion,
+                  -readability-inconsistent-declaration-parameter-name,
+                  -readability-named-parameter,
+                  -readability-non-const-parameter,
+                  -readability-redundant-declaration,
+                  -readability-static-accessed-through-instance,
+                  -readability-static-definition-in-anonymous-namespace,
+                 '
 WarningsAsErrors: '*'
-CheckOptions:    
-  - key:             google-readability-braces-around-statements.ShortStatementLines
-    value:           '1'
+CheckOptions:
  - key:             google-readability-function-size.BranchThreshold
    value:           '600'
  - key:             google-readability-function-size.LineThreshold
    value:           '4000'
  - key:             google-readability-function-size.StatementThreshold
    value:           '4000'
-  - key:             readability-braces-around-statements.ShortStatementLines
-    value:           '1'
-  - key:             readability-function-size.LineThreshold
-    value:           '4000'
-  - key:             readability-function-size.StatementThreshold
-    value:           '4000'
+...
@@ -0,0 +1,42 @@
+// For format details, see https://aka.ms/vscode-remote/devcontainer.json or this file's README at:
+// https://github.com/microsoft/vscode-dev-containers/tree/v0.134.0/containers/cpp
+{
+	"name": "px4-dev-nuttx",
+	"image": "px4io/px4-dev-nuttx-focal:2020-09-14",
+
+	"runArgs": [ "--cap-add=SYS_PTRACE", "--security-opt", "seccomp=unconfined" ],
+
+	// Set *default* container specific settings.json values on container create.
+	"settings": {
+		"terminal.integrated.shell.linux": "/bin/bash"
+	},
+
+	// Add the IDs of extensions you want installed when the container is created.
+	"extensions": [
+		"chiehyu.vscode-astyle",
+		"dan-c-underwood.arm",
+		"fredericbonnet.cmake-test-adapter",
+		"github.vscode-pull-request-github",
+		"marus25.cortex-debug",
+		"ms-azuretools.vscode-docker",
+		"ms-iot.vscode-ros",
+		"ms-python.python",
+		"ms-vscode.cmake-tools",
+		"ms-vscode.cpptools",
+		"ms-vscode.cpptools-extension-pack",
+		"redhat.vscode-yaml",
+		"streetsidesoftware.code-spell-checker",
+		"twxs.cmake",
+		"uavcan.dsdl",
+		"wholroyd.jinja",
+		"zixuanwang.linkerscript"
+	],
+
+	"containerUser": "user",
+	"containerEnv": {
+		"LOCAL_USER_ID": "${localEnv:UID}"
+	},
+
+	// Use 'forwardPorts' to make a list of ports inside the container available locally.
+	"forwardPorts": [14556],
+}
@@ -1,7 +1,80 @@
 * text=auto eol=lf
+
+*.cmake  text eol=lf
+*.c      text eol=lf
+*.cc     text eol=lf
+*.cpp    text eol=lf
+*.h      text eol=lf
+*.hh     text eol=lf
+*.hpp    text eol=lf
+*.hxx    text eol=lf
+*.S      text eol=lf
+
+*.ipynb  text eol=lf
+*.m      text eol=lf
+*.mat    binary
+*.py     text eol=lf
+
+*.java   text eol=lf
+*.jar    binary
+*.xml    text eol=lf
+
+# PX4 mixers, msgs, etc
+*.bin    binary
+*.mix    text eol=lf
+*.msg    text eol=lf
+*.config text eol=lf
+*.sdf    text eol=lf
+*.uavcan text eol=lf
+
+# NuttX
+Makefile.* text eol=lf
+*.defs   text eol=lf
+*.ld     text eol=lf
+
+*.csv    text eol=lf
+*.md     text eol=lf
+*.txt    text eol=lf
+
+# Scripts
+*.bash   text eol=lf
+*.sh     text eol=lf
+*.zsh    text eol=lf
+# These are explicitly windows files and should use crlf
+*.ps1    text eol=crlf
 *.{cmd,[cC][mM][dD]} text eol=crlf
 *.{bat,[bB][aA][tT]} text eol=crlf

-*.bin binary
-*.pdf binary
-*.png binary
+# Serialisation
+*.json   text eol=lf
+*.toml   text eol=lf
+*.xml    text eol=lf
+*.yaml   text eol=lf
+*.yml    text eol=lf
+
+# Graphics
+*.png    binary
+*.jpg    binary
+*.jpeg   binary
+*.gif    binary
+*.tif    binary
+*.tiff   binary
+*.ico    binary
+*.pdf    binary
+# SVG treated as an asset (binary) by default.
+*.svg    text eol=lf
+
+# Text files where line endings should be preserved
+*.patch  -text
+
+# Archives
+*.7z     binary
+*.gz     binary
+*.tar    binary
+*.tgz    binary
+*.zip    binary
+
+# everything else
+.gitattributes text eol=lf
+.gitignore     text eol=lf
+Makefile       text eol=lf
@@ -19,7 +19,7 @@ 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/en/getting_started/flight_reporting.html)).
+- Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/master/en/getting_started/flight_reporting.html)).
 - Share the link to a log showing the problem on [PX4 Flight Review](http://logs.px4.io/).

 Add screenshots to help explain your problem.
@@ -1,13 +0,0 @@
-name: C/C++ CI
-
-on: [push]
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-bionic:2019-07-29
-    steps:
-    - uses: actions/checkout@v1
-    - name: make
-      run: make
-
@@ -0,0 +1,58 @@
+name: Checks
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        check: [
+          "check_format",
+          "tests",
+          "px4_fmu-v2_default stack_check",
+          "validate_module_configs",
+          "shellcheck_all",
+          "NO_NINJA_BUILD=1 px4_fmu-v5_default",
+          "NO_NINJA_BUILD=1 px4_sitl_default",
+          "airframe_metadata",
+          "module_documentation",
+          "parameters_metadata",
+        ]
+    container: px4io/px4-dev-nuttx-focal:2020-09-14
+    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: tests_${{matrix.ubuntu_release}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: tests_${{matrix.ubuntu_release}}-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 = 400M" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: ${{matrix.check}}
+      run: make ${{matrix.check}}
@@ -0,0 +1,46 @@
+name: Clang Tidy
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-clang:2020-08-14
+    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: clang-tidy-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: clang-tidy-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 = 400M" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: make clang-tidy-quiet
+      run: |
+        ccache -z
+        make clang-tidy-quiet
+        ccache -s
@@ -0,0 +1,54 @@
+name: Linux Targets
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-armhf:2020-08-14
+    strategy:
+      matrix:
+        config: [
+          aerotenna_ocpoc_default,
+          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 = 400M" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: make ${{matrix.config}}
+      run: make ${{matrix.config}}
+    - name: ccache post-run
+      run: ccache -s
@@ -0,0 +1,50 @@
+name: Linux ARM64 Targets
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-aarch64:latest
+    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 = 400M" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: make ${{matrix.config}}
+      run: make ${{matrix.config}}
+    - name: ccache post-run
+      run: ccache -s
@@ -0,0 +1,55 @@
+name: MacOS build
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: macos-10.15
+    strategy:
+      matrix:
+        config: [
+          px4_fmu-v5_default,
+          px4_sitl_default,
+          #tests, # includes px4_sitl
+          ]
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+
+    - name: setup
+      run: ./Tools/setup/macos.sh
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: macos_${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: macos_${{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 = 400M" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: make ${{matrix.config}}
+      run: |
+          ccache -z
+          make ${{matrix.config}}
+          ccache -s
@@ -0,0 +1,117 @@
+name: Nuttx Targets
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-nuttx-focal:2020-09-14
+    strategy:
+      matrix:
+        config: [
+          airmind_mindpx-v2_default,
+          av_x-v1_default,
+          bitcraze_crazyflie_default,
+          cuav_can-gps-v1_canbootloader,
+          cuav_can-gps-v1_default,
+          cuav_nora_default,
+          cuav_x7pro_default,
+          cubepilot_cubeorange_console,
+          cubepilot_cubeorange_default,
+          cubepilot_cubeyellow_console,
+          cubepilot_cubeyellow_default,
+          holybro_durandal-v1_default,
+          holybro_kakutef7_default,
+          holybro_pix32v5_default,
+          intel_aerofc-v1_default,
+          modalai_fc-v1_default,
+          mro_ctrl-zero-f7_default,
+          mro_x21-777_default,
+          mro_x21_default,
+          nxp_fmuk66-v3_default,
+          nxp_fmuk66-e_default,
+          nxp_fmuk66-v3_socketcan,
+          nxp_fmuk66-v3_rtps,
+          nxp_fmurt1062-v1_default,
+          nxp_ucans32k146_default,
+          omnibus_f4sd_default,
+          px4_fmu-v2_default,
+          px4_fmu-v2_fixedwing,
+          px4_fmu-v2_lpe,
+          px4_fmu-v2_multicopter,
+          px4_fmu-v2_rover,
+          px4_fmu-v2_test,
+          px4_fmu-v3_default,
+          px4_fmu-v4_cannode,
+          px4_fmu-v4_default,
+          px4_fmu-v4_optimized,
+          px4_fmu-v4pro_default,
+          px4_fmu-v5_default,
+          px4_fmu-v5_fixedwing,
+          px4_fmu-v5_multicopter,
+          px4_fmu-v5_optimized,
+          px4_fmu-v5_rover,
+          px4_fmu-v5_rtps,
+          px4_fmu-v5_stackcheck,
+          px4_fmu-v5x_base_phy_DP83848C,
+          px4_fmu-v5x_default,
+          px4_fmu-v6x_default,
+          px4_io-v2_default,
+          spracing_h7extreme_default,
+          uvify_core_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 = 400M" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: make ${{matrix.config}}
+      run: make ${{matrix.config}}
+    - 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_compare_master
+      run: make ${{matrix.config}} bloaty_compare_master || true
+    - name: ccache post-run
+      run: ccache -s
+
+    - name: Upload px4 package
+      uses: actions/upload-artifact@v1
+      with:
+        name: px4_package_${{matrix.config}}
+        path: build/${{matrix.config}}/${{matrix.config}}.px4
@@ -0,0 +1,67 @@
+name: Coverage
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2020-09-14
+    strategy:
+      matrix:
+        config: [
+          tests,
+          #python_coverage,
+          ]
+    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: coverage_${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: coverage_${{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
+          ccache -s
+          ccache -z
+
+    - name: make ${{matrix.config}}
+      env:
+        PX4_CMAKE_BUILD_TYPE: "Coverage"
+      run: make ${{matrix.config}}
+
+    # Report test coverage
+    - name: Upload coverage
+      run: |
+          git config --global credential.helper "" # disable the keychain credential helper
+          git config --global --add credential.helper store # enable the local store credential helper
+          echo "https://x-access-token:${{ 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_test --base-directory build/px4_sitl_test --gcov-tool gcov --capture -o coverage/lcov.info
+    - name: Upload coverage information to Codecov
+      uses: codecov/codecov-action@v1
+      with:
+        token: ${{ secrets.CODECOV_TOKEN }}
+        flags: ${{matrix.config}}
+        file: coverage/lcov.info
@@ -0,0 +1,129 @@
+name: MAVROS Avoidance Tests
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        config:
+          - {test_file: "mavros_posix_test_avoidance.test",    vehicle: "iris_obs_avoid", mission: "avoidance",       build_type: "RelWithDebInfo"}
+          - {test_file: "mavros_posix_test_safe_landing.test", vehicle: "iris_obs_avoid", mission: "MC_safe_landing", build_type: "RelWithDebInfo"}
+
+    container:
+      image: px4io/px4-dev-ros-melodic:2020-08-14
+      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: check environment
+      run: export
+    - name: Build PX4 and sitl_gazebo
+      env:
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: |
+        ccache -z
+        make px4_sitl_default
+        make px4_sitl_default sitl_gazebo
+        ccache -s
+
+    - name: Core dump settings
+      run: |
+          ulimit -c unlimited
+          echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
+
+    - name: Run SITL tests
+      env:
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: |
+        export
+        ./test/rostest_avoidance_run.sh ${{matrix.config.test_file}} mission:=${{matrix.config.mission}} vehicle:=${{matrix.config.vehicle}} || true
+
+    - name: Look at core files
+      if: failure()
+      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
+    - name: Upload px4 coredump
+      if: failure()
+      uses: actions/upload-artifact@v2-preview
+      with:
+        name: coredump
+        path: px4.core
+
+    # - name: ecl EKF analysis
+    #   if: always()
+    #   run: ./Tools/ecl_ekf/process_logdata_ekf.py ~/.ros/log/*/*.ulg
+
+    - name: Upload logs to flight review
+      if: always()
+      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg
+
+    - name: Upload px4 binary
+      if: failure()
+      uses: actions/upload-artifact@v2
+      with:
+        name: binary
+        path: build/px4_sitl_default/bin/px4
+
+    - name: Store PX4 log
+      if: failure()
+      uses: actions/upload-artifact@v2
+      with:
+        name: px4_log
+        path: ~/.ros/log/*/*.ulg
+
+    - name: Store ROS log
+      if: failure()
+      uses: actions/upload-artifact@v2
+      with:
+        name: ros_log
+        path: ~/.ros/**/rostest-*.log
+
+    # Report test coverage
+    - name: Upload coverage
+      if: contains(matrix.config.build_type, 'Coverage')
+      run: |
+          git config --global credential.helper "" # disable the keychain credential helper
+          git config --global --add credential.helper store # enable the local store credential helper
+          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
+          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
+          mkdir -p coverage
+          lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
+    - name: Upload coverage information to Codecov
+      if: contains(matrix.config.build_type, 'Coverage')
+      uses: codecov/codecov-action@v1
+      with:
+        token: ${{ secrets.CODECOV_TOKEN }}
+        flags: mavros_avoidance
+        file: coverage/lcov.info
@@ -0,0 +1,135 @@
+name: MAVROS Mission Tests
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        config:
+          - {vehicle: "iris",          mission: "MC_mission_box",  build_type: "RelWithDebInfo"}
+          - {vehicle: "rover",         mission: "rover_mission_1", build_type: "RelWithDebInfo"}
+          - {vehicle: "plane",         mission: "FW_mission_1",    build_type: "RelWithDebInfo"}
+          - {vehicle: "plane_catapult",mission: "FW_mission_1",    build_type: "RelWithDebInfo"}
+          - {vehicle: "standard_vtol", mission: "VTOL_mission_1",  build_type: "Coverage"}
+          - {vehicle: "standard_vtol", mission: "VTOL_mission_1",  build_type: "AddressSanitizer"}
+          #- {vehicle: "tailsitter",    mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}
+          - {vehicle: "tiltrotor",     mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}
+
+    container:
+      image: px4io/px4-dev-ros-melodic:2020-08-14
+      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: check environment
+      run: export
+    - name: Build PX4 and sitl_gazebo
+      env:
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: |
+        ccache -z
+        make px4_sitl_default
+        make px4_sitl_default sitl_gazebo
+        ccache -s
+
+    - name: Core dump settings
+      run: |
+          ulimit -c unlimited
+          echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
+
+    - name: Run SITL tests
+      env:
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: |
+        export
+        ./test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=${{matrix.config.mission}} vehicle:=${{matrix.config.vehicle}}
+
+    - name: Look at core files
+      if: failure()
+      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
+    - name: Upload px4 coredump
+      if: failure()
+      uses: actions/upload-artifact@v2-preview
+      with:
+        name: coredump
+        path: px4.core
+
+    - name: ecl EKF analysis
+      if: always()
+      run: ./Tools/ecl_ekf/process_logdata_ekf.py ~/.ros/log/*/*.ulg || true
+
+    - name: Upload logs to flight review
+      if: always()
+      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg
+
+    - name: Upload px4 binary
+      if: failure()
+      uses: actions/upload-artifact@v2
+      with:
+        name: binary
+        path: build/px4_sitl_default/bin/px4
+
+    - name: Store PX4 log
+      if: failure()
+      uses: actions/upload-artifact@v2
+      with:
+        name: px4_log
+        path: ~/.ros/log/*/*.ulg
+
+    - name: Store ROS log
+      if: failure()
+      uses: actions/upload-artifact@v2
+      with:
+        name: ros_log
+        path: ~/.ros/**/rostest-*.log
+
+    # Report test coverage
+    - name: Upload coverage
+      if: contains(matrix.config.build_type, 'Coverage')
+      run: |
+          git config --global credential.helper "" # disable the keychain credential helper
+          git config --global --add credential.helper store # enable the local store credential helper
+          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
+          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
+          mkdir -p coverage
+          lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
+    - name: Upload coverage information to Codecov
+      if: contains(matrix.config.build_type, 'Coverage')
+      uses: codecov/codecov-action@v1
+      with:
+        token: ${{ secrets.CODECOV_TOKEN }}
+        flags: mavros_mission
+        file: coverage/lcov.info
@@ -0,0 +1,130 @@
+name: MAVROS Offboard Tests
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        config:
+          - {test_file: "mavros_posix_tests_offboard_posctl.test",    vehicle: "iris", build_type: "RelWithDebInfo"}
+          #- {test_file: "mavros_posix_tests_offboard_attctl.test",    vehicle: "iris", build_type: "RelWithDebInfo"}
+          #- {test_file: "mavros_posix_tests_offboard_rpyrt_ctl.test", vehicle: "iris", build_type: "RelWithDebInfo"}
+
+    container:
+      image: px4io/px4-dev-ros-melodic:2020-08-14
+      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: check environment
+      run: export
+    - name: Build PX4 and sitl_gazebo
+      env:
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: |
+        ccache -z
+        make px4_sitl_default
+        make px4_sitl_default sitl_gazebo
+        ccache -s
+
+    - name: Core dump settings
+      run: |
+          ulimit -c unlimited
+          echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
+
+    - name: Run SITL tests
+      env:
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: |
+        export
+        ./test/rostest_px4_run.sh ${{matrix.config.test_file}} vehicle:=${{matrix.config.vehicle}}
+
+    - name: Look at core files
+      if: failure()
+      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
+    - name: Upload px4 coredump
+      if: failure()
+      uses: actions/upload-artifact@v2-preview
+      with:
+        name: coredump
+        path: px4.core
+
+    - name: ecl EKF analysis
+      if: always()
+      run: ./Tools/ecl_ekf/process_logdata_ekf.py ~/.ros/log/*/*.ulg || true
+
+    - name: Upload logs to flight review
+      if: always()
+      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg
+
+    - name: Upload px4 binary
+      if: failure()
+      uses: actions/upload-artifact@v2
+      with:
+        name: binary
+        path: build/px4_sitl_default/bin/px4
+
+    - name: Store PX4 log
+      if: failure()
+      uses: actions/upload-artifact@v2
+      with:
+        name: px4_log
+        path: ~/.ros/log/*/*.ulg
+
+    - name: Store ROS log
+      if: failure()
+      uses: actions/upload-artifact@v2
+      with:
+        name: ros_log
+        path: ~/.ros/**/rostest-*.log
+
+    # Report test coverage
+    - name: Upload coverage
+      if: contains(matrix.config.build_type, 'Coverage')
+      run: |
+          git config --global credential.helper "" # disable the keychain credential helper
+          git config --global --add credential.helper store # enable the local store credential helper
+          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
+          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
+          mkdir -p coverage
+          lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
+    - name: Upload coverage information to Codecov
+      if: contains(matrix.config.build_type, 'Coverage')
+      uses: codecov/codecov-action@v1
+      with:
+        token: ${{ secrets.CODECOV_TOKEN }}
+        flags: mavros_offboard
+        file: coverage/lcov.info
@@ -0,0 +1,111 @@
+name: Metadata
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+
+  airframe:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2020-09-14
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: airframe metadata
+      run: |
+        make airframe_metadata
+        cd build/px4_sitl_default/docs
+        ls -ls *
+      # TODO: deploy to devguide gitbook and s3
+
+  module:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2020-09-14
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: module documentation
+      run: |
+        make module_documentation
+        cd build/px4_sitl_default/docs
+        ls -ls *
+      # TODO: deploy to devguide gitbook and s3
+
+  parameter:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2020-09-14
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: parameter metadata
+      run: |
+        make parameters_metadata
+        cd build/px4_sitl_default/docs
+        ls -ls *
+      # TODO: deploy 'parameters.md, parameters.xml to S3 px4-travis:Firmware/master/
+
+  uorb_graph:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-nuttx-focal:2020-09-14
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: uORB graph
+      run: |
+        make uorb_graphs
+        cd Tools/uorb_graph
+        ls -ls *
+      # TODO: deploy graph_px4_sitl.json to S3 px4-travis:Firmware/master/
+
+  micrortps_agent:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2020-09-14
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: microRTPS agent
+      run: |
+        make px4_sitl_rtps
+        git clone https://github.com/PX4/micrortps_agent.git
+        cp -R build/px4_sitl_rtps/src/modules/micrortps_bridge/micrortps_agent/* micrortps_agent
+
+  ROS_msgs:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2020-09-14
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: PX4 ROS msgs
+      run: |
+        git clone https://github.com/PX4/px4_msgs.git
+        python3 msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/
+
+  ROS2_bridge:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2020-09-14
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: PX4 ROS2 bridge
+      run: |
+        git clone https://github.com/PX4/px4_ros_com.git
+        ./msg/tools/uorb_to_ros_rtps_ids.py -i msg/tools/uorb_rtps_message_ids.yaml -o px4_ros_com/templates/uorb_rtps_message_ids.yaml
@@ -0,0 +1,25 @@
+name: Python CI Checks
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+    - name: Install Python3
+      run: sudo apt-get install python3 python3-setuptools python3-pip -y
+    - name: Install tools
+      run: pip3 install --user mypy flake8
+    - name: Check MAVSDK test scripts with mypy
+      run: $HOME/.local/bin/mypy --strict test/mavsdk_tests/*.py
+    - name: Check MAVSDK test scripts with flake8
+      run: $HOME/.local/bin/flake8 test/mavsdk_tests/*.py
@@ -0,0 +1,134 @@
+name: SITL Tests
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        config:
+          - {latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo", model: "iris"          } # Alaska
+          - {latitude: "-38.071235", longitude:  "145.281220", altitude:  "31", build_type: "RelWithDebInfo", model: "standard_vtol" } # Australia
+          - {latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo", model: "tailsitter"    } # Florida
+          - {latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage",       model: "standard_vtol" } # Zurich
+    container:
+      image: px4io/px4-dev-simulation-focal:2020-08-14
+      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: Download MAVSDK
+      run: wget https://github.com/mavlink/MAVSDK/releases/download/v0.33.1/mavsdk_0.33.1_ubuntu20.04_amd64.deb
+    - name: Install MAVSDK
+      run: dpkg -i mavsdk_0.33.1_ubuntu20.04_amd64.deb
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${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 = 400M" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - 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
+    - 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
+    - name: ccache post-run sitl_gazebo
+      run: ccache -s
+    - name: Build MAVSDK tests
+      env:
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+        DONT_RUN: 1
+      run: make px4_sitl_default gazebo mavsdk_tests
+    - name: ccache post-run 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 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 ${{matrix.config.model}} test/mavsdk_tests/configs/sitl.json
+
+    - name: Look at core files
+      if: failure()
+      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
+    - name: Upload px4 coredump
+      if: failure()
+      uses: actions/upload-artifact@v2-preview
+      with:
+        name: coredump
+        path: px4.core
+
+    - name: Upload logs to flight review
+      if: failure()
+      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ${GITHUB_WORKSPACE}/build/px4_sitl_default/tmp_mavsdk_tests/rootfs/log/*/*.ulg
+
+    - name: Upload px4 binary
+      if: failure()
+      uses: actions/upload-artifact@v2-preview
+      with:
+        name: binary
+        path: build/px4_sitl_default/bin/px4
+
+    # Report test coverage
+    - name: Upload coverage
+      if: contains(matrix.config.build_type, 'Coverage')
+      run: |
+          git config --global credential.helper "" # disable the keychain credential helper
+          git config --global --add credential.helper store # enable the local store credential helper
+          echo "https://x-access-token:${{ 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
@@ -67,3 +67,49 @@ posix-configs/SITL/init/test/*_generated
 # KDevelop ignores
 .kdev4/*
 *.kdev4
+
+# cmake in tree (ninja)
+.ninja_deps
+.ninja_log
+bin/
+build.ninja
+cmake_install.cmake
+CMakeCache.txt
+CMakeFiles
+compile_commands.json
+CPackConfig.cmake
+CPackSourceConfig.cmake
+CTestTestfile.cmake
+external/
+rules.ninja
+
+# in tree build
+**/*.a
+**/*.px4mod
+**/*.stamp
+/coverage*
+/functional-*
+/generated_params/
+/googletest-*/
+/logs
+/mavsdk_tests
+/test_mixer_multirotor
+/unit-*
+/uORB/
+DartConfiguration.tcl
+msg/tmp/
+msg/topics_sources/
+platforms/posix/apps.cpp
+platforms/posix/apps.h
+src/lib/flight_tasks/FlightTasks_generated.cpp
+src/lib/flight_tasks/FlightTasks_generated.hpp
+src/lib/parameters/px4_parameters.c
+src/lib/parameters/px4_parameters.h
+src/lib/parameters/px4_parameters_public.h
+src/lib/version/build_git_version.h
+src/modules/simulator/simulator_config.h
+src/systemcmds/topic_listener/listener_generated.cpp
+
+# SITL
+dataman
+eeprom/
@@ -6,33 +6,21 @@
 	path = src/drivers/uavcan/libuavcan
 	url = https://github.com/PX4/uavcan.git
 	branch = px4
-[submodule "msg/tools/genmsg"]
-	path = msg/tools/genmsg
-	url = https://github.com/PX4/genmsg.git
-	branch = px4
-[submodule "msg/tools/gencpp"]
-	path = msg/tools/gencpp
-	url = https://github.com/PX4/gencpp.git
-	branch = px4
 [submodule "Tools/jMAVSim"]
 	path = Tools/jMAVSim
 	url = https://github.com/PX4/jMAVSim.git
 	branch = master
 [submodule "Tools/sitl_gazebo"]
 	path = Tools/sitl_gazebo
-	url = https://github.com/PX4/sitl_gazebo.git
+	url = https://github.com/PX4/PX4-SITL_gazebo.git
 	branch = master
 [submodule "src/lib/matrix"]
 	path = src/lib/matrix
-	url = https://github.com/PX4/Matrix.git
-	branch = master
-[submodule "src/lib/DriverFramework"]
-	path = src/lib/DriverFramework
-	url = https://github.com/PX4/DriverFramework.git
+	url = https://github.com/PX4/PX4-Matrix
 	branch = master
 [submodule "src/lib/ecl"]
 	path = src/lib/ecl
-	url = https://github.com/PX4/ecl.git
+	url = https://github.com/PX4/PX4-ECL
 	branch = master
 [submodule "boards/atlflight/cmake_hexagon"]
 	path = boards/atlflight/cmake_hexagon
@@ -40,7 +28,7 @@
 	branch = px4
 [submodule "src/drivers/gps/devices"]
 	path = src/drivers/gps/devices
-	url = https://github.com/PX4/GpsDrivers.git
+	url = https://github.com/PX4/PX4-GPSDrivers
 	branch = master
 [submodule "src/modules/micrortps_bridge/micro-CDR"]
 	path = src/modules/micrortps_bridge/micro-CDR
@@ -49,12 +37,20 @@
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
 	url = https://github.com/PX4/NuttX.git
-	branch = px4_firmware_nuttx-7.29+
+	branch = px4_firmware_nuttx-10.0.0+
 [submodule "platforms/nuttx/NuttX/apps"]
 	path = platforms/nuttx/NuttX/apps
 	url = https://github.com/PX4/NuttX-apps.git
-	branch = px4_firmware_nuttx-7.29+
-[submodule "cmake/configs/uavcan_board_ident"]
-	path = cmake/configs/uavcan_board_ident
-	url = https://github.com/PX4/uavcan_board_ident.git
-	branch = master
+	branch = px4_firmware_nuttx-10.0.0+
+[submodule "platforms/qurt/dspal"]
+	path = platforms/qurt/dspal
+	url = https://github.com/ATLFlight/dspal.git
+[submodule "Tools/flightgear_bridge"]
+	path = Tools/flightgear_bridge
+	url = https://github.com/PX4/PX4-FlightGear-Bridge.git
+[submodule "Tools/jsbsim_bridge"]
+	path = Tools/jsbsim_bridge
+	url = https://github.com/PX4/px4-jsbsim-bridge.git
+[submodule "src/examples/gyro_fft/CMSIS_5"]
+	path = src/examples/gyro_fft/CMSIS_5
+	url = https://github.com/ARM-software/CMSIS_5.git
@@ -9,7 +9,9 @@ matrix:
  include:
    - os: linux
      dist: xenial
-      if: branch = coverity_scan
+      # 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 = master

 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-
@@ -7,3 +7,5 @@ launch.json

 # C/C++ extension does some local caching in this folder
 ipch/
+
+browse.vc.db*
@@ -1,25 +1,15 @@
 {
    "configurations": [
        {
-            "name": "Linux",
-            "intelliSenseMode": "gcc-x64",
+            "name": "PX4",
            "includePath": [
                "${workspaceFolder}/**"
            ],
            "defines": [],
-            "browse": {
-                "path": [
-                    "${workspaceFolder}/src/",
-                    "${workspaceFolder}/src/lib/",
-                    "${workspaceFolder}/src/lib/matrix",
-                    "${workspaceFolder}/src/platforms",
-                    "${workspaceFolder}/platforms/",
-                    "."
-                ],
-                "limitSymbolsToIncludedHeaders": true
-            },
-            "compileCommands": "${workspaceFolder}/.vscode/compile_commands.json",
-            "configurationProvider": "vector-of-bool.cmake-tools"
+            "macFrameworkPath": [],
+            "configurationProvider": "ms-vscode.cmake-tools",
+            "cppStandard": "c++14",
+            "cStandard": "c11"
        }
    ],
    "version": 4
@@ -2,65 +2,120 @@ CONFIG:
  default: px4_sitl_default
  choices:
    px4_sitl_default:
-      short: px4_sitl_default
+      short: px4_sitl
      buildType: RelWithDebInfo
      settings:
        CONFIG: px4_sitl_default
+    px4_sitl_replay:
+      short: px4_sitl_replay
+      buildType: RelWithDebInfo
+      settings:
+        CONFIG: px4_sitl_replay
+    px4_sitl_test:
+      short: px4_sitl_test
+      buildType: RelWithDebInfo
+      settings:
+        CONFIG: px4_sitl_test
+    px4_io-v2_default:
+      short: px4_io-v2
+      buildType: MinSizeRel
+      settings:
+        CONFIG: px4_io-v2_default
    px4_fmu-v2_default:
-      short: px4_fmu-v2_default
+      short: px4_fmu-v2
      buildType: MinSizeRel
      settings:
        CONFIG: px4_fmu-v2_default
    px4_fmu-v3_default:
-      short: px4_fmu-v3_default
+      short: px4_fmu-v3
      buildType: MinSizeRel
      settings:
        CONFIG: px4_fmu-v3_default
    px4_fmu-v4_default:
-      short: px4_fmu-v4_default
+      short: px4_fmu-v4
      buildType: MinSizeRel
      settings:
        CONFIG: px4_fmu-v4_default
    px4_fmu-v4pro_default:
-      short: px4_fmu-v4pro_default
+      short: px4_fmu-v4pro
      buildType: MinSizeRel
      settings:
        CONFIG: px4_fmu-v4pro_default
    px4_fmu-v5_default:
-      short: px4_fmu-v5_default
+      short: px4_fmu-v5
      buildType: MinSizeRel
      settings:
        CONFIG: px4_fmu-v5_default
    px4_fmu-v5x_default:
-      short: px4_fmu-v5x_default
+      short: px4_fmu-v5x
      buildType: MinSizeRel
      settings:
        CONFIG: px4_fmu-v5x_default
    airmind_mindpx-v2_default:
-      short: airmind_mindpx-v2_default
+      short: airmind_mindpx-v2
      buildType: MinSizeRel
      settings:
        CONFIG: airmind_mindpx-v2_default
    av_x-v1_default:
-      short: av_x-v1_default
+      short: av_x-v1
      buildType: MinSizeRel
      settings:
        CONFIG: av_x-v1_default
+    cuav_can-gps-v1_default:
+      short: cuav_can-gps-v1_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: cuav_can-gps-v1_default
+    cuav_nora_default:
+      short: cuav_nora
+      buildType: MinSizeRel
+      settings:
+        CONFIG: cuav_nora_default
+    cuav_x7pro_default:
+      short: cuav_x7pro
+      buildType: MinSizeRel
+      settings:
+        CONFIG: cuav_x7pro_default
+    cubepilot_cubeorange_default:
+      short: cubepilot_cubeorange
+      buildType: MinSizeRel
+      settings:
+        CONFIG: cubepilot_orange_default
+    cubepilot_cubeyellow_default:
+      short: cubepilot_cubeyellow
+      buildType: MinSizeRel
+      settings:
+        CONFIG: cubepilot_cubeyellow_default
+    emlid_navio2_default:
+      short: emlid_navio2
+      buildType: MinSizeRel
+      settings:
+        CONFIG: emlid_navio2_default
+    holybro_durandal-v1_default:
+      short: holybro_durandal-v1
+      buildType: MinSizeRel
+      settings:
+        CONFIG: holybro_durandal-v1_default
    intel_aerofc-v1_default:
-      short: intel_aerofc-v1_default
+      short: intel_aerofc-v1
      buildType: MinSizeRel
      settings:
        CONFIG: intel_aerofc-v1_default
-    modalai_fc1_default:
-      short: modalai_fc1_default
+    modalai_fc-v1_default:
+      short: modalai_fc-v1
      buildType: MinSizeRel
      settings:
-        CONFIG: modalai_fc1_default
+        CONFIG: modalai_fc-v1_default
    mro_ctrl-zero-f7_default:
-      short: mro_ctrl-zero-f7_default
+      short: mro_ctrl-zero-f7
      buildType: MinSizeRel
      settings:
        CONFIG: mro_ctrl-zero-f7_default
+    mro_x21-777_default:
+      short: mro_x2.1-777
+      buildType: MinSizeRel
+      settings:
+        CONFIG: mro_x21-777_default
    nxp_fmuk66-v3_default:
      short: nxp_fmuk66-v3
      buildType: MinSizeRel
@@ -4,15 +4,19 @@
    "recommendations": [
        "chiehyu.vscode-astyle",
        "dan-c-underwood.arm",
+        "fredericbonnet.cmake-test-adapter",
        "github.vscode-pull-request-github",
        "marus25.cortex-debug",
        "ms-azuretools.vscode-docker",
        "ms-iot.vscode-ros",
        "ms-python.python",
+        "ms-vscode.cmake-tools",
        "ms-vscode.cpptools",
+        "ms-vscode.cpptools-extension-pack",
+        "redhat.vscode-yaml",
+        "streetsidesoftware.code-spell-checker",
        "twxs.cmake",
        "uavcan.dsdl",
-        "vector-of-bool.cmake-tools",
        "wholroyd.jinja",
        "zixuanwang.linkerscript"
    ]
@@ -3,67 +3,36 @@
        "astyle.c.enable": true,
        "astyle.cpp.enable": true,
        "breadcrumbs.enabled": true,
-        "cmake.autoRestartBuild": true,
-        "cmake.buildDirectory": "${workspaceFolder}/build/${variant:CONFIG}",
-        "cmake.buildBeforeRun": true,
-        "cmake.configureOnOpen": true,
-        "cmake.copyCompileCommands": "${workspaceFolder}/.vscode/compile_commands.json",
-        "cmake.debugConfig": {
-                "name": "SITL shell (gdb)",
-                "type": "cppdbg",
-                "request": "launch",
-                "program": "${command:cmake.launchTargetPath}",
-                "args": [
-                        "${workspaceFolder}/ROMFS/px4fmu_common",
-                        "-s",
-                        "etc/init.d-posix/rcS",
-                        "-t",
-                        "${workspaceFolder}/test_data"
-                ],
-                "stopAtEntry": false,
-                "cwd": "${workspaceFolder}/build/px4_sitl_default/tmp",
-                "environment": [
-                        {
-                                "name": "PX4_SIM_MODEL",
-                                "value": "shell"
-                        }
-                ],
-                "externalConsole": false,
-                "linux": {
-                        "MIMode": "gdb",
-                        "setupCommands": [
-                                {
-                                        "description": "Enable pretty-printing for gdb",
-                                        "text": "-enable-pretty-printing",
-                                        "ignoreFailures": true
-                                },
-                                {
-                                        "description": "PX4 ignore wq signals",
-                                        "text": "handle SIGCONT nostop noprint nopass",
-                                        "ignoreFailures": true
-                                }
-                        ]
-                },
-                "osx": {
-                        "MIMode": "lldb",
-                        "setupCommands": [
-                                {
-                                        "text": "pro hand -p true -s false -n false SIGCONT",
-                                }
-                        ]
-                }
-        },
-        "cortex-debug.enableTelemetry": false,
+        "C_Cpp.autoAddFileAssociations": false,
        "C_Cpp.clang_format_fallbackStyle": "none",
-        "C_Cpp.configurationWarnings": "Disabled",
-        "C_Cpp.default.cppStandard": "c++11",
-        "C_Cpp.default.cStandard": "c99",
-        "C_Cpp.default.intelliSenseMode": "gcc-x64",
-        "C_Cpp.errorSquiggles": "Disabled",
+        "C_Cpp.default.browse.limitSymbolsToIncludedHeaders": true,
+        "C_Cpp.default.cppStandard": "c++14",
+        "C_Cpp.default.cStandard": "c11",
        "C_Cpp.formatting": "Disabled",
        "C_Cpp.intelliSenseEngine": "Default",
-        "C_Cpp.intelliSenseEngineFallback": "Disabled",
+        "C_Cpp.vcpkg.enabled": false,
+        "C_Cpp.workspaceParsingPriority": "low",
+        "cmake.buildBeforeRun": true,
+        "cmake.buildDirectory": "${workspaceFolder}/build/${variant:CONFIG}",
+        "cmake.buildTask": true,
+        "cmake.configureOnOpen": true,
+        "cmake.ctest.parallelJobs": 1,
+        "cmake.skipConfigureIfCachePresent": true,
+        "cmakeExplorer.buildDir": "${workspaceFolder}/build/px4_sitl_test",
+        "cmakeExplorer.parallelJobs": 1,
+        "cmakeExplorer.suiteDelimiter": "-",
+        "cortex-debug.enableTelemetry": false,
+        "cSpell.allowCompoundWords": true,
+        "cSpell.diagnosticLevel": "Hint",
+        "cSpell.showStatus": false,
+        "cSpell.words": [
+                "acro",
+                "rattitude",
+                "nuttx",
+                "esc"
+        ],
        "debug.toolBarLocation": "docked",
+        "editor.acceptSuggestionOnEnter": "off",
        "editor.defaultFormatter": "chiehyu.vscode-astyle",
        "editor.dragAndDrop": false,
        "editor.insertSpaces": false,
@@ -77,24 +46,98 @@
        "files.insertFinalNewline": true,
        "files.trimTrailingWhitespace": true,
        "files.watcherExclude": {
-                "**/build/*": true
+                "**/build/**": true
        },
        "git.detectSubmodulesLimit": 20,
        "git.ignoreLimitWarning": true,
        "githubPullRequests.defaultMergeMethod": "squash",
        "githubPullRequests.telemetry.enabled": false,
-        "gitlens.advanced.telemetry.enabled": false,
        "files.associations": {
-                "*.jinja": "jinja"
+                "*.jinja": "jinja",
+                "algorithm": "cpp",
+                "array": "cpp",
+                "atomic": "cpp",
+                "bitset": "cpp",
+                "cctype": "cpp",
+                "cfenv": "cpp",
+                "chrono": "cpp",
+                "cinttypes": "cpp",
+                "clocale": "cpp",
+                "cmath": "cpp",
+                "codecvt": "cpp",
+                "complex": "cpp",
+                "condition_variable": "cpp",
+                "csignal": "cpp",
+                "cstdarg": "cpp",
+                "cstddef": "cpp",
+                "cstdint": "cpp",
+                "cstdio": "cpp",
+                "cstdlib": "cpp",
+                "cstring": "cpp",
+                "ctime": "cpp",
+                "cwchar": "cpp",
+                "cwctype": "cpp",
+                "deque": "cpp",
+                "exception": "cpp",
+                "forward_list": "cpp",
+                "fstream": "cpp",
+                "functional": "cpp",
+                "future": "cpp",
+                "hash_map": "cpp",
+                "hash_set": "cpp",
+                "initializer_list": "cpp",
+                "iomanip": "cpp",
+                "iosfwd": "cpp",
+                "iostream": "cpp",
+                "istream": "cpp",
+                "iterator": "cpp",
+                "limits": "cpp",
+                "list": "cpp",
+                "map": "cpp",
+                "memory": "cpp",
+                "memory_resource": "cpp",
+                "mutex": "cpp",
+                "new": "cpp",
+                "numeric": "cpp",
+                "optional": "cpp",
+                "ostream": "cpp",
+                "random": "cpp",
+                "ratio": "cpp",
+                "regex": "cpp",
+                "set": "cpp",
+                "sstream": "cpp",
+                "stdexcept": "cpp",
+                "streambuf": "cpp",
+                "string": "cpp",
+                "string_view": "cpp",
+                "strstream": "cpp",
+                "system_error": "cpp",
+                "thread": "cpp",
+                "tuple": "cpp",
+                "type_traits": "cpp",
+                "typeindex": "cpp",
+                "typeinfo": "cpp",
+                "unordered_map": "cpp",
+                "unordered_set": "cpp",
+                "utility": "cpp",
+                "valarray": "cpp",
+                "variant": "cpp",
+                "vector": "cpp"
        },
        "search.exclude": {
-                "build/**": true
+                "${workspaceFolder}/build": true
        },
        "search.showLineNumbers": true,
+        "search.smartCase": true,
        "telemetry.enableTelemetry": false,
+        "terminal.integrated.copyOnSelection": true,
+        "terminal.integrated.rightClickBehavior": "paste",
+        "terminal.integrated.scrollback": 5000,
        "window.title": "${dirty} ${activeEditorMedium}${separator}${rootName}",
        "workbench.editor.highlightModifiedTabs": true,
        "workbench.enableExperiments": false,
        "workbench.settings.enableNaturalLanguageSearch": false,
-        "workbench.statusBar.feedback.visible": false
+        "yaml.schemas": {
+                "${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml"
+        }
 }
@@ -4,24 +4,87 @@
    "version": "2.0.0",
    "tasks": [
        {
-            "label": "jmavsim",
+            "label": "build",
            "type": "shell",
-            "command": "Tools/jmavsim_run.sh",
-            "isBackground": true,
+            "command": "/bin/bash",
            "args": [
-                "-r",
-                "250",
-                "-l"
+                "-c",
+                "${command:cmake.tasksBuildCommand}"
            ],
            "options": {
-                "cwd": "${workspaceRoot}",
+                "cwd": "${command:cmake.buildDirectory}"
+            },
+            "group": {
+                "kind": "build",
+                "isDefault": true,
+            },
+            "problemMatcher": {
+                "base": "$gcc",
+                "fileLocation": ["relative", "${command:cmake.buildDirectory}"]
+            },
+            "presentation":{
+                "echo": false,
+                "showReuseMessage": false,
+                "clear": true,
+                "panel": "shared",
+                "group": "build"
+            }
+        },
+        {
+            "label": "test",
+            "type": "shell",
+            "command": "make tests",
+            "options": {
+                "cwd": "${workspaceFolder}"
+            },
+            "group": {
+                "kind": "test",
+                "isDefault": true,
+            },
+            "presentation":{
+                "echo": true,
+                "showReuseMessage": false,
+                "clear": false,
+                "panel": "shared",
+                "group": "test"
+            }
+        },
+        {
+            "label": "jmavsim build",
+            "type": "shell",
+            "command": "ant create_run_jar copy_res",
+            "options": {
+                "cwd": "${workspaceFolder}/Tools/jMAVSim"
+            },
+            "problemMatcher": [],
+            "presentation":{
+                "echo": true,
+                "reveal": "never",
+                "focus": false,
+                "panel": "shared",
+                "showReuseMessage": false,
+                "clear": false,
+            }
+        },
+        {
+            "label": "jmavsim",
+            "type": "shell",
+            "dependsOn": "jmavsim build",
+            "command": "java -Djava.ext.dirs= -jar jmavsim_run.jar -r 250 -lockstep -tcp localhost:4560 -qgc",
+            "options": {
+                "cwd": "${workspaceFolder}/Tools/jMAVSim/out/production",
                "env": {
                    "PX4_SIM_SPEED_FACTOR": "1"
                }
            },
+            "isBackground": true,
            "presentation": {
-                "reveal": "always",
-                "panel": "dedicated"
+                "echo": true,
+                "reveal": "never",
+                "focus": false,
+                "panel": "shared",
+                "showReuseMessage": false,
+                "clear": false
            },
            "problemMatcher": [
                {
@@ -45,6 +108,14 @@
            "label": "jmavsim kill",
            "type": "shell",
            "command": "kill $(ps aux | grep jmavsim | grep -v 'grep' | awk '{print $2}')",
+            "presentation": {
+                "echo": false,
+                "reveal": "never",
+                "focus": false,
+                "panel": "shared",
+                "showReuseMessage": false,
+                "clear": false
+            },
            "problemMatcher": []
        },
        {
@@ -52,27 +123,39 @@
            "type": "shell",
            "command": "make px4_sitl_default sitl_gazebo",
            "options": {
-                "cwd": "${workspaceRoot}"
+                "cwd": "${workspaceFolder}"
            },
-            "problemMatcher": []
+            "problemMatcher": [],
+            "presentation":{
+                "echo": true,
+                "reveal": "always",
+                "focus": false,
+                "panel": "shared",
+                "showReuseMessage": false,
+                "clear": false,
+            }
        },
        {
-            "label": "gazebo iris",
+            "label": "gazebo start",
            "type": "shell",
            "dependsOn": "gazebo build",
            "options": {
-                "cwd": "${workspaceRoot}",
+                "cwd": "${workspaceFolder}",
                "env": {
-                    "GAZEBO_PLUGIN_PATH": "${workspaceRoot}/build/px4_sitl_default/build_gazebo",
-                    "GAZEBO_MODEL_PATH": "${workspaceRoot}/Tools/sitl_gazebo/models",
+                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
+                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models",
                    "PX4_SIM_SPEED_FACTOR": "1"
                }
            },
-            "command": "gzserver ${workspaceRoot}/Tools/sitl_gazebo/worlds/iris.world & gzclient",
+            "command": "gzserver --verbose ${workspaceFolder}/Tools/sitl_gazebo/worlds/${input:gazeboWorld}.world",
            "isBackground": true,
            "presentation": {
-                "reveal": "always",
-                "panel": "dedicated"
+                "echo": true,
+                "reveal": "never",
+                "focus": false,
+                "panel": "shared",
+                "showReuseMessage": false,
+                "clear": false
            },
            "problemMatcher": [
                {
@@ -93,22 +176,26 @@
            ]
        },
        {
-            "label": "gazebo plane",
+            "label": "gazebo",
            "type": "shell",
-            "dependsOn": "gazebo build",
+            "dependsOn": "gazebo start",
            "options": {
-                "cwd": "${workspaceRoot}",
+                "cwd": "${workspaceFolder}",
                "env": {
-                    "GAZEBO_PLUGIN_PATH": "${workspaceRoot}/build/px4_sitl_default/build_gazebo",
-                    "GAZEBO_MODEL_PATH": "${workspaceRoot}/Tools/sitl_gazebo/models",
+                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
+                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models",
                    "PX4_SIM_SPEED_FACTOR": "1"
                }
            },
-            "command": "gzserver ${workspaceRoot}/Tools/sitl_gazebo/worlds/plane.world & gzclient",
-            "isBackground": true,
+            "command": "gz model --verbose --spawn-file=${workspaceFolder}/Tools/sitl_gazebo/models/${input:vehicleModel}/${input:vehicleModel}.sdf --model-name=${input:vehicleModel} -x 1.01 -y 0.98 -z 0.83",
+            "isBackground": false,
            "presentation": {
-                "reveal": "always",
-                "panel": "dedicated"
+                "echo": true,
+                "reveal": "never",
+                "focus": false,
+                "panel": "shared",
+                "showReuseMessage": false,
+                "clear": false
            },
            "problemMatcher": [
                {
@@ -129,22 +216,26 @@
            ]
        },
        {
-            "label": "gazebo standard_vtol",
+            "label": "gazebo client",
            "type": "shell",
            "dependsOn": "gazebo build",
            "options": {
-                "cwd": "${workspaceRoot}",
+                "cwd": "${workspaceFolder}",
                "env": {
-                    "GAZEBO_PLUGIN_PATH": "${workspaceRoot}/build/px4_sitl_default/build_gazebo",
-                    "GAZEBO_MODEL_PATH": "${workspaceRoot}/Tools/sitl_gazebo/models",
+                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
+                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models",
                    "PX4_SIM_SPEED_FACTOR": "1"
                }
            },
-            "command": "gzserver ${workspaceRoot}/Tools/sitl_gazebo/worlds/standard_vtol.world & gzclient",
+            "command": "gzclient --verbose",
            "isBackground": true,
            "presentation": {
-                "reveal": "always",
-                "panel": "dedicated"
+                "echo": true,
+                "reveal": "never",
+                "focus": false,
+                "panel": "shared",
+                "showReuseMessage": false,
+                "clear": false
            },
            "problemMatcher": [
                {
@@ -167,7 +258,45 @@
        {
            "label": "gazebo kill",
            "type": "shell",
-            "command": "killall gzserver; killall gzclient",
+            "command": "killall gzserver",
+            "presentation": {
+                "echo": true,
+                "reveal": "silent",
+                "focus": false,
+                "panel": "shared",
+                "showReuseMessage": false,
+                "clear": false
+            },
+            "problemMatcher": [],
+            "dependsOn":["px4_sitl_cleanup"]
+        },
+        {
+            "label": "px4_sitl_cleanup",
+            "type": "shell",
+            "command": "rm -rfv /tmp/px4*",
+            "presentation": {
+                "echo": true,
+                "reveal": "silent",
+                "focus": false,
+                "panel": "shared",
+                "showReuseMessage": false,
+                "clear": false
+            },
+            "problemMatcher": [],
+            "dependsOn":["px4_kill"]
+        },
+        {
+            "label": "px4_kill",
+            "type": "shell",
+            "command": "killall px4 || true",
+            "presentation": {
+                "echo": true,
+                "reveal": "silent",
+                "focus": false,
+                "panel": "shared",
+                "showReuseMessage": false,
+                "clear": false
+            },
            "problemMatcher": []
        },
        {
@@ -175,9 +304,70 @@
            "type": "shell",
            "command": "./Tools/mavlink_shell.py",
            "options": {
-                "cwd": "${workspaceRoot}"
+                "cwd": "${workspaceFolder}"
+            },
+            "presentation": {
+                "echo": true,
+                "reveal": "always",
+                "focus": true,
+                "panel": "new",
+                "showReuseMessage": false,
+                "clear": false
+            },
+            "problemMatcher": []
+        },
+        {
+            "label": "miniterm.py",
+            "type": "shell",
+            "command": "miniterm.py --raw - 57600",
+            "options": {
+                "cwd": "${workspaceFolder}"
+            },
+            "presentation": {
+                "echo": true,
+                "reveal": "always",
+                "focus": true,
+                "panel": "new",
+                "showReuseMessage": false,
+                "clear": false
            },
            "problemMatcher": []
        }
+    ],
+    "inputs": [
+        {
+            "type": "pickString",
+            "id": "vehicleModel",
+            "description": "gazebo model",
+            "options": [
+              "iris",
+              "typhoon_h480",
+              "plane",
+              "plane_catapult",
+              "plane_lidar",
+              "standard_vtol",
+              "tailsitter",
+              "tiltrotor",
+              "r1_rover",
+              "boat"
+            ],
+            "default": "iris"
+        },
+        {
+            "type": "pickString",
+            "id": "gazeboWorld",
+            "description": "gazebo world",
+            "options": [
+                "baylands",
+                "empty",
+                "ksql_airport",
+                "mcmillan_airfield",
+                "sonoma_raceway",
+                "warehouse",
+                "windy",
+                "yosemite"
+            ],
+            "default": "empty"
+        }
    ]
 }
@@ -51,8 +51,8 @@ flags = [
 # 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++11'.
-'-std=c++11',
+# '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.
@@ -138,7 +138,6 @@ set(CONFIG "px4_sitl_default" CACHE STRING "desired configuration")

 include(px4_add_module)
 set(config_module_list)
-set(config_df_driver_list)

 include(px4_config)
 include(px4_add_board)
@@ -146,17 +145,19 @@ include(${PX4_CONFIG_FILE})
 message(STATUS "PX4 config: ${PX4_CONFIG}")
 message(STATUS "PX4 platform: ${PX4_PLATFORM}")

-if (ENABLE_LOCKSTEP_SCHEDULER)
-	add_definitions(-DENABLE_LOCKSTEP_SCHEDULER)
-	message(STATUS "PX4 lockstep: enabled")
-else()
-	message(STATUS "PX4 lockstep: disabled")
+if(${PX4_PLATFORM} STREQUAL "posix")
+	if(ENABLE_LOCKSTEP_SCHEDULER)
+		add_definitions(-DENABLE_LOCKSTEP_SCHEDULER)
+		message(STATUS "PX4 lockstep: enabled")
+	else()
+		message(STATUS "PX4 lockstep: disabled")
+	endif()
 endif()

 # external modules
 set(EXTERNAL_MODULES_LOCATION "" CACHE STRING "External modules source location")

-if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
+if(NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
 	get_filename_component(EXTERNAL_MODULES_LOCATION "${EXTERNAL_MODULES_LOCATION}" ABSOLUTE)
 endif()

@@ -170,8 +171,8 @@ if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake/init.cmake")
 endif()

 # CMake build type (Debug Release RelWithDebInfo MinSizeRel Coverage)
-if (NOT CMAKE_BUILD_TYPE)
-	if (${PX4_PLATFORM} STREQUAL "nuttx")
+if(NOT CMAKE_BUILD_TYPE)
+	if(${PX4_PLATFORM} STREQUAL "nuttx")
 		set(PX4_BUILD_TYPE "MinSizeRel")
 	else()
 		set(PX4_BUILD_TYPE "RelWithDebInfo")
@@ -180,6 +181,18 @@ if (NOT CMAKE_BUILD_TYPE)
 	set(CMAKE_BUILD_TYPE ${PX4_BUILD_TYPE} CACHE STRING "Build type" FORCE)
 endif()

+if((CMAKE_BUILD_TYPE STREQUAL "Debug") OR (CMAKE_BUILD_TYPE STREQUAL "Coverage"))
+	set(MAX_CUSTOM_OPT_LEVEL -O0)
+elseif(CMAKE_BUILD_TYPE MATCHES "Sanitizer")
+	set(MAX_CUSTOM_OPT_LEVEL -O1)
+else()
+	if(px4_constrained_flash_build)
+		set(MAX_CUSTOM_OPT_LEVEL -Os)
+	else()
+		set(MAX_CUSTOM_OPT_LEVEL -O2)
+	endif()
+endif()
+
 set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release;RelWithDebInfo;MinSizeRel;Coverage;AddressSanitizer;UndefinedBehaviorSanitizer")
 message(STATUS "cmake build type: ${CMAKE_BUILD_TYPE}")

@@ -190,7 +203,7 @@ project(px4 CXX C ASM)

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

-set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_CXX_STANDARD 14)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_C_STANDARD 11)
 set(CMAKE_C_STANDARD_REQUIRED ON)
@@ -208,28 +221,29 @@ endif()

 #=============================================================================

-# gold linker - use if available
-include(CMakeDependentOption)
-CMAKE_DEPENDENT_OPTION(USE_LD_GOLD
-                      "Use GNU gold linker" ON
-                      "NOT WIN32;NOT APPLE" OFF
-)
+# gold linker - use if available (posix only for now)
+if(${PX4_PLATFORM} STREQUAL "posix")
+	include(CMakeDependentOption)
+	CMAKE_DEPENDENT_OPTION(USE_LD_GOLD
+			"Use GNU gold linker" ON
+			"NOT WIN32;NOT APPLE" OFF
+	)

-if(USE_LD_GOLD)
-	execute_process(COMMAND ${CMAKE_C_COMPILER} -fuse-ld=gold -Wl,--version ERROR_QUIET OUTPUT_VARIABLE LD_VERSION)
-	if("${LD_VERSION}" MATCHES "GNU gold")
-		set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fuse-ld=gold")
-		set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -fuse-ld=gold")
-	else()
-		set(USE_LD_GOLD OFF)
+	if(USE_LD_GOLD)
+		execute_process(COMMAND ${CMAKE_C_COMPILER} -fuse-ld=gold -Wl,--version ERROR_QUIET OUTPUT_VARIABLE LD_VERSION)
+		if("${LD_VERSION}" MATCHES "GNU gold")
+			set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fuse-ld=gold")
+			set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -fuse-ld=gold")
+		else()
+			set(USE_LD_GOLD OFF)
+		endif()
 	endif()
 endif()

 #=============================================================================

 # Setup install paths
-if (${PX4_PLATFORM} STREQUAL "posix")
-
+if(${PX4_PLATFORM} STREQUAL "posix")
 	# This makes it possible to dynamically load code which depends on symbols
 	# inside the px4 executable.
 	set(CMAKE_POSITION_INDEPENDENT_CODE ON)
@@ -263,17 +277,25 @@ if (CATKIN_DEVEL_PREFIX)
 	endif()
 endif()

-# python
-include(px4_find_python_module)
-find_package(PythonInterp REQUIRED)
+# Python
+# If using catkin, Python 2 is found since it points
+# to the Python libs installed with the ROS distro
+if (NOT CATKIN_DEVEL_PREFIX)
+	find_package(PythonInterp 3)
+	# We have a custom error message to tell users how to install python3.
+	if (NOT PYTHONINTERP_FOUND)
+		message(FATAL_ERROR "Python 3 not found. Please install Python 3:\n"
+			"    Ubuntu: sudo apt install python3 python3-dev python3-pip\n"
+			"    macOS: brew install python")
+	endif()
+else()
+	find_package(PythonInterp REQUIRED)
+endif()

 option(PYTHON_COVERAGE "Python code coverage" OFF)
 if(PYTHON_COVERAGE)
 	message(STATUS "python coverage enabled")
 	set(PYTHON_EXECUTABLE coverage run -p)
-else()
-	# run normally (broken under coveragepy)
-	px4_find_python_module(jinja2 REQUIRED)
 endif()

 #=============================================================================
@@ -294,6 +316,13 @@ include(px4_add_common_flags)
 px4_add_common_flags()
 px4_os_add_flags()

+#=============================================================================
+# board cmake init (optional)
+#
+if(EXISTS ${PX4_BOARD_DIR}/cmake/init.cmake)
+	include(${PX4_BOARD_DIR}/cmake/init.cmake)
+endif()
+
 #=============================================================================
 # message, and airframe generation
 #
@@ -303,25 +332,6 @@ add_subdirectory(msg EXCLUDE_FROM_ALL)

 px4_generate_airframes_xml(BOARD ${PX4_BOARD})

-#=============================================================================
-# DriverFramework
-#
-px4_add_git_submodule(TARGET git_driverframework PATH "src/lib/DriverFramework")
-set(OS ${PX4_PLATFORM})
-add_subdirectory(src/lib/DriverFramework/framework)
-
-# List the DriverFramework drivers
-if (DEFINED config_df_driver_list)
-	message("DF Drivers: ${config_df_driver_list}")
-endif()
-
-set(df_driver_libs)
-foreach(driver ${config_df_driver_list})
-	add_subdirectory(src/lib/DriverFramework/drivers/${driver})
-	list(APPEND df_driver_libs df_${driver})
-	message("Adding DF driver: ${driver}")
-endforeach()
-
 #=============================================================================
 # external projects
 #
@@ -329,11 +339,13 @@ set(ep_base ${PX4_BINARY_DIR}/external)
 set_property(DIRECTORY PROPERTY EP_BASE ${ep_base})

 # add external project install folders to build
-link_directories(${ep_base}/Install/lib)
-include_directories(${ep_base}/Install/include)
 # add the directories so cmake won't warn
-execute_process(COMMAND cmake -E make_directory ${ep_base}/Install/lib)
-execute_process(COMMAND cmake -E make_directory ${ep_base}/Install/include)
+execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${ep_base})
+execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${ep_base}/Install)
+execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${ep_base}/Install/lib)
+link_directories(${ep_base}/Install/lib)
+execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${ep_base}/Install/include)
+include_directories(${ep_base}/Install/include)

 #=============================================================================
 # external modules
@@ -355,7 +367,7 @@ endif()

 # optionally enable cmake testing (supported only on posix)
 option(CMAKE_TESTING "Configure test targets" OFF)
-if (${PX4_CONFIG} STREQUAL "px4_sitl_test")
+if(${PX4_CONFIG} STREQUAL "px4_sitl_test")
 	set(CMAKE_TESTING ON)
 endif()
 if(CMAKE_TESTING)
@@ -370,18 +382,19 @@ list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake/gtest/)
 include(px4_add_gtest)
 if(BUILD_TESTING)
 	include(gtest)
+
+	add_custom_target(test_results
+			COMMAND GTEST_COLOR=1 ${CMAKE_CTEST_COMMAND} --output-on-failure -T Test -R ${TESTFILTER} USES_TERMINAL
+			DEPENDS
+				px4
+				examples__dyn_hello
+				test_mixer_multirotor
+			USES_TERMINAL
+			COMMENT "Running tests"
+			WORKING_DIRECTORY ${PX4_BINARY_DIR})
+	set_target_properties(test_results PROPERTIES EXCLUDE_FROM_ALL TRUE)
 endif()

-add_custom_target(test_results
-		COMMAND GTEST_COLOR=1 ${CMAKE_CTEST_COMMAND} --output-on-failure -T Test -R ${TESTFILTER} USES_TERMINAL
-		DEPENDS
-			px4
-			examples__dyn_hello
-			test_mixer_multirotor
-		USES_TERMINAL
-		COMMENT "Running tests"
-		WORKING_DIRECTORY ${PX4_BINARY_DIR})
-set_target_properties(test_results PROPERTIES EXCLUDE_FROM_ALL TRUE)

 #=============================================================================
 # subdirectories
@@ -394,7 +407,6 @@ add_subdirectory(src/lib EXCLUDE_FROM_ALL)
 add_subdirectory(platforms/${PX4_PLATFORM}/src/px4)
 add_subdirectory(platforms EXCLUDE_FROM_ALL)
 add_subdirectory(src/modules/uORB EXCLUDE_FROM_ALL) # TODO: platform layer
-add_subdirectory(src/drivers/boards EXCLUDE_FROM_ALL)

 if(EXISTS "${PX4_BOARD_DIR}/CMakeLists.txt")
 	add_subdirectory(${PX4_BOARD_DIR})
@@ -423,7 +435,7 @@ endforeach()

 add_custom_command(OUTPUT ${uorb_graph_config}
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/uorb_graph/create.py
-		${module_list}
+		${graph_module_list}
 		--exclude-path src/examples
 		--file ${PX4_SOURCE_DIR}/Tools/uorb_graph/graph_${uorb_graph_config}
 	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
@@ -41,4 +41,4 @@ Since we care about safety, we will regularly ask you for test results. Best is

 Push changes to your repo and send a [pull request](https://github.com/PX4/Firmware/compare/).

-MuncherMake sure to provide some testing feedback and if possible the link to a flight log file. Upload flight log files to [Flight Review](http://logs.px4.io) and link the resulting report.
+Make sure to provide some testing feedback and if possible the link to a flight log file. Upload flight log files to [Flight Review](http://logs.px4.io) and link the resulting report.
@@ -828,8 +828,7 @@ RECURSIVE              = YES
 # Note that relative paths are relative to the directory from which doxygen is
 # run.

-EXCLUDE                = @CMAKE_SOURCE_DIR@/src/lib/DriverFramework \
-                         @CMAKE_SOURCE_DIR@/src/modules/uavcan/libuavcan \
+EXCLUDE                = @CMAKE_SOURCE_DIR@/src/modules/uavcan/libuavcan \
                         @CMAKE_SOURCE_DIR@/src/modules/micrortps_bridge/micro-CDR \
                         @CMAKE_SOURCE_DIR@/src/examples \
                         @CMAKE_SOURCE_DIR@/src/templates
@@ -5,53 +5,58 @@ pipeline {
  stages {

    stage('Analysis') {
-
-      parallel {
-
-        stage('Catkin build on ROS workspace') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-ros-melodic:2019-10-04'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
-            }
-          }
-          steps {
-            sh 'ls -l'
-            sh '''#!/bin/bash -l
-              echo $0;
-              mkdir -p catkin_ws/src;
-              cd catkin_ws;
-              git -C ${WORKSPACE}/catkin_ws/src/Firmware submodule update --init --recursive --force Tools/sitl_gazebo
-              git clone --recursive ${WORKSPACE}/catkin_ws/src/Firmware/Tools/sitl_gazebo src/mavlink_sitl_gazebo;
-              git -C ${WORKSPACE}/catkin_ws/src/Firmware fetch --tags;
-              source /opt/ros/melodic/setup.bash;
-              catkin init;
-              catkin build -j$(nproc) -l$(nproc);
-            '''
-            // test if the binary was correctly installed and runs using 'mavros_posix_silt.launch'
-            sh '''#!/bin/bash -l
-              echo $0;
-              source catkin_ws/devel/setup.bash;
-              rostest px4 pub_test.launch;
-            '''
-          }
-          post {
-            always {
-              sh 'rm -rf catkin_ws'
-            }
-            failure {
-              archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.xml, .ros/**/*.log')
-            }
-          }
-          options {
-            checkoutToSubdirectory('catkin_ws/src/Firmware')
-          }
+      when {
+        anyOf {
+          branch 'master'
+          branch 'pr-jenkins' // for testing
        }
+      }
+      parallel {
+        // stage('Catkin build on ROS workspace') {
+        //   agent {
+        //     docker {
+        //       image 'px4io/px4-dev-ros-melodic:2020-08-20'
+        //       args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
+        //     }
+        //   }
+        //   steps {
+        //     sh 'ls -l'
+        //     sh '''#!/bin/bash -l
+        //       echo $0;
+        //       mkdir -p catkin_ws/src;
+        //       cd catkin_ws;
+        //       git -C ${WORKSPACE}/catkin_ws/src/Firmware submodule update --init --recursive --force Tools/sitl_gazebo
+        //       git clone --recursive ${WORKSPACE}/catkin_ws/src/Firmware/Tools/sitl_gazebo src/mavlink_sitl_gazebo;
+        //       git -C ${WORKSPACE}/catkin_ws/src/Firmware fetch --tags;
+        //       source /opt/ros/melodic/setup.bash;
+        //       export PYTHONPATH=/opt/ros/$ROS_DISTRO/lib/python2.7/dist-packages:/usr/lib/python2.7/dist-packages:/usr/local/lib/python2.7/dist-packages;
+        //       catkin init;
+        //       catkin build -j$(nproc) -l$(nproc);
+        //     '''
+        //     // test if the binary was correctly installed and runs using 'mavros_posix_silt.launch'
+        //     sh '''#!/bin/bash -l
+        //       echo $0;
+        //       source catkin_ws/devel/setup.bash;
+        //       rostest px4 pub_test.launch;
+        //     '''
+        //   }
+        //   post {
+        //     always {
+        //       sh 'rm -rf catkin_ws'
+        //     }
+        //     failure {
+        //       archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.xml, .ros/**/*.log')
+        //     }
+        //   }
+        //   options {
+        //     checkoutToSubdirectory('catkin_ws/src/Firmware')
+        //   }
+        // }

        stage('Colcon build on ROS2 workspace') {
          agent {
            docker {
-              image 'px4io/px4-dev-ros2-bouncy:2019-10-04'
+              image 'px4io/px4-dev-ros2-foxy:2020-08-20'
              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
            }
          }
@@ -80,358 +85,9 @@ pipeline {
          }
        }

-        stage('Style check') {
-          agent {
-            docker { image 'px4io/px4-dev-base-bionic:2019-10-04' }
-          }
-          steps {
-            sh 'make check_format'
-          }
-          post {
-            always {
-              sh 'rm -rf catkin_ws'
-            }
-          }
-        }
-
-        stage('px4_fmu-v2 (bloaty)') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-nuttx:2019-10-04'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-            }
-          }
-          steps {
-            sh 'export'
-            sh 'make distclean'
-            sh 'ccache -z'
-            sh 'git fetch --tags'
-            sh 'make px4_fmu-v2_default'
-            sh 'make px4_fmu-v2_default bloaty_compileunits'
-            sh 'make px4_fmu-v2_default bloaty_inlines'
-            sh 'make px4_fmu-v2_default bloaty_sections'
-            sh 'make px4_fmu-v2_default bloaty_segments'
-            sh 'make px4_fmu-v2_default bloaty_symbols'
-            sh 'make px4_fmu-v2_default bloaty_templates'
-            sh 'make px4_fmu-v2_default bloaty_compare_master'
-            sh 'make sizes'
-            sh 'ccache -s'
-          }
-          post {
-            always {
-              sh 'make distclean'
-            }
-          }
-          environment {
-            CCACHE_DISABLE = 1
-          }
-        }
-
-        stage('px4_fmu-v5 (bloaty)') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-nuttx:2019-10-04'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-            }
-          }
-          steps {
-            sh 'export'
-            sh 'make distclean'
-            sh 'ccache -z'
-            sh 'git fetch --tags'
-            sh 'make px4_fmu-v5_default'
-            sh 'make px4_fmu-v5_default bloaty_compileunits'
-            sh 'make px4_fmu-v5_default bloaty_inlines'
-            sh 'make px4_fmu-v5_default bloaty_sections'
-            sh 'make px4_fmu-v5_default bloaty_segments'
-            sh 'make px4_fmu-v5_default bloaty_symbols'
-            sh 'make px4_fmu-v5_default bloaty_templates'
-            sh 'make px4_fmu-v5_default bloaty_compare_master'
-            sh 'make sizes'
-            sh 'ccache -s'
-          }
-          post {
-            always {
-              sh 'make distclean'
-            }
-          }
-          environment {
-            CCACHE_DISABLE = 1
-          }
-        }
-
-        stage('px4_sitl (bloaty)') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-nuttx:2019-10-04'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-            }
-          }
-          steps {
-            sh 'export'
-            sh 'make distclean'
-            sh 'ccache -z'
-            sh 'git fetch --tags'
-            sh 'make px4_sitl_default'
-            sh 'make px4_sitl_default bloaty_compileunits'
-            sh 'make px4_sitl_default bloaty_inlines'
-            sh 'make px4_sitl_default bloaty_sections'
-            sh 'make px4_sitl_default bloaty_segments'
-            sh 'make px4_sitl_default bloaty_symbols'
-            sh 'make px4_sitl_default bloaty_templates'
-            //sh 'make px4_fmu-v5_default bloaty_compare_master'
-            sh 'make sizes'
-            sh 'ccache -s'
-          }
-          post {
-            always {
-              sh 'make distclean'
-            }
-          }
-          environment {
-            CCACHE_DISABLE = 1
-          }
-        }
-
-        stage('px4_fmu-v5 (no ninja)') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-nuttx:2019-10-04'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-            }
-          }
-          steps {
-            sh 'export'
-            sh 'make distclean'
-            sh 'ccache -z'
-            sh 'git fetch --tags'
-            sh 'make px4_fmu-v5_default'
-            sh 'make sizes'
-            sh 'ccache -s'
-          }
-          post {
-            always {
-              sh 'make distclean'
-            }
-          }
-          environment {
-            NO_NINJA_BUILD = 1
-          }
-        }
-
-        stage('px4_sitl (no ninja)') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-nuttx:2019-10-04'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-            }
-          }
-          steps {
-            sh 'export'
-            sh 'make distclean'
-            sh 'ccache -z'
-            sh 'git fetch --tags'
-            sh 'make px4_sitl_default'
-            sh 'make sizes'
-            sh 'ccache -s'
-          }
-          post {
-            always {
-              sh 'make distclean'
-            }
-          }
-          environment {
-            NO_NINJA_BUILD = 1
-          }
-        }
-
-        stage('SITL unit tests') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-base-bionic:2019-10-04'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-            }
-          }
-          steps {
-            sh 'export'
-            sh 'make distclean'
-            sh 'ccache -z'
-            sh 'git fetch --tags'
-            sh 'make tests'
-            sh 'ccache -s'
-          }
-          post {
-            always {
-              sh 'make distclean'
-            }
-          }
-        }
-
-        stage('Clang analyzer') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-clang:2019-10-04'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-            }
-          }
-          steps {
-            sh 'export'
-            sh 'make distclean'
-            sh 'git fetch --tags'
-            sh 'make scan-build'
-            // publish html
-            publishHTML target: [
-              reportTitles: 'clang static analyzer',
-              allowMissing: false,
-              alwaysLinkToLastBuild: true,
-              keepAll: true,
-              reportDir: 'build/scan-build/report_latest',
-              reportFiles: '*',
-              reportName: 'Clang Static Analyzer'
-            ]
-          }
-          post {
-            always {
-              sh 'make distclean'
-            }
-          }
-          when {
-            anyOf {
-              branch 'master'
-              branch 'beta'
-              branch 'stable'
-              branch 'pr-jenkins' // for testing
-            }
-          }
-        }
-
-        // stage('Clang tidy') {
-        //   agent {
-        //     docker {
-        //       image 'px4io/px4-dev-clang:2019-10-04'
-        //       args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-        //     }
-        //   }
-        //   steps {
-        //     sh 'export'
-        //     retry (3) {
-        //       sh 'make distclean'
-        //       sh 'make clang-tidy-quiet'
-        //     }
-        //   }
-        //   post {
-        //     always {
-        //       sh 'make distclean'
-        //     }
-        //   }
-        // }
-
-        stage('Cppcheck') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-base-bionic:2019-10-04'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-            }
-          }
-          steps {
-            sh 'export'
-            sh 'make distclean'
-            sh 'git fetch --tags'
-            sh 'make cppcheck'
-            // publish html
-            publishHTML target: [
-              reportTitles: 'Cppcheck',
-              allowMissing: false,
-              alwaysLinkToLastBuild: true,
-              keepAll: true,
-              reportDir: 'build/cppcheck/',
-              reportFiles: '*',
-              reportName: 'Cppcheck'
-            ]
-          }
-          post {
-            always {
-              sh 'make distclean'
-            }
-          }
-          when {
-            anyOf {
-              branch 'master'
-              branch 'beta'
-              branch 'stable'
-              branch 'pr-jenkins' // for testing
-            }
-          }
-        }
-
-        stage('Check stack') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-nuttx:2019-10-04'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-            }
-          }
-          steps {
-            sh 'export'
-            sh 'make distclean'
-            sh 'git fetch --tags'
-            sh 'make px4_fmu-v2_default stack_check'
-          }
-          post {
-            always {
-              sh 'make distclean'
-            }
-          }
-        }
-
-        stage('ShellCheck') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-nuttx:2019-10-04'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-            }
-          }
-          steps {
-            sh 'export'
-            sh 'make distclean'
-            sh 'make shellcheck_all'
-          }
-          post {
-            always {
-              sh 'make distclean'
-            }
-          }
-        }
-
-        stage('Module config validation') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-base-bionic:2019-10-04'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-            }
-          }
-          steps {
-            sh 'export'
-            sh 'make distclean'
-            sh 'make validate_module_configs'
-          }
-          post {
-            always {
-              sh 'make distclean'
-            }
-          }
-        }
-
-      } // parallel
-    } // stage Analysis
-
-    stage('Generate Metadata') {
-
-      parallel {
-
        stage('Airframe') {
          agent {
-            docker { image 'px4io/px4-dev-base-bionic:2019-10-04' }
+            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
          }
          steps {
            sh 'make distclean'
@@ -450,7 +106,7 @@ pipeline {

        stage('Parameter') {
          agent {
-            docker { image 'px4io/px4-dev-base-bionic:2019-10-04' }
+            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
          }
          steps {
            sh 'make distclean'
@@ -469,7 +125,7 @@ pipeline {

        stage('Module') {
          agent {
-            docker { image 'px4io/px4-dev-base-bionic:2019-10-04' }
+            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
          }
          steps {
            sh 'make distclean'
@@ -489,7 +145,7 @@ pipeline {
        stage('uORB graphs') {
          agent {
            docker {
-              image 'px4io/px4-dev-nuttx:2019-10-04'
+              image 'px4io/px4-dev-nuttx-focal:2020-09-14'
              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
            }
          }
@@ -518,7 +174,7 @@ pipeline {

        stage('Devguide') {
          agent {
-            docker { image 'px4io/px4-dev-base-bionic:2019-10-04' }
+            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
          }
          steps {
            sh('export')
@@ -548,16 +204,18 @@ pipeline {

        stage('Userguide') {
          agent {
-            docker { image 'px4io/px4-dev-base-bionic:2019-10-04' }
+            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
          }
          steps {
            sh('export')
            unstash 'metadata_airframes'
            unstash 'metadata_parameters'
+            unstash 'metadata_module_documentation'
            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
              sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_user_guide.git')
              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('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 master || true')
              sh('rm -rf px4_user_guide')
@@ -576,7 +234,7 @@ pipeline {

        stage('QGroundControl') {
          agent {
-            docker { image 'px4io/px4-dev-base-bionic:2019-10-04' }
+            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
          }
          steps {
            sh('export')
@@ -602,9 +260,39 @@ pipeline {
          }
        }

+        stage('microRTPS agent') {
+          agent {
+            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
+          }
+          steps {
+            sh('export')
+            sh('git fetch --all --tags')
+            sh('make distclean')
+            sh('make px4_sitl_rtps')
+            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
+              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/micrortps_agent.git -b ${BRANCH_NAME}")
+              sh("rm -rf micrortps_agent/src micrortps_agent/idl")
+              sh('cp -R build/px4_sitl_rtps/src/modules/micrortps_bridge/micrortps_agent/* micrortps_agent')
+              sh('cd micrortps_agent; git status; git add src; git commit -a -m "Update microRTPS agent source code `date`" || true')
+              sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
+              sh('cd micrortps_agent; git status; git add idl; git commit -a -m "Update IDL definitions `date`" || true')
+              sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
+              sh('cd micrortps_agent; git status; git add CMakeLists.txt; git commit -a -m "Update CMakeLists.txt `date`" || true')
+              sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
+              sh('rm -rf micrortps_agent')
+            }
+          }
+          when {
+            anyOf {
+              branch 'master'
+              branch 'pr-jenkins' // for testing
+            }
+          }
+        }
+
        stage('PX4 ROS msgs') {
          agent {
-            docker { image 'px4io/px4-dev-base-bionic:2019-10-04' }
+            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
          }
          steps {
            sh('export')
@@ -612,12 +300,12 @@ pipeline {
            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
              // 'master' branch
-              sh('python msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
+              sh('./msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
              sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
              sh('cd px4_msgs; git push origin master || true')
              // 'ros1' branch
              sh('cd px4_msgs; git checkout ros1')
-              sh('python msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
+              sh('./msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
              sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
              sh('cd px4_msgs; git push origin ros1 || true')
              sh('rm -rf px4_msgs')
@@ -633,7 +321,7 @@ pipeline {

        stage('PX4 ROS2 bridge') {
          agent {
-            docker { image 'px4io/px4-dev-base-bionic:2019-10-04' }
+            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
          }
          steps {
            sh('export')
@@ -641,7 +329,7 @@ pipeline {
            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_ros_com.git -b ${BRANCH_NAME}")
              // deploy uORB RTPS ID map
-              sh('python msg/tools/uorb_to_ros_rtps_ids.py -i msg/tools/uorb_rtps_message_ids.yaml -o px4_ros_com/templates/uorb_rtps_message_ids.yaml')
+              sh('./msg/tools/uorb_to_ros_rtps_ids.py -i msg/tools/uorb_rtps_message_ids.yaml -o px4_ros_com/templates/uorb_rtps_message_ids.yaml')
              sh('cd px4_ros_com; git status; git add .; git commit -a -m "Update uORB RTPS ID map `date`" || true')
              sh('cd px4_ros_com; git push origin ${BRANCH_NAME} || true')
              // deploy uORB RTPS required tools
@@ -651,6 +339,8 @@ pipeline {
              sh('cp msg/tools/px_generate_uorb_topic_helper.py px4_ros_com/scripts/px_generate_uorb_topic_helper.py')
              // deploy templates
              sh('cp msg/templates/urtps/microRTPS_agent.cpp.em px4_ros_com/templates/microRTPS_agent.cpp.em')
+              sh('cp msg/templates/urtps/microRTPS_timesync.cpp.em px4_ros_com/templates/microRTPS_timesync.cpp.em')
+              sh('cp msg/templates/urtps/microRTPS_timesync.h.em px4_ros_com/templates/microRTPS_timesync.h.em')
              sh('cp msg/templates/urtps/microRTPS_transport.cpp px4_ros_com/templates/microRTPS_transport.cpp')
              sh('cp msg/templates/urtps/microRTPS_transport.h px4_ros_com/templates/microRTPS_transport.h')
              sh('cp msg/templates/urtps/Publisher.cpp.em px4_ros_com/templates/Publisher.cpp.em')
@@ -674,7 +364,7 @@ pipeline {

        stage('S3') {
          agent {
-            docker { image 'px4io/px4-dev-base-bionic:2019-10-04' }
+            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
          }
          steps {
            sh('export')
@@ -711,7 +401,7 @@ pipeline {
    GIT_COMMITTER_NAME = "PX4BuildBot"
  }
  options {
-    buildDiscarder(logRotator(numToKeepStr: '20', artifactDaysToKeepStr: '30'))
+    buildDiscarder(logRotator(numToKeepStr: '10', artifactDaysToKeepStr: '20'))
    timeout(time: 60, unit: 'MINUTES')
  }
 }
@@ -1,6 +1,6 @@
 BSD 3-Clause License

-Copyright (c) 2012 - 2019, PX4 Development Team
+Copyright (c) 2012 - 2020, PX4 Development Team
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
@@ -1,6 +1,6 @@
 ############################################################################
 #
-# Copyright (c) 2015 - 2019 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
@@ -62,6 +62,10 @@ all: px4_sitl_default
 # define a space character to be able to explicitly find it in strings
 space := $(subst ,, )

+define make_list
+     $(shell cat .github/workflows/compile_${1}.yml | sed -E 's|[[:space:]]+(.*),|check_\1|g' | grep check_${2})
+endef
+
 # Parsing
 # --------------------------------------------------------------------
 # assume 1st argument passed is the main target, the
@@ -69,7 +73,14 @@ space := $(subst ,, )
 # by cmake in the subdirectory
 FIRST_ARG := $(firstword $(MAKECMDGOALS))
 ARGS := $(wordlist 2,$(words $(MAKECMDGOALS)),$(MAKECMDGOALS))
-j ?= 4
+
+# Get -j or --jobs argument as suggested in:
+# https://stackoverflow.com/a/33616144/8548472
+MAKE_PID := $(shell echo $$PPID)
+j := $(shell ps T | sed -n 's|.*$(MAKE_PID).*$(MAKE).* \(-j\|--jobs\) *\([0-9][0-9]*\).*|\2|p')
+
+# Default j for clang-tidy
+j_clang_tidy := $(or $(j),4)

 NINJA_BIN := ninja
 ifndef NO_NINJA_BUILD
@@ -90,6 +101,11 @@ ifdef NINJA_BUILD
 	else
 		PX4_MAKE_ARGS :=
 	endif
+
+	# Only override ninja default if -j is set.
+	ifneq ($(j),)
+		PX4_MAKE_ARGS := $(PX4_MAKE_ARGS) -j$(j)
+	endif
 else
 	ifdef SYSTEMROOT
 		# Windows
@@ -97,6 +113,9 @@ else
 	else
 		PX4_CMAKE_GENERATOR := "Unix\ Makefiles"
 	endif
+
+	# For non-ninja builds we default to -j4
+	j := $(or $(j),4)
 	PX4_MAKE = $(MAKE)
 	PX4_MAKE_ARGS = -j$(j) --no-print-directory
 endif
@@ -141,6 +160,11 @@ else

 endif

+# Pick up specific Python path if set
+ifdef PYTHON_EXECUTABLE
+	CMAKE_ARGS += -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
+endif
+
 # Functions
 # --------------------------------------------------------------------
 # describe how to build a cmake config
@@ -165,9 +189,9 @@ endef
 define cmake-cache-check
 	@# change to build folder which fails if it doesn't exist and CACHED_CMAKE_OPTIONS stays empty
 	@# fetch all previously configured and cached options from the build folder and transform them into the OPTION=VALUE format without type (e.g. :BOOL)
-	@$(eval CACHED_CMAKE_OPTIONS = $(shell cd $(BUILD_DIR) 2>/dev/null && cmake -L 2>/dev/null | sed -n 's/\([^[:blank:]]*\):[^[:blank:]]*\(=[^[:blank:]]*\)/\1\2/gp' ))
+	@$(eval CACHED_CMAKE_OPTIONS = $(shell cd $(BUILD_DIR) 2>/dev/null && cmake -L 2>/dev/null | sed -n 's|\([^[:blank:]]*\):[^[:blank:]]*\(=[^[:blank:]]*\)|\1\2|gp' ))
 	@# transform the options in CMAKE_ARGS into the OPTION=VALUE format without -D
-	@$(eval DESIRED_CMAKE_OPTIONS = $(shell echo $(CMAKE_ARGS) | sed -n 's/-D\([^[:blank:]]*=[^[:blank:]]*\)/\1/gp' ))
+	@$(eval DESIRED_CMAKE_OPTIONS = $(shell echo $(CMAKE_ARGS) | sed -n 's|-D\([^[:blank:]]*=[^[:blank:]]*\)|\1|gp' ))
 	@# find each currently desired option in the already cached ones making sure the complete configured string value is the same
 	@$(eval VERIFIED_CMAKE_OPTIONS = $(foreach option,$(DESIRED_CMAKE_OPTIONS),$(strip $(findstring $(option)$(space),$(CACHED_CMAKE_OPTIONS)))))
 	@# if the complete list of desired options is found in the list of verified options we don't need to reconfigure and CMAKE_CACHE_CHECK stays empty
@@ -182,7 +206,7 @@ define colorecho
 endef

 # Get a list of all config targets boards/*/*.cmake
-ALL_CONFIG_TARGETS := $(shell find boards -maxdepth 3 -mindepth 3 ! -name '*common*' ! -name '*sdflight*' -name '*.cmake' -print | sed -e 's/boards\///' | sed -e 's/\.cmake//' | sed -e 's/\//_/g' | sort)
+ALL_CONFIG_TARGETS := $(shell find boards -maxdepth 3 -mindepth 3 ! -name '*common*' ! -name '*sdflight*' -name '*.cmake' -print | sed -e 's|boards\/||' | sed -e 's|\.cmake||' | sed -e 's|\/|_|g' | sort)

 # ADD CONFIGS HERE
 # --------------------------------------------------------------------
@@ -204,29 +228,19 @@ $(CONFIG_TARGETS_DEFAULT):
 all_config_targets: $(ALL_CONFIG_TARGETS)
 all_default_targets: $(CONFIG_TARGETS_DEFAULT)

-posix: px4_sitl_default
-
 # board reorganization deprecation warnings (2018-11-22)
 define deprecation_warning
 	$(warning $(1) has been deprecated and will be removed, please use $(2)!)
 endef

-px4fmu-%_default:
-	$(call deprecation_warning, ${@},$(subst px4fmu,px4_fmu,$@))
-	$(MAKE) $(subst px4fmu,px4_fmu, $@)
-
-posix_sitl_default:
-	$(call deprecation_warning, ${@},px4_sitl_default)
-	$(MAKE) px4_sitl_default
-
 # All targets with just dependencies but no recipe must either be marked as phony (or have the special @: as recipe).
-.PHONY: all posix px4_sitl_default all_config_targets all_default_targets
+.PHONY: all px4_sitl_default all_config_targets all_default_targets

 # Multi- config targets.
-eagle_default: atlflight_eagle_default atlflight_eagle_qurt-default
+eagle_default: atlflight_eagle_default atlflight_eagle_qurt
 eagle_rtps: atlflight_eagle_rtps atlflight_eagle_qurt-rtps

-excelsior_default: atlflight_excelsior_default atlflight_excelsior_qurt-default
+excelsior_default: atlflight_excelsior_default atlflight_excelsior_qurt
 excelsior_rtps: atlflight_excelsior_rtps atlflight_excelsior_qurt-rtps

 .PHONY: eagle_default eagle_rtps
@@ -235,7 +249,7 @@ excelsior_rtps: atlflight_excelsior_rtps atlflight_excelsior_qurt-rtps
 # Other targets
 # --------------------------------------------------------------------

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

 # QGroundControl flashable NuttX firmware
 qgc_firmware: px4fmu_firmware misc_qgc_extra_firmware
@@ -253,21 +267,14 @@ px4fmu_firmware: \

 misc_qgc_extra_firmware: \
 	check_nxp_fmuk66-v3_default \
+	check_nxp_fmurt1062-v1_default \
 	check_intel_aerofc-v1_default \
-	check_auav_x21_default \
+	check_mro_x21_default \
 	check_bitcraze_crazyflie_default \
 	check_airmind_mindpx-v2_default \
 	check_px4_fmu-v2_lpe \
 	sizes

-# Other NuttX firmware
-alt_firmware: \
-	check_px4_cannode-v1_default \
-	check_px4_esc-v1_default \
-	check_auav_esc35-v1_default \
-	check_thiemar_s2740vc-v1_default \
-	sizes
-
 # builds with RTPS
 check_rtps: \
 	check_px4_fmu-v3_rtps \
@@ -282,9 +289,9 @@ sizes:
 	@-find build -name *.elf -type f | xargs size 2> /dev/null || :

 # All default targets that don't require a special build environment
-check: check_px4_sitl_default px4fmu_firmware misc_qgc_extra_firmware alt_firmware tests check_format
+check: check_px4_sitl_default px4fmu_firmware misc_qgc_extra_firmware tests check_format

-# quick_check builds a single nuttx and posix target, runs testing, and checks the style
+# quick_check builds a single nuttx and SITL target, runs testing, and checks the style
 quick_check: check_px4_sitl_test check_px4_fmu-v5_default tests check_format

 check_%:
@@ -360,6 +367,20 @@ tests_coverage:
 rostest: px4_sitl_default
 	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo

+tests_integration: px4_sitl_default
+	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
+	@$(MAKE) --no-print-directory px4_sitl_default mavsdk_tests
+	@"$(SRC_DIR)"/test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 test/mavsdk_tests/configs/sitl.json
+
+tests_integration_coverage:
+	@$(MAKE) clean
+	@$(MAKE) --no-print-directory px4_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage
+	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
+	@$(MAKE) --no-print-directory px4_sitl_default mavsdk_tests
+	@"$(SRC_DIR)"/test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 test/mavsdk_tests/configs/sitl.json
+	@mkdir -p coverage
+	@lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
+
 tests_mission: rostest
 	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_missions.test

@@ -377,6 +398,7 @@ tests_mission_coverage:
 tests_offboard: rostest
 	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_attctl.test
 	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test
+	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_rpyrt_ctl.test

 tests_avoidance: rostest
 	@"$(SRC_DIR)"/test/rostest_avoidance_run.sh mavros_posix_test_avoidance.test
@@ -414,21 +436,21 @@ px4_sitl_default-clang:
 	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/px4_sitl_default-clang

 clang-tidy: px4_sitl_default-clang
-	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j) -p .
+	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -p .

 # to automatically fix a single check at a time, eg modernize-redundant-void-arg
 #  % run-clang-tidy-4.0.py -fix -j4 -checks=-\*,modernize-redundant-void-arg -p .
 clang-tidy-fix: px4_sitl_default-clang
-	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j) -fix -p .
+	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -fix -p .

 # modified version of run-clang-tidy.py to return error codes and only output relevant results
 clang-tidy-quiet: px4_sitl_default-clang
-	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j) -p .
+	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -p .

 # TODO: Fix cppcheck errors then try --enable=warning,performance,portability,style,unusedFunction or --enable=all
 cppcheck: px4_sitl_default
 	@mkdir -p "$(SRC_DIR)"/build/cppcheck
-	@cppcheck -i"$(SRC_DIR)"/src/examples --enable=performance --std=c++11 --std=c99 --std=posix --project="$(SRC_DIR)"/build/px4_sitl_default/compile_commands.json --xml-version=2 2> "$(SRC_DIR)"/build/cppcheck/cppcheck-result.xml > /dev/null
+	@cppcheck -i"$(SRC_DIR)"/src/examples --enable=performance --std=c++14 --std=c99 --std=posix --project="$(SRC_DIR)"/build/px4_sitl_default/compile_commands.json --xml-version=2 2> "$(SRC_DIR)"/build/cppcheck/cppcheck-result.xml > /dev/null
 	@cppcheck-htmlreport --source-encoding=ascii --file="$(SRC_DIR)"/build/cppcheck/cppcheck-result.xml --report-dir="$(SRC_DIR)"/build/cppcheck --source-dir="$(SRC_DIR)"/src/

 shellcheck_all:
@@ -469,7 +491,7 @@ distclean: gazeboclean
 # All other targets are handled by PX4_MAKE. Add a rule here to avoid printing an error.
 %:
 	$(if $(filter $(FIRST_ARG),$@), \
-		$(error "$@ cannot be the first argument. Use '$(MAKE) help|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:
@@ -485,3 +507,15 @@ help:
 # Print a list of all config targets.
 list_config_targets:
 	@for targ in $(patsubst %_default,%[_default],$(ALL_CONFIG_TARGETS)); do echo $$targ; done
+
+check_nuttx : $(call make_list,nuttx) \
+	sizes
+
+check_linux : $(call make_list,linux) \
+	sizes
+
+check_px4: $(call make_list,nuttx,"px4") \
+	sizes
+
+check_nxp: $(call make_list,nuttx,"nxp") \
+	sizes
@@ -2,46 +2,50 @@

 [![Releases](https://img.shields.io/github/release/PX4/Firmware.svg)](https://github.com/PX4/Firmware/releases) [![DOI](https://zenodo.org/badge/22634/PX4/Firmware.svg)](https://zenodo.org/badge/latestdoi/22634/PX4/Firmware)

-[![Build Status](http://ci.px4.io:8080/buildStatus/icon?job=PX4/Firmware/master)](http://ci.px4.io:8080/blue/organizations/jenkins/PX4%2FFirmware/activity)
+[![Nuttx Targets](https://github.com/PX4/Firmware/workflows/Nuttx%20Targets/badge.svg)](https://github.com/PX4/Firmware/actions?query=workflow%3A%22Nuttx+Targets%22?branch=master) [![SITL Tests](https://github.com/PX4/Firmware/workflows/SITL%20Tests/badge.svg?branch=master)](https://github.com/PX4/Firmware/actions?query=workflow%3A%22SITL+Tests%22)

 [![Slack](https://px4-slack.herokuapp.com/badge.svg)](http://slack.px4.io)

 This repository holds the [PX4](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/Firmware/tree/master/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.

 * Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/Firmware/blob/master/LICENSE))
-* [Supported airframes](https://docs.px4.io/en/airframes/airframe_reference.html) ([portfolio](http://px4.io/#airframes)):
-  * [Multicopters](https://docs.px4.io/en/airframes/airframe_reference.html#copter)
-  * [Fixed wing](https://docs.px4.io/en/airframes/airframe_reference.html#plane)
-  * [VTOL](https://docs.px4.io/en/airframes/airframe_reference.html#vtol)
-  * many more experimental types (Rovers, Blimps, Boats, Submarines, etc)
+* [Supported airframes](https://docs.px4.io/master/en/airframes/airframe_reference.html) ([portfolio](http://px4.io/#airframes)):
+  * [Multicopters](https://docs.px4.io/master/en/airframes/airframe_reference.html#copter)
+  * [Fixed wing](https://docs.px4.io/master/en/airframes/airframe_reference.html#plane)
+  * [VTOL](https://docs.px4.io/master/en/airframes/airframe_reference.html#vtol)
+  * many more experimental types (Rovers, Blimps, Boats, Submarines, Autogyros, etc)
 * Releases: [Downloads](https://github.com/PX4/Firmware/releases)


 ## PX4 Users

-The [PX4 User Guide](https://docs.px4.io/en/) explains how to assemble [supported vehicles](https://docs.px4.io/en/airframes/airframe_reference.html) and fly drones with PX4.
-See the [forum and chat](https://docs.px4.io/en/#support) if you need help!
+The [PX4 User Guide](https://docs.px4.io/master/en/) explains how to assemble [supported vehicles](https://docs.px4.io/master/en/airframes/airframe_reference.html) and fly drones with PX4.
+See the [forum and chat](https://docs.px4.io/master/en/#support) if you need help!


 ## PX4 Developers

 This [Developer Guide](https://dev.px4.io/) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.

-Developers should read the [Guide for Contributions](https://dev.px4.io/en/contribute/).
-See the [forum and chat](https://dev.px4.io/en/#support) if you need help!
+Developers should read the [Guide for Contributions](https://dev.px4.io/master/en/contribute/).
+See the [forum and chat](https://dev.px4.io/master/en/#support) if you need help!


 ### Weekly Dev Call

-The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/en/contribute/#dev_call).
+The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/master/en/contribute/#dev_call).

 > **Note** The dev call is open to all interested developers (not just the core dev team). This is a great opportunity to meet the team and contribute to the ongoing development of the platform. It includes a QA session for newcomers. All regular calls are listed in the [Dronecode calendar](https://www.dronecode.org/calendar/).


 ## Maintenance Team

-  * Project: Founder - [Lorenz Meier](https://github.com/LorenzMeier), Architecture: [Daniel Agar](https://github.com/dagar)
-    * [Dev Call](https://github.com/PX4/Firmware/labels/devcall) - [Ramon Roche](https://github.com/mrpollo)
+  * Project: Founder
+    * [Lorenz Meier](https://github.com/LorenzMeier)
+  * Architecture
+    * [Daniel Agar](https://github.com/dagar)
+  * [Dev Call](https://github.com/PX4/Firmware/labels/devcall)
+    * [Ramon Roche](https://github.com/mrpollo)
  * Communication Architecture
    * [Beat Kueng](https://github.com/bkueng)
    * [Julian Oes](https://github.com/JulianOes)
@@ -55,41 +59,52 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/en/contribut
    * [Roman Bapst](https://github.com/RomanBapst)
  * [Fixed Wing Flight Control](https://github.com/PX4/Firmware/labels/fixedwing)
    * [Roman Bapst](https://github.com/RomanBapst)
-  * OS / NuttX [David Sidrane](https://github.com/davids5)
-  * Driver Architecture [Daniel Agar](https://github.com/dagar)
-  * Commander Architecture [Julian Oes](https://github.com/julianoes)
-  * [UAVCAN](https://github.com/PX4/Firmware/labels/uavcan) [Daniel Agar](https://github.com/dagar)
-  * [State Estimation](https://github.com/PX4/Firmware/issues?q=is%3Aopen+is%3Aissue+label%3A%22state+estimation%22) - [Paul Riseborough](https://github.com/priseborough)
+  * OS / NuttX
+    * [David Sidrane](https://github.com/davids5)
+  * Driver Architecture
+    * [Daniel Agar](https://github.com/dagar)
+  * Commander Architecture
+    * [Julian Oes](https://github.com/julianoes)
+  * [UAVCAN](https://github.com/PX4/Firmware/labels/uavcan)
+    * [Daniel Agar](https://github.com/dagar)
+  * [State Estimation](https://github.com/PX4/Firmware/issues?q=is%3Aopen+is%3Aissue+label%3A%22state+estimation%22)
+    * [Paul Riseborough](https://github.com/priseborough)
  * Vision based navigation
    * [Julian Kent](https://github.com/jkflying)
-  * Obstacle Avoidance - [Martina Rivizzigno](https://github.com/mrivi)
-  * RTPS/ROS2 Interface - [Nuno Marques](https://github.com/TSC21)
+  * Obstacle Avoidance
+    * [Martina Rivizzigno](https://github.com/mrivi)
+  * RTPS/ROS2 Interface
+    * [Nuno Marques](https://github.com/TSC21)

-See also [About Us](http://px4.io/about-us/#development_team) (px4.io) and the [contributors list](https://github.com/PX4/Firmware/graphs/contributors) (Github).
+See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/Firmware/graphs/contributors) (Github).

 ## Supported Hardware

 This repository contains code supporting these boards:
-  * [Snapdragon Flight](https://docs.px4.io/en/flight_controller/snapdragon_flight.html)
-  * [Intel Aero](https://docs.px4.io/en/flight_controller/intel_aero.html)
-  * [Raspberry PI with Navio 2](https://docs.px4.io/en/flight_controller/raspberry_pi_navio2.html)
-  * [Parrot Bebop 2](https://dev.px4.io/en/advanced/parrot_bebop.html)
  * FMUv2
-    * [Pixhawk](https://docs.px4.io/en/flight_controller/pixhawk.html)
-    * [Pixhawk Mini](https://docs.px4.io/en/flight_controller/pixhawk_mini.html)
-    * [Pixfalcon](https://docs.px4.io/en/flight_controller/pixfalcon.html)
-  * FMUv3 [Pixhawk 2](https://docs.px4.io/en/flight_controller/pixhawk-2.html)
+    * [Pixhawk](https://docs.px4.io/master/en/flight_controller/pixhawk.html)
+    * [Pixfalcon](https://docs.px4.io/master/en/flight_controller/pixfalcon.html)
+  * FMUv3
+    * [Pixhawk 2](https://docs.px4.io/master/en/flight_controller/pixhawk-2.html)
+    * [Pixhawk Mini](https://docs.px4.io/master/en/flight_controller/pixhawk_mini.html)
+    * [CUAV Pixhack v3](https://docs.px4.io/master/en/flight_controller/pixhack_v3.html)
  * FMUv4
-    * [Pixracer](https://docs.px4.io/en/flight_controller/pixracer.html)
-    * [Pixhawk 3 Pro](https://docs.px4.io/en/flight_controller/pixhawk3_pro.html)
+    * [Pixracer](https://docs.px4.io/master/en/flight_controller/pixracer.html)
+    * [Pixhawk 3 Pro](https://docs.px4.io/master/en/flight_controller/pixhawk3_pro.html)
  * FMUv5 (ARM Cortex M7)
-    * [Pixhawk 4](https://docs.px4.io/en/flight_controller/pixhawk4.html)
-    * [Pixhawk 4 mini](https://docs.px4.io/en/flight_controller/pixhawk4_mini.html)  
+    * [Pixhawk 4](https://docs.px4.io/master/en/flight_controller/pixhawk4.html)
+    * [Pixhawk 4 mini](https://docs.px4.io/master/en/flight_controller/pixhawk4_mini.html)
+    * [CUAV V5+](https://docs.px4.io/master/en/flight_controller/cuav_v5_plus.html)
+    * [CUAV V5 nano](https://docs.px4.io/master/en/flight_controller/cuav_v5_nano.html)
  * [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
  * [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
-  * [Bitcraze Crazyflie 2.0](https://docs.px4.io/en/flight_controller/crazyflie2.html)
+  * [Bitcraze Crazyflie 2.0](https://docs.px4.io/master/en/flight_controller/crazyflie2.html)
+  * [Omnibus F4 SD](https://docs.px4.io/master/en/flight_controller/omnibus_f4_sd.html)
+  * [Holybro Durandal](https://docs.px4.io/master/en/flight_controller/durandal.html)
+  * [Holybro Kakute F7](https://docs.px4.io/master/en/flight_controller/kakutef7.html)
+  * [Raspberry PI with Navio 2](https://docs.px4.io/master/en/flight_controller/raspberry_pi_navio2.html)

-Additional information about supported hardware can be found in [PX4 user Guide > Autopilot Hardware](https://docs.px4.io/en/flight_controller/).
+Additional information about supported hardware can be found in [PX4 user Guide > Autopilot Hardware](https://docs.px4.io/master/en/flight_controller/).

 ## Project Roadmap

@@ -34,7 +34,7 @@
 message(STATUS "ROMFS: ${config_romfs_root}")

 set(romfs_src_dir ${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root})
-set(romfs_gen_root_dir ${PX4_BINARY_DIR}/genromfs)
+set(romfs_gen_root_dir ${PX4_BINARY_DIR}/etc)

 set_property(GLOBAL PROPERTY PX4_ROMFS_FILES)
 set_property(GLOBAL PROPERTY PX4_ROMFS_CMAKE_FILES)
@@ -62,6 +62,9 @@ function(px4_add_romfs_files)
 	set_property(GLOBAL APPEND PROPERTY PX4_ROMFS_CMAKE_FILES ${CMAKE_CURRENT_LIST_FILE})

 	foreach(arg IN LISTS ARGN)
+		if(NOT EXISTS ${CMAKE_CURRENT_LIST_DIR}/${arg})
+			message(FATAL_ERROR "${CMAKE_CURRENT_LIST_DIR}/${arg} doesn't exist")
+		endif()
 		set_property(GLOBAL APPEND PROPERTY PX4_ROMFS_FILES ${CMAKE_CURRENT_LIST_DIR}/${arg})
 	endforeach()
 endfunction()
@@ -78,21 +81,48 @@ file(GLOB jinja_templates ${PX4_SOURCE_DIR}/Tools/serial/*.jinja)
 if (px4_constrained_flash_build)
 	set(added_arguments --constrained-flash)
 endif()
+# create list of relative romfs file names
+set(romfs_copy_files_relative)
+foreach(romfs_file IN LISTS romfs_copy_files)
+	string(REPLACE "${romfs_src_dir}/" "" romfs_file_rel ${romfs_file})
+	list(APPEND romfs_copy_files_relative ${romfs_file_rel})
+endforeach()
+# copy the ROMFS files by creating a tar and extracting it to the build
+# directory (which preserves the directory structure)
+file(MAKE_DIRECTORY ${romfs_gen_root_dir})
+set(romfs_tar_file ${PX4_BINARY_DIR}/romfs_files.tar)
+add_custom_command(
+	OUTPUT ${romfs_tar_file}
+	COMMAND ${CMAKE_COMMAND} -E tar cf ${romfs_tar_file} ${romfs_copy_files_relative}
+	WORKING_DIRECTORY ${romfs_src_dir}
+	DEPENDS
+		${romfs_copy_files}
+		${jinja_templates}
+		${module_config_files}
+		${romfs_cmake_files}
+		${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
+		${PX4_SOURCE_DIR}/Tools/px4airframes/markdownout.py
+		${PX4_SOURCE_DIR}/Tools/px4airframes/rcout.py
+		${PX4_SOURCE_DIR}/Tools/px4airframes/srcparser.py
+		${PX4_SOURCE_DIR}/Tools/px4airframes/srcscanner.py
+		${PX4_SOURCE_DIR}/Tools/px4airframes/xmlout.py
+		${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
+	)
+set(romfs_extract_stamp ${CMAKE_CURRENT_BINARY_DIR}/romfs_extract.stamp)
+add_custom_command(
+	OUTPUT ${romfs_extract_stamp}
+	COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file}
+	COMMAND ${CMAKE_COMMAND} -E touch ${romfs_extract_stamp}
+	WORKING_DIRECTORY ${romfs_gen_root_dir}
+	DEPENDS ${romfs_tar_file}
+	)
+
 add_custom_command(
 	OUTPUT
-		${romfs_gen_root_dir}/init.d/rcS
 		${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_copy.stamp
-	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}
-	# TODO: we should only copy the files in ${romfs_copy_files}
-	COMMAND ${CMAKE_COMMAND} -E copy_directory ${romfs_src_dir} ${romfs_gen_root_dir}
-	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/init.d-posix
-	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/mixers-sitl
-	COMMAND ${CMAKE_COMMAND} -E remove ${romfs_gen_root_dir}/mixers/CMakeLists.txt
-	COMMAND ${CMAKE_COMMAND} -E remove ${romfs_gen_root_dir}/init.d/CMakeLists.txt
-	COMMAND ${CMAKE_COMMAND} -E remove ${romfs_gen_root_dir}/init.d/airframes/CMakeLists.txt
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
 		--airframes-path ${romfs_gen_root_dir}/init.d
 		--start-script ${romfs_gen_root_dir}/init.d/rc.autostart
@@ -103,17 +133,7 @@ add_custom_command(
 		--config-files ${module_config_files} #--verbose
 	COMMAND ${CMAKE_COMMAND} -E touch romfs_copy.stamp
 	DEPENDS
-		${jinja_templates}
-		${module_config_files}
-		${romfs_cmake_files}
-		${romfs_copy_files}
-		${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
-		${PX4_SOURCE_DIR}/Tools/px4airframes/markdownout.py
-		${PX4_SOURCE_DIR}/Tools/px4airframes/rcout.py
-		${PX4_SOURCE_DIR}/Tools/px4airframes/srcparser.py
-		${PX4_SOURCE_DIR}/Tools/px4airframes/srcscanner.py
-		${PX4_SOURCE_DIR}/Tools/px4airframes/xmlout.py
-		${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
+		${romfs_extract_stamp}
 	COMMENT "ROMFS: copying, generating airframes"
 	)

@@ -125,17 +145,14 @@ if(config_io_board)
 	list(APPEND extras_dependencies
 		copy_px4io_bin
 		${fw_io_bin}
-		)
+	)
 endif()

-
-if(config_bl_file)
-	file(MAKE_DIRECTORY ${PX4_BINARY_DIR}/romfs_extras)
-	configure_file(${config_bl_file} ${PX4_BINARY_DIR}/romfs_extras COPYONLY)
-
+if(config_build_bootloader)
 	list(APPEND extras_dependencies
-		${config_bl_file}
-		)
+		copy_bootloader_bin
+		${bootloader_bin}
+	)
 endif()

 set(OPTIONAL_BOARD_RC)
@@ -155,7 +172,7 @@ foreach(board_rc_file ${OPTIONAL_BOARD_RC})
 			OUTPUT
 				${romfs_gen_root_dir}/init.d/${board_rc_file}
 				${board_rc_file}.stamp
-			COMMAND ${CMAKE_COMMAND} -E copy ${PX4_BOARD_DIR}/init/${board_rc_file} ${romfs_gen_root_dir}/init.d/${board_rc_file}
+			COMMAND ${CMAKE_COMMAND} -E copy_if_different ${PX4_BOARD_DIR}/init/${board_rc_file} ${romfs_gen_root_dir}/init.d/${board_rc_file}
 			COMMAND ${CMAKE_COMMAND} -E touch ${board_rc_file}.stamp
 			DEPENDS
 				${PX4_BOARD_DIR}/init/${board_rc_file}
@@ -170,17 +187,35 @@ foreach(board_rc_file ${OPTIONAL_BOARD_RC})

 endforeach()

+list(APPEND extras_dependencies
+	${config_romfs_extra_dependencies}
+	)
+
+if (config_romfs_extra_files)
+	set(extras_copy_cmd COMMAND ${CMAKE_COMMAND} -E copy_if_different ${config_romfs_extra_files} ${romfs_gen_root_dir}/extras/)
+else()
+	set(extras_copy_cmd "")
+endif()
 add_custom_command(OUTPUT romfs_extras.stamp
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${romfs_gen_root_dir}/extras/
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/romfs_extras/
 	COMMAND ${CMAKE_COMMAND} -E copy_directory ${PX4_BINARY_DIR}/romfs_extras/ ${romfs_gen_root_dir}/extras/
+	${extras_copy_cmd}
 	COMMAND ${CMAKE_COMMAND} -E touch romfs_extras.stamp
 	DEPENDS
 		romfs_copy.stamp
+		${config_romfs_extra_files}
 		${extras_dependencies}
 	COMMENT "ROMFS: copying extras"
 	)

+add_custom_target(romfs_gen_files_target
+	DEPENDS
+		${romfs_extract_stamp}
+		${romfs_gen_root_dir}/init.d/rc.serial
+		romfs_extras.stamp
+	)
+
 add_custom_command(
 	OUTPUT romfs_pruned.stamp
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py --folder ${romfs_gen_root_dir} --board ${PX4_BOARD}
@@ -196,7 +231,7 @@ if("${CONFIG_FS_CROMFS}" STREQUAL "y")
 	add_custom_command(
 		OUTPUT ${CMAKE_BINARY_DIR}/gencromfs
 		COMMAND make --no-print-directory --silent -f Makefile.host gencromfs
-		COMMAND ${CMAKE_COMMAND} -E copy gencromfs ${CMAKE_BINARY_DIR}/gencromfs
+		COMMAND ${CMAKE_COMMAND} -E copy_if_different gencromfs ${CMAKE_BINARY_DIR}/gencromfs
 		DEPENDS ${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/nuttx/tools/gencromfs.c
 		WORKING_DIRECTORY ${NUTTX_DIR}/tools
 	)
@@ -211,7 +246,11 @@ if("${CONFIG_FS_CROMFS}" STREQUAL "y")
 		COMMENT "ROMFS: generating image"
 	)

-else()
+	add_library(romfs STATIC nsh_romfsimg.c)
+	add_dependencies(romfs prebuild_targets)
+	set_target_properties(romfs PROPERTIES LINKER_LANGUAGE C)
+
+elseif("${CONFIG_FS_ROMFS}" STREQUAL "y")
 	# create romfs.img
 	find_program(GENROMFS genromfs)
 	if(NOT GENROMFS)
@@ -246,13 +285,13 @@ else()
 		COMMAND ${SED} 's/unsigned/const unsigned/g' nsh_romfsimg.c > nsh_romfsimg.c.tmp && ${CMAKE_COMMAND} -E rename nsh_romfsimg.c.tmp nsh_romfsimg.c
 		DEPENDS romfs.img
 	)
+
+	add_library(romfs STATIC nsh_romfsimg.c)
+	add_dependencies(romfs prebuild_targets)
+	set_target_properties(romfs PROPERTIES LINKER_LANGUAGE C)
 endif()


-add_library(romfs STATIC nsh_romfsimg.c)
-add_dependencies(romfs prebuild_targets)
-set_target_properties(romfs PROPERTIES LINKER_LANGUAGE C)
-

 # shellcheck
 find_program(SHELLCHECK_PATH shellcheck)
@@ -262,11 +301,15 @@ if(SHELLCHECK_PATH)
 	# TODO: fix SC2086, SC2166
 	add_custom_target(shellcheck
 		COMMAND ${SHELLCHECK_PATH} --shell=sh
+			--exclude=SC1090 # SC1090: use of source (.) - Can't follow non-constant source. Use a directive to specify location.
+			--exclude=SC1091 # SC1091: use of source (.) - Not following: xxxx openBinaryFile: does not exist (No such file or directory)
 			--exclude=SC2121 # SC2121: To assign a variable, use just 'var=value'
 			--exclude=SC2086 # SC2086: Double quote to prevent globbing and word splitting.
 			--exclude=SC2166 # SC2166: Prefer [ p ] || [ q ] as [ p -o q ] is not well defined.
 			--exclude=SC2154 # SC2154: <var> is referenced but not assigned (NuttX uses different asssignment)
 			--exclude=SC2164 # SC2164: Use 'cd ... || exit' or 'cd ... || return' in case cd fails.
+			--exclude=SC2169 # SC2169: In dash, 'source' in place of '.' is not supported. (we alias it)
+			--exclude=SC2039 # SC2039: In POSIX sh, 'source' in place of '.' is undefined. (we alias it)
 			--exclude=SC2181 # SC2181: Check exit code directly with e.g. 'if mycmd;', not indirectly with $?.
 			`find ${romfs_gen_root_dir}/init.d -type f`
 		DEPENDS ${romfs_gen_root_dir}/init.d/rc.autostart
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2018 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2020 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -31,4 +31,4 @@
 #
 ############################################################################

-add_subdirectory(mavlink_tests)
+add_subdirectory(init.d)
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2018 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2020 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -32,7 +32,5 @@
 ############################################################################

 px4_add_romfs_files(
-	test_238.data
-	test_239.data
-	test_240.data
-	)
+	rcS
+)
@@ -0,0 +1,107 @@
+#!/bin/sh
+# Un comment and use set +e to ignore and set -e to enable 'exit on error control'
+set +e
+# Un comment the line below to help debug scripts by printing a trace of the script commands
+#set -x
+# PX4FMU startup script.
+#
+# NOTE: environment variable references:
+#    If the dollar sign ('$') is followed by a left bracket ('{') then the
+#    variable name is terminated with the right bracket character ('}').
+#    Otherwise, the variable name goes to the end of the argument.
+#
+#
+# NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
+#
+#------------------------------------------------------------------------------
+set R /
+#
+# Mount the procfs.
+#
+mount -t procfs /proc
+
+#
+# Start CDC/ACM serial driver.
+#
+sercon
+
+#
+# Print full system version.
+#
+ver all
+
+#
+# Start the ORB (first app to start)
+# tone_alarm and tune_control
+# is dependent.
+#
+uorb start
+
+#
+# Set the parameter file if mtd starts successfully.
+#
+if mtd start
+then
+	set PARAM_FILE /fs/mtd_params
+fi
+
+#
+# Load parameters.
+#
+param select $PARAM_FILE
+if ! param load
+then
+	param reset_all
+fi
+
+#
+# Optional board defaults: rc.board_defaults
+#
+set BOARD_RC_DEFAULTS ${R}etc/init.d/rc.board_defaults
+if [ -f $BOARD_RC_DEFAULTS ]
+then
+	echo "Board defaults: ${BOARD_RC_DEFAULTS}"
+	. $BOARD_RC_DEFAULTS
+fi
+unset BOARD_RC_DEFAULTS
+
+#
+# Start system state indicator.
+#
+rgbled start -X -q
+rgbled_ncp5623c start -X -q
+rgbled_pwm start
+
+if param greater LIGHT_EN_BLINKM 0
+then
+	if blinkm start -X
+	then
+		blinkm systemstate
+	fi
+fi
+
+#
+# board sensors: rc.sensors
+#
+set BOARD_RC_SENSORS ${R}etc/init.d/rc.board_sensors
+if [ -f $BOARD_RC_SENSORS ]
+then
+	echo "Board sensors: ${BOARD_RC_SENSORS}"
+	. $BOARD_RC_SENSORS
+fi
+unset BOARD_RC_SENSORS
+
+#
+# Start UART/Serial device drivers.
+# Note: rc.serial is auto-generated from Tools/serial/generate_config.py
+#
+. ${R}etc/init.d/rc.serial
+
+# Check for flow sensor
+if param compare SENS_EN_PX4FLOW 1
+then
+	px4flow start -X
+fi
+
+uavcannode start
+unset R
@@ -33,3 +33,8 @@

 add_subdirectory(init.d)
 add_subdirectory(mixers)
+# TODO: make this configurable from the board config, or better combine
+if("${PX4_BOARD}" MATCHES "sitl")
+	add_subdirectory(mixers-sitl)
+	add_subdirectory(init.d-posix)
+endif()
@@ -1,12 +0,0 @@
-#!/bin/sh
-#
-# @name IF750A SITL
-# InspiredFlight 750 Auterion edition. Gazebo Only.
-#
-# @type Quadrotor
-#
-
-sh /etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-
@@ -1,8 +0,0 @@
-#!/bin/sh
-#
-# @name Hippocampus UUV
-#
-
-sh /etc/init.d/rc.mc_defaults
-
-set MIXER uuv_quad_x
@@ -1,6 +0,0 @@
-#!/bin/sh
-#
-# @name Plane SITL with camera
-#
-
-sh /etc/init.d-posix/1030_plane
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2016 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2020 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -31,8 +31,9 @@
 #
 ############################################################################

-px4_add_library(linux_gpio
-	linux_gpio.cpp
-	)
+add_subdirectory(airframes)

-#add_subdirectory(test)
+px4_add_romfs_files(
+	rc.replay
+	rcS
+)
@@ -7,7 +7,6 @@
 # @maintainer Julian Oes <julian@oes.ch>
 #

-sh /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults

 set MIXER quad_w
-
@@ -0,0 +1,17 @@
+#!/bin/sh
+#
+# @name IF750A SITL
+# InspiredFlight 750 Auterion edition. Gazebo Only.
+#
+# @type Quadrotor
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	# EKF2: Multi GPS blending (as the model has 2 GPS's)
+	param set EKF2_GPS_MASK 7 # Uses speed, hpos and vpos accuracy
+fi
+
+set MIXER quad_x
@@ -0,0 +1,11 @@
+#!/bin/sh
+#
+# @name PX4Vision SITL
+# Holybro px4vision. Gazebo Only.
+#
+# @type Quadrotor
+#
+
+. ${R}etc/init.d/airframes/4016_holybro_px4vision
+
+set MIXER quad_x
@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #

-sh /etc/init.d-posix/10016_iris
+. ${R}etc/init.d-posix/airframes/10016_iris

 if [ $AUTOCNF = yes ]
 then
@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #

-sh /etc/init.d-posix/10016_iris
+. ${R}etc/init.d-posix/airframes/10016_iris

 if [ $AUTOCNF = yes ]
 then
@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #

-sh /etc/init.d-posix/10016_iris
+. ${R}etc/init.d-posix/airframes/10016_iris

 if [ $AUTOCNF = yes ]
 then
@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #

-sh /etc/init.d-posix/10016_iris
+. ${R}etc/init.d-posix/airframes/10016_iris

 if [ $AUTOCNF = yes ]
 then
@@ -5,12 +5,12 @@
 # @type Quadrotor
 #

-sh /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults

 if [ $AUTOCNF = yes ]
 then
-	param set MC_PITCHRATE_P 0.15
-	param set MC_ROLLRATE_P 0.15
+	param set MC_PITCHRATE_P 0.1
+	param set MC_ROLLRATE_P 0.1
 fi

 set MIXER quad_x
@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #

-sh /etc/init.d-posix/10016_iris
+. ${R}etc/init.d-posix/airframes/10016_iris

 if [ $AUTOCNF = yes ]
 then
@@ -0,0 +1,8 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (RTPS)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d-posix/airframes/10016_iris
@@ -0,0 +1,4 @@
+#!/bin/sh
+# shellcheck disable=SC2154
+
+micrortps_client start -t UDP -r $((2019+2*px4_instance)) -s $((2020+2*px4_instance))
@@ -0,0 +1,21 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (Optical Flow)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d-posix/airframes/10016_iris
+
+if [ $AUTOCNF = yes ]
+then
+	# EKF2
+	param set EKF2_AID_MASK 2
+	param set SENS_FLOW_ROT 0
+
+	# LPE: Flow-only mode
+	param set LPE_FUSION 242
+	param set LPE_FAKE_ORIGIN 1
+
+	param set MPC_ALT_MODE 2
+fi
@@ -0,0 +1,15 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (Vision Velocity)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d-posix/airframes/10016_iris
+
+if [ $AUTOCNF = yes ]
+then
+	# EKF2: Vision velocity and heading
+	param set EKF2_AID_MASK 272
+	param set EKF2_EV_DELAY 5
+fi
@@ -0,0 +1,14 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (Dual GPS)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d-posix/airframes/10016_iris
+
+if [ $AUTOCNF = yes ]
+then
+	# EKF2: Multi GPS blending
+	param set EKF2_GPS_MASK 7 # Uses speed, hpos and vpos accuracy
+fi
@@ -0,0 +1,23 @@
+#!/bin/sh
+#
+# @name UUV
+#
+
+. ${R}etc/init.d/rc.uuv_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	#Set data link loss failsafe mode (0: disabled)
+	param set NAV_DLL_ACT 0
+
+	# disable circuit breaker for airspeed sensor
+	param set CBRK_AIRSPD_CHK 162128
+
+	#param set CBRK_GPSFAIL 240024
+fi
+
+set MAV_TYPE 12
+param set MAV_TYPE ${MAV_TYPE}
+
+set MIXER_FILE etc/mixers-sitl/uuv_x_sitl.main.mix
+set MIXER custom
@@ -0,0 +1,23 @@
+#!/bin/sh
+#
+# @name Hippocampus UUV
+#
+
+. ${R}etc/init.d/rc.uuv_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	#Set data link loss failsafe mode (0: disabled)
+	param set NAV_DLL_ACT 0
+
+	# disable circuit breaker for airspeed sensor
+	param set CBRK_AIRSPD_CHK 162128
+
+	#param set CBRK_GPSFAIL 240024
+fi
+
+set MAV_TYPE 12
+param set MAV_TYPE ${MAV_TYPE}
+
+set MIXER_FILE etc/mixers-sitl/uuv_x_sitl.main.mix
+set MIXER custom
@@ -0,0 +1,20 @@
+#!/bin/sh
+#
+# @name BlueROV2 Heavy Configuration
+#
+
+. ${R}etc/init.d/rc.uuv_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	#Set data link loss failsafe mode (0: disabled)
+	param set NAV_DLL_ACT 0
+
+	# disable circuit breaker for airspeed sensor
+	param set CBRK_AIRSPD_CHK 162128
+
+fi
+
+set PWM_OUT 12345678
+set MIXER_FILE etc/mixers-sitl/vectored6dof_sitl.main.mix
+set MIXER custom
@@ -3,7 +3,7 @@
 # @name Plane SITL
 #

-sh /etc/init.d/rc.fw_defaults
+. ${R}etc/init.d/rc.fw_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -16,6 +16,8 @@ then
 	param set FW_LND_ANG 8
 	param set FW_THR_LND_MAX 0

+	param set FW_L1_PERIOD 15
+
 	param set FW_P_TC 0.5
 	param set FW_PR_FF 0.40
 	param set FW_PR_I 0.05
@@ -26,6 +28,8 @@ then
 	param set FW_RR_I 0.02
 	param set FW_RR_P 0.22

+	param set FW_L1_PERIOD 12
+
 	param set FW_W_EN 1

 	param set MIS_LTRMIN_ALT 30
@@ -0,0 +1,14 @@
+#!/bin/sh
+#
+# @name Plane SITL with camera
+#
+
+. ${R}etc/init.d-posix/airframes/1030_plane
+
+if [ $AUTOCNF = yes ]
+then
+	# Camera trigger interface is MAVLink
+	param set TRIG_INTERFACE 3
+	# Distance trigger mode enabled
+	param set TRIG_MODE 4
+fi
@@ -0,0 +1,12 @@
+#!/bin/sh
+#
+# @name Plane SITL with catapult
+#
+
+. ${R}etc/init.d-posix/airframes/1030_plane
+
+if [ $AUTOCNF = yes ]
+then
+	param set RWTO_TKOFF 0
+
+fi
@@ -0,0 +1,12 @@
+#!/bin/sh
+#
+# @name Plane SITL with downward facing LIDAR.
+#
+
+. ${R}etc/init.d-posix/airframes/1030_plane
+
+if [ $AUTOCNF = yes ]
+then
+	param set FW_LND_USETER 1
+
+fi
@@ -0,0 +1,58 @@
+#!/bin/sh
+#
+# @name Plane SITL
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set EKF2_ARSP_THR 8
+	param set EKF2_FUSE_BETA 1
+	#param set EKF2_MAG_ACCLIM 0
+	#param set EKF2_MAG_YAWLIM 0
+
+	param set FW_LND_AIRSPD_SC 1.1
+	param set FW_LND_ANG 5
+	param set FW_THR_LND_MAX 0
+	param set FW_LND_HHDIST 30
+	param set FW_LND_FL_PMIN 9.5
+	param set FW_LND_FL_PMAX 20
+	param set FW_LND_FLALT 5
+	param set FW_LND_TLALT 15
+
+	param set FW_L1_PERIOD 25
+
+	param set FW_P_TC 0.4
+	param set FW_PR_FF 0.40
+	param set FW_PR_I 0.05
+	param set FW_PR_P 0.05
+
+	param set FW_R_TC 0.45
+	param set FW_RR_FF 0.40
+	param set FW_RR_I 0.132
+	param set FW_RR_P 0.085
+
+	param set FW_W_EN 1
+
+	param set MIS_LTRMIN_ALT 30
+	param set MIS_TAKEOFF_ALT 20
+	param set MIS_DIST_1WP 2500
+	param set MIS_DIST_WPS 10000
+
+	param set NAV_ACC_RAD 15
+	param set NAV_DLL_ACT 2
+	param set NAV_LOITER_RAD 50
+
+	param set RWTO_TKOFF 1
+	#param set FW_THR_SLEW_MAX 0.3 # fix takeoff failure for JSBsim in autonomous mission mode.
+	param set RWTO_MAX_PITCH 20
+	param set RWTO_MAX_ROLL 10
+	#param set RWTO_MAX_THR 0.6		# fix takeoff failure for JSBsim in autonomous mission mode.
+	param set RWTO_PSP 8
+	param set RWTO_AIRSPD_SCL 1.8
+
+fi
+
+set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
+set MIXER custom
@@ -0,0 +1,58 @@
+#!/bin/sh
+#
+# @name Plane SITL
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set EKF2_ARSP_THR 8
+	param set EKF2_FUSE_BETA 1
+	#param set EKF2_MAG_ACCLIM 0
+	#param set EKF2_MAG_YAWLIM 0
+
+	param set FW_LND_AIRSPD_SC 1.1
+	param set FW_LND_ANG 5
+	param set FW_THR_LND_MAX 0
+	param set FW_LND_HHDIST 30
+	param set FW_LND_FL_PMIN 9.5
+	param set FW_LND_FL_PMAX 20
+	param set FW_LND_FLALT 5
+	param set FW_LND_TLALT 15
+
+	param set FW_L1_PERIOD 25
+
+	param set FW_P_TC 0.4
+	param set FW_PR_FF 0.40
+	param set FW_PR_I 0.05
+	param set FW_PR_P 0.05
+
+	param set FW_R_TC 0.45
+	param set FW_RR_FF 0.40
+	param set FW_RR_I 0.132
+	param set FW_RR_P 0.085
+
+	param set FW_W_EN 1
+
+	param set MIS_LTRMIN_ALT 30
+	param set MIS_TAKEOFF_ALT 20
+	param set MIS_DIST_1WP 2500
+	param set MIS_DIST_WPS 10000
+
+	param set NAV_ACC_RAD 15
+	param set NAV_DLL_ACT 2
+	param set NAV_LOITER_RAD 50
+
+	param set RWTO_TKOFF 1
+	#param set FW_THR_SLEW_MAX 0.3 # fix takeoff failure for JSBsim in autonomous mission mode.
+	param set RWTO_MAX_PITCH 20
+	param set RWTO_MAX_ROLL 10
+	#param set RWTO_MAX_THR 0.6		# fix takeoff failure for JSBsim in autonomous mission mode.
+	param set RWTO_PSP 8
+	param set RWTO_AIRSPD_SCL 1.8
+
+fi
+
+set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
+set MIXER custom
@@ -0,0 +1,47 @@
+#!/bin/sh
+#
+# @name Plane SITL
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set EKF2_ARSP_THR 8
+	param set EKF2_FUSE_BETA 1
+	param set EKF2_MAG_ACCLIM 0
+	param set EKF2_MAG_YAWLIM 0
+
+	param set FW_LND_AIRSPD_SC 1
+	param set FW_LND_ANG 8
+	param set FW_THR_LND_MAX 0
+
+	param set FW_L1_PERIOD 15
+
+	param set FW_P_TC 0.5
+	param set FW_PR_FF 0.40
+	param set FW_PR_I 0.05
+	param set FW_PR_P 0.05
+
+	param set FW_R_TC 0.7
+	param set FW_RR_FF 0.20
+	param set FW_RR_I 0.02
+	param set FW_RR_P 0.22
+
+	param set FW_L1_PERIOD 12
+
+	param set FW_W_EN 1
+
+	param set MIS_LTRMIN_ALT 30
+	param set MIS_TAKEOFF_ALT 30
+
+	param set NAV_ACC_RAD 15
+	param set NAV_DLL_ACT 2
+	param set NAV_LOITER_RAD 50
+
+	param set RWTO_TKOFF 1
+
+fi
+
+set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
+set MIXER custom
@@ -0,0 +1,56 @@
+#!/bin/sh
+#
+# @name Plane SITL
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set EKF2_ARSP_THR 8
+	param set EKF2_FUSE_BETA 1
+	#param set EKF2_MAG_ACCLIM 0
+	#param set EKF2_MAG_YAWLIM 0
+
+	param set FW_LND_AIRSPD_SC 1.1
+	param set FW_LND_ANG 5
+	param set FW_THR_LND_MAX 0
+	param set FW_LND_HHDIST 30
+	param set FW_LND_FL_PMIN 9.5
+	param set FW_LND_FL_PMAX 20
+	param set FW_LND_FLALT 5
+	param set FW_LND_TLALT 15
+
+	param set FW_L1_PERIOD 25
+
+	param set FW_P_TC 0.4
+	param set FW_PR_FF 0.40
+	param set FW_PR_I 0.05
+	param set FW_PR_P 0.05
+
+	param set FW_R_TC 0.45
+	param set FW_RR_FF 0.40
+	param set FW_RR_I 0.132
+	param set FW_RR_P 0.085
+
+	param set FW_W_EN 1
+
+	param set MIS_LTRMIN_ALT 30
+	param set MIS_TAKEOFF_ALT 20
+	param set MIS_DIST_1WP 2500
+	param set MIS_DIST_WPS 10000
+
+	param set NAV_ACC_RAD 15
+	param set NAV_DLL_ACT 2
+	param set NAV_LOITER_RAD 50
+
+	param set RWTO_TKOFF 1
+	param set RWTO_MAX_PITCH 20
+	param set RWTO_MAX_ROLL 10
+	param set RWTO_PSP 8
+	param set RWTO_AIRSPD_SCL 1.8
+
+fi
+
+set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
+set MIXER custom
@@ -5,13 +5,17 @@
 # @type Standard VTOL
 #

-sh /etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d/rc.vtol_defaults

 if [ $AUTOCNF = yes ]
 then
 	param set FW_AIRSPD_MAX 25
 	param set FW_AIRSPD_MIN 14
 	param set FW_AIRSPD_TRIM 16
+	param set FW_L1_PERIOD 12
+
+	param set FW_RR_FF 0.1
+	param set FW_RR_P 0.01

 	param set MC_ROLLRATE_P 0.3

@@ -21,12 +25,12 @@ then

 	param set MPC_ACC_HOR_MAX 2
 	param set MPC_ACC_HOR_MAX 2
-	param set MPC_THR_MIN 0.1
+	param set MPC_THR_HOVER 0.58
 	param set MPC_TKO_SPEED 1
 	param set MPC_XY_P 0.8
-	param set MPC_XY_VEL_D 0.005
-	param set MPC_XY_VEL_I 0.2
-	param set MPC_XY_VEL_P 0.15
+	param set MPC_XY_VEL_P_ACC 3
+	param set MPC_XY_VEL_I_ACC 4
+	param set MPC_XY_VEL_D_ACC 0.1
 	param set MPC_Z_VEL_MAX_DN 1.5

 	param set NAV_ACC_RAD 5
@@ -38,6 +42,7 @@ then
 	param set VT_MOT_ID 1234
 	param set VT_FW_MOT_OFFID 1234
 	param set VT_TYPE 2
+	param set VT_B_TRANS_DUR 8

 fi

@@ -5,30 +5,27 @@
 # @type VTOL Quad Tailsitter
 #

-sh /etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d/rc.vtol_defaults

 if [ $AUTOCNF = yes ]
 then
 	param set FW_AIRSPD_MAX 25
 	param set FW_AIRSPD_MIN 14
 	param set FW_AIRSPD_TRIM 16
+	param set FW_L1_PERIOD 12

 	param set MC_ROLLRATE_P 0.3

-	param set MIS_LTRMIN_ALT 10
-	param set MIS_TAKEOFF_ALT 10
 	param set MIS_YAW_TMT 10

 	param set MPC_ACC_HOR_MAX 2
 	param set MPC_ACC_HOR_MAX 2
-	param set MPC_THR_MIN 0.1
-	param set MPC_TKO_SPEED 1
+	param set MPC_THR_MIN 0.3
 	param set MPC_XY_P 0.15
-	param set MPC_XY_VEL_D 0.005
-	param set MPC_XY_VEL_I 0.2
-	param set MPC_XY_VEL_P 0.05
+	param set MPC_XY_VEL_D_ACC 0.1
+	param set MPC_XY_VEL_P_ACC 1
 	param set MPC_Z_VEL_MAX_DN 1.5
-	param set MPC_Z_VEL_P 0.8
+	param set MPC_Z_VEL_P_ACC 16

 	param set NAV_ACC_RAD 5
 	param set NAV_LOITER_RAD 80
@@ -37,6 +34,8 @@ then
 	param set VT_F_TRANS_THR 0.7
 	param set VT_TYPE 0

+	param set WV_EN 0
+
 fi

 set MAV_TYPE 20
@@ -5,13 +5,15 @@
 # @type VTOL Tiltrotor
 #

-sh /etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d/rc.vtol_defaults

 if [ $AUTOCNF = yes ]
 then
+	param set FW_ARSP_MODE 1
 	param set FW_AIRSPD_MAX 25
 	param set FW_AIRSPD_MIN 14
 	param set FW_AIRSPD_TRIM 16
+	param set FW_L1_PERIOD 12

 	param set MC_ROLLRATE_P 0.3

@@ -24,21 +26,23 @@ then
 	param set MPC_THR_MIN 0.1
 	param set MPC_TKO_SPEED 1
 	param set MPC_XY_P 0.15
-	param set MPC_XY_VEL_D 0.005
-	param set MPC_XY_VEL_I 0.2
-	param set MPC_XY_VEL_P 0.05
+	param set MPC_XY_VEL_D_ACC 0.1
+	param set MPC_XY_VEL_I_ACC 4
+	param set MPC_XY_VEL_P_ACC 1
 	param set MPC_Z_VEL_MAX_DN 1.5
-	param set MPC_Z_VEL_P 0.8
+	param set MPC_Z_VEL_P_ACC 16

 	param set NAV_ACC_RAD 5
 	param set NAV_LOITER_RAD 80

-	param set VT_F_TRANS_DUR 1.5
+	param set VT_F_TRANS_DUR 5.0
 	param set VT_F_TRANS_THR 0.75
-	param set VT_TILT_FW 3.1415
-	param set VT_TILT_TRANS 1.2
+	param set VT_FWD_THRUST_SC 1.1
+	param set VT_TILT_FW 1
+	param set VT_TILT_TRANS 0.6
 	param set VT_ELEV_MC_LOCK 0
 	param set VT_TYPE 1
+	param set VT_B_TRANS_DUR 8

 fi

@@ -3,14 +3,14 @@
 # @name Rover
 #

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

 if [ $AUTOCNF = yes ]
 then
 	param set GND_L1_DIST 5
 	param set GND_SP_CTRL_MODE 1
-	param set GND_SPEED_D 3
-	param set GND_SPEED_I 0.001
+	param set GND_SPEED_D 0.001
+	param set GND_SPEED_I 3
 	param set GND_SPEED_IMAX 0.125
 	param set GND_SPEED_P 0.25
 	param set GND_SPEED_THR_SC 1
@@ -34,4 +34,4 @@ fi

 set MAV_TYPE 10

-set MIXER_FILE etc/mixers-sitl/rover_sitl.main.mix
+set MIXER_FILE etc/mixers-sitl/rover_ackermann_sitl.main.mix
@@ -0,0 +1,38 @@
+#!/bin/sh
+#
+# @name Aion Robotics R1 Rover
+# @type Rover
+# @class Rover
+
+. ${R}etc/init.d/rc.rover_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set GND_L1_DIST 5
+	param set GND_SP_CTRL_MODE 1
+	param set GND_SPEED_D 3
+	param set GND_SPEED_I 0.001
+	param set GND_SPEED_IMAX 0.125
+	param set GND_SPEED_P 0.25
+	param set GND_SPEED_THR_SC 1
+	param set GND_SPEED_TRIM 4
+	param set GND_THR_CRUISE 0.3
+	param set GND_THR_IDLE 0
+	param set GND_THR_MAX 0.5
+	param set GND_THR_MIN 0
+
+	param set MIS_LTRMIN_ALT 0.01
+	param set MIS_TAKEOFF_ALT 0.01
+	param set NAV_ACC_RAD 0.5
+	param set NAV_LOITER_RAD 2
+
+	param set CBRK_AIRSPD_CHK 162128
+
+	param set GND_MAX_ANG 0.6
+	param set GND_WHEEL_BASE 2.0
+
+fi
+
+set MAV_TYPE 10
+
+set MIXER_FILE etc/mixers-sitl/rover_diff_sitl.main.mix
@@ -0,0 +1,43 @@
+#!/bin/sh
+#
+# @name ThunderFly TF-R1 UAV Rover
+# @type Rover
+# @class Rover
+#
+# @url https://github.com/ThunderFly-aerospace/TF-R1/
+# @maintainer ThunderFly s.r.o.
+#
+
+. ${R}etc/init.d/rc.rover_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set GND_L1_DIST 5
+	param set GND_SP_CTRL_MODE 1
+	param set GND_SPEED_D 3
+	param set GND_SPEED_I 0.001
+	param set GND_SPEED_IMAX 0.125
+	param set GND_SPEED_P 0.25
+	param set GND_SPEED_THR_SC 1
+	param set GND_SPEED_TRIM 15
+	param set GND_SPEED_MAX 25
+	param set GND_THR_CRUISE 0.3
+	param set GND_THR_IDLE 0
+	param set GND_THR_MAX 0.5
+	param set GND_THR_MIN 0
+
+	param set MIS_LTRMIN_ALT 0.01
+	param set MIS_TAKEOFF_ALT 0.01
+	param set NAV_ACC_RAD 0.5
+	param set NAV_LOITER_RAD 2
+
+	param set CBRK_AIRSPD_CHK 162128
+
+	param set GND_MAX_ANG 0.6
+	param set GND_WHEEL_BASE 3.0
+
+fi
+
+set MAV_TYPE 10
+
+set MIXER_FILE etc/mixers-sitl/rover_ackermann_sitl.main.mix
@@ -0,0 +1,37 @@
+#!/bin/sh
+#
+# @name Boat
+#
+
+. ${R}etc/init.d/rc.boat_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set GND_L1_DIST 5
+	param set GND_SP_CTRL_MODE 1
+	param set GND_SPEED_D 0.001
+	param set GND_SPEED_I 3
+	param set GND_SPEED_IMAX 0.125
+	param set GND_SPEED_P 0.25
+	param set GND_SPEED_THR_SC 1
+	param set GND_SPEED_TRIM 4
+	param set GND_THR_CRUISE 0.3
+	param set GND_THR_IDLE 0
+	param set GND_THR_MAX 0.5
+	param set GND_THR_MIN 0
+
+	param set MIS_LTRMIN_ALT 0.01
+	param set MIS_TAKEOFF_ALT 0.01
+	param set NAV_ACC_RAD 0.5
+	param set NAV_LOITER_RAD 2
+
+	param set CBRK_AIRSPD_CHK 162128
+
+	param set GND_MAX_ANG 0.6
+	param set GND_WHEEL_BASE 2.0
+
+fi
+
+set MAV_TYPE 11
+
+set MIXER_FILE etc/mixers-sitl/boat_sitl.main.mix
@@ -0,0 +1,64 @@
+#!/bin/sh
+#
+# @name ThunderFly TF-G1
+# ThunderFly TF-G1 autogyro airframe. Only for FlightGear simulator
+#
+# @type Autogyro
+# @class Autogyro
+#
+# @url https://github.com/ThunderFly-aerospace/TF-G1/
+#
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set EKF2_ARSP_THR 8
+	param set EKF2_FUSE_BETA 1
+	param set ASPD_STALL 10.0
+
+	param set FW_P_RMAX_NEG 20.0
+	param set FW_P_RMAX_POS 60.0
+	param set FW_W_RMAX 10
+	param set FW_W_EN 1
+
+	param set FW_PR_IMAX 0.4
+	param set FW_R_TC 0.4
+	param set FW_RR_FF 0.5
+	param set FW_RR_I 0.1
+	param set FW_RR_IMAX 0.2
+	param set FW_RR_P 0.08
+
+	param set MIS_LTRMIN_ALT 50
+	param set MIS_TAKEOFF_ALT 3
+
+	param set NAV_ACC_RAD 20
+	param set NAV_DLL_ACT 2
+	param set NAV_LOITER_RAD 100
+
+	param set RWTO_TKOFF 1
+	param set MAV_BROADCAST 1
+
+	param set FW_ARSP_SCALE_EN 0
+
+	param set FW_AIRSPD_MAX 35
+	param set FW_AIRSPD_MIN 7
+	param set FW_AIRSPD_TRIM 15
+
+	param set FW_P_LIM_MAX 25
+	param set FW_P_LIM_MIN -5
+	param set FW_R_LIM 30
+
+	param set FW_MAN_P_MAX 30.0
+	param set FW_MAN_R_MAX 30.0
+
+	param set FW_THR_CRUISE 0.8
+	param set FW_THR_IDLE 0
+	param set COM_DISARM_PRFLT 0
+
+fi
+
+
+set MIXER_FILE etc/mixers-sitl/autogyro_sitl.main.mix
+set MIXER custom
@@ -0,0 +1,15 @@
+#!/bin/sh
+#
+# @name Cloudship
+# @type Airship
+# @class Airship
+#
+# @output MAIN1 thrust tilt
+# @output MAIN2 starboard thruster
+# @output MAIN3 port thruster
+# @output MAIN4 tail thruster
+
+. ${R}etc/init.d/rc.airship_defaults
+
+set MIXER cloudship
+set PWM_OUT 1234
@@ -0,0 +1,12 @@
+#!/bin/sh
+#
+# @name Quadrotor SITL model for JSBSim
+#
+# @type Quadrotor Wide
+#
+# @maintainer Jaeyoung Lim <jaeyoung@auterion.com>
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+set MIXER quad_w
@@ -0,0 +1,35 @@
+#!/bin/sh
+#
+# @name Hexacopter SITL model for JSBSim
+#
+# @type Hexarotor x
+#
+# @maintainer Jaeyoung Lim <jaeyoung@auterion.com>
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set MC_PITCHRATE_P 0.1
+	param set MC_PITCHRATE_I 0.05
+	param set MC_PITCH_P 6.0
+	param set MC_ROLLRATE_P 0.15
+	param set MC_ROLLRATE_I 0.1
+	param set MC_ROLL_P 6.0
+	param set MPC_XY_VEL_I_ACC 4
+	param set MPC_XY_VEL_P_ACC 3
+
+	param set RTL_DESCEND_ALT 10
+	param set RTL_LAND_DELAY 0
+
+	param set TRIG_INTERFACE 3
+	param set TRIG_MODE 4
+	param set MNT_MODE_IN 4
+	param set MNT_DO_STAB 2
+	param set MAV_PROTO_VER 2
+fi
+
+set MAV_TYPE 13
+
+set MIXER hexa_x
@@ -5,14 +5,18 @@
 # @type Hexarotor x
 #

-sh /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults

 if [ $AUTOCNF = yes ]
 then
 	param set MC_PITCHRATE_P 0.1
-	param set MC_ROLLRATE_P 0.05
-	param set MPC_XY_VEL_I 0.2
-	param set MPC_XY_VEL_P 0.15
+	param set MC_PITCHRATE_I 0.05
+	param set MC_PITCH_P 6.0
+	param set MC_ROLLRATE_P 0.15
+	param set MC_ROLLRATE_I 0.1
+	param set MC_ROLL_P 6.0
+	param set MPC_XY_VEL_I_ACC 4
+	param set MPC_XY_VEL_P_ACC 3

 	param set RTL_DESCEND_ALT 10
 	param set RTL_LAND_DELAY 0
@@ -0,0 +1,76 @@
+############################################################################
+#
+#   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_romfs_files(
+	10016_iris
+	10020_if750a
+	10030_px4vision
+	1010_iris_opt_flow
+	1010_iris_opt_flow.post
+	1011_iris_irlock
+	1012_iris_rplidar
+	1013_iris_vision
+	1013_iris_vision.post
+	1014_solo
+	1015_iris_obs_avoid
+	1015_iris_obs_avoid.post
+	1016_iris_rtps
+	1016_iris_rtps.post
+	1017_iris_opt_flow_mockup
+	1018_iris_vision_velocity
+	1019_iris_dual_gps
+	1020_uuv_generic
+	1021_uuv_hippocampus
+	1022_uuv_bluerov2_heavy
+	1030_plane
+	1031_plane_cam
+	1032_plane_catapult
+	1033_plane_lidar
+	1033_rascal
+	1034_rascal-electric
+	1035_techpod
+	1036_malolo
+	1040_standard_vtol
+	1041_tailsitter
+	1042_tiltrotor
+	1060_rover
+	1061_r1_rover
+	1062_tf-r1
+	1070_boat
+	3010_quadrotor_x
+	3011_hexarotor_x
+	17001_tf-g1
+	2507_cloudship
+	6011_typhoon_h480
+	6011_typhoon_h480.post
+)
@@ -2,6 +2,17 @@

 # EKF2 replay script

+# shellcheck disable=SC2154
+if [ ! -f ${replay} ]; then
+	echo "Invalid replay log file ${replay}"
+	exit 1
+fi
+
+if [ ! -f replay_params.txt ]; then
+	echo "Creating $(pwd)/replay_params.txt"
+	ulog_params -i "${replay}" -d ' ' | grep -e '^EKF2' > replay_params.txt
+fi
+
 publisher_rules_file="orb_publisher.rules"
 cat <<EOF > "$publisher_rules_file"
 restrict_topics: sensor_combined, vehicle_gps_position, vehicle_land_detected
@@ -12,7 +23,8 @@ EOF
 uorb start
 param set SDLOG_DIRS_MAX 7

+# apply all params before ekf starts, as some params cannot be changed after startup
+replay tryapplyparams
 ekf2 start -r
 logger start -f -t -b 1000 -p vehicle_attitude
-sleep 0.2
 replay start
@@ -15,7 +15,7 @@ SCRIPT_DIR="$(CDPATH='' cd -- "$(dirname -- "$0")" && pwd)"
 # shellcheck disable=SC2154
 if [ "$replay_mode" = "ekf2" ]
 then
-	sh etc/init.d-posix/rc.replay
+	. ${R}etc/init.d-posix/rc.replay
 	exit 0
 fi

@@ -32,7 +32,8 @@ set PWM_OUT                     none
 set SDCARD_MIXERS_PATH          etc/mixers
 set USE_IO                      no
 set VEHICLE_TYPE                none
-set LOGGER_BUF			1000
+set LOGGER_ARGS                 ""
+set LOGGER_BUF                  1000

 set RUN_MINIMAL_SHELL           no

@@ -43,10 +44,12 @@ else
 	# Find the matching Autostart ID (file name has the form: [0-9]+_${PX4_SIM_MODEL})
 	# TODO: unify with rc.autostart generation
 	# shellcheck disable=SC2012
-	REQUESTED_AUTOSTART=$(ls "$SCRIPT_DIR" | sed -n 's/^\([0-9][0-9]*\)_'${PX4_SIM_MODEL}'$/\1/p')
+	REQUESTED_AUTOSTART=$(ls "$SCRIPT_DIR/airframes" | sed -n 's/^\([0-9][0-9]*\)_'${PX4_SIM_MODEL}'$/\1/p')
 	if [ -z "$REQUESTED_AUTOSTART" ]; then
-		echo "Error: Unknown model '$PX4_SIM_MODEL'"
+		echo "Error: Unknown model $PX4_SIM_MODEL (not found by name on $SCRIPT_DIR/airframes)"
 		exit 1
+	else
+		echo "Info: found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
 	fi
 fi

@@ -55,9 +58,21 @@ fi


 uorb start
-if [ -f eeprom/parameters ]
+
+# Load parameters
+set PARAM_FILE eeprom/parameters_"$REQUESTED_AUTOSTART"
+param select $PARAM_FILE
+
+if [ -f $PARAM_FILE ]
 then
-	param load
+	if param load
+	then
+		echo "[param] Loaded: $PARAM_FILE"
+	else
+		echo "[param] FAILED loading $PARAM_FILE"
+	fi
+else
+	echo "[param] parameter file not found, creating $PARAM_FILE"
 fi

 # exit early when the minimal shell is requested
@@ -80,6 +95,15 @@ then
 	set AUTOCNF no
 else
 	set AUTOCNF yes
+	param set SYS_AUTOCONFIG 1
+fi
+
+if param compare SYS_AUTOCONFIG 1
+then
+	set AUTOCNF yes
+
+	# Wipe out params except RC*, flight modes, total flight time, accel cal, gyro cal, next flight UUID
+	param reset_all SYS_AUTOSTART SYS_AUTOCONFIG RC* COM_FLTMODE* LND_FLIGHT_T_* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT_UUID
 fi

 # multi-instance setup
@@ -88,69 +112,40 @@ param set MAV_SYS_ID $((px4_instance+1))
 simulator_tcp_port=$((4560+px4_instance))
 udp_offboard_port_local=$((14580+px4_instance))
 udp_offboard_port_remote=$((14540+px4_instance))
-udp_gcs_port_local=$((14570+px4_instance))
+[ $px4_instance -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps
+udp_onboard_payload_port_local=$((14280+px4_instance))
+udp_onboard_payload_port_remote=$((14030+px4_instance))
+udp_gcs_port_local=$((18570+px4_instance))

 if [ $AUTOCNF = yes ]
 then
 	param set SYS_AUTOSTART $REQUESTED_AUTOSTART

-	param set BAT_N_CELLS 3
-
-	param set CAL_ACC0_ID 1311244
-	param set CAL_ACC_PRIME 1311244
-
-	param set CAL_GYRO0_ID 2294028
-	param set CAL_GYRO_PRIME 2294028
+	param set BAT_N_CELLS 4

+	param set CAL_ACC0_ID 1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
+	param set CAL_ACC1_ID 1310996 # 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
+	param set CAL_ACC2_ID 1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
+	param set CAL_GYRO0_ID 1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
+	param set CAL_GYRO1_ID 1310996 # 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
+	param set CAL_GYRO2_ID 1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
 	param set CAL_MAG0_ID 197388
-	param set CAL_MAG_PRIME 197388
-
-	param set CAL_BARO_PRIME 6620172
+	param set CAL_MAG1_ID 197644

 	param set CBRK_AIRSPD_CHK 0
+	param set CBRK_SUPPLY_CHK 894281

-	param set COM_DISARM_LAND 0.1
-	param set COM_OBL_ACT 2
-	param set COM_OBL_RC_ACT 0
-	param set COM_OF_LOSS_T 5
+	# Don't require RC calibration and configuration
 	param set COM_RC_IN_MODE 1

-	param set EKF2_AID_MASK 1
-	param set EKF2_ANGERR_INIT 0.01
-	param set EKF2_HGT_MODE 0
-	param set EKF2_GBIAS_INIT 0.01
 	# Speedup SITL startup
 	param set EKF2_REQ_GPS_H 0.5

-	# LPE: GPS only mode
-	param set LPE_FUSION 145
-
-	param set MIS_TAKEOFF_ALT 2.5
-
-	param set MC_PITCH_P 6
-	param set MC_PITCHRATE_P 0.2
-	param set MC_ROLL_P 6
-	param set MC_ROLLRATE_P 0.2
-
-	param set MPC_ALT_MODE 0
-	param set MPC_HOLD_MAX_Z 2
-	param set MPC_Z_VEL_I 0.15
-	param set MPC_Z_VEL_P 0.6
-	param set MPC_XY_P 0.8
-	param set MPC_XY_VEL_P 0.2
-	param set MPC_XY_VEL_I 0.02
-	param set MPC_XY_VEL_D 0.016
-
-	param set MPC_JERK_MIN 10
-	param set MPC_JERK_MAX 20
-	param set MPC_ACC_HOR_MAX 3
-
-	param set NAV_ACC_RAD 2
-	param set NAV_DLL_ACT 2
-
-	param set RTL_DESCEND_ALT 5
-	param set RTL_LAND_DELAY 5
-	param set RTL_RETURN_ALT 30
+	# Multi-EKF
+	param set EKF2_MULTI_IMU 3
+	param set SENS_IMU_MODE 0
+	param set EKF2_MULTI_MAG 2
+	param set SENS_MAG_MODE 0

 	# By default log from boot until first disarm.
 	param set SDLOG_MODE 1
@@ -163,27 +158,32 @@ then
 	param set SYS_RESTART_TYPE 2

 	param set TRIG_INTERFACE 3
-
 fi

+param set COM_CPU_MAX -1 # disable check, no CPU load reported on posix yet
+
+# Simulator IMU data provided at 250 Hz
+param set IMU_INTEG_RATE 250
+
 # Adapt timeout parameters if simulation runs faster or slower than realtime.
-if [ ! -z $PX4_SIM_SPEED_FACTOR ]; then
+if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
 	COM_DL_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 10" | bc)
 	echo "COM_DL_LOSS_T set to $COM_DL_LOSS_T_LONGER"
 	param set COM_DL_LOSS_T $COM_DL_LOSS_T_LONGER

-	COM_RC_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 1" | bc)
+	COM_RC_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 0.5" | bc)
 	echo "COM_RC_LOSS_T set to $COM_RC_LOSS_T_LONGER"
 	param set COM_RC_LOSS_T $COM_RC_LOSS_T_LONGER

-	COM_OF_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 10" | bc)
+	COM_OF_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 0.5" | bc)
 	echo "COM_OF_LOSS_T set to $COM_OF_LOSS_T_LONGER"
 	param set COM_OF_LOSS_T $COM_OF_LOSS_T_LONGER
 fi

 # Autostart ID
 autostart_file=''
-for f in etc/init.d-posix/"$(param show -q SYS_AUTOSTART)"_*
+# shellcheck disable=SC2231
+for f in ${R}etc/init.d-posix/airframes/"$(param show -q SYS_AUTOSTART)"_*
 do
 	filename=$(basename "$f")
 	case "$filename" in
@@ -200,14 +200,26 @@ if [ ! -e "$autostart_file" ]; then
 	exit 1
 fi

-sh "$autostart_file"
+. "$autostart_file"

+#
+# If autoconfig parameter was set, reset it and save parameters.
+#
+if [ $AUTOCNF = yes ]
+then
+	param set SYS_AUTOCONFIG 0
+fi

 dataman start
-replay tryapplyparams
-simulator start -c $simulator_tcp_port
+# only start the simulator if not in replay mode, as both control the lockstep time
+if ! replay tryapplyparams
+then
+	simulator start -c $simulator_tcp_port
+fi
+load_mon start
+battery_simulator start
 tone_alarm start
-gpssim start
+rc_update start
 sensors start
 commander start
 navigator start
@@ -228,7 +240,7 @@ fi
 # Note: rc.vehicle_setup is the entry point for rc.interface,
 #       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
 #
-sh etc/init.d/rc.vehicle_setup
+. ${R}etc/init.d/rc.vehicle_setup

 # GCS link
 mavlink start -x -u $udp_gcs_port_local -r 4000000
@@ -245,11 +257,20 @@ mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local
 # API/Offboard link
 mavlink start -x -u $udp_offboard_port_local -r 4000000 -m onboard -o $udp_offboard_port_remote

+# Onboard link to camera
+mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote
+
 # execute autostart post script if any
-[ -e "$autostart_file".post ] && sh "$autostart_file".post
+[ -e "$autostart_file".post ] && . "$autostart_file".post

 # Run script to start logging
-sh etc/init.d/rc.logging
+if param compare SYS_MC_EST_GROUP 2
+then
+	set LOGGER_ARGS "-p ekf2_timestamps"
+else
+	set LOGGER_ARGS "-p vehicle_attitude"
+fi
+. ${R}etc/init.d/rc.logging

 mavlink boot_complete
 replay trystart
@@ -34,6 +34,9 @@
 add_subdirectory(airframes)

 px4_add_romfs_files(
+	rc.airship_apps
+	rc.airship_defaults
+	rc.boat_defaults
 	rc.fw_apps
 	rc.fw_defaults
 	rc.interface
@@ -46,6 +49,8 @@ px4_add_romfs_files(
 	rc.thermal_cal
 	rc.rover_apps
 	rc.rover_defaults
+	rc.uuv_apps
+	rc.uuv_defaults
 	rc.vehicle_setup
 	rc.vtol_apps
 	rc.vtol_defaults
@@ -15,7 +15,7 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #

-sh /etc/init.d/rc.fw_defaults
+. ${R}etc/init.d/rc.fw_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -19,8 +19,11 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
+# @board intel_aerofc-v1 exclude
+# @board bitcraze_crazyflie exclude
+#

-sh /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults

 if [ $AUTOCNF = yes ]
 then
--- a/Show More
+++ b/Show More