mc_att_control: copy sensor_correction topic once initially

Signed-off-by: Roman <bapstroman@gmail.com>

.clang-tidy

@@ -59,6 +59,7 @@ Checks:          '*
 		,-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

.github/ISSUE_TEMPLATE/bug_report.md

@@ -0,0 +1,32 @@
+---
+name: Bug report
+about: Create a report to help us improve
+
+---
+
+**Describe the bug**
+A clear and concise description of the bug.
+
+**To Reproduce**
+Steps to reproduce the behavior:
+1. Drone switched on '...'
+2. Uploaded mission '....' (attach QGC mission file)
+3. Took off '....'
+4. See error
+
+**Expected behavior**
+A clear and concise description of what you expected to happen.
+
+**Log Files and Screenshots**
+*Always* provide a link to the flight log file:
+- Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/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.
+
+**Drone (please complete the following information):**
+- Describe the type of drone.
+- Photo of the IMU / autopilot setup if possible.
+
+**Additional context**
+Add any other context about the problem here.

.github/ISSUE_TEMPLATE/feature_request.md

@@ -0,0 +1,19 @@
+---
+name: Feature request
+about: Suggest an idea for this project
+
+---
+
+For general questions please use [PX4 Discuss](http://discuss.px4.io/) or [Slack](http://slack.px4.io/).
+
+**Describe problem solved by the proposed feature**
+A clear and concise description of the problem, if any, this feature will solve. E.g. I'm always frustrated when ...
+
+**Describe your preferred solution**
+A clear and concise description of what you want to happen.
+
+**Describe possible alternatives**
+A clear and concise description of alternative solutions or features you've considered.
+
+**Additional context**
+Add any other context or screenshots for the feature request here.

.github/issue_template.md

@@ -1,9 +0,0 @@
-**Bug Report** or **Feature Request**
-
-For general questions please use [PX4 Discuss](http://discuss.px4.io/) or [Slack](slack.px4.io). Issue reports need to contain the items below:
-
- - Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/en/flight-reporting.html))
- - Share the link to a log showing the problem on [PX4 Flight Review](http://logs.px4.io/)
- - Expected behavior and actual behavior.
- - Steps to reproduce the problem.
- - Specifications like the version of the project, operating system, or hardware.

.github/stale.yml

@@ -0,0 +1,55 @@
+# Configuration for probot-stale - https://github.com/probot/stale
+
+# Number of days of inactivity before an Issue or Pull Request becomes stale
+daysUntilStale: 60
+
+# Number of days of inactivity before a stale Issue or Pull Request is closed.
+# Set to false to disable. If disabled, issues still need to be closed manually, but will remain marked as stale.
+daysUntilClose: 14
+
+# Issues or Pull Requests with these labels will never be considered stale. Set to `[]` to disable
+exemptLabels:
+  - priority-crtical
+  - security
+  - "[Status] Maybe Later"
+
+# Set to true to ignore issues in a project (defaults to false)
+exemptProjects: true
+
+# Set to true to ignore issues in a milestone (defaults to false)
+exemptMilestones: true
+
+# Label to use when marking as stale
+staleLabel: status/STALE
+
+# Comment to post when marking as stale. Set to `false` to disable
+markComment: >
+  This issue has been automatically marked as stale because it has not had
+  recent activity. It will be closed in 2 weeks if no further activity occurs. Thank you
+  for your contributions.
+
+# Comment to post when removing the stale label.
+# unmarkComment: >
+#   Your comment here.
+
+# Comment to post when closing a stale Issue or Pull Request.
+ closeComment: >
+   Closing as stale.
+
+# Limit the number of actions per hour, from 1-30. Default is 30
+limitPerRun: 10
+
+# Limit to only `issues` or `pulls`
+# only: issues
+
+# Optionally, specify configuration settings that are specific to just 'issues' or 'pulls':
+# pulls:
+#   daysUntilStale: 30
+#   markComment: >
+#     This pull request has been automatically marked as stale because it has not had
+#     recent activity. It will be closed if no further activity occurs. Thank you
+#     for your contributions.
+
+# issues:
+#   exemptLabels:
+#     - confirmed

.gitmodules

@@ -1,7 +1,3 @@
-[submodule "mavlink/include/mavlink/v1.0"]
-	path = mavlink/include/mavlink/v1.0
-	url = https://github.com/mavlink/c_library_v1.git
-	branch = master
 [submodule "mavlink/include/mavlink/v2.0"]
 	path = mavlink/include/mavlink/v2.0
 	url = https://github.com/mavlink/c_library_v2.git
@@ -9,12 +5,15 @@
 [submodule "src/modules/uavcan/libuavcan"]
 	path = src/modules/uavcan/libuavcan
 	url = https://github.com/UAVCAN/libuavcan.git
-[submodule "Tools/genmsg"]
+	branch = master
+[submodule "msg/tools/genmsg"]
 	path = msg/tools/genmsg
 	url = https://github.com/ros/genmsg.git
-[submodule "Tools/gencpp"]
+	branch = indigo-devel
+[submodule "msg/tools/gencpp"]
 	path = msg/tools/gencpp
 	url = https://github.com/ros/gencpp.git
+	branch = indigo-devel
 [submodule "Tools/jMAVSim"]
 	path = Tools/jMAVSim
 	url = https://github.com/PX4/jMAVSim.git
@@ -37,13 +36,13 @@
 	branch = master
 [submodule "cmake/cmake_hexagon"]
 	path = cmake/cmake_hexagon
-	url = https://github.com/ATLFlight/cmake_hexagon
+	url = https://github.com/ATLFlight/cmake_hexagon.git
 	branch = master
 [submodule "src/drivers/gps/devices"]
 	path = src/drivers/gps/devices
 	url = https://github.com/PX4/GpsDrivers.git
 	branch = master
-[submodule "src/lib/micro-CDR"]
+[submodule "src/modules/micrortps_bridge/micro-CDR"]
 	path = src/modules/micrortps_bridge/micro-CDR
 	url = https://github.com/eProsima/micro-CDR.git
 	branch = master

CMakeLists.txt

@@ -69,7 +69,7 @@
 #
 # * Avoid use of global variables in functions. Functions in a nested
 #	scope may use global variables, but this makes it difficult to
-#	resuse functions.
+#	reuse functions.
 #
 # Included CMake Files
 # ---------------------------------------------------------------------------
@@ -99,18 +99,12 @@
 #
 #=============================================================================
 
-# Warning: Changing this modifies CMake's internal workings
-# and leads to wrong toolchain detection
 cmake_minimum_required(VERSION 3.2 FATAL_ERROR)
 
 set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
 set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}")
 
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PX4_BINARY_DIR})
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${PX4_BINARY_DIR})
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${PX4_BINARY_DIR})
-
-list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake)
+list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/cmake")
 
 #=============================================================================
 # git
@@ -124,14 +118,16 @@ execute_process(
 	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 	)
 
-px4_add_git_submodule(TARGET git_ecl PATH "src/lib/ecl")
-px4_add_git_submodule(TARGET git_matrix PATH "src/lib/matrix")
-
-define_property(GLOBAL PROPERTY PX4_LIBRARIES
-                 BRIEF_DOCS "PX4 libs"
+define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES
+                 BRIEF_DOCS "PX4 module libs"
                  FULL_DOCS "List of all PX4 module libraries"
                  )
 
+define_property(GLOBAL PROPERTY PX4_MODULE_PATHS
+                 BRIEF_DOCS "PX4 module paths"
+                 FULL_DOCS "List of paths to all PX4 modules"
+                 )
+
 #=============================================================================
 # configuration
 #
@@ -142,10 +138,6 @@ string(REPLACE "_" ";" config_args ${CONFIG})
 list(GET config_args 0 OS)
 list(GET config_args 1 BOARD)
 list(GET config_args 2 LABEL)
-set(target_name "${OS}_${BOARD}_${LABEL}")
-
-file(GLOB_RECURSE configs RELATIVE cmake/configs "cmake/configs/*.cmake")
-set_property(CACHE CONFIG PROPERTY STRINGS ${configs})
 
 set(THREADS "4" CACHE STRING "number of threads to use for external build processes")
 set(DEBUG_PORT "/dev/ttyACM0" CACHE STRING "debugging port")
@@ -155,22 +147,14 @@ if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
 	get_filename_component(EXTERNAL_MODULES_LOCATION "${EXTERNAL_MODULES_LOCATION}" ABSOLUTE)
 endif()
 
+include(platforms/${OS}/cmake/px4_impl_os.cmake)
+include(configs/${CONFIG})
 list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/platforms/${OS}/cmake)
 
-include(platforms/${OS}/cmake/px4_impl_os.cmake)
-set(config_module "configs/${CONFIG}")
-include(${config_module})
-
-include(common/coverage)
-include(common/sanitizers)
-
-# CMake build type
-# Debug Release RelWithDebInfo MinSizeRel Coverage
+# CMake build type (Debug Release RelWithDebInfo MinSizeRel Coverage)
 if (NOT CMAKE_BUILD_TYPE)
 	if (${OS} STREQUAL "nuttx")
 		set(PX4_BUILD_TYPE "MinSizeRel")
-	elseif (${OS} STREQUAL "bebop")
-		set(PX4_BUILD_TYPE "MinSizeRel")
 	else()
 		set(PX4_BUILD_TYPE "RelWithDebInfo")
 	endif()
@@ -180,12 +164,10 @@ endif()
 
 set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release;RelWithDebInfo;MinSizeRel;Coverage")
 
-message(STATUS "Build Type: ${CMAKE_BUILD_TYPE}")
-
 #=============================================================================
 
 message(STATUS "PX4 VERSION: ${git_tag}")
-message(STATUS "CONFIG: ${target_name}")
+message(STATUS "CONFIG: ${CONFIG}")
 message(STATUS "Build Type: ${CMAKE_BUILD_TYPE}")
 
 #=============================================================================
@@ -195,20 +177,23 @@ project(px4 CXX C ASM)
 
 set(package-contact "px4users@googlegroups.com")
 
+set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_C_STANDARD 99)
+set(CMAKE_C_STANDARD_REQUIRED ON)
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PX4_BINARY_DIR})
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${PX4_BINARY_DIR})
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${PX4_BINARY_DIR})
+
 #=============================================================================
 
-# The URL for the elf file for crash logging
-if (DEFINED ENV{BUILD_URI})
-	set(BUILD_URI $ENV{BUILD_URI})
-else()
-	set(BUILD_URI "localhost")
-endif()
-
-add_definitions(-DBUILD_URI=${BUILD_URI})
-
 # Setup install paths
 if (${OS} STREQUAL "posix")
 
+	include(common/coverage)
+	include(common/sanitizers)
+
 	# Define GNU standard installation directories
 	include(GNUInstallDirs)
 
@@ -229,20 +214,17 @@ set(px4_required_interface
 	)
 foreach(cmd ${px4_required_interface})
 	if (NOT COMMAND ${cmd})
-		message(FATAL_ERROR "${config_module} must implement ${cmd}")
+		message(FATAL_ERROR "${CONFIG} must implement ${cmd}")
 	endif()
 endforeach()
 
 set(px4_required_config config_module_list)
 foreach(conf ${px4_required_config})
 	if (NOT DEFINED ${conf})
-		message(FATAL_ERROR "cmake/${config_module} must define ${conf}")
+		message(FATAL_ERROR "cmake/${CONFIG} must define ${conf}")
 	endif()
 endforeach()
 
-# force static lib build
-set(BUILD_SHARED_LIBS OFF)
-
 #=============================================================================
 # ccache
 #
@@ -250,7 +232,6 @@ option(CCACHE "Use ccache if available" ON)
 find_program(CCACHE_PROGRAM ccache)
 if (CCACHE AND CCACHE_PROGRAM AND NOT DEFINED ENV{CCACHE_DISABLE})
 	set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE "${CCACHE_PROGRAM}")
-else()
 endif()
 
 #=============================================================================
@@ -271,23 +252,10 @@ endif()
 find_package(PythonInterp REQUIRED)
 px4_find_python_module(jinja2 REQUIRED)
 
-#=============================================================================
-# generate compile command database
-#
-set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
-
 #=============================================================================
 # check required toolchain variables
 #
 
-# PX4 requires c++11
-set(CMAKE_CXX_STANDARD 11)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
-
-# PX4 requires c99
-set(CMAKE_C_STANDARD 99)
-set(CMAKE_C_STANDARD_REQUIRED ON)
-
 set(required_variables CMAKE_C_COMPILER_ID CMAKE_CXX_COMPILER_ID)
 foreach(var ${required_variables})
 	if (NOT ${var})
@@ -335,24 +303,20 @@ px4_join(OUT CMAKE_EXE_LINKER_FLAGS LIST "${CMAKE_EXE_LINKER_FLAGS};${exe_linker
 px4_join(OUT CMAKE_C_FLAGS LIST "${CMAKE_C_FLAGS};${c_flags};${optimization_flags}" GLUE " ")
 px4_join(OUT CMAKE_CXX_FLAGS LIST "${CMAKE_CXX_FLAGS};${cxx_flags};${optimization_flags}" GLUE " ")
 
-include_directories(${include_dirs})
-link_directories(${link_dirs})
-add_definitions(${definitions})
-
 #=============================================================================
 # message, and airframe generation
 #
 include(common/px4_metadata)
 
-add_subdirectory(msg)
+add_subdirectory(msg EXCLUDE_FROM_ALL)
 
 px4_generate_airframes_xml(BOARD ${BOARD})
 
 #=============================================================================
 # DriverFramework
 #
-
 px4_add_git_submodule(TARGET git_driverframework PATH "src/lib/DriverFramework")
+add_subdirectory(src/lib/DriverFramework/framework)
 
 # List the DriverFramework drivers
 if (DEFINED config_df_driver_list)
@@ -369,7 +333,6 @@ endforeach()
 #=============================================================================
 # external projects
 #
-
 set(ep_base ${PX4_BINARY_DIR}/external)
 set_property(DIRECTORY PROPERTY EP_BASE ${ep_base})
 
@@ -397,10 +360,22 @@ endif()
 #=============================================================================
 # subdirectories
 #
+add_library(parameters_interface INTERFACE)
+add_subdirectory(src/lib EXCLUDE_FROM_ALL)
+add_subdirectory(src/platforms/common EXCLUDE_FROM_ALL)
+add_subdirectory(src/modules/systemlib EXCLUDE_FROM_ALL) # TODO: split into libraries in platform layer
+add_subdirectory(src/modules/uORB EXCLUDE_FROM_ALL) # TODO: platform layer
+add_subdirectory(src/drivers/boards EXCLUDE_FROM_ALL)
+
 foreach(module ${config_module_list})
 	add_subdirectory(src/${module})
 endforeach()
 
+# must be the last module before firmware
+add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL)
+target_link_libraries(parameters_interface INTERFACE parameters)
+
+# firmware added last to generate the builtin for included modules
 add_subdirectory(platforms/${OS})
 
 #=============================================================================
@@ -437,6 +412,36 @@ add_custom_command(OUTPUT ${uorb_graph_config}
 )
 add_custom_target(uorb_graph DEPENDS ${uorb_graph_config})
 
+#=============================================================================
+# Doxygen
+#
+option(BUILD_DOXYGEN "Build doxygen documentation" OFF)
+
+if (BUILD_DOXYGEN)
+	find_package(Doxygen)
+	if (DOXYGEN_FOUND)
+	    # set input and output files
+	    set(DOXYGEN_IN ${CMAKE_SOURCE_DIR}/Documentation/Doxyfile.in)
+	    set(DOXYGEN_OUT ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile)
+
+	    # request to configure the file
+	    configure_file(${DOXYGEN_IN} ${DOXYGEN_OUT} @ONLY)
+
+	    # note the option ALL which allows to build the docs together with the application
+	    add_custom_target(doxygen ALL
+	        COMMAND ${DOXYGEN_EXECUTABLE} ${DOXYGEN_OUT}
+	        WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
+			COMMENT "Generating documentation with Doxygen"
+			DEPENDS uorb_msgs parameters
+			VERBATIM
+			USES_TERMINAL
+			)
+
+	else()
+		message("Doxygen needs to be installed to generate documentation")
+	endif()
+endif()
+
 #=============================================================================
 # packaging
 #
@@ -448,20 +453,21 @@ set(CPACK_PACKAGE_CONTACT ${package-contact})
 set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS ON)
 set(CPACK_DEBIAN_PACKAGE_SECTION "devel")
 set(CPACK_DEBIAN_PACKAGE_PRIORITY "optional")
-set(short-description "The px4 autopilot.")
-set(CPACK_DEBIAN_PACKAGE_DESCRIPTION ${short-description})
-set(CPACK_GENERATOR "ZIP")
+set(CPACK_DEBIAN_PACKAGE_DESCRIPTION "The PX4 Pro autopilot.")
 set(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME}-${CONFIG}-${git_tag}")
 set(CPACK_SOURCE_PACKAGE_FILE_NAME "${PROJECT_NAME}-${git_version}")
 set(CPACK_SOURCE_GENERATOR "ZIP;TBZ2")
 set(CPACK_PACKAGING_INSTALL_PREFIX "")
 set(CPACK_SET_DESTDIR "OFF")
+
 if ("${CMAKE_SYSTEM}" MATCHES "Linux")
+	set(CPACK_GENERATOR "TBZ2")
 	find_program(DPKG_PROGRAM dpkg)
 	if (EXISTS ${DPKG_PROGRAM})
 		list (APPEND CPACK_GENERATOR "DEB")
 	endif()
+else()
+	set(CPACK_GENERATOR "ZIP")
 endif()
-include(CPack)
 
-# vim: set noet fenc=utf-8 ff=unix ft=cmake :
+include(CPack)

CONTRIBUTING.md

@@ -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/).
 
-Make sure to provide some testing feedback and if possible the link to a flight log file. Upload flight log files to [Log Muncher](http://dash.oznet.ch) and link the resulting report.
+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.

Documentation/Doxyfile.in

@@ -0,0 +1,121 @@
+# Use: `doxygen -g test.txt` to generate all possible settings for this file
+
+# For modern doxygen style uncomment these three lines:
+ #HTML_EXTRA_STYLESHEET = @CMAKE_CURRENT_SOURCE_DIR@/doxygen/customdoxygen.css
+ #HTML_HEADER = @CMAKE_SOURCE_DIR@/Documentation/header.html
+ #HTML_FOOTER = @CMAKE_SOURCE_DIR@/Documentation/footer.html
+
+# not interested build output
+QUIET                  = YES
+
+# Basic settings:
+PROJECT_NAME           = "@CMAKE_PROJECT_NAME@"
+PROJECT_NUMBER         = @PROJECT_VERSION_MAJOR@.@PROJECT_VERSION_MINOR@.@PROJECT_VERSION_PATCH@@VERSION_TYPE@
+STRIP_FROM_PATH        = @CMAKE_SOURCE_DIR@
+
+INPUT                  = @CMAKE_SOURCE_DIR@/README.md \
+                         @CMAKE_SOURCE_DIR@ \ 
+                         @CMAKE_SOURCE_DIR@/src \
+                         @CMAKE_BINARY_DIR@/ \
+                         @CMAKE_BINARY_DIR@/uORB
+                         
+FILE_PATTERNS          = *.h \
+                         *.hpp \
+                         *.hh \
+                         *.c \
+                         *.cc \
+                         *.cpp.in \
+                         *.cpp \
+                         *.md
+
+RECURSIVE              = YES
+USE_MDFILE_AS_MAINPAGE = "@CMAKE_SOURCE_DIR@/README.md"
+# output location
+HTML_OUTPUT            = "@CMAKE_BINARY_DIR@/Documentation"
+
+IMAGE_PATH = "@CMAKE_SOURCE_DIR@"
+
+# The OUTPUT_LANGUAGE tag is used to specify the language in which all
+# documentation generated by doxygen is written. Doxygen will use this
+# information to generate all constant output in the proper language.
+# Possible values are: Afrikaans, Arabic, Armenian, Brazilian, Catalan, Chinese,
+# Chinese-Traditional, Croatian, Czech, Danish, Dutch, English (United States),
+# Esperanto, Farsi (Persian), Finnish, French, German, Greek, Hungarian,
+# Indonesian, Italian, Japanese, Japanese-en (Japanese with English messages),
+# Korean, Korean-en (Korean with English messages), Latvian, Lithuanian,
+# Macedonian, Norwegian, Persian (Farsi), Polish, Portuguese, Romanian, Russian,
+# Serbian, Serbian-Cyrillic, Slovak, Slovene, Spanish, Swedish, Turkish,
+# Ukrainian and Vietnamese.
+# The default value is: English.
+OUTPUT_LANGUAGE        = English
+
+# Color style
+HTML_COLORSTYLE_HUE    = 220
+HTML_COLORSTYLE_SAT    = 40
+HTML_COLORSTYLE_GAMMA  = 80
+
+# max size 200x55px
+PROJECT_LOGO           =
+
+
+# If the REFERENCED_BY_RELATION tag is set to YES then for each documented
+# function all documented functions referencing it will be listed.
+# The default value is: NO.
+REFERENCED_BY_RELATION = YES
+
+# If the REFERENCES_RELATION tag is set to YES then for each documented function
+# all documented entities called/used by that function will be listed.
+# The default value is: NO.
+REFERENCES_RELATION    = YES
+
+# This is nice to have - callgraphs of functions
+HAVE_DOT               = YES
+CALL_GRAPH             = YES
+CALLER_GRAPH           = YES
+
+GRAPHICAL_HIERARCHY    = YES
+DIRECTORY_GRAPH        = YES
+GENERATE_LEGEND        = YES
+INCLUDED_BY_GRAPH      = YES
+INCLUDE_GRAPH          = YES
+DOT_IMAGE_FORMAT       = svg
+INTERACTIVE_SVG        = YES
+
+# More insight to templates, generaly not needed
+TEMPLATE_RELATIONS     = NO
+
+# in class diagrams, you will have members and such
+# Also they will be bigger
+UML_LOOK               = YES
+UML_LIMIT_NUM_FIELDS   = 6
+
+# should all pictures be collapsed?
+HTML_DYNAMIC_SECTIONS = NO
+
+
+# use with: /// @todo Do more stuff.
+GENERATE_TODOLIST      = YES
+
+# we want all we can get
+EXTRACT_ALL            = YES
+EXTRACT_STATIC         = YES
+EXTRACT_PRIVATE        = YES
+
+# We do not need latex output
+GENERATE_LATEX         = NO
+USE_PDFLATEX           = NO
+
+# this makes first sentence from comment block a brief description.
+# It is VERY useful
+JAVADOC_AUTOBRIEF      = YES
+
+# Why not...
+BUILTIN_STL_SUPPORT = YES
+
+# Do we want source code browser? YES! Do we want strip comments? NO
+SOURCE_BROWSER         = YES
+STRIP_CODE_COMMENTS    = NO
+
+# Side panel
+# If you enable this, change .container max-width: 960px; to 1240px
+GENERATE_TREEVIEW      = YES

Documentation/doxygen.README

@@ -1,37 +0,0 @@
-Linux/Mac OS X
-==============
-To install doxygen: 
-$sudo apt-get install doxygen
-
-If the above does not work go to:
-http://www.stack.nl/~dimitri/doxygen/download.html for the correct download.
-
-Then go to the following website for inforamtion on the install:
-http://www.stack.nl/~dimitri/doxygen/install.html
-
-Then to generate the html, run the following code while you are in this directory:
-$doxygen Doxyfile
-
-The html file index.html should be in doc/html unless you changed the output directory. 
-
-The other option for generating the documentation is to use the wizard:
-$doxywizard &
-
-doxywizard information:
-http://www.stack.nl/~dimitri/doxygen/doxywizard_usage.html
-
-Or go to the Doxygen Manual for information at the website noted below.
-
-Windows
-=======
-Go to the following website for the correct download and follow the wizard to install:
-http://www.stack.nl/~dimitri/doxygen/download.html
-
-Run the wizard to generate the documentation. 
-Go to the website below or the Doxygen Manual for information on running doxywizard.
-http://www.stack.nl/~dimitri/doxygen/doxywizard_usage.html
-
-Doxygen Manual
-==============
-http://www.stack.nl/~dimitri/doxygen/
-

Documentation/doxygen.sh

@@ -1,3 +0,0 @@
-#!/bin/sh
-rm -rf html
-doxygen

LICENSE

@@ -1,6 +1,6 @@
 BSD 3-Clause License
 
-Copyright (c) 2012 - 2017, PX4 Development Team
+Copyright (c) 2012 - 2018, PX4 Development Team
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

Makefile

@@ -120,17 +120,18 @@ endif
 # --------------------------------------------------------------------
 # describe how to build a cmake config
 define cmake-build
-+@$(eval BUILD_DIR = $(SRC_DIR)/build/$@$(BUILD_DIR_SUFFIX))
++@$(eval PX4_CONFIG = $(1))
++@$(eval BUILD_DIR = $(SRC_DIR)/build/$(PX4_CONFIG)$(BUILD_DIR_SUFFIX))
 +@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(BUILD_DIR)/Makefile ]; then rm -rf $(BUILD_DIR); fi
-+@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ]; then mkdir -p $(BUILD_DIR) && cd $(BUILD_DIR) && cmake $(2) -G"$(PX4_CMAKE_GENERATOR)" $(CMAKE_ARGS) -DCONFIG=$(1) || (rm -rf $(BUILD_DIR)); fi
-+@(cd $(BUILD_DIR) && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
++@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ]; then mkdir -p $(BUILD_DIR) && cd $(BUILD_DIR) && cmake $(SRC_DIR) -G"$(PX4_CMAKE_GENERATOR)" $(CMAKE_ARGS) -DCONFIG=$(PX4_CONFIG) || (rm -rf $(BUILD_DIR)); fi
++@$(PX4_MAKE) -C $(BUILD_DIR) $(PX4_MAKE_ARGS) $(ARGS)
 endef
 
-COLOR_BLUE = \033[0;34m
+COLOR_BLUE = \033[0;94m
 NO_COLOR   = \033[m
 
 define colorecho
-+@echo "${COLOR_BLUE}${1} ${NO_COLOR}"
++@echo -e '${COLOR_BLUE}${1} ${NO_COLOR}'
 endef
 
 # Get a list of all config targets cmake/configs/*.cmake
@@ -144,13 +145,13 @@ NUTTX_CONFIG_TARGETS := $(patsubst nuttx_%,%,$(filter nuttx_%,$(ALL_CONFIG_TARGE
 
 # All targets.
 $(ALL_CONFIG_TARGETS):
-	$(call cmake-build,$@,$(SRC_DIR))
+	$(call cmake-build,$@)
 
 # Abbreviated config targets.
 
 # nuttx_ is left off by default; provide a rule to allow that.
 $(NUTTX_CONFIG_TARGETS):
-	$(call cmake-build,nuttx_$@,$(SRC_DIR))
+	$(call cmake-build,nuttx_$@)
 
 all_nuttx_targets: $(NUTTX_CONFIG_TARGETS)
 
@@ -231,7 +232,7 @@ quick_check: check_posix_sitl_default check_px4fmu-v4pro_default tests check_for
 
 check_%:
 	@echo
-	$(call colorecho,"Building" $(subst check_,,$@))
+	$(call colorecho,'Building' $(subst check_,,$@))
 	@$(MAKE) --no-print-directory $(subst check_,,$@)
 	@echo
 
@@ -252,8 +253,8 @@ coverity_scan: posix_sitl_default
 .PHONY: parameters_metadata airframe_metadata module_documentation px4_metadata
 
 parameters_metadata:
-	@python $(SRC_DIR)/src/modules/systemlib/param/px_process_params.py -s `find $(SRC_DIR)/src -maxdepth 3 -type d` --inject-xml $(SRC_DIR)/src/modules/systemlib/param/parameters_injected.xml --markdown
-	@python $(SRC_DIR)/src/modules/systemlib/param/px_process_params.py -s `find $(SRC_DIR)/src -maxdepth 3 -type d` --inject-xml $(SRC_DIR)/src/modules/systemlib/param/parameters_injected.xml --xml
+	@python $(SRC_DIR)/src/lib/parameters/px_process_params.py -s `find $(SRC_DIR)/src -maxdepth 4 -type d` --inject-xml $(SRC_DIR)/src/lib/parameters/parameters_injected.xml --markdown
+	@python $(SRC_DIR)/src/lib/parameters/px_process_params.py -s `find $(SRC_DIR)/src -maxdepth 4 -type d` --inject-xml $(SRC_DIR)/src/lib/parameters/parameters_injected.xml --xml
 
 airframe_metadata:
 	@python $(SRC_DIR)/Tools/px_process_airframes.py -v -a $(SRC_DIR)/ROMFS/px4fmu_common/init.d --markdown
@@ -269,17 +270,17 @@ px4_metadata: parameters_metadata airframe_metadata module_documentation
 .PHONY: check_format format
 
 check_format:
-	$(call colorecho,"Checking formatting with astyle")
+	$(call colorecho,'Checking formatting with astyle')
 	@$(SRC_DIR)/Tools/astyle/check_code_style_all.sh
 	@cd $(SRC_DIR) && git diff --check
 
 format:
-	$(call colorecho,"Formatting with astyle")
+	$(call colorecho,'Formatting with astyle')
 	@$(SRC_DIR)/Tools/astyle/check_code_style_all.sh --fix
 
 # Testing
 # --------------------------------------------------------------------
-.PHONY: tests tests_coverage tests_mission tests_offboard rostest
+.PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard rostest
 
 tests:
 	@$(MAKE) --no-print-directory posix_sitl_default test_results \
@@ -288,11 +289,6 @@ tests:
 
 tests_coverage:
 	@$(MAKE) clean
-	@$(MAKE) --no-print-directory posix_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage
-	@$(MAKE) --no-print-directory posix_sitl_default sitl_gazebo PX4_CMAKE_BUILD_TYPE=Coverage
-	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_missions.test
-	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_offboard_attctl.test
-	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test
 	@$(MAKE) --no-print-directory posix_sitl_default test_coverage_genhtml PX4_CMAKE_BUILD_TYPE=Coverage
 	@echo "Open $(SRC_DIR)/build/posix_sitl_default/coverage-html/index.html to see coverage"
 
@@ -302,13 +298,20 @@ rostest: posix_sitl_default
 tests_mission: rostest
 	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_missions.test
 
+tests_mission_coverage:
+	@$(MAKE) clean
+	@$(MAKE) --no-print-directory posix_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage
+	@$(MAKE) --no-print-directory posix_sitl_default sitl_gazebo PX4_CMAKE_BUILD_TYPE=Coverage
+	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_new_1 vehicle:=standard_vtol
+	@$(MAKE) --no-print-directory posix_sitl_default generate_coverage
+
 tests_offboard: rostest
 	@$(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
 
 # static analyzers (scan-build, clang-tidy, cppcheck)
 # --------------------------------------------------------------------
-.PHONY: scan-build posix_sitl_default-clang clang-tidy clang-tidy-fix clang-tidy-quiet cppcheck check_stack
+.PHONY: scan-build posix_sitl_default-clang clang-tidy clang-tidy-fix clang-tidy-quiet cppcheck
 
 scan-build:
 	@export CCC_CC=clang
@@ -326,12 +329,12 @@ posix_sitl_default-clang:
 	@$(PX4_MAKE) -C $(SRC_DIR)/build/posix_sitl_default-clang
 
 clang-tidy: posix_sitl_default-clang
-	@cd $(SRC_DIR)/build/posix_sitl_default-clang && run-clang-tidy-4.0.py -header-filter=".*\.hpp" -j$(j) -p .
+	@cd $(SRC_DIR)/build/posix_sitl_default-clang && $(SRC_DIR)/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j) -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: posix_sitl_default-clang
-	@cd $(SRC_DIR)/build/posix_sitl_default-clang && run-clang-tidy-4.0.py -header-filter=".*\.hpp" -j$(j) -fix -p .
+	@cd $(SRC_DIR)/build/posix_sitl_default-clang && $(SRC_DIR)/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j) -fix -p .
 
 # modified version of run-clang-tidy.py to return error codes and only output relevant results
 clang-tidy-quiet: posix_sitl_default-clang
@@ -343,16 +346,6 @@ cppcheck: posix_sitl_default
 	@cppcheck -i$(SRC_DIR)/src/examples --enable=performance --std=c++11 --std=c99 --std=posix --project=$(SRC_DIR)/build/posix_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/
 
-check_stack: px4fmu-v4pro_default
-	@echo "Checking worst case stack usage with checkstack.pl ..."
-	@echo " "
-	@echo "Top 10:"
-	@cd $(SRC_DIR)/build/px4fmu-v4pro_default && mkdir -p stack_usage && arm-none-eabi-objdump -d nuttx_px4fmu-v4pro_default.elf | $(SRC_DIR)/Tools/stack_usage/checkstack.pl arm 0 > stack_usage/checkstack_output.txt 2> stack_usage/checkstack_errors.txt
-	@head -n 10 $(SRC_DIR)/build/px4fmu-v4pro_default/stack_usage/checkstack_output.txt | c++filt
-	@echo " "
-	@echo "Symbols with 'main', 'thread' or 'task':"
-	@cat $(SRC_DIR)/build/px4fmu-v4pro_default/stack_usage/checkstack_output.txt | c++filt | grep -E 'thread|main|task'
-
 # Cleanup
 # --------------------------------------------------------------------
 .PHONY: clean submodulesclean submodulesupdate gazeboclean distclean
@@ -374,7 +367,8 @@ submodulesupdate:
 gazeboclean:
 	@rm -rf ~/.gazebo/*
 
-distclean: submodulesclean gazeboclean
+distclean: gazeboclean
+	@git submodule deinit -f .
 	@git clean -ff -x -d -e ".project" -e ".cproject" -e ".idea" -e ".settings" -e ".vscode"
 
 # --------------------------------------------------------------------

README.md

@@ -35,12 +35,12 @@ See the [forum and chat](https://dev.px4.io/en/#support) if you need help!
 
 The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/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.
+> **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)
+  * 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)
@@ -67,15 +67,13 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/en/contribut
   * Vision based navigation
     * [Christoph Tobler](https://github.com/ChristophTobler)
     * [Mohammed Kabir](https://github.com/mhkabir)
-  * Obstacle Avoidance - [Vilhjalmur Vilhjalmsson](https://github.com/vilhjalmur89)
+  * Obstacle Avoidance - [Martina Rivizzigno](https://github.com/mrivi)
   * [Snapdragon](https://github.com/PX4/Firmware/labels/snapdragon)
     * [Christoph Tobler](https://github.com/ChristophTobler)
-    * [Mark Charlebois](https://github.com/mcharleb)
   * [Intel Aero](https://github.com/PX4/Firmware/labels/intel%20aero)
     * [Sugnan Prabhu](https://github.com/sugnanprabhu)
     * [José Roberto de Souza](https://github.com/zehortigoza)
   * [Raspberry Pi / Navio](https://github.com/PX4/Firmware/labels/raspberry_pi) - [Beat Kueng](https://github.com/bkueng)
-  * [Parrot Bebop](https://github.com/PX4/Firmware/labels/bebop) - [Michael Schaeuble](https://github.com/eyeam3)
   * [Airmind MindPX / MindRacer](https://github.com/PX4/Firmware/labels/mindpx) - [Henry Zhang](https://github.com/iZhangHui)
   * RTPS/ROS2 Interface - [Vicente Monge](https://github.com/vicenteeprosima)
 

ROMFS/CMakeLists.txt

@@ -1,12 +1,76 @@
+############################################################################
+#
+#   Copyright (c) 2018 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.
+#
+############################################################################
 
 message(STATUS "ROMFS: ${config_romfs_root}")
 
-set(romfs_temp_dir ${PX4_BINARY_DIR}/ROMFS/${config_romfs_root})
+set(config_romfs_files_list)
 set(romfs_src_dir ${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root})
+set(romfs_temp_dir ${PX4_BINARY_DIR}/genromfs/${config_romfs_root})
+
+#=============================================================================
+#
+#	px4_add_romfs_files
+#
+#	This function builds a list of files to be included in the ROMFS.
+#
+#	Usage:
+#		px4_add_romfs_files(<list of files in current directory to be added to the project>)
+#
+#	Output:
+#		list config_romfs_files_list populated with a list of ROMFS src files including their full file path.
+#
+#	Example:
+#		px4_add_module(
+#			<ROMFS_file_1>
+#			<ROMFS_file_2>
+#			<ROMFS_file_3>
+#			)
+#
+function(px4_add_romfs_files)
+	foreach(arg IN LISTS ARGN)
+		list(APPEND config_romfs_files_list
+			${CMAKE_CURRENT_SOURCE_DIR}/${arg}
+			)
+	endforeach()
+
+	set(config_romfs_files_list ${config_romfs_files_list} CACHE INTERNAL "ROMFS file list")
+endfunction()
+
+# get list of all ROMFS files
+add_subdirectory(${romfs_src_dir})
 
 # directory setup
 # copy all romfs files, process airframes, prune comments
-file(GLOB_RECURSE init_airframes ${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root}/*/[1-9]*)
 add_custom_command(OUTPUT ${romfs_temp_dir}/init.d/rcS ${romfs_temp_dir}/init.d/rc.autostart
 	COMMAND cmake -E copy_directory ${romfs_src_dir} ${romfs_temp_dir}
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
@@ -16,8 +80,8 @@ add_custom_command(OUTPUT ${romfs_temp_dir}/init.d/rcS ${romfs_temp_dir}/init.d/
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py
 		--folder ${romfs_temp_dir} --board ${BOARD}
 	DEPENDS
-		${romfs_src_files}
-		${init_airframes}
+		${config_romfs_files_list}
+		${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py
 		${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root}/init.d/rcS
 		${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
 	)
@@ -28,19 +92,29 @@ list(APPEND romfs_dependencies
 	${romfs_temp_dir}/init.d/rc.autostart
 	)
 	
-# create romfs.bin
+# copy px4io binary if configured
+if (config_io_board)
+	list(APPEND romfs_dependencies
+		copy_px4io_bin
+		${fw_io_bin}
+		)
+endif()
+
+# create romfs.img
 add_custom_command(OUTPUT romfs.img
+	COMMAND ${CMAKE_COMMAND} -E remove -f romfs.img romfs.txt
 	COMMAND ${GENROMFS} -f romfs.img -d ${romfs_temp_dir} -V "NSHInitVol" -v > romfs.txt 2>&1
 	DEPENDS ${romfs_dependencies}
 	)
 
-# create romfs.o
+# create nsh_romfsimg.c
 add_custom_command(OUTPUT nsh_romfsimg.c
+	COMMAND ${CMAKE_COMMAND} -E remove -f nsh_romfsimg.c
 	COMMAND xxd -i romfs.img nsh_romfsimg.c
 	COMMAND sed 's/unsigned/const unsigned/g' nsh_romfsimg.c > nsh_romfsimg.c.tmp && mv nsh_romfsimg.c.tmp nsh_romfsimg.c
 	DEPENDS romfs.img
 	)
 
 add_library(romfs STATIC nsh_romfsimg.c)
-add_dependencies(romfs platforms__common)
+add_dependencies(romfs prebuild_targets)
 set_target_properties(romfs PROPERTIES LINKER_LANGUAGE C)

ROMFS/px4fmu_common/CMakeLists.txt

@@ -0,0 +1,35 @@
+############################################################################
+#
+#   Copyright (c) 2018 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.
+#
+############################################################################
+
+add_subdirectory(init.d)
+add_subdirectory(mixers)

ROMFS/px4fmu_common/init.d/10016_3dr_iris

@@ -40,6 +40,6 @@ then
 	param set BAT_A_PER_V 15.39103
 fi
 
-set MIXER quad_dc
+set MIXER quad_w
 
 set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol

@@ -38,6 +38,7 @@ then
 	param set VT_IDLE_PWM_MC  1080
 	param set VT_TYPE 0
 	param set MAV_TYPE 19
+	param set VT_ELEV_MC_LOCK 0
 fi
 
 set MIXER caipirinha_vtol

ROMFS/px4fmu_common/init.d/13005_vtol_AAERT_quad

@@ -24,7 +24,7 @@ if [ $AUTOCNF == yes ]
 then
 	param set VT_TYPE 2
 	param set VT_MOT_COUNT 4
-	param set VT_TRANS_THR 0.75
+	param set VT_F_TRANS_THR 0.75
 	param set VT_ARSP_TRANS 12
 	param set VT_ARSP_BLEND 6
 

ROMFS/px4fmu_common/init.d/13006_vtol_standard_delta

@@ -22,7 +22,7 @@ if [ $AUTOCNF == yes ]
 then
 	param set VT_TYPE 2
 	param set VT_MOT_COUNT 4
-	param set VT_TRANS_THR 0.75
+	param set VT_F_TRANS_THR 0.75
 
 	param set MC_ROLL_P 6.5
 	param set MC_ROLLRATE_P 0.15

ROMFS/px4fmu_common/init.d/13007_vtol_AAVVT_quad

@@ -14,7 +14,7 @@ if [ $AUTOCNF == yes ]
 then
 	param set VT_TYPE 2
 	param set VT_MOT_COUNT 4
-	param set VT_TRANS_THR 0.75
+	param set VT_F_TRANS_THR 0.75
 
 	param set MC_ROLL_P 7.0
 	param set MC_ROLLRATE_P 0.15

ROMFS/px4fmu_common/init.d/13008_QuadRanger

@@ -14,7 +14,7 @@ if [ $AUTOCNF == yes ]
 then
 	param set VT_TYPE 2
 	param set VT_MOT_COUNT 4
-	param set VT_TRANS_THR 0.75
+	param set VT_F_TRANS_THR 0.75
 
 	param set PWM_AUX_REV1 1
 	param set PWM_AUX_REV2 1

ROMFS/px4fmu_common/init.d/13009_vtol_spt_ranger

@@ -19,7 +19,7 @@ then
     param set VT_ARSP_TRANS   15.0
     param set VT_B_TRANS_DUR  4.0
     param set VT_TRANS_MIN_TM 5.0
-    param set VT_TRANS_THR    0.6
+    param set VT_F_TRANS_THR    0.6
     param set VT_TRANS_TIMEOUT    30.0
 
     param set FW_AIRSPD_MAX   22.0

ROMFS/px4fmu_common/init.d/13012_convergence

@@ -23,7 +23,7 @@ if [ $AUTOCNF == yes ]
 then
     param set VT_MOT_COUNT 3
     param set VT_FW_MOT_OFFID 3
-    param set VT_IDLE_PWM_MC 1080
+    param set VT_IDLE_PWM_MC 1200
     param set VT_TYPE 1
 
     param set VT_B_TRANS_DUR  1.0

ROMFS/px4fmu_common/init.d/13013_deltaquad

@@ -23,7 +23,7 @@ if [ $AUTOCNF == yes ]
 then
 	param set VT_TYPE 2
 	param set VT_MOT_COUNT 4
-	param set VT_TRANS_THR 1
+	param set VT_F_TRANS_THR 1
 	param set VT_DWN_PITCH_MAX 8
 	param set VT_FW_QC_P 55
 	param set VT_FW_QC_R 55

ROMFS/px4fmu_common/init.d/20000_snapdragon_rc_pwm

@@ -1,19 +0,0 @@
-#!nsh
-#
-# @name Passthrough mode for Snapdragon
-#
-# @type custom
-# @class Tool
-#
-# @board px4fmu-v2 exclude
-# @board px4fmu-v3 exclude
-# @board px4fmu-v4pro exclude
-# @board px4fmu-v5 exclude
-# @board aerofc-v1 exclude
-#
-# @maintainer Julian Oes <julian@oes.ch>
-#
-# This startup can be used on Pixhawk/Pixfalcon/Pixracer for the
-# passthrough of RC input and PWM output.
-
-set VEHICLE_TYPE passthrough

ROMFS/px4fmu_common/init.d/3031_phantom

@@ -39,7 +39,7 @@ then
 	param set FW_RR_IMAX 0.2
 	param set FW_RR_P 0.08
 	param set FW_R_LIM 50
-	param set FW_R_RMAX 0
+	param set FW_R_RMAX 50
 	# Bottom of bay and nominal zero-pitch attitude differ
 	# the payload bay is pitched up about 7 degrees
 	param set SENS_BOARD_Y_OFF 7.0

ROMFS/px4fmu_common/init.d/4014_s500

@@ -0,0 +1,23 @@
+#!nsh
+#
+# @name S500
+#
+# @type Quadrotor x
+# @class Copter
+#
+# @maintainer Lorenz Meier <lorenz@px4.io>
+#
+
+sh /etc/init.d/4001_quad_x
+
+if [ $AUTOCNF == yes ]
+then
+	param set MC_ROLL_P 6.5
+	param set MC_ROLLRATE_P 0.18
+	param set MC_ROLLRATE_I 0.15
+	param set MC_ROLLRATE_D 0.003
+	param set MC_PITCH_P 6.5
+	param set MC_PITCHRATE_P 0.18
+	param set MC_PITCHRATE_I 0.15
+	param set MC_PITCHRATE_D 0.003
+fi

ROMFS/px4fmu_common/init.d/4050_generic_250

@@ -13,32 +13,38 @@ sh /etc/init.d/4001_quad_x
 if [ $AUTOCNF == yes ]
 then
 	param set MC_ROLL_P 8.0
-	param set MC_ROLLRATE_P 0.19
-	param set MC_ROLLRATE_I 0.1
-	param set MC_ROLLRATE_D 0.0055
+	param set MC_ROLLRATE_P 0.08
+	param set MC_ROLLRATE_I 0.25
+	param set MC_ROLLRATE_D 0.001
 	param set MC_PITCH_P 8.0
-	param set MC_PITCHRATE_P 0.19
-	param set MC_PITCHRATE_I 0.1
-	param set MC_PITCHRATE_D 0.0055
+	param set MC_PITCHRATE_P 0.08
+	param set MC_PITCHRATE_I 0.25
+	param set MC_PITCHRATE_D 0.001
 	param set MC_YAW_P 4.0
 	param set MC_YAWRATE_P 0.2
 	param set MC_YAWRATE_I 0.1
 	param set MC_YAWRATE_D 0.0
 	param set MC_YAW_FF 0.5
-	param set MC_ROLLRATE_MAX 720.0
-	param set MC_PITCHRATE_MAX 720.0
-	param set MC_YAWRATE_MAX 400.0
-	param set MC_ACRO_R_MAX 360.0
-	param set MC_ACRO_P_MAX 360.0
-	param set MC_TPA_BREAK_P 0.5
-	param set MC_TPA_RATE_P 0.5
+
+	param set MC_ROLLRATE_MAX 1600.0
+	param set MC_PITCHRATE_MAX 1600.0
+	param set MC_YAWRATE_MAX 1000.0
+
+	param set MPC_MANTHR_MIN 0.0
+	param set MPC_MAN_TILT_MAX 60
+
+	# use thrust curve factor (instead of TPA)
+	param set THR_MDL_FAC 0.3
 
 	param set PWM_MIN 1075
+	# enable one-shot
+	param set PWM_RATE 0
 
-	param set MPC_THR_MIN 0.06
-	param set MPC_MANTHR_MIN 0.06
+	# enable high-rate logging profile (helps with tuning)
+	param set SDLOG_PROFILE 19
 
-	param set ATT_BIAS_MAX 0.0
+	# disable RC filtering
+	param set RC_FLT_CUTOFF 0.00000
 
 	param set CBRK_IO_SAFETY 22027
 fi

ROMFS/px4fmu_common/init.d/4070_aerofc

@@ -68,10 +68,14 @@ then
 	param set SYS_LOGGER 1
 fi
 
-tap_esc start -d /dev/ttyS0 -n 4
-usleep 300000
+if param compare SYS_HITL 0
+then
+  tap_esc start -d /dev/ttyS0 -n 4
+  usleep 300000
+
+  set OUTPUT_MODE tap_esc
+fi
 
-set OUTPUT_MODE tap_esc
 set MIXER quad_x
 set USE_IO no
 

ROMFS/px4fmu_common/init.d/4080_zmr250

@@ -17,17 +17,15 @@ set PWM_OUT 1234
 
 if [ $AUTOCNF == yes ]
 then
-	param set MC_ROLL_P 2.0
-	param set MC_ROLLRATE_P 0.05
+	param set MC_ROLL_P 2.2
+	param set MC_ROLLRATE_P 0.06
 	param set MC_ROLLRATE_I 0.2
-	param set MC_ROLLRATE_D 0.0015
-	param set MC_ROLL_TC 0.18
+	param set MC_ROLLRATE_D 0.0017
 
-	param set MC_PITCH_P 2.0
-	param set MC_PITCHRATE_P 0.05
+	param set MC_PITCH_P 2.2
+	param set MC_PITCHRATE_P 0.06
 	param set MC_PITCHRATE_I 0.2
-	param set MC_PITCHRATE_D 0.0015
-	param set MC_PITCH_TC 0.18
+	param set MC_PITCHRATE_D 0.0017
 
 	param set MC_YAW_P 1.0
 	param set MC_YAWRATE_P 0.15

ROMFS/px4fmu_common/init.d/4900_crazyflie

@@ -14,39 +14,52 @@
 #
 # @maintainer Dennis Shtatov <densht@gmail.com>
 #
-
 sh /etc/init.d/4001_quad_x
-
-
 if [ $AUTOCNF == yes ]
 then
-	param set COM_RC_IN_MODE 2
-	param set BAT_N_CELLS 1
-	param set BAT_CAPACITY 240
-	param set BAT_SOURCE 1
-
-	param set PWM_DISARMED 0
-	param set PWM_MIN 0
-	param set PWM_MAX 255
-
-	param set SYS_COMPANION 20
-
-	param set MC_PITCHRATE_D 0.0015
-	param set MC_PITCHRATE_I 0.05
-	param set MC_PITCHRATE_P 0.045
-	param set MC_PITCH_P 6.5
-	param set MC_ROLLRATE_D 0.0015
-	param set MC_ROLLRATE_I 0.05
-	param set MC_ROLLRATE_P 0.045
-	param set MC_ROLL_P 6.5
-	param set MC_YAW_P 3.0
-
-	param set CBRK_SUPPLY_CHK 894281
-	param set CBRK_USB_CHK 197848
+    param set COM_RC_IN_MODE 1
+    param set BAT_N_CELLS 1
+    param set BAT_CAPACITY 240
+    param set BAT_SOURCE 1
+    param set PWM_DISARMED 0
+    param set PWM_MIN 0
+    param set PWM_MAX 255
+    param set SYS_COMPANION 20
+    param set MC_PITCHRATE_D 0.002
+    param set MC_PITCHRATE_I 0.2
+    param set MC_PITCHRATE_P 0.07
+    param set MC_PITCH_P 6.5
+    param set MC_ROLLRATE_D 0.002
+    param set MC_ROLLRATE_I 0.2
+    param set MC_ROLLRATE_P 0.07
+    param set MC_ROLL_P 6.5
+    param set MC_YAW_P 3.0
+    param set EKF2_HGT_MODE 2
+    param set EKF2_AID_MASK 3
+    param set EKF2_OF_DELAY 10
+    param set MPC_THR_HOVER 0.7
+    param set MPC_MANTHR_MAX 1.0
+    param set MPC_THR_MAX 1.0
+    param set MPC_Z_P 1.5
+    param set MPC_Z_VEL_I 0.3
+    param set MPC_Z_VEL_P 0.4
+    param set MPC_HOLD_MAX_XY 0.1
+    param set MPC_MAX_FLOW_HGT 3
+    param set IMU_GYRO_CUTOFF 100
+    param set IMU_ACCEL_CUTOFF 30
+    param set MC_DTERM_CUTOFF 70
+    param set SYS_FMU_TASK 1
+    param set CBRK_SUPPLY_CHK 894281
+    param set CBRK_USB_CHK 197848
+    param set SDLOG_PROFILE 1
+    param set EKF2_MAG_TYPE 1
+    param set EKF2_ABL_LIM 2.0
+    param set MC_AIRMODE 1
+    param set NAV_RCL_ACT 3
+    param set SENS_FLOW_MINRNG 0.05
 fi
-
 set PWM_MIN none
 set PWM_MAX none
 set PWM_DISARMED none
 # Will run the motors at 328.125 kHz (recommended)
-set PWM_RATE 3921
+set PWM_RATE 3921

ROMFS/px4fmu_common/init.d/CMakeLists.txt

@@ -0,0 +1,118 @@
+############################################################################
+#
+#   Copyright (c) 2018 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(
+	1000_rc_fw_easystar.hil
+	1001_rc_quad_x.hil
+	2100_standard_plane
+	2105_maja
+	2106_albatross
+	24001_dodeca_cox
+	3000_generic_wing
+	3030_io_camflyer
+	3031_phantom
+	3032_skywalker_x5
+	3033_wingwing
+	3034_fx79
+	3035_viper
+	3036_pigeon
+	3037_parrot_disco_mod
+	3100_tbs_caipirinha
+	4001_quad_x
+	4002_quad_x_mount
+	4003_qavr5
+	4004_H4_680mm
+	4009_qav250
+	4010_dji_f330
+	4011_dji_f450
+	4012_quad_x_can
+	4013_bebop
+	4020_hk_micro_pcb
+	4030_3dr_solo
+	4031_3dr_quad
+	4040_reaper
+	4050_generic_250
+	4051_s250aq
+	4060_dji_matrice_100
+	4070_aerofc
+	4080_zmr250
+	4090_nanomind
+	4900_crazyflie
+	5001_quad_+
+	6001_hexa_x
+	7001_hexa_+
+	8001_octo_x
+	9001_octo_+
+	10015_tbs_discovery
+	10016_3dr_iris
+	10017_steadidrone_qu4d
+	10018_tbs_endurance
+	11001_hexa_cox
+	12001_octo_cox
+	12002_steadidrone_mavrik
+	13000_generic_vtol_standard
+	13001_caipirinha_vtol
+	13002_firefly6
+	13003_quad_tailsitter
+	13004_quad+_tailsitter
+	13005_vtol_AAERT_quad
+	13006_vtol_standard_delta
+	13007_vtol_AAVVT_quad
+	13008_QuadRanger
+	13009_vtol_spt_ranger
+	13010_claire
+	13012_convergence
+	13013_deltaquad
+	14001_tri_y_yaw+
+	14002_tri_y_yaw-
+	15001_coax_heli
+	16001_helicopter
+	50000_generic_ground_vehicle
+	50001_axialracing_ax10
+	50002_traxxas_stampede_2wd
+	rc.axialracing_ax10_apps
+	rc.axialracing_ax10_defaults
+	rc.fw_apps
+	rc.fw_defaults
+	rc.interface
+	rc.io
+	rc.logging
+	rc.mc_apps
+	rc.mc_defaults
+	rcS
+	rc.sensors
+	rc.ugv_apps
+	rc.ugv_defaults
+	rc.vtol_apps
+	rc.vtol_defaults
+)

ROMFS/px4fmu_common/init.d/rc.fw_apps

@@ -26,3 +26,8 @@ fw_pos_control_l1 start
 # Start Land Detector
 #
 land_detector start fixedwing
+
+#
+# Start Wind and Airspeed Scale Estimator
+#
+#wind_estimator start

ROMFS/px4fmu_common/init.d/rc.fw_defaults

@@ -8,8 +8,11 @@ then
 	# Default parameters for FW
 	#
 	param set COM_POS_FS_DELAY 5
-	param set COM_POS_FS_PROB 1
+	param set COM_POS_FS_EPH 25
+	param set COM_POS_FS_EPV 50
 	param set COM_POS_FS_GAIN 0
+	param set COM_POS_FS_PROB 1
+	param set COM_VEL_FS_EVH 5
 
 	param set EKF2_ARSP_THR 8.0
 	param set EKF2_FUSE_BETA 1

ROMFS/px4fmu_common/init.d/rc.interface

@@ -120,27 +120,12 @@ then
 	fi
 fi
 
-if ver hwcmp MINDPX_V2
+if ver hwcmp MINDPX_V2 CRAZYFLIE AEROFC_V1 PX4FMU_V4 NXPHLITE_V3 OMNIBUS_F4SD
 then
 	set MIXER_AUX none
 fi
 
-if ver hwcmp CRAZYFLIE
-then
-	set MIXER_AUX none
-fi
-
-if ver hwcmp AEROFC_V1
-then
-	set MIXER_AUX none
-fi
-
-if ver hwcmp PX4FMU_V4
-then
-	set MIXER_AUX none
-fi
-
-if ver hwcmp PX4FMU_V5
+if [ $USE_IO == no ]
 then
 	set MIXER_AUX none
 fi

ROMFS/px4fmu_common/init.d/rc.logging

@@ -0,0 +1,33 @@
+#!nsh
+# Logging
+#
+# Standard startup script for logging
+#
+
+if param compare SYS_LOGGER 0
+then
+	sdlog2 start -r 100 -a -b 9 -t
+else
+	set LOGGER_ARGS ""
+
+	if param compare SDLOG_MODE 1
+	then
+		set LOGGER_ARGS "-e"
+	fi
+
+	if param compare SDLOG_MODE 2
+	then
+		set LOGGER_ARGS "-f"
+	fi
+
+	if ver hwcmp AEROFC_V1
+	then
+		set LOGGER_ARGS "-m mavlink"
+	fi
+
+	logger start -b ${LOGGER_BUF} -t ${LOGGER_ARGS}
+
+	unset LOGGER_ARGS
+fi
+
+unset LOGGER_BUF

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -3,7 +3,7 @@
 # Standard startup script for sensor drivers.
 #
 
-if ver hwcmp AEROFC_V1
+if ver hwcmp AEROFC_V1 OMNIBUS_F4SD
 then
 	# Aero FC uses separate driver
 else
@@ -31,8 +31,8 @@ else
 	# External SPI
 	ms5611 -S start
 
-	# Internal SPI
-	ms5611 -s start
+	# Internal SPI (auto detect ms5611 or ms5607)
+	ms5611 -T 0 -s start
 
 	# Blacksheep telemetry
 	bst start
@@ -42,13 +42,13 @@ fi
 
 if ver hwcmp NXPHLITE_V3
 then
-	# Internal I2C
+	# Internal I2C (baro)
 	mpl3115a2 -I start
 
-	# Internal SPI
-	fxos8700cq start -a 8 -R 0
+	# Internal SPI (accel + mag)
+	fxos8701cq start -a 8 -R 0
 
-	# Internal SPI
+	# Internal SPI (gyro)
 	fxas21002c start -R 0
 fi
 
@@ -56,6 +56,7 @@ if ver hwcmp AUAV_X21
 then
 	# External I2C bus
 	hmc5883 -C -T -X start
+	lis3mdl -X start
 
 	# Internal SPI bus ICM-20608-G is rotated 90 deg yaw
 	mpu6000 -R 2 -T 20608 start
@@ -135,9 +136,9 @@ then
 		then
 			# v2.0 internal MPU6000 is rotated 180 deg roll, 270 deg yaw
 			mpu6000 -R 14 start
+
 			# v2.0 Has internal hmc5883 on SPI1
 			hmc5883 -C -T -S -R 8 start
-
 		fi
 
 		if [ $BOARD_FMUV3 == 21 ]
@@ -164,6 +165,8 @@ then
 		l3gd20 start
 		lsm303d start
 	fi
+
+	unset BOARD_FMUV3
 fi
 
 if ver hwcmp PX4_SAME70XPLAINED_V1
@@ -189,12 +192,12 @@ then
 	then
 		# hmc5883 internal SPI bus is rotated 90 deg yaw
 	else
-		if lis3mdl -R 2 start
+		if lis3mdl start
 		then
 			# lis3mdl internal SPI bus is rotated 90 deg yaw
 		else
 			# BMI055 gyro internal SPI bus
-			bmi055 -G start	
+			bmi055 -G start
 		fi
 	fi
 
@@ -249,6 +252,11 @@ then
 
 	# I2C bypass of mpu
 	lps25h start
+
+	# Optical flow deck
+	vl53lxx start
+	pmw3901 start
+
 fi
 
 if ver hwcmp AEROFC_V1
@@ -264,6 +272,18 @@ then
 	ll40ls start i2c
 fi
 
+if ver hwcmp OMNIBUS_F4SD
+then
+	mpu6000 -R 12 -s start
+
+	# Possible external compasses
+	hmc5883 -X start
+
+	bmp280 start
+
+	adc start
+fi
+
 if ver hwcmp PX4FMU_V4PRO
 then
 	# Internal SPI bus ICM-20608-G
@@ -323,11 +343,7 @@ if [ ${VEHICLE_TYPE} == fw -o ${VEHICLE_TYPE} == vtol ]
 then
 	if param compare CBRK_AIRSPD_CHK 0
 	then
-		if sdp3x_airspeed start
-		then
-		else
-			sdp3x_airspeed start -b 2
-		fi
+		sdp3x_airspeed start -a
 
 		# Pixhawk 2.1 has a MS5611 on I2C which gets wrongly
 		# detected as MS5525 because the chip manufacturer was so
@@ -337,20 +353,13 @@ then
 		then
 			ms5525_airspeed start -b 2
 		else
-			ms5525_airspeed start
+			ms5525_airspeed start -a
 		fi
 
-		if ms4525_airspeed start
-		then
-		else
-			ms4525_airspeed start -b 2
-		fi
+		ms4525_airspeed start -a
+
+		ets_airspeed start -a
 
-		if ets_airspeed start
-		then
-		else
-			ets_airspeed start -b 1
-		fi
 	fi
 fi
 
@@ -396,7 +405,44 @@ fi
 # Benewake TFMini
 if param greater SENS_EN_TFMINI 0
 then
-	tfmini start
+	if ver hwcmp PX4FMU_V2 PX4FMU_V4PRO
+	then
+		# start the driver on serial 4/5
+		tfmini start -d /dev/ttyS6
+	else
+		if ver hwcmp AEROFC_V1
+		then
+			# start the driver on telemetry
+			tfmini start -d /dev/ttyS3
+		else
+			if param compare SYS_COMPANION 0
+			then
+				# start on default mavlink companion device
+				tfmini start -d /dev/ttyS2
+			fi
+		fi
+	fi
+fi
+
+# LeddarOne
+if param greater SENS_EN_LEDDAR1 0
+then
+	if ver hwcmp PX4FMU_V2 PX4FMU_V4PRO
+	then
+		# start the driver on serial 4/5
+		leddar_one -d /dev/ttyS6 start
+	fi
+	if ver hwcmp AEROFC_V1
+	then
+		# start the driver on telemetry
+		leddar_one -d /dev/ttyS3 start
+	else
+		if param compare SYS_COMPANION 0
+		then
+			# start on default mavlink companion device
+			leddar_one -d /dev/ttyS2 start
+		fi
+	fi
 fi
 
 # Wait 20 ms for sensors (because we need to wait for the HRT and work queue callbacks to fire)

ROMFS/px4fmu_common/init.d/rc.vtol_apps

@@ -51,3 +51,8 @@ fw_pos_control_l1 start
 # Multicopter for now until we have something for VTOL
 #
 land_detector start vtol
+
+#
+# Start Wind and Airspeed Scale Estimator
+#
+#wind_estimator start

ROMFS/px4fmu_common/init.d/rcS

@@ -13,9 +13,15 @@ set +e
 #
 # NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
 #
+# UART mapping on OMNIBUSF4SD:
+#
+# USART1		/dev/ttyS0		SerialRX
+# USART4		/dev/ttyS1		TELEM1
+# USART6		/dev/ttyS2		GPS
+#
 # UART mapping on FMUv2/3/4:
 #
-# UART1			/dev/ttyS0		IO debug
+# UART1			/dev/ttyS0		IO debug (except v4, there ttyS0 is the wifi)
 # USART2		/dev/ttyS1		TELEM1 (flow control)
 # USART3		/dev/ttyS2		TELEM2 (flow control)
 # UART4
@@ -28,7 +34,7 @@ set +e
 # UART1			/dev/ttyS0		GPS
 # USART2		/dev/ttyS1		TELEM1 (flow control)
 # USART3		/dev/ttyS2		TELEM2 (flow control)
-# UART4			/dev/ttyS3		?
+# UART4			/dev/ttyS3		TELEM4
 # USART6		/dev/ttyS4		TELEM3 (flow control)
 # UART7			/dev/ttyS5		?
 # UART8			/dev/ttyS6		CONSOLE
@@ -51,7 +57,7 @@ ver all
 #
 set MODE autostart
 
-set TUNE_ERR ML<<CP4CP4CP4CP4CP4
+set TUNE_ERR "ML<<CP4CP4CP4CP4CP4"
 set LOG_FILE /fs/microsd/bootlog.txt
 
 #
@@ -68,9 +74,6 @@ then
 			hardfault_log reset
 			tone_alarm stop
 		fi
-	else
-		# Start playing the startup tune
-		tone_alarm start
 	fi
 else
 	tone_alarm MBAGP
@@ -109,6 +112,12 @@ then
 	#
 	uorb start
 
+	# Start tone driver
+	tone_alarm start
+
+	# play startup tone
+	tune_control play -t 1
+
 	#
 	# Load parameters
 	#
@@ -147,8 +156,8 @@ then
 	#
 	if param compare SYS_AUTOCONFIG 1
 	then
-		# Wipe out params except RC* and total flight time
-		param reset_nostart RC* LND_FLIGHT_T_*
+		# Wipe out params except RC*, flight modes and total flight time
+		param reset_nostart RC* COM_FLTMODE* LND_FLIGHT_T_*
 		set AUTOCNF yes
 	else
 		set AUTOCNF no
@@ -194,23 +203,9 @@ then
 	set USE_IO no
 	set LOGGER_BUF 14
 
-	if ver hwcmp PX4FMU_V4
-	then
-		param set SYS_FMU_TASK 1
-	fi
-
-	if ver hwcmp PX4FMU_V4PRO
-	then
-		param set SYS_FMU_TASK 1
-	fi
-
 	if ver hwcmp PX4FMU_V5
 	then
-		param set SYS_FMU_TASK 1
-		set MAVLINK_COMPANION_DEVICE /dev/ttyS3
-
 		set LOGGER_BUF 64
-		param set SDLOG_MODE 2
 	fi
 
 	if ver hwcmp CRAZYFLIE
@@ -240,6 +235,11 @@ then
 		set MAVLINK_COMPANION_DEVICE /dev/ttyS4
 	fi
 
+	if ver hwcmp OMNIBUS_F4SD
+	then
+		set MAVLINK_COMPANION_DEVICE /dev/ttyS1
+	fi
+
 	#
 	# Set USE_IO flag
 	#
@@ -292,70 +292,85 @@ then
 	#
 	if [ $AUTOCNF == yes ]
 	then
-		# Disable safety switch by default on Pixracer
-		if ver hwcmp PX4FMU_V4
+		# Disable safety switch by default on Pixracer and OmnibusF4SD
+		if ver hwcmp PX4FMU_V4 OMNIBUS_F4SD
 		then
 			param set CBRK_IO_SAFETY 22027
 		fi
+
+		# Run FMU as task on Pixracer and on boards with enough RAM
+		if ver hwcmp PX4FMU_V4 PX4FMU_V4PRO PX4FMU_V5
+		then
+			param set SYS_FMU_TASK 1
+		fi
+
+		if ver hwcmp OMNIBUS_F4SD
+		then
+			param set SYS_FMU_TASK 1
+			param set SYS_HAS_MAG 0
+			# use the Q attitude estimator, it works w/o mag or GPS
+			param set SYS_MC_EST_GROUP 1
+			param set ATT_ACC_COMP 0
+			param set ATT_W_ACC 0.4000
+			param set ATT_W_GYRO_BIAS 0.0000
+		fi
+
 		param set SYS_AUTOCONFIG 0
 	fi
 	unset AUTOCNF
 
 	set IO_PRESENT no
 
-	if [ $USE_IO == yes ]
+	#
+	# Check if PX4IO present and update firmware if needed
+	#
+	if [ -f /etc/extras/px4io-v2.bin ]
 	then
-		#
-		# Check if PX4IO present and update firmware if needed
-		#
-		if [ -f /etc/extras/px4io-v2.bin ]
+		set IO_FILE /etc/extras/px4io-v2.bin
+
+		if px4io checkcrc ${IO_FILE}
 		then
-			set IO_FILE /etc/extras/px4io-v2.bin
+			set IO_PRESENT yes
+		else
+			tone_alarm MLL32CP8MB
 
-			if px4io checkcrc ${IO_FILE}
+			if px4io start
 			then
-				set IO_PRESENT yes
-			else
-				tone_alarm MLL32CP8MB
-
-				if px4io start
+				# try to safe px4 io so motor outputs dont go crazy
+				if px4io safety_on
 				then
-					# try to safe px4 io so motor outputs dont go crazy
-					if px4io safety_on
-					then
-						# success! no-op
-					else
-						# px4io did not respond to the safety command
-						px4io stop
-					fi
+					# success! no-op
+				else
+					# px4io did not respond to the safety command
+					px4io stop
 				fi
+			fi
 
-				if px4io forceupdate 14662 ${IO_FILE}
+			if px4io forceupdate 14662 ${IO_FILE}
+			then
+				usleep 10000
+				if px4io checkcrc ${IO_FILE}
 				then
-					usleep 10000
-					if px4io checkcrc ${IO_FILE}
-					then
-						echo "PX4IO CRC OK after updating" >> $LOG_FILE
-						tone_alarm MLL8CDE
+					echo "PX4IO CRC OK after updating" >> $LOG_FILE
+					tone_alarm MLL8CDE
 
-						set IO_PRESENT yes
-					else
-						echo "PX4IO update failed" >> $LOG_FILE
-						tone_alarm ${TUNE_ERR}
-					fi
+					set IO_PRESENT yes
 				else
 					echo "PX4IO update failed" >> $LOG_FILE
 					tone_alarm ${TUNE_ERR}
 				fi
+			else
+				echo "PX4IO update failed" >> $LOG_FILE
+				tune_control play -m ${TUNE_ERR}
 			fi
 		fi
-		unset IO_FILE
+	fi
+	unset IO_FILE
 
-		if [ $IO_PRESENT == no ]
-		then
-			echo "PX4IO not found" >> $LOG_FILE
-			tone_alarm ${TUNE_ERR}
-		fi
+	if [ $USE_IO == yes -a $IO_PRESENT == no ]
+	then
+		echo "PX4IO not found" >> $LOG_FILE
+		tune_control play -m ${TUNE_ERR}
 	fi
 
 	#
@@ -416,7 +431,6 @@ then
 		sh /etc/init.d/rc.sensors
 		commander start
 	fi
-
 	send_event start
 	load_mon start
 
@@ -471,7 +485,7 @@ then
 				sh /etc/init.d/rc.io
 			else
 				echo "PX4IO start failed" >> $LOG_FILE
-				tone_alarm $TUNE_ERR
+				tune_control play -m  ${TUNE_ERR}
 			fi
 		fi
 
@@ -481,7 +495,7 @@ then
 			then
 			else
 				echo "FMU start failed" >> $LOG_FILE
-				tone_alarm $TUNE_ERR
+				tune_control play -m ${TUNE_ERR}
 			fi
 		fi
 
@@ -500,7 +514,7 @@ then
 			if mkblctrl $MKBLCTRL_ARG
 			then
 			else
-				tone_alarm $TUNE_ERR
+				tune_control play -m ${TUNE_ERR}
 			fi
 			unset MKBLCTRL_ARG
 		fi
@@ -508,10 +522,10 @@ then
 
 		if [ $OUTPUT_MODE == hil ]
 		then
-			if pwm_out_sim mode_pwm16
+			if pwm_out_sim start
 			then
 			else
-				tone_alarm $TUNE_ERR
+				tune_control play -m ${TUNE_ERR}
 			fi
 		fi
 
@@ -527,7 +541,7 @@ then
 					sh /etc/init.d/rc.io
 				else
 					echo "PX4IO start failed" >> $LOG_FILE
-					tone_alarm $TUNE_ERR
+					tune_control play -m ${TUNE_ERR}
 				fi
 			fi
 		else
@@ -537,7 +551,7 @@ then
 				then
 				else
 					echo "FMU mode_${FMU_MODE} start failed" >> $LOG_FILE
-					tone_alarm $TUNE_ERR
+					tune_control play -m ${TUNE_ERR}
 				fi
 			fi
 		fi
@@ -548,7 +562,7 @@ then
 		# Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s
 		set MAVLINK_F "-r 1200 -f"
 
-		# Avoid using ttyS1 for MAVLink on FMUv4
+		# Use ttyS1 for MAVLink on FMUv4 in addition to ttyS0 (debug)
 		if ver hwcmp PX4FMU_V4
 		then
 			set MAVLINK_F "-r 1200 -d /dev/ttyS1"
@@ -556,17 +570,33 @@ then
 			mavlink start -r 20000 -b 921600 -d /dev/ttyS0
 		fi
 
+		# Use ttyS3 (TELEM4) for MAVLink on FMUv5 in addition to ttyS1 (TELEM1) and ttyS2 (TELEM2)
+		if ver hwcmp PX4FMU_V5
+		then
+			mavlink start -r 2000 -b 57600 -d /dev/ttyS3
+		fi
+
 		if ver hwcmp AEROFC_V1
 		then
 			set MAVLINK_F "-r 1200 -d /dev/ttyS3"
+
+			# Only start mavlink if the Benewake TFMini or LeddarOne isn't being used
+			if param greater SENS_EN_TFMINI 0
+			then
+				set MAVLINK_F none
+			fi
+			if param greater SENS_EN_LEDDAR1 0
+			then
+				set MAVLINK_F none				
+			fi
 		fi
 
-		if ver hwcmp CRAZYFLIE
+		if ver hwcmp CRAZYFLIE OMNIBUS_F4SD
 		then
 			# Avoid using either of the two available serials
 			set MAVLINK_F none
 		fi
-	fi
+fi
 
 	if [ "x$MAVLINK_F" == xnone ]
 	then
@@ -583,7 +613,14 @@ then
 	if param compare SYS_COMPANION 10
 	then
 		frsky_telemetry start -d ${MAVLINK_COMPANION_DEVICE}
+	else
+		if ver hwcmp PX4FMU_V4 PX4FMU_V4PRO MINDPX_V2
+		then
+			# This is TELEM4 on Pixhawk 3 Pro
+			frsky_telemetry start -d /dev/ttyS6
+		fi
 	fi
+
 	if param compare SYS_COMPANION 20
 	then
 		syslink start
@@ -638,9 +675,29 @@ then
 	fi
 	if param compare SYS_COMPANION 419200
 	then
-		iridiumsbd start -d /dev/ttyS2
+		iridiumsbd start -d ${MAVLINK_COMPANION_DEVICE}
 		mavlink start -d /dev/iridium -b 19200 -m iridium -r 10
 	fi
+	if param compare SYS_COMPANION 519200
+	then
+		mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 19200 -m minimal -r 1000
+	fi
+	if param compare SYS_COMPANION 538400
+	then
+		mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 38400 -m minimal -r 1000
+	fi
+	if param compare SYS_COMPANION 557600
+	then
+		mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -m minimal -r 1000
+	fi
+	if param compare SYS_COMPANION 5115200
+	then
+		mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 115200 -m minimal -r 1000
+	fi
+	if param compare SYS_COMPANION 6460800
+	then
+		micrortps_client start -t UART -d /dev/ttyS2 -b 460800
+	fi
 	if param compare SYS_COMPANION 1921600
 	then
 		mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 921600 -r 20000
@@ -657,48 +714,27 @@ then
 	#
 	if param greater UAVCAN_ENABLE 0
 	then
+		# Start core UAVCAN module
 		if uavcan start
 		then
-			set LOGGER_BUF 6
-			uavcan start fw
+			if param greater UAVCAN_ENABLE 1
+			then
+				# Reduce logger buffer to free up some RAM for UAVCAN servers
+				set LOGGER_BUF 6
+				# Start UAVCAN firmware update server and dynamic node ID allocation server
+				uavcan start fw
+			fi
 		else
 			tone_alarm ${TUNE_ERR}
 		fi
 	fi
 
-	if ver hwcmp PX4FMU_V4
-	then
-		frsky_telemetry start -d /dev/ttyS6
-	fi
-
-	if ver hwcmp MINDPX_V2
-	then
-		frsky_telemetry start -d /dev/ttyS6
-	fi
-
-	if ver hwcmp PX4FMU_V2
+	if ver hwcmp PX4FMU_V2 PX4FMU_V4 PX4FMU_V4PRO MINDPX_V2 PX4FMU_V5 OMNIBUS_F4SD
 	then
 		# Check for flow sensor - as it is a background task, launch it last
 		px4flow start &
 	fi
 
-	if ver hwcmp PX4FMU_V4
-	then
-		# Check for flow sensor - as it is a background task, launch it last
-		px4flow start &
-	fi
-
-	if ver hwcmp PX4FMU_V4PRO
-	then
-		# Check for flow sensor - as it is a background task, launch it last
-		px4flow start &
-	fi
-
-	if ver hwcmp MINDPX_V2
-	then
-		px4flow start &
-	fi
-
 	if ver hwcmp AEROFC_V1
 	then
 		# don't start mavlink ttyACM0 on aerofc_v1
@@ -707,36 +743,6 @@ then
 		mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
 	fi
 
-	#
-	# Logging
-	#
-	if param compare SYS_LOGGER 0
-	then
-		sdlog2 start -r 100 -a -b 9 -t
-	else
-		set LOGGER_ARGS ""
-
-		if param compare SDLOG_MODE 1
-		then
-			set LOGGER_ARGS "-e"
-		fi
-
-		if param compare SDLOG_MODE 2
-		then
-			set LOGGER_ARGS "-f"
-		fi
-
-		if ver hwcmp AEROFC_V1
-		then
-			set LOGGER_ARGS "-m mavlink"
-		fi
-
-		logger start -b ${LOGGER_BUF} -t ${LOGGER_ARGS}
-
-		unset LOGGER_BUF
-		unset LOGGER_ARGS
-	fi
-
 	#
 	# Fixed wing setup
 	#
@@ -898,46 +904,6 @@ then
 		sh /etc/init.d/rc.ugv_apps
 	fi
 
-	#
-	# For snapdragon, we need a passthrough mode
-	# Do not run any mavlink instances since we need the serial port for
-	# communication with Snapdragon.
-	#
-	if [ $VEHICLE_TYPE == passthrough ]
-	then
-		mavlink stop-all
-		commander stop
-
-		# Stop multicopter attitude controller if it is running, the controls come
-		# from Snapdragon.
-		if mc_att_control stop
-		then
-		fi
-
-		# Start snapdragon interface on serial port.
-		if ver hwcmp PX4FMU_V2
-		then
-			# On Pixfalcon use the standard telemetry port (Telem 1).
-			snapdragon_rc_pwm start -d /dev/ttyS1
-			px4io start
-		fi
-
-		if ver hwcmp PX4FMU_V4
-		then
-			# On Pixracer use Telem 2 port (TL2).
-			snapdragon_rc_pwm start -d /dev/ttyS2
-			fmu mode_pwm4 $FMU_ARGS
-		fi
-
-		pwm failsafe -c 1234 -p 900
-		pwm disarmed -c 1234 -p 900
-
-		# Arm straightaway.
-		pwm arm
-		# Use 400 Hz PWM on all channels.
-		pwm rate -a -r 400
-	fi
-
 	unset MIXER
 	unset MAV_TYPE
 	unset OUTPUT_MODE
@@ -1021,6 +987,8 @@ then
 		fi
 	fi
 
+	sh /etc/init.d/rc.logging
+
 # End of autostart
 fi
 

ROMFS/px4fmu_common/mixers/AAERTWF.main.mix

@@ -19,12 +19,10 @@ factors (to reverse the servo movement) and adjust the offset, scaling and
 endpoints to suit.
 
 M: 2
-O:      10000  10000      0 -10000  10000
 S: 0 0  10000  10000      0 -10000  10000
 S: 0 6  10000  10000      0 -10000  10000
 
 M: 2
-O:      10000  10000      0 -10000  10000
 S: 0 0  10000  10000      0 -10000  10000
 S: 0 6 -10000 -10000      0 -10000  10000
 
@@ -38,7 +36,6 @@ factors (to reverse the servo movement) and adjust the offset, scaling and
 endpoints to suit.
 
 M: 1
-O:       10000   10000      0 -10000  10000
 S: 0 1  -10000  -10000      0 -10000  10000
 
 Rudder mixer
@@ -51,7 +48,6 @@ factors (to reverse the servo movement) and adjust the offset, scaling and
 endpoints to suit.
 
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 0 2  10000  10000      0 -10000  10000
 
 Motor speed mixer
@@ -62,7 +58,6 @@ This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
 range.  Inputs below zero are treated as zero.
 
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000
 
 Wheel mixer
@@ -75,7 +70,6 @@ factors (to reverse the servo movement) and adjust the offset, scaling and
 endpoints to suit.
 
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 0 2  10000  10000      0 -10000  10000
 
 
@@ -84,13 +78,10 @@ using the payload control group
 -----------------------------------------------------
 
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 0 4  10000  10000      0 -10000  10000
 
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 2 0  10000  10000      0 -10000  10000
 
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 2 2  10000  10000      0 -10000  10000

ROMFS/px4fmu_common/mixers/AAVVTWFF.main.mix

@@ -20,12 +20,10 @@ factors (to reverse the servo movement) and adjust the offset, scaling and
 endpoints to suit.
 
 M: 2
-O:      10000  10000      0 -10000  10000
 S: 0 0  10000  10000      0 -10000  10000
 S: 0 6  10000  10000      0 -10000  10000
 
 M: 2
-O:      10000  10000      0 -10000  10000
 S: 0 0  10000  10000      0 -10000  10000
 S: 0 6 -10000 -10000      0 -10000  10000
 
@@ -37,12 +35,10 @@ On the assumption that the two tail servos are physically reversed, the pitch
 input is inverted between the two servos.
 
 M: 2
-O:      10000  10000      0 -10000  10000
 S: 0 2  -7000  -7000      0 -10000  10000
 S: 0 1  -8000  -8000      0 -10000  10000
 
 M: 2
-O:      10000  10000      0 -10000  10000
 S: 0 2  -7000  -7000      0 -10000  10000
 S: 0 1   8000   8000      0 -10000  10000
 
@@ -54,7 +50,6 @@ This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
 range.  Inputs below zero are treated as zero.
 
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000
 
 Wheel mixer
@@ -67,7 +62,6 @@ factors (to reverse the servo movement) and adjust the offset, scaling and
 endpoints to suit.
 
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 0 2 -10000 -10000      0 -10000  10000
 
 Flaps mixer
@@ -75,10 +69,8 @@ Flaps mixer
 Flap servos are physically reversed.
 
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 0 4      0   5000 -10000 -10000  10000
 
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 0 4      0  -5000  10000 -10000  10000
 

ROMFS/px4fmu_common/mixers/AERT.main.mix

@@ -0,0 +1,76 @@
+Aileron/rudder/elevator/throttle mixer for PX4FMU
+==================================================
+
+This file defines mixers suitable for controlling a fixed wing aircraft with
+aileron, rudder, elevator and throttle controls using PX4FMU. The configuration
+assumes the aileron servo(s) are connected to PX4FMU servo output 0, the
+elevator to output 1, the rudder to output 2 and the throttle to output 3.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch) and 3 (thrust).
+
+CH1: Aileron mixer
+-------------
+Two scalers total (output, roll).
+
+This mixer assumes that the aileron servos are set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+As there is only one output, if using two servos adjustments to compensate for
+differences between the servos must be made mechanically.  To obtain the correct
+motion using a Y  cable, the servos can be positioned reversed from one another.
+
+M: 1
+S: 0 0  10000  10000      0 -10000  10000
+
+CH2: Elevator mixer
+------------
+Two scalers total (output, roll).
+
+This mixer assumes that the elevator servo is set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 1
+S: 0 1  -10000  -10000      0 -10000  10000
+
+CH3: Rudder mixer
+------------
+Two scalers total (output, yaw).
+
+This mixer assumes that the rudder servo is set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 1
+S: 0 2  10000  10000      0 -10000  10000
+
+CH4: Motor speed mixer
+-----------------
+Two scalers total (output, thrust).
+
+This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
+range.  Inputs below zero are treated as zero.
+
+M: 1
+S: 0 3      0  20000 -10000 -10000  10000
+
+CH5: Flaps mixer
+------------
+Flaps are controlled automatically in position control and auto
+but can also be controlled manually
+
+M: 1
+O: 5000 10000 0 -10000 10000
+S: 0 4 10000 10000 0 -10000 10000
+
+Ch6: Landing gear mixer
+------------
+By default pass-through of gear switch
+
+M: 1
+S: 3 5 10000 10000 0 -10000 10000

ROMFS/px4fmu_common/mixers/AETRFG.main.mix

@@ -23,7 +23,6 @@ differences between the servos must be made mechanically.  To obtain the correct
 motion using a Y  cable, the servos can be positioned reversed from one another.
 
 M: 1
-O:       10000   10000      0  -10000  10000
 S: 0 0   10000   10000      0  -10000  10000
 
 CH2: Elevator mixer
@@ -36,7 +35,6 @@ factors (to reverse the servo movement) and adjust the offset, scaling and
 endpoints to suit.
 
 M: 1
-O:       10000   10000      0  -10000  10000
 S: 0 1  -10000  -10000      0  -10000  10000
 
 CH3: Motor speed mixer
@@ -47,7 +45,6 @@ This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
 range.  Inputs below zero are treated as zero.
 
 M: 1
-O:       10000  10000       0  -10000  10000
 S: 0 3       0  20000  -10000  -10000  10000
 
 CH4: Rudder mixer
@@ -60,7 +57,6 @@ factors (to reverse the servo movement) and adjust the offset, scaling and
 endpoints to suit.
 
 M: 1
-O:       10000  10000       0  -10000  10000
 S: 0 2   10000  10000       0  -10000  10000
 
 CH5: Flaps mixer
@@ -77,5 +73,4 @@ CH6: Landing gear mixer
 By default pass-through of gear switch
 
 M: 1
-O:        10000 10000       0  -10000  10000
 S: 3 5    10000 10000       0  -10000  10000

ROMFS/px4fmu_common/mixers/CCPM.main.mix

@@ -8,7 +8,6 @@ Output 0 - Rear Servo Mixer
 Rear Servo = Collective (Thrust - 3) + Elevator (Pitch - 1)
 
 M: 2
-O:      10000  10000      0 -10000  10000
 S: 0 3  10000  10000      0 -10000  10000
 S: 0 1  10000  10000      0 -10000  10000
 
@@ -18,7 +17,6 @@ Output 1 - Left Servo Mixer
 Left Servo = Collective (Thurst - 3) - 0.5 * Elevator (Pitch - 1) + 0.866 * Aileron (Roll - 0)
 
 M: 3
-O:       10000   10000      0 -10000  10000
 S: 0 3  -10000  -10000      0 -10000  10000
 S: 0 1   -5000   -5000      0 -10000  10000
 S: 0 0    8660    8660      0 -10000  10000
@@ -30,7 +28,6 @@ Right Servo = Collective (Thurst - 3) - 0.5 * Elevator (Pitch - 1) - 0.866 * Ail
 
 
 M: 3
-O:       10000   10000      0 -10000  10000
 S: 0 3  -10000  -10000      0 -10000  10000
 S: 0 1   -5000   -5000      0 -10000  10000
 S: 0 0   -8660   -8660      0 -10000  10000
@@ -40,7 +37,6 @@ Output 3 - Tail Servo Mixer
 Tail Servo = Yaw (control index = 2)
 
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 0 2  10000  10000      0 -10000  10000
 
 
@@ -49,5 +45,4 @@ Output 4 - Motor speed mixer
 This would be the motor speed control output from governor power demand- not sure what index to use here?
 
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 0 4      0  20000 -10000 -10000  10000

ROMFS/px4fmu_common/mixers/CMakeLists.txt

@@ -0,0 +1,90 @@
+############################################################################
+#
+#   Copyright (c) 2018 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(
+	AAERTWF.main.mix
+	AAVVTWFF.main.mix
+	AERT.main.mix
+	AETRFG.main.mix
+	bebop.main.mix
+	blade130.main.mix
+	caipi.main.mix
+	caipirinha_vtol.main.mix
+	CCPM.main.mix
+	claire.aux.mix
+	claire.main.mix
+	coax.main.mix
+	delta.main.mix
+	deltaquad.main.mix
+	dodeca_bottom_cox.aux.mix
+	dodeca_top_cox.main.mix
+	firefly6.aux.mix
+	firefly6.main.mix
+	FMU_pass.mix
+	fw_generic_wing.main.mix
+	FX79.main.mix
+	hexa_cox.main.mix
+	hexa_+.main.mix
+	hexa_x.main.mix
+	IO_pass.main.mix
+	mount.aux.mix
+	mount_legs.aux.mix
+	ocpoc_quad_x.main.mix
+	octo_cox.main.mix
+	octo_cox_w.main.mix
+	octo_+.main.mix
+	octo_x.main.mix
+	pass.aux.mix
+	phantom.main.mix
+	quad_dc.main.mix
+	quad_h.main.mix
+	quad_+.main.mix
+	quad_s250aq.main.mix
+	quad_+_vtol.main.mix
+	quad_w.main.mix
+	quad_x_can.main.mix
+	quad_x.main.mix
+	quad_x_vtol.main.mix
+	quad_x_vtol_sim.main.mix
+	stampede.main.mix
+	tri_y_yaw-.main.mix
+	tri_y_yaw+.main.mix
+	ugv_generic.main.mix
+	Viper.main.mix
+	vtol_AAERT.aux.mix
+	vtol_AAVVT.aux.mix
+	vtol_convergence.main.mix
+	vtol_delta.aux.mix
+	wingwing.main.mix
+	zmr250.main.mix
+)

ROMFS/px4fmu_common/mixers/FMU_pass.mix

@@ -6,18 +6,14 @@ This file defines passthrough mixers suitable for testing.
 Channel group 0, channels 0-3 are passed directly through to the outputs.
 
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 0 0  10000  10000      0 -10000  10000
 
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 0 1  10000  10000      0 -10000  10000
 
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 0 2  10000  10000      0 -10000  10000
 
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 0 3  10000  10000      0 -10000  10000
 

ROMFS/px4fmu_common/mixers/FX79.main.mix

@@ -26,12 +26,10 @@ The scaling factor for roll inputs is adjusted to implement differential travel
 for the elevons.
 
 M: 2
-O:      10000  10000      0 -10000  10000
 S: 0 0   8500   8500      0 -10000  10000
 S: 0 1   9500   9500      0 -10000  10000
 
 M: 2
-O:      10000  10000      0 -10000  10000
 S: 0 0   8500   8500      0 -10000  10000
 S: 0 1  -9500  -9500      0 -10000  10000
 
@@ -49,5 +47,4 @@ This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
 range.  Inputs below zero are treated as zero.
 
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000

ROMFS/px4fmu_common/mixers/IO_pass.main.mix

@@ -6,33 +6,25 @@ This file defines passthrough mixers suitable for testing.
 Channel group 0, channels 0-7 are passed directly through to the outputs.
 
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 0 0  10000  10000      0 -10000  10000
 
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 0 1  10000  10000      0 -10000  10000
 
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 0 2  10000  10000      0 -10000  10000
 
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 0 3  10000  10000      0 -10000  10000
 
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 0 4  10000  10000      0 -10000  10000
 
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 0 5  10000  10000      0 -10000  10000
 
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 0 6  10000  10000      0 -10000  10000
 
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 0 7  10000  10000      0 -10000  10000

ROMFS/px4fmu_common/mixers/Viper.main.mix

@@ -26,12 +26,10 @@ The scaling factor for roll inputs is adjusted to implement differential travel
 for the elevons.
 
 M: 2
-O:      10000  10000      0 -10000  10000
 S: 0 0   7500   7500      0 -10000  10000
 S: 0 1   8000   8000      0 -10000  10000
 
 M: 2
-O:      10000  10000      0 -10000  10000
 S: 0 0   7500   7500      0 -10000  10000
 S: 0 1  -8000  -8000      0 -10000  10000
 
@@ -49,7 +47,6 @@ This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
 range.  Inputs below zero are treated as zero.
 
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000
 
 Inputs to the mixer come from channel group 2 (payload), channels 0
@@ -57,15 +54,12 @@ Inputs to the mixer come from channel group 2 (payload), channels 0
 -----------------------------------------------------
 
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 2 0  10000  10000      0 -10000  10000
 
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 2 1  10000  10000      0 -10000  10000
 
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 2 2  -8000  -8000      0 -10000  10000
 
 

ROMFS/px4fmu_common/mixers/blade130.main.mix

@@ -12,5 +12,4 @@ S:    220  13054  10000      0  -8000   8000
 
 # Tail servo:
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 0 2  10000  10000      0 -10000  10000

ROMFS/px4fmu_common/mixers/caipi.main.mix

@@ -24,12 +24,10 @@ The scaling factor for roll inputs is adjusted to implement differential travel
 for the elevons.
 
 M: 2
-O:      10000  10000      0 -10000  10000
 S: 0 0   8000   8000      0 -10000  10000
 S: 0 1   9000   9000      0 -10000  10000
 
 M: 2
-O:      10000  10000      0 -10000  10000
 S: 0 0   8000   8000      0 -10000  10000
 S: 0 1  -9000  -9000      0 -10000  10000
 
@@ -47,5 +45,4 @@ This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
 range.  Inputs below zero are treated as zero.
 
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000

ROMFS/px4fmu_common/mixers/claire.aux.mix

@@ -9,7 +9,6 @@ Tilt mechanism servo mixer
 
 M: 1
 
-O:      10000  10000      0 -10000  10000
 
 S: 1 4  10000  10000      0 -10000  10000
 
@@ -21,11 +20,9 @@ Elevon mixers
 
 M: 2
 
-O:      10000  10000      0 -10000  10000
 S: 1 0  -7500  -7500      0 -10000  10000
 S: 1 1   7500   7500      0 -10000  10000
 
 M: 2
-O:       10000   10000    0 -10000  10000
 S: 1 0   -7500   -7500    0 -10000  10000
 S: 1 1   -7500   -7500    0 -10000  10000

ROMFS/px4fmu_common/mixers/coax.main.mix

@@ -7,20 +7,17 @@ Coaxial helicopter mixer
 Left swashplate servomotor, pitch axis
 -------------
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 0 1  -10000  -10000      0 -10000  10000
 
 Right swashplate servomotor, roll axis
 -------------
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 0 0  10000  10000      0 -10000  10000
 
 Upper rotor (CCW)
 Mixing between yaw and thrust
 -------------
 M: 2
-O:      10000  10000      0 -10000  10000
 S: 0 2  10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000
 
@@ -28,6 +25,5 @@ Lower rotor (CW)
 Mixing between yaw and thrust
 -------------
 M: 2
-O:      10000  10000      0 -10000  10000
 S: 0 2  -10000  -10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000

ROMFS/px4fmu_common/mixers/delta.main.mix

@@ -22,12 +22,10 @@ The scaling factor for roll inputs is adjusted to implement differential travel
 for the elevons.
 
 M: 2
-O:      10000  10000      0 -10000  10000
 S: 0 0   3000   5000      0 -10000  10000
 S: 0 1   5000   5000      0 -10000  10000
 
 M: 2
-O:      10000  10000      0 -10000  10000
 S: 0 0   5000   3000      0 -10000  10000
 S: 0 1  -5000  -5000      0 -10000  10000
 
@@ -45,5 +43,4 @@ This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
 range.  Inputs below zero are treated as zero.
 
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000

ROMFS/px4fmu_common/mixers/deltaquad.main.mix

@@ -18,7 +18,6 @@ input is inverted between the two servos.
 -------------
 
 M: 2
-O:      10000  10000      0 -10000  10000
 S: 1 0  -8000  -8000      0 -10000  10000
 S: 1 1   8000   8000      0 -10000  10000
 
@@ -26,7 +25,6 @@ S: 1 1   8000   8000      0 -10000  10000
 -------------
 
 M: 2
-O:      10000  10000      0 -10000  10000
 S: 1 0  -8000  -8000      0 -10000  10000
 S: 1 1  -8000  -8000      0 -10000  10000
 
@@ -39,12 +37,10 @@ This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
 range.  Inputs below zero are treated as zero.
 
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 1 3      0  20000 -10000 -10000  10000
 
 8: Reverse thrust (brake) mixer
 -----------------
 
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 1 6      0  20000 -9000 -10000  10000

ROMFS/px4fmu_common/mixers/firefly6.aux.mix

@@ -4,23 +4,19 @@
 Tilt mechanism servo mixer
 ---------------------------
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 1 4      0  20000 -10000 -10000  10000
 
 Elevon mixers
 -------------
 M: 2
-O:      10000  10000      0 -10000  10000
 S: 1 0  -7500  -7500      0 -10000  10000
 S: 1 1   8000   8000      0 -10000  10000
 
 M: 2
-O:       10000   10000    0 -10000  10000
 S: 1 0   -7500   -7500    0 -10000  10000
 S: 1 1   -8000   -8000    0 -10000  10000
 
 Landing gear mixer
 ------------------
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 3 6  10000  10000      0 -10000  10000

ROMFS/px4fmu_common/mixers/fw_generic_wing.main.mix

@@ -22,12 +22,10 @@ The scaling factor for roll inputs is adjusted to implement differential travel
 for the elevons.
 
 M: 2
-O:      10000  10000      0 -10000  10000
 S: 0 0  -8000  -8000      0 -10000  10000
 S: 0 1   6000   6000      0 -10000  10000
 
 M: 2
-O:      10000  10000      0 -10000  10000
 S: 0 0  -8000  -8000      0 -10000  10000
 S: 0 1  -6000  -6000      0 -10000  10000
 
@@ -45,5 +43,4 @@ This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
 range.  Inputs below zero are treated as zero.
 
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000

ROMFS/px4fmu_common/mixers/mount.aux.mix

@@ -3,21 +3,17 @@
 
 # pitch
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 2 1  10000  10000      0 -10000  10000
 
 # roll
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 2 0  10000  10000      0 -10000  10000
 
 # yaw
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 2 2  10000  10000      0 -10000  10000
 
 # Shutter/retract
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 2 3  10000  10000      0 -10000  10000
 

ROMFS/px4fmu_common/mixers/mount_legs.aux.mix

@@ -1,27 +1,22 @@
 
 # Roll channel for mount
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 2 0  10000  10000      0 -10000  10000
 
 # Pitch channel for mount
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 2 1  10000  10000      0 -10000  10000
 
 # Yaw channel for mount
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 2 2  10000  10000      0 -10000  10000
 
 
 # mixer for left leg
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 0 7      0  20000 -10000 -10000  10000
 
 # mixer for right leg
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 0 7      0  20000 -10000 -10000  10000
 

ROMFS/px4fmu_common/mixers/pass.aux.mix

@@ -2,20 +2,16 @@
 
 # AUX1 channel (select RC channel with RC_MAP_AUX1 param)
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 3 5  10000  10000      0 -10000  10000
 
 # AUX2 channel (select RC channel with RC_MAP_AUX2 param)
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 3 6  10000  10000      0 -10000  10000
 
 # AUX3 channel (select RC channel with RC_MAP_AUX3 param)
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 3 7  10000  10000      0 -10000  10000
 
 # FLAPS channel (select RC channel with RC_MAP_FLAPS param)
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 3 4  10000  10000      0 -10000  10000

ROMFS/px4fmu_common/mixers/phantom.main.mix

@@ -21,12 +21,10 @@ input is inverted between the two servos.
 The scaling factor are set so that pitch will have more travel than roll.
 
 M: 2
-O:      10000  10000      0 -10000  10000
 S: 0 0  -6000  -6000      0 -10000  10000
 S: 0 1   6500   6500      0 -10000  10000
 
 M: 2
-O:      10000  10000      0 -10000  10000
 S: 0 0  -6000  -6000      0 -10000  10000
 S: 0 1  -6500  -6500      0 -10000  10000
 
@@ -44,5 +42,4 @@ This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
 range.  Inputs below zero are treated as zero.
 
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000

ROMFS/px4fmu_common/mixers/quad_+.main.mix

@@ -10,9 +10,7 @@ Gimbal / payload mixer for last two channels
 -----------------------------------------------------
 
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 3 5  10000  10000      0 -10000  10000
 
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 3 6  10000  10000      0 -10000  10000

ROMFS/px4fmu_common/mixers/quad_+_vtol.main.mix

@@ -8,21 +8,17 @@ R: 4+ 10000 10000 10000 0
 
 # mixer for the elevons
 M: 2
-O:      10000  10000      0 -10000  10000
 S: 1 0  10000  10000      0 -10000  10000
 S: 1 1  10000  10000      0 -10000  10000
 
 M: 2
-O:       10000   10000    0 -10000  10000
 S: 1 0   10000   10000    0 -10000  10000
 S: 1 1  -10000  -10000    0 -10000  10000
 
 # mixer for canard surface
 M: 1
-O:       10000   10000    0 -10000  10000
 S: 1 1  -10000  -10000    0 -10000  10000
 
 # mixer for rudder
 M: 1
-O:       10000   10000    0 -10000  10000
 S: 1 2  -10000  -10000    0 -10000  10000

ROMFS/px4fmu_common/mixers/quad_h.main.mix

@@ -10,9 +10,7 @@ Gimbal / payload mixer for last two channels
 -----------------------------------------------------
 
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 3 5  10000  10000      0 -10000  10000
 
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 3 6  10000  10000      0 -10000  10000

ROMFS/px4fmu_common/mixers/quad_s250aq.main.mix

@@ -1,7 +1,5 @@
 R: 4s 10000 10000 10000 0
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 3 5  10000  10000      0 -10000  10000
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 3 6  10000  10000      0 -10000  10000

ROMFS/px4fmu_common/mixers/quad_w.main.mix

@@ -9,9 +9,7 @@ Gimbal / payload mixer for last two channels
 -----------------------------------------------------
 
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 3 5  10000  10000      0 -10000  10000
 
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 3 6  10000  10000      0 -10000  10000

ROMFS/px4fmu_common/mixers/quad_x.main.mix

@@ -1,7 +1,5 @@
 R: 4x 10000 10000 10000 0
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 3 5  10000  10000      0 -10000  10000
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 3 6  10000  10000      0 -10000  10000

ROMFS/px4fmu_common/mixers/quad_x_vtol.main.mix

@@ -10,17 +10,14 @@ Z:
 
 # left elevon
 M: 2
-O:      10000  10000      0 -10000  10000
 S: 1 0  5000  5000      0 -10000  10000
 S: 1 1  5000  5000      0 -10000  10000
 
 # right elevon
 M: 2
-O:       10000   10000    0 -10000  10000
 S: 1 0   5000   5000    0 -10000  10000
 S: 1 1  -5000  -5000    0 -10000  10000
 
 # mixer for the virtual elevator
 M: 1
-O:       10000   10000   0 -10000  10000
 S: 1 1   10000   10000    0 -10000  10000

ROMFS/px4fmu_common/mixers/quad_x_vtol_sim.main.mix

@@ -0,0 +1,18 @@
+Mixer for the gazebo tailsitter model
+=====================================
+
+R: 4x 10000 10000 10000 0
+
+Z:
+
+# left elevon
+M: 1
+S: 1 0  10000  10000      0 -10000  10000
+
+# right elevon
+M: 1
+S: 1 0   -10000   -10000    0 -10000  10000
+
+# mixer for the virtual elevator
+M: 1
+S: 1 1   -10000   -10000    0 -10000  10000

ROMFS/px4fmu_common/mixers/stampede.main.mix

@@ -20,7 +20,6 @@ Z:
 Steering mixer using roll on output 1
 ---------------------------------------
 M: 1
-O:       10000   10000      0 -10000  10000
 S: 0 2   10000   10000      0 -10000  10000
 
 
@@ -33,5 +32,4 @@ Z:
 Output 3
 ---------------------------------------
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 0 3  10000  10000      0 -10000  10000

ROMFS/px4fmu_common/mixers/tri_y_yaw+.main.mix

@@ -8,5 +8,4 @@ R: 3y 10000 10000 10000 0
 
 # Yaw Servo
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 0 2  10000  10000      0 -10000  10000

ROMFS/px4fmu_common/mixers/tri_y_yaw-.main.mix

@@ -8,6 +8,5 @@ R: 3y 10000 10000 10000 0
 
 # Yaw Servo
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 0 2 -10000 -10000      0 -10000  10000
 

ROMFS/px4fmu_common/mixers/ugv_generic.main.mix

@@ -20,7 +20,6 @@ Z:
 Steering mixer using roll on output 1
 ---------------------------------------
 M: 1
-O:       10000   10000      0 -10000  10000
 S: 0 2   10000   10000      0 -10000  10000
 
 
@@ -33,5 +32,4 @@ Z:
 Output 3
 ---------------------------------------
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 0 3  10000  10000      0 -10000  10000

ROMFS/px4fmu_common/mixers/vtol_AAERT.aux.mix

@@ -4,29 +4,24 @@ Mixer for an AAERT VTOL
 Aileron 1 mixer
 ---------------
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 1 0  -7500  -7500      0 -10000  10000
 
 Aileron 2 mixer
 ---------------
 M: 1
-O:       10000   10000    0 -10000  10000
 S: 1 0   -7500   -7500    0 -10000  10000
 
 Elevator mixer
 --------------
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 1 1  10000  10000      0 -10000  10000
 
 Rudder mixer
 ------------
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 1 2 -10000 -10000      0 -10000  10000
 
 Throttle mixer
 --------------
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 1 3      0  20000 -10000 -10000  10000

ROMFS/px4fmu_common/mixers/vtol_AAVVT.aux.mix

@@ -19,12 +19,10 @@ factors (to reverse the servo movement) and adjust the offset, scaling and
 endpoints to suit.
 
 M: 2
-O:      10000  10000      0 -10000  10000
 S: 1 0  10000  10000      0 -10000  10000
 S: 1 6  10000  10000      0 -10000  10000
 
 M: 2
-O:      10000  10000      0 -10000  10000
 S: 1 0  10000  10000      0 -10000  10000
 S: 1 6 -10000 -10000      0 -10000  10000
 
@@ -37,12 +35,10 @@ On the assumption that the two tail servos are physically reversed, the pitch
 input is inverted between the two servos.
 
 M: 2
-O:      10000  10000      0 -10000  10000
 S: 1 2  -7000  -7000      0 -10000  10000
 S: 1 1  -8000  -8000      0 -10000  10000
 
 M: 2
-O:      10000  10000      0 -10000  10000
 S: 1 2  -7000  -7000      0 -10000  10000
 S: 1 1   8000   8000      0 -10000  10000
 
@@ -54,6 +50,5 @@ This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
 range.  Inputs below zero are treated as zero.
 
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 1 3      0  20000 -10000 -10000  10000
 

ROMFS/px4fmu_common/mixers/vtol_convergence.main.mix

@@ -9,24 +9,20 @@ Tilt mechanism servo mixer
 ---------------------------
 #RIGHT up:2000 down:1000
 M: 2
-O:      10000  10000      0 -10000  10000
 S: 1 4      0 -20000  10000 -10000  10000
 S: 0 2   8000   8000      0 -10000  10000
 
 #LEFT up:1000 down:2000
 M: 2
-O:      10000  10000      0 -10000  10000
 S: 1 4      0  20000 -10000 -10000  10000
 S: 0 2   8000   8000      0 -10000  10000
 
 Elevon mixers
 -------------
 M: 2
-O:      10000  10000      0 -10000  10000
 S: 1 0  -7500  -7500      0 -10000  10000
 S: 1 1   8000   8000      0 -10000  10000
 
 M: 2
-O:      10000  10000      0 -10000  10000
 S: 1 0  -7500  -7500      0 -10000  10000
 S: 1 1  -8000  -8000      0 -10000  10000

ROMFS/px4fmu_common/mixers/vtol_delta.aux.mix

@@ -18,12 +18,10 @@ On the assumption that the two elevon servos are physically reversed, the pitch
 input is inverted between the two servos.
 
 M: 2
-O:      10000  10000      0 -10000  10000
 S: 1 0  -8000  -8000      0 -10000  10000
 S: 1 1   8000   8000      0 -10000  10000
 
 M: 2
-O:      10000  10000      0 -10000  10000
 S: 1 0  -8000  -8000      0 -10000  10000
 S: 1 1  -8000  -8000      0 -10000  10000
 
@@ -35,7 +33,6 @@ This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
 range.  Inputs below zero are treated as zero.
 
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 1 3      0  20000 -10000 -10000  10000
 
 
@@ -43,7 +40,6 @@ Reverse thrust (brake) mixer
 -----------------
 
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 1 6      0  20000 -10000 -10000  10000
 
 
@@ -52,5 +48,4 @@ Aux1 mixer
 This is actuated on the AUX5 port
 
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 3 5  10000  10000      0 -10000  10000

ROMFS/px4fmu_common/mixers/wingwing.main.mix

@@ -24,12 +24,10 @@ The scaling factor for roll inputs is adjusted to implement differential travel
 for the elevons.
 
 M: 2
-O:      10000  10000      0 -10000  10000
 S: 0 0  -6000  -6000      0 -10000  10000
 S: 0 1   6500   6500      0 -10000  10000
 
 M: 2
-O:      10000  10000      0 -10000  10000
 S: 0 0  -6000  -6000      0 -10000  10000
 S: 0 1  -6500  -6500      0 -10000  10000
 
@@ -47,5 +45,4 @@ This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
 range.  Inputs below zero are treated as zero.
 
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000

ROMFS/px4fmu_common/mixers/zmr250.main.mix

@@ -5,9 +5,7 @@
 R: 4x 7654 10000 10000 0
 
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 0 4  10000  10000      0 -10000  10000
 
 M: 1
-O:      10000  10000      0 -10000  10000
 S: 0 5  10000  10000      0 -10000  10000

ROMFS/px4fmu_test/CMakeLists.txt

@@ -0,0 +1,36 @@
+############################################################################
+#
+#   Copyright (c) 2018 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.
+#
+############################################################################
+
+add_subdirectory(init.d)
+add_subdirectory(mixers)
+add_subdirectory(unit_test_data)

ROMFS/px4fmu_test/init.d/CMakeLists.txt

@@ -0,0 +1,38 @@
+############################################################################
+#
+#   Copyright (c) 2018 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(
+	rcS
+	rc.sensors
+	rc.standalone
+	)

ROMFS/px4fmu_test/init.d/rcS

@@ -2,6 +2,7 @@
 #
 # PX4FMU startup script for test hackery.
 #
+set +e
 set unit_test_failure 0
 
 uorb start

ROMFS/px4fmu_test/mixers/AAERTWF.main.mix

@@ -0,0 +1,96 @@
+Aileron/rudder/elevator/throttle/wheel/flaps mixer for PX4FMU
+=======================================================
+
+This file defines mixers suitable for controlling a fixed wing aircraft with
+aileron, rudder, elevator, throttle and steerable wheel controls using PX4FMU.
+The configuration assumes the aileron servo(s) are connected to PX4FMU servo
+output 0 and 1, the elevator to output 2, the rudder to output 3, the throttle
+to output 4 and the wheel to output 5.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps).
+
+Aileron mixer (roll + flaperon)
+---------------------------------
+
+This mixer assumes that the aileron servos are set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 0 0  10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 0 0  10000  10000      0 -10000  10000
+S: 0 6 -10000 -10000      0 -10000  10000
+
+Elevator mixer
+------------
+Two scalers total (output, roll).
+
+This mixer assumes that the elevator servo is set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 1
+O:       10000   10000      0 -10000  10000
+S: 0 1  -10000  -10000      0 -10000  10000
+
+Rudder mixer
+------------
+Two scalers total (output, yaw).
+
+This mixer assumes that the rudder servo is set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 2  10000  10000      0 -10000  10000
+
+Motor speed mixer
+-----------------
+Two scalers total (output, thrust).
+
+This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
+range.  Inputs below zero are treated as zero.
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 3      0  20000 -10000 -10000  10000
+
+Wheel mixer
+------------
+Two scalers total (output, yaw).
+
+This mixer assumes that the wheel servo is set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 2  10000  10000      0 -10000  10000
+
+
+Flaps / gimbal / payload mixer for last three channels,
+using the payload control group
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 2 0  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 2 2  10000  10000      0 -10000  10000

ROMFS/px4fmu_test/mixers/AAVVTWFF.main.mix

@@ -0,0 +1,84 @@
+Aileron/v-tail/throttle/wheel/flaps mixer for PX4FMU
+=======================================================
+
+This file defines mixers suitable for controlling a fixed wing aircraft with
+aileron, v-tail (rudder, elevator), throttle, steerable wheel and flaps
+using PX4FMU.
+The configuration assumes the aileron servos are connected to PX4FMU servo
+output 0 and 1, the tail servos to output 2 and 3, the throttle
+to output 4, the wheel to output 5 and the flaps to output 6 and 7.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon).
+
+Aileron mixer (roll + flaperon)
+---------------------------------
+
+This mixer assumes that the aileron servos are set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 0 0  10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 0 0  10000  10000      0 -10000  10000
+S: 0 6 -10000 -10000      0 -10000  10000
+
+V-tail mixers
+-------------
+Three scalers total (output, roll, pitch).
+
+On the assumption that the two tail servos are physically reversed, the pitch
+input is inverted between the two servos.
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 0 2  -7000  -7000      0 -10000  10000
+S: 0 1  -8000  -8000      0 -10000  10000
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 0 2  -7000  -7000      0 -10000  10000
+S: 0 1   8000   8000      0 -10000  10000
+
+Motor speed mixer
+-----------------
+Two scalers total (output, thrust).
+
+This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
+range.  Inputs below zero are treated as zero.
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 3      0  20000 -10000 -10000  10000
+
+Wheel mixer
+------------
+Two scalers total (output, yaw).
+
+This mixer assumes that the wheel servo is set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 2 -10000 -10000      0 -10000  10000
+
+Flaps mixer
+------------
+Flap servos are physically reversed.
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4      0   5000 -10000 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4      0  -5000  10000 -10000  10000
+

ROMFS/px4fmu_test/mixers/AERT.main.mix

@@ -0,0 +1,81 @@
+Aileron/rudder/elevator/throttle mixer for PX4FMU
+==================================================
+
+This file defines mixers suitable for controlling a fixed wing aircraft with
+aileron, rudder, elevator and throttle controls using PX4FMU. The configuration
+assumes the aileron servo(s) are connected to PX4FMU servo output 0, the
+elevator to output 1, the rudder to output 2 and the throttle to output 3.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch) and 3 (thrust).
+
+CH1: Aileron mixer
+-------------
+Two scalers total (output, roll).
+
+This mixer assumes that the aileron servos are set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+As there is only one output, if using two servos adjustments to compensate for
+differences between the servos must be made mechanically.  To obtain the correct
+motion using a Y  cable, the servos can be positioned reversed from one another.
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 0  10000  10000      0 -10000  10000
+
+CH2: Elevator mixer
+------------
+Two scalers total (output, roll).
+
+This mixer assumes that the elevator servo is set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 1
+O:       10000   10000      0 -10000  10000
+S: 0 1  -10000  -10000      0 -10000  10000
+
+CH3: Rudder mixer
+------------
+Two scalers total (output, yaw).
+
+This mixer assumes that the rudder servo is set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 2  10000  10000      0 -10000  10000
+
+CH4: Motor speed mixer
+-----------------
+Two scalers total (output, thrust).
+
+This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
+range.  Inputs below zero are treated as zero.
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 3      0  20000 -10000 -10000  10000
+
+CH5: Flaps mixer
+------------
+Flaps are controlled automatically in position control and auto
+but can also be controlled manually
+
+M: 1
+O: 5000 10000 0 -10000 10000
+S: 0 4 10000 10000 0 -10000 10000
+
+Ch6: Landing gear mixer
+------------
+By default pass-through of gear switch
+
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 3 5 10000 10000 0 -10000 10000

ROMFS/px4fmu_test/mixers/AETRFG.main.mix

@@ -0,0 +1,81 @@
+Aileron/Elevator/Throttle/Rudder/Gear/Flaps mixer
+==================================================
+
+This file defines mixers suitable for controlling a fixed wing aircraft with
+aileron, rudder, elevator, throttle, gear, flaps controls. The configuration
+assumes the aileron servo(s) are connected to output 0, the elevator to
+output 1, the throttle to output 2 and the rudder to output 3.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch), 2 (thrust), 3 (yaw), 4 (flaps), 7 (landing gear)
+
+CH1: Aileron mixer
+-------------
+Two scalers total (output, roll).
+
+This mixer assumes that the aileron servos are set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+As there is only one output, if using two servos adjustments to compensate for
+differences between the servos must be made mechanically.  To obtain the correct
+motion using a Y  cable, the servos can be positioned reversed from one another.
+
+M: 1
+O:       10000   10000      0  -10000  10000
+S: 0 0   10000   10000      0  -10000  10000
+
+CH2: Elevator mixer
+------------
+Two scalers total (output, roll).
+
+This mixer assumes that the elevator servo is set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 1
+O:       10000   10000      0  -10000  10000
+S: 0 1  -10000  -10000      0  -10000  10000
+
+CH3: Motor speed mixer
+-----------------
+Two scalers total (output, thrust).
+
+This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
+range.  Inputs below zero are treated as zero.
+
+M: 1
+O:       10000  10000       0  -10000  10000
+S: 0 3       0  20000  -10000  -10000  10000
+
+CH4: Rudder mixer
+------------
+Two scalers total (output, yaw).
+
+This mixer assumes that the rudder servo is set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 1
+O:       10000  10000       0  -10000  10000
+S: 0 2   10000  10000       0  -10000  10000
+
+CH5: Flaps mixer
+------------
+Flaps are controlled automatically in position control and auto
+but can also be controlled manually
+
+M: 1
+O:        5000  10000       0  -10000  10000
+S: 0 4   10000  10000       0  -10000  10000
+
+CH6: Landing gear mixer
+------------
+By default pass-through of gear switch
+
+M: 1
+O:        10000 10000       0  -10000  10000
+S: 3 5    10000 10000       0  -10000  10000

ROMFS/px4fmu_test/mixers/CMakeLists.txt

@@ -0,0 +1,53 @@
+############################################################################
+#
+#   Copyright (c) 2018 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(
+	AAERTWF.main.mix
+	AAVVTWFF.main.mix
+	AERT.main.mix
+	AETRFG.main.mix
+	complex_test.mix
+	hexa_x.main.mix
+	IO_pass.mix
+	octo_x.main.mix
+	pass.aux.mix
+	quad_+.main.mix
+	quad_test.mix
+	quad_+_vtol.main.mix
+	ugv_generic.main.mix
+	vtol1_test.mix
+	vtol2_test.mix
+	vtol_AAERT.aux.mix
+	vtol_AAVVT.aux.mix
+	vtol_convergence.main.mix
+	)

ROMFS/px4fmu_test/mixers/hexa_x.main.mix

@@ -0,0 +1,4 @@
+# Hexa X
+
+R: 6x 10000 10000 10000 0
+

ROMFS/px4fmu_test/mixers/octo_x.main.mix

@@ -0,0 +1,3 @@
+# Octo X
+
+R: 8x 10000 10000 10000 0

ROMFS/px4fmu_test/mixers/pass.aux.mix

@@ -0,0 +1,21 @@
+# Manual pass through mixer for servo outputs 1-4
+
+# AUX1 channel (select RC channel with RC_MAP_AUX1 param)
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 3 5  10000  10000      0 -10000  10000
+
+# AUX2 channel (select RC channel with RC_MAP_AUX2 param)
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 3 6  10000  10000      0 -10000  10000
+
+# AUX3 channel (select RC channel with RC_MAP_AUX3 param)
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 3 7  10000  10000      0 -10000  10000
+
+# FLAPS channel (select RC channel with RC_MAP_FLAPS param)
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 3 4  10000  10000      0 -10000  10000

ROMFS/px4fmu_test/mixers/quad_+.main.mix

@@ -0,0 +1,18 @@
+Multirotor mixer for PX4FMU
+===========================
+
+This file defines a single mixer for a quadrotor in the + configuration. All controls
+are mixed 100%.
+
+R: 4+ 10000 10000 10000 0
+
+Gimbal / payload mixer for last two channels
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 3 5  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 3 6  10000  10000      0 -10000  10000

ROMFS/px4fmu_test/mixers/quad_+_vtol.main.mix

@@ -0,0 +1,28 @@
+Mixer for Tailsitter with + motor configuration and elevons
+===========================================================
+
+This file defines a single mixer for tailsitter with motors in X configuration.  All controls
+are mixed 100%.
+
+R: 4+ 10000 10000 10000 0
+
+# mixer for the elevons
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 1 0  10000  10000      0 -10000  10000
+S: 1 1  10000  10000      0 -10000  10000
+
+M: 2
+O:       10000   10000    0 -10000  10000
+S: 1 0   10000   10000    0 -10000  10000
+S: 1 1  -10000  -10000    0 -10000  10000
+
+# mixer for canard surface
+M: 1
+O:       10000   10000    0 -10000  10000
+S: 1 1  -10000  -10000    0 -10000  10000
+
+# mixer for rudder
+M: 1
+O:       10000   10000    0 -10000  10000
+S: 1 2  -10000  -10000    0 -10000  10000

ROMFS/px4fmu_test/mixers/ugv_generic.main.mix

@@ -0,0 +1,37 @@
+Generic car mixer (eg Traxxas Stampede RC Car)
+===========================
+
+Designed for Traxxas Stampede
+
+This file defines mixers suitable for controlling a Traxxas Stampede rover using
+PX4FMU. The configuration assumes the steering is connected to PX4FMU
+servo outputs  1 and the motor speed control to output 3. Output 0 and 2 is
+assumed to be unused.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 2 (yaw), and 3 (thrust).
+
+See the README for more information on the scaler format.
+
+
+Output 0
+---------------------------------------
+Z:
+
+Steering mixer using roll on output 1
+---------------------------------------
+M: 1
+O:       10000   10000      0 -10000  10000
+S: 0 2   10000   10000      0 -10000  10000
+
+
+Output 2
+---------------------------------------
+This mixer is empty.
+Z:
+
+
+Output 3
+---------------------------------------
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 3  10000  10000      0 -10000  10000

ROMFS/px4fmu_test/mixers/uuv_quad_x.mix

@@ -1,24 +0,0 @@
-M: 4
-O:       10000   10000     0 -10000  10000
-S: 0 0  -10000  -10000     0 -10000  10000
-S: 0 1  -10000  -10000     0 -10000  10000
-S: 0 2  +10000  +10000     0 -10000  10000
-S: 0 3  +10000  +10000     0 -10000  10000
-M: 4
-O:       10000   10000     0 -10000  10000
-S: 0 0  +10000  +10000     0 -10000  10000
-S: 0 1  -10000  -10000     0 -10000  10000
-S: 0 2  -10000  -10000     0 -10000  10000
-S: 0 3  +10000  +10000     0 -10000  10000
-M: 4
-O:       10000   10000     0 -10000  10000
-S: 0 0  -10000  -10000     0 -10000  10000
-S: 0 1  +10000  +10000     0 -10000  10000
-S: 0 2  -10000  -10000     0 -10000  10000
-S: 0 3  +10000  +10000     0 -10000  10000
-M: 4
-O:       10000   10000     0 -10000  10000
-S: 0 0  +10000  +10000     0 -10000  10000
-S: 0 1  +10000  +10000     0 -10000  10000
-S: 0 2  +10000  +10000     0 -10000  10000
-S: 0 3  +10000  +10000     0 -10000  10000

ROMFS/px4fmu_test/mixers/vtol_AAERT.aux.mix

@@ -0,0 +1,32 @@
+Mixer for an AAERT VTOL
+=======================
+
+Aileron 1 mixer
+---------------
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 1 0  -7500  -7500      0 -10000  10000
+
+Aileron 2 mixer
+---------------
+M: 1
+O:       10000   10000    0 -10000  10000
+S: 1 0   -7500   -7500    0 -10000  10000
+
+Elevator mixer
+--------------
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 1 1  10000  10000      0 -10000  10000
+
+Rudder mixer
+------------
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 1 2 -10000 -10000      0 -10000  10000
+
+Throttle mixer
+--------------
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 1 3      0  20000 -10000 -10000  10000

ROMFS/px4fmu_test/mixers/vtol_AAVVT.aux.mix

@@ -0,0 +1,59 @@
+Aileron/v-tail/throttle VTOL mixer for PX4FMU
+=======================================================
+
+This file defines mixers suitable for controlling a fixed wing aircraft with
+aileron, v-tail (rudder, elevator) and throttle using PX4FMU.
+The configuration assumes the aileron servos are connected to PX4FMU 
+AUX servo output 0 and 1, the tail servos to output 2 and 3, the throttle
+to output 4.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon).
+
+Aileron mixer (roll + flaperon)
+---------------------------------
+
+This mixer assumes that the aileron servos are set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 1 0  10000  10000      0 -10000  10000
+S: 1 6  10000  10000      0 -10000  10000
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 1 0  10000  10000      0 -10000  10000
+S: 1 6 -10000 -10000      0 -10000  10000
+
+
+V-tail mixers
+-------------
+Three scalers total (output, roll, pitch).
+
+On the assumption that the two tail servos are physically reversed, the pitch
+input is inverted between the two servos.
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 1 2  -7000  -7000      0 -10000  10000
+S: 1 1  -8000  -8000      0 -10000  10000
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 1 2  -7000  -7000      0 -10000  10000
+S: 1 1   8000   8000      0 -10000  10000
+
+Motor speed mixer
+-----------------
+Two scalers total (output, thrust).
+
+This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
+range.  Inputs below zero are treated as zero.
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 1 3      0  20000 -10000 -10000  10000
+

ROMFS/px4fmu_test/mixers/vtol_convergence.main.mix

@@ -0,0 +1,32 @@
+# E-flite Convergence Tricopter Y-Configuration Mixer
+
+# Motors
+R: 3y 10000 10000 10000 0
+
+Z:
+
+Tilt mechanism servo mixer
+---------------------------
+#RIGHT up:2000 down:1000
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 1 4      0 -20000  10000 -10000  10000
+S: 0 2   8000   8000      0 -10000  10000
+
+#LEFT up:1000 down:2000
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 1 4      0  20000 -10000 -10000  10000
+S: 0 2   8000   8000      0 -10000  10000
+
+Elevon mixers
+-------------
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 1 0  -7500  -7500      0 -10000  10000
+S: 1 1   8000   8000      0 -10000  10000
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 1 0  -7500  -7500      0 -10000  10000
+S: 1 1  -8000  -8000      0 -10000  10000