Merge branch 'beta' into stable

2026-06-14 15:10:05 +08:00 · 2015-08-23 14:07:12 +02:00 · 2015-08-23 00:32:42 +02:00 · 2015-08-19 16:30:08 +02:00 · 2015-08-14 14:29:28 +02:00 · 2015-08-11 13:43:43 +02:00
2489 changed files with 122720 additions and 347373 deletions
@@ -1 +0,0 @@
--ignore-dir=Documentation
@@ -1,87 +0,0 @@
-Checks:          '*
-		,-cert-dcl50-cpp
-		,-cert-err34-c
-		,-cert-err58-cpp
-		,-cert-msc30-c
-		,-cert-msc50-cpp
-		,-clang-analyzer-core.CallAndMessage
-		,-clang-analyzer-core.NullDereference
-		,-clang-analyzer-core.UndefinedBinaryOperatorResult
-		,-clang-analyzer-core.uninitialized.Assign
-		,-clang-analyzer-core.VLASize
-		,-clang-analyzer-cplusplus.NewDelete
-		,-clang-analyzer-cplusplus.NewDeleteLeaks
-		,-clang-analyzer-deadcode.DeadStores
-		,-clang-analyzer-optin.cplusplus.VirtualCall
-		,-clang-analyzer-optin.performance.Padding
-		,-clang-analyzer-security.insecureAPI.strcpy
-		,-clang-analyzer-unix.API
-		,-clang-analyzer-unix.cstring.BadSizeArg
-		,-clang-analyzer-unix.Malloc
-		,-clang-analyzer-unix.MallocSizeof
-		,-cppcoreguidelines-c-copy-assignment-signature
-		,-cppcoreguidelines-interfaces-global-init
-		,-cppcoreguidelines-no-malloc
-		,-cppcoreguidelines-pro-bounds-array-to-pointer-decay
-		,-cppcoreguidelines-pro-bounds-constant-array-index
-		,-cppcoreguidelines-pro-bounds-pointer-arithmetic
-		,-cppcoreguidelines-pro-type-const-cast
-		,-cppcoreguidelines-pro-type-cstyle-cast
-		,-cppcoreguidelines-pro-type-member-init
-		,-cppcoreguidelines-pro-type-reinterpret-cast
-		,-cppcoreguidelines-pro-type-union-access
-		,-cppcoreguidelines-pro-type-vararg
-		,-cppcoreguidelines-special-member-functions
-		,-google-build-using-namespace
-		,-google-explicit-constructor
-		,-google-global-names-in-headers
-		,-google-readability-casting
-		,-google-readability-namespace-comments
-		,-google-readability-todo
-		,-google-runtime-int
-		,-google-runtime-references
-		,-llvm-header-guard
-		,-llvm-include-order
-		,-llvm-namespace-comment
-		,-misc-incorrect-roundings
-		,-misc-macro-parentheses
-		,-misc-misplaced-widening-cast
-		,-misc-redundant-expression
-		,-misc-unconventional-assign-operator
-		,-misc-unused-parameters
-		,-modernize-deprecated-headers
-		,-modernize-loop-convert
-		,-modernize-use-auto
-		,-modernize-use-bool-literals
-		,-modernize-use-default-member-init
-		,-modernize-use-emplace
-		,-modernize-use-equals-default
-		,-modernize-use-equals-delete
-		,-modernize-use-override
-		,-modernize-use-using
-		,-performance-inefficient-string-concatenation
-		,-readability-avoid-const-params-in-decls
-		,-readability-else-after-return
-		,-readability-implicit-bool-cast
-		,-readability-inconsistent-declaration-parameter-name
-		,-readability-non-const-parameter
-		,-readability-redundant-declaration
-		,-readability-redundant-member-init
-		,-readability-simplify-boolean-expr
-		'
-WarningsAsErrors: '*'
-CheckOptions:    
-  - key:             google-readability-braces-around-statements.ShortStatementLines
-    value:           '1'
-  - key:             google-readability-function-size.BranchThreshold
-    value:           '600'
-  - key:             google-readability-function-size.LineThreshold
-    value:           '4000'
-  - key:             google-readability-function-size.StatementThreshold
-    value:           '4000'
-  - key:             readability-braces-around-statements.ShortStatementLines
-    value:           '1'
-  - key:             readability-function-size.LineThreshold
-    value:           '4000'
-  - key:             readability-function-size.StatementThreshold
-    value:           '4000'
@@ -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.
@@ -1,33 +0,0 @@
-# How to install:
-#   gem install github_changelog_generator
-# How to run:
-#   github_changelog_generator -u PX4 -p Firmware
-# Description:
-#   The following params are sensible defaults for the PX4 project,
-#   if you want to do a changelog before a release you need to update since-tag and future-releases,
-
-# Params:
-#   github_changelog_generator --help for all options
-
-# max-issues
-#   max threshold for github api queries
-#   make sure you set your CHANGELOG_GITHUB_TOKEN before
-#   running
-max-issues=1500
-
-# exclude-tags-regex
-#   excludes release candidates
-exclude-tags-regex=rc[0-9]{1,}|beta[0-9]{1,}
-
-# since-tag
-#   version of last stable release
-#   you need to change this depending on what you need
-#   if you want a changelog between versions this is the lowest version
-since-tag=1.6.5
-
-# future-release
-#   version you are about to release
-#   if you want a changelog between a version and all unreleased changes grouped as a release
-#     eg: v1.6.5 to v1.7.0
-future-release=v1.7.0
-
@@ -1,6 +1,9 @@
+*.d
+!ROMFS/*/*.d
+!ROMFS/*/*/*.d
+!ROMFS/*/*/*/*.d
 *.dSYM
 *.o
-*.gch
 *.pyc
 *~
 .*.swp
@@ -12,18 +15,21 @@
 .settings
 .swp
 .~lock.*
-Testing/
-Packages/*
-s3deploy-branch/
-s3deploy-archive/
+Archives/*
+Build/*
 build/*
-build_*/
 core
 cscope.out
-cscope.in.out
-cscope.po.out
 Firmware.sublime-workspace
-user.sublime*
+Images/*.bin
+Images/*.px4
+mavlink/include/mavlink/v0.9/
+/nuttx-configs/px4io-v2/src/.depend
+/nuttx-configs/px4io-v2/src/Make.dep
+/nuttx-configs/px4io-v2/src/libboard.a
+/nuttx-configs/px4io-v1/src/.depend
+/nuttx-configs/px4io-v1/src/Make.dep
+/nuttx-configs/px4io-v1/src/libboard.a
 /Documentation/doxy.log
 /Documentation/html/
 /Documentation/doxygen*objdb*tmp
@@ -37,37 +43,9 @@ src/modules/uORB/topics/*
 src/platforms/nuttx/px4_messages/*
 src/platforms/ros/px4_messages/*
 Firmware.zip
+unittests/build
 *.generated.h
 .vagrant
 *.pretty
 xcode
-src/platforms/posix/px4_messages/
-src/platforms/posix-arm/px4_messages/
-src/platforms/qurt/px4_messages/
 ROMFS/*/*/rc.autostart
-rootfs/
-*.autosave
-CMakeLists.txt.user
-GPATH
-GRTAGS
-GTAGS
-*.creator
-*.creator.user
-*.files
-*.includes
-
-# CLion ignores
-.idea
-cmake-build-*/
-
-.vscode
-
-posix-configs/SITL/init/test/*_generated
-
-/airframes.md
-/airframes.xml
-/parameters.md
-/parameters.xml
-/modules
-
-*.gcov
@@ -1,61 +1,21 @@
 [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
-	branch = master
-[submodule "src/modules/uavcan/libuavcan"]
-	path = src/modules/uavcan/libuavcan
-	url = https://github.com/UAVCAN/libuavcan.git
+	url = git://github.com/mavlink/c_library.git
+[submodule "NuttX"]
+	path = NuttX
+	url = git://github.com/PX4/NuttX.git
+[submodule "libuavcan"]
+	path = src/lib/uavcan
+	url = git://github.com/UAVCAN/libuavcan.git
 [submodule "Tools/genmsg"]
-	path = msg/tools/genmsg
+	path = Tools/genmsg
 	url = https://github.com/ros/genmsg.git
 [submodule "Tools/gencpp"]
-	path = msg/tools/gencpp
+	path = Tools/gencpp
 	url = https://github.com/ros/gencpp.git
-[submodule "Tools/jMAVSim"]
-	path = Tools/jMAVSim
-	url = https://github.com/PX4/jMAVSim.git
-	branch = master
-[submodule "Tools/sitl_gazebo"]
-	path = Tools/sitl_gazebo
-	url = https://github.com/PX4/sitl_gazebo.git
-	branch = master
-[submodule "src/lib/matrix"]
-	path = src/lib/matrix
-	url = https://github.com/PX4/Matrix.git
-	branch = master
-[submodule "src/lib/DriverFramework"]
-	path = src/lib/DriverFramework
-	url = https://github.com/PX4/DriverFramework.git
-	branch = master
-[submodule "src/lib/ecl"]
-	path = src/lib/ecl
-	url = https://github.com/PX4/ecl.git
-	branch = master
-[submodule "cmake/cmake_hexagon"]
-	path = cmake/cmake_hexagon
-	url = https://github.com/ATLFlight/cmake_hexagon
-	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"]
-	path = src/modules/micrortps_bridge/micro-CDR
-	url = https://github.com/eProsima/micro-CDR.git
-	branch = master
-[submodule "platforms/nuttx/NuttX/nuttx"]
-	path = platforms/nuttx/NuttX/nuttx
-	url = https://github.com/PX4-NuttX/nuttx.git
-	branch = px4_firmware_nuttx-7.22+
-[submodule "platforms/nuttx/NuttX/apps"]
-	path = platforms/nuttx/NuttX/apps
-	url = https://github.com/PX4-NuttX/apps.git
-	branch = px4_firmware_nuttx-7.22+
-[submodule "cmake/configs/uavcan_board_ident"]
-	path = cmake/configs/uavcan_board_ident
-	url = https://github.com/PX4/uavcan_board_ident.git
-	branch = master
+[submodule "unittests/gtest"]
+	path = unittests/gtest
+	url = https://github.com/sjwilks/gtest.git
+[submodule "src/lib/eigen"]
+	path = src/lib/eigen
+	url = https://github.com/PX4/eigen.git
@@ -1,62 +1,108 @@
 # Build and autotest script for PX4 Firmware
 # http://travis-ci.org

-sudo: required
-
-services:
-  - docker
-
 language: cpp

-git:
-  depth: 2000
-  submodules: false
+# use travis-ci docker based infrastructure
+sudo: false
+
+cache:
+  directories:
+    - $HOME/.ccache
+
+addons:
+  apt:
+    sources:
+    - ubuntu-toolchain-r-test
+    packages:
+    - build-essential
+    - ccache
+    - cmake
+    - g++-4.8
+    - gcc-4.8
+    - genromfs
+    - libc6-i386
+    - libncurses5-dev
+    - python-argparse
+    - python-empy
+    - python-serial
+    - s3cmd
+    - texinfo
+    - zlib1g-dev
+
+before_script:
+  - if [ "$CXX" = "g++" ]; then export CXX="g++-4.8" CC="gcc-4.8"; fi
+# General toolchain dependencies
+  - pushd .
+  - cd ~
+  - wget https://launchpadlibrarian.net/186124160/gcc-arm-none-eabi-4_8-2014q3-20140805-linux.tar.bz2
+  - tar -jxf gcc-arm-none-eabi-4_8-2014q3-20140805-linux.tar.bz2
+  - exportline="export PATH=$HOME/gcc-arm-none-eabi-4_8-2014q3/bin:\$PATH"
+  - if grep -Fxq "$exportline" ~/.profile; then echo nothing to do ; else echo $exportline >> ~/.profile; fi
+  - . ~/.profile
+  - popd
+# setup ccache
+  - mkdir -p ~/bin
+  - ln -s /usr/bin/ccache ~/bin/arm-none-eabi-g++
+  - ln -s /usr/bin/ccache ~/bin/arm-none-eabi-gcc
+  - ln -s /usr/bin/ccache ~/bin/g++-4.8
+  - ln -s /usr/bin/ccache ~/bin/gcc-4.8
+  - export PATH=~/bin:$PATH

 env:
  global:
-    # COVERITY_SCAN_TOKEN
-    - secure: "Q4IAcmo1r5cr/UvhcixQa6QN5e5eTcP7FeidzEbX2+BA38yo2BH5O9YQCvZe2AI1Na8ZCjVx3H2luGgDwOKgzAIAjXjZ2KbmXYc6Ns/j/BXScY05dCCzYEhXKD98NZxIKH9lLN9pYDGRA8pChGRJnVlFOr1JHHHnB801+osHy7M="
-    # AWS KEY: $PX4_AWS_KEY
+# AWS KEY: $PX4_AWS_KEY
    - secure: "XknnZHWBbpHbN4f3fuAVwUztdLIu8ej4keC3aQSDofo3uw8AFEzojfsQsN9u77ShWSIV4iYJWh9C9ALkCx7TocJ+xYjiboo10YhM9lH/8u+EXjYWG6GHS8ua0wkir+cViSxoLNaMtmcb/rPTicJecAGANxLsIHyBAgTL3fkbLSA="
-    # AWS SECRET: $PX4_AWS_SECRET
+# AWS SECRET: $PX4_AWS_SECRET
    - secure: "h6oajlW68dWIr+wZhO58Dv6e68dZHrBLVA6lPXZmheFQBW6Xam1HuLGA0LOW6cL9TnrAsOZ8g4goB58eMQnMEijFZKi3mhRwZhd/Xjq/ZGJOWBUrLoQHZUw2dQk5ja5vmUlKEoQnFZjDuMjx8KfX5ZMNy8A3yssWZtJYHD8c+bk="
-
-matrix:
-  fast_finish: true
-  include:
-    - env: BUILD_TARGET=coverity_scan
-      dist: trusty
-      if: branch = coverity_scan
-  allow_failures:
-    - env: BUILD_TARGET=tests_coverage
-
-cache:
-  ccache: true
-
-before_install:
-  # install dependencies for the coverity build (target and branch), otherwise exit early
-  - if [[ "${TRAVIS_BRANCH}" = "coverity_scan" ]]; then
-      sudo pip install empy jinja2 numpy toml;
-      echo -n | openssl s_client -connect scan.coverity.com:443 | sed -ne '/-BEGIN CERTIFICATE-/,/-END CERTIFICATE-/p' | sudo tee -a /etc/ssl/certs/ca-;
-    fi
-  # use git:// to fetch instead of https://
-  - git config --global url."git://".insteadOf https://
+    - PX4_AWS_BUCKET=px4-travis

 script:
-  - ./Tools/docker_run.sh make ${BUILD_TARGET}
+  - ccache -z
+  - arm-none-eabi-gcc --version
+  - echo 'Running Tests..' && echo -en 'travis_fold:start:script.1\\r'
+  - make tests
+  - cat src/modules/systemlib/mixer/mixer_multirotor.generated.h
+  - echo -en 'travis_fold:end:script.1\\r'
+  - echo 'Building NuttX..' && echo -en 'travis_fold:start:script.2\\r'
+  - make archives
+  - ccache -s
+  - echo -en 'travis_fold:end:script.2\\r'
+  - echo 'Building Firmware..' && echo -en 'travis_fold:start:script.3\\r'
+  - make -j4
+  - ccache -s
+  - echo -en 'travis_fold:end:script.3\\r'
+  - zip Firmware.zip Images/*.px4

-after_success:
-  # upload code coverage
-  - if [ "${TRAVIS_PULL_REQUEST}" = "false" ]; then
-      [ "${BUILD_TARGET}" = "tests_coverage" ] && bash <(curl -s https://codecov.io/bash) -F unittests;
-    fi
+after_script:
+  - git clone git://github.com/PX4/CI-Tools.git
+  - ./CI-Tools/s3cmd-configure
+# upload newest build for this branch with s3 index
+  - ./CI-Tools/s3cmd-put Images/px4*.px4 CI-Tools/directory/index.html Firmware/$TRAVIS_BRANCH/
+# archive newest build by date with s3 index
+  - ./CI-Tools/s3cmd-put Firmware.zip archives/Firmware/$TRAVIS_BRANCH/$TRAVIS_BUILD_ID/
+  - ./CI-Tools/s3cmd-put CI-Tools/directory/index.html archives/Firmware/$TRAVIS_BRANCH/
+# upload top level index.html and timestamp.html
+  - ./CI-Tools/s3cmd-put CI-Tools/index.html index.html
+  - ./CI-Tools/s3cmd-put CI-Tools/timestamp.html timestamp.html
+  - echo ""
+  - echo "Binaries have been posted to:"
+  - echo https://px4-travis.s3.amazonaws.com/archives/Firmware/$TRAVIS_BRANCH/$TRAVIS_BUILD_ID/Firmware.zip

-addons:
-  coverity_scan:
-    project:
-      name: "PX4/Firmware"
-      description: "Build submitted via Travis CI"
-    notification_email: ci@px4.io
-    build_command_prepend: "make distclean"
-    build_command: "make posix_sitl_default"
-    branch_pattern: coverity_scan
+deploy:
+  provider: releases
+  api_key:
+    secure: cdHWLRBxA5UlYpOS0Sp891QK7PFmMgQ5ZWs1aPt+sw0rIrowyWMHCwXNBEdUqaExHYNYgXCUDI0EzNgfB7ZcR63Qv1MQeoyamV4jsxlyAqDqmxNtWO82S6RhHGeMLk26VgFKzynVcEk1IYlQP2nqzMQLdu+jTrngERuAIrCdRuc=
+  file: "Firmware.zip"
+  skip_cleanup: true
+  on:
+    tags: true
+    all_branches: true
+    repo: PX4/Firmware
+
+notifications:
+  webhooks:
+    urls:
+      - https://webhooks.gitter.im/e/2b9c4a4cb2211f8befba
+    on_success: always  # options: [always|never|change] default: always
+    on_failure: always  # options: [always|never|change] default: always
@@ -61,6 +61,7 @@ flags = [
 'c++',
 '-undef', # get rid of standard definitions to allow us to include arm math header
 '-I', os.path.join(os.path.expanduser("~"),'gcc-arm-none-eabi-4_7-2013q3/arm-none-eabi/include'),
+'-I', 'Build/px4io-v1_default.build/nuttx-export/include/',
 '-I', 'Build/px4io-v2_default.build/nuttx-export/include/',
 '-I', './NuttX/nuttx/arch/arm/include',
 '-include', './src/include/visibility.h',
@@ -1,467 +1,331 @@
-############################################################################
-#
-# Copyright (c) 2017 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.
-#
-############################################################################
-
-#=============================================================================
-# CMAKE CODING STANDARD FOR PX4
-#
-# Structure
-# ---------------------------------------------------------------------------
-#
-# * Common functions should be included in px_base.cmake.
-#
-# * OS/ board specific fucntions should be include in
-#	px_impl_${OS}.cmake or px4_impl_${OS}_${BOARD}.cmake.
-#
-# Formatting
-# ---------------------------------------------------------------------------
-#
-# * Use hard indents to match the px4 source code.
-#
-# * All function and script arguments are upper case.
-#
-# * All local variables are lower case.
-#
-# * All cmake functions are lowercase.
-#
-# * For else, endif, endfunction, etc, never put the name of the statement
-#
-# Functions/Macros
-# ---------------------------------------------------------------------------
-#
-# * Use px4_parse_function_args to parse functions and check for required
-#   arguments. Unless there is only one argument in the function and it is clear.
-#
-# * Never use macros. They allow overwriting global variables and this
-#	makes variable declarations hard to locate.
-#
-# * If a target from add_custom_* is set in a function, explicitly pass it
-#	as an output argument so that the target name is clear to the user.
-#
-# * Avoid use of global variables in functions. Functions in a nested
-#	scope may use global variables, but this makes it difficult to
-#	resuse functions.
-#
-# Included CMake Files
-# ---------------------------------------------------------------------------
-#
-# * All variables in config files must have the prefix "config_".
-#
-# * Never set global variables in an included cmake file,
-#	you may only define functions. This excludes config and Toolchain files.
-#	This makes it clear to the user when variables are being set or targets
-#	are being created.
-#
-# * Setting a global variable in a CMakeLists.txt file is ok, because
-#	each CMakeLists.txt file has scope in the current directory and all
-#	subdirectories, so it is not truly global.
-#
-# * All toolchain files should be included in the cmake
-#	directory and named Toolchain-"name".cmake.
-#
-# Misc
-# ---------------------------------------------------------------------------
-#
-# * If referencing a string variable, don't put it in quotes.
-#	Don't do "${OS}" STREQUAL "posix",
-#	instead type ${OS} STREQUAL "posix". This will throw an
-#	error when ${OS} is not defined instead of silently
-#	evaluating to false.
-#
-#=============================================================================
-
-# Warning: Changing this modifies CMake's internal workings
-# and leads to wrong toolchain detection
-cmake_minimum_required(VERSION 3.2 FATAL_ERROR)
-
-set(PX4_SOURCE_DIR "${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)
-
-#=============================================================================
-# git
-#
-include(common/px4_git)
-
-execute_process(
-	COMMAND git describe --always --tags
-	OUTPUT_VARIABLE git_tag
-	OUTPUT_STRIP_TRAILING_WHITESPACE
-	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"
-                 FULL_DOCS "List of all PX4 module libraries"
-                 )
-
-#=============================================================================
-# configuration
-#
-
-set(CONFIG "posix_sitl_default" CACHE STRING "desired configuration")
-
-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 ${configs})
-
-set(THREADS "4" CACHE STRING "number of threads to use for external build processes")
-set(DEBUG_PORT "/dev/ttyACM0" CACHE STRING "debugging port")
-set(EXTERNAL_MODULES_LOCATION "" CACHE STRING "External modules source location")
-
-if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
-	get_filename_component(EXTERNAL_MODULES_LOCATION "${EXTERNAL_MODULES_LOCATION}" ABSOLUTE)
-endif()
-
-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(${config_module})
-
-include(common/coverage)
-include(common/sanitizers)
-
-# CMake build type
-# Debug Release RelWithDebInfo MinSizeRel Coverage
-if (NOT CMAKE_BUILD_TYPE)
-	if (${OS} STREQUAL "nuttx")
-		set(PX4_BUILD_TYPE "MinSizeRel")
-	elseif (${OS} STREQUAL "bebop")
-		set(PX4_BUILD_TYPE "MinSizeRel")
-	else()
-		set(PX4_BUILD_TYPE "RelWithDebInfo")
-	endif()
-
-	set(CMAKE_BUILD_TYPE ${PX4_BUILD_TYPE} CACHE STRING "Build type" FORCE)
-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 "Build Type: ${CMAKE_BUILD_TYPE}")
-
-#=============================================================================
-# project definition
-#
-project(px4 CXX C ASM)
-
-set(package-contact "px4users@googlegroups.com")
-
-#=============================================================================
-
-# 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")
-
-	# Define GNU standard installation directories
-	include(GNUInstallDirs)
-
-	if (NOT CMAKE_INSTALL_PREFIX)
-		set(CMAKE_INSTALL_PREFIX "/usr" CACHE PATH "Install path prefix" FORCE)
-	endif()
-
-	# cmake testing only on posix
-	enable_testing()
-	include(CTest)
-endif()
-
-#=============================================================================
-# require px4 module interface
-set(px4_required_interface
-	px4_os_prebuild_targets
-	px4_os_add_flags
-	)
-foreach(cmd ${px4_required_interface})
-	if (NOT COMMAND ${cmd})
-		message(FATAL_ERROR "${config_module} 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 ${conf}")
-	endif()
-endforeach()
-
-# force static lib build
-set(BUILD_SHARED_LIBS OFF)
-
-#=============================================================================
-# ccache
-#
-option(CCACHE "Use ccache if available" ON)
-find_program(CCACHE_PROGRAM ccache)
-if (CCACHE AND CCACHE_PROGRAM AND NOT DEFINED ENV{CCACHE_DISABLE})
-	set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE "${CCACHE_PROGRAM}")
-else()
-endif()
-
-#=============================================================================
-# find programs and packages
-#
-
-# see if catkin was invoked to build this
-if (CATKIN_DEVEL_PREFIX)
-	message(STATUS "catkin ENABLED")
-	find_package(catkin REQUIRED)
-	if (catkin_FOUND)
-		catkin_package()
-	else()
-		message(FATAL_ERROR "catkin not found")
-	endif()
-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})
-		message(FATAL_ERROR "Toolchain/config must define ${var}")
-	endif()
-endforeach()
-
-# print full c compiler version
-execute_process(COMMAND ${CMAKE_C_COMPILER} --version
-		OUTPUT_VARIABLE c_compiler_version
-		OUTPUT_STRIP_TRAILING_WHITESPACE
-		)
-STRING(REGEX MATCH "[^\n]*" c_compiler_version_short ${c_compiler_version})
-message(STATUS "C compiler: ${c_compiler_version_short}")
-
-# print full c++ compiler version
-execute_process(COMMAND ${CMAKE_CXX_COMPILER} --version
-		OUTPUT_VARIABLE cxx_compiler_version
-		OUTPUT_STRIP_TRAILING_WHITESPACE
-		)
-STRING(REGEX MATCH "[^\n]*" cxx_compiler_version_short ${cxx_compiler_version})
-message(STATUS "C++ compiler: ${cxx_compiler_version_short}")
-
-#=============================================================================
-# external libraries
-#
-px4_os_prebuild_targets(OUT prebuild_targets
-	BOARD ${BOARD}
-	THREADS ${THREADS})
-
-#=============================================================================
-# build flags
-#
-px4_os_add_flags(
-	BOARD ${BOARD}
-	C_FLAGS c_flags
-	CXX_FLAGS cxx_flags
-	OPTIMIZATION_FLAGS optimization_flags
-	EXE_LINKER_FLAGS exe_linker_flags
-	INCLUDE_DIRS include_dirs
-	LINK_DIRS link_dirs
-	DEFINITIONS definitions)
-
-px4_join(OUT CMAKE_EXE_LINKER_FLAGS LIST "${CMAKE_EXE_LINKER_FLAGS};${exe_linker_flags}" GLUE " ")
-px4_join(OUT CMAKE_C_FLAGS LIST "${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)
-
-px4_generate_airframes_xml(BOARD ${BOARD})
-
-#=============================================================================
-# DriverFramework
-#
-
-px4_add_git_submodule(TARGET git_driverframework PATH "src/lib/DriverFramework")
-
-# List the DriverFramework drivers
-if (DEFINED config_df_driver_list)
-	message("DF Drivers: ${config_df_driver_list}")
-endif()
-
-set(df_driver_libs)
-foreach(driver ${config_df_driver_list})
-	add_subdirectory(src/lib/DriverFramework/drivers/${driver})
-	list(APPEND df_driver_libs df_${driver})
-	message("Adding DF driver: ${driver}")
-endforeach()
-
-#=============================================================================
-# external projects
-#
-
-set(ep_base ${PX4_BINARY_DIR}/external)
-set_property(DIRECTORY PROPERTY EP_BASE ${ep_base})
-
-# add external project install folders to build
-link_directories(${ep_base}/Install/lib)
-include_directories(${ep_base}/Install/include)
-# add the directories so cmake won't warn
-execute_process(COMMAND cmake -E make_directory ${ep_base}/Install/lib)
-execute_process(COMMAND cmake -E make_directory ${ep_base}/Install/include)
-
-#=============================================================================
-# external modules
-#
-set(external_module_paths)
-if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
-	message(STATUS "External modules: ${EXTERNAL_MODULES_LOCATION}")
-	add_subdirectory("${EXTERNAL_MODULES_LOCATION}/src" external_modules)
-
-	foreach(external_module ${config_module_list_external})
-		add_subdirectory(${EXTERNAL_MODULES_LOCATION}/src/${external_module} external_modules/${external_module})
-		list(APPEND external_module_paths ${EXTERNAL_MODULES_LOCATION}/src/${external_module})
-	endforeach()
-endif()
-
-#=============================================================================
-# subdirectories
-#
-foreach(module ${config_module_list})
-	add_subdirectory(src/${module})
-endforeach()
-
-add_subdirectory(platforms/${OS})
-
-#=============================================================================
-# generate custom target to print for all executable and module cmake targets
-#
-if (all_posix_cmake_targets)
-	list(SORT all_posix_cmake_targets)
-	px4_join(OUT posix_cmake_target_list LIST ${all_posix_cmake_targets} GLUE "\\n")
-	add_custom_target(list_cmake_targets
-		COMMAND sh -c "printf \"${posix_cmake_target_list}\\n\""
-		COMMENT "List of cmake targets that can be matched by PX4_NO_OPTIMIZATION:"
-		VERBATIM
-		)
-endif()
-
-
-#=============================================================================
-# uORB graph generation: add a custom target 'uorb_graph'
-#
-set(uorb_graph_config ${BOARD})
-
-set(graph_module_list "")
-foreach(module ${config_module_list})
-	set(graph_module_list "${graph_module_list}" "--src-path" "src/${module}")
-endforeach()
-
-add_custom_command(OUTPUT ${uorb_graph_config}
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/uorb_graph/create.py
-		${module_list}
-		--exclude-path src/examples
-		--file ${PX4_SOURCE_DIR}/Tools/uorb_graph/graph_${uorb_graph_config}
-	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
-	COMMENT "Generating uORB graph"
+cmake_minimum_required(VERSION 2.8.3)
+project(px4)
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+add_definitions(-D__PX4_ROS)
+add_definitions(-D__EXPORT=)
+add_definitions(-DMAVLINK_DIALECT=common)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  std_msgs
+  geometry_msgs
+  message_generation
+  cmake_modules
+  gazebo_msgs
+  sensor_msgs
+  mav_msgs
+  libmavconn
+  tf
 )
-add_custom_target(uorb_graph DEPENDS ${uorb_graph_config})
+find_package(Eigen REQUIRED)

-#=============================================================================
-# packaging
-#
-# Important to having packaging at end of cmake file.
-#
-set(CPACK_PACKAGE_NAME ${PROJECT_NAME}-${CONFIG})
-set(CPACK_PACKAGE_VERSION ${git_version})
-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 ${short-description})
-set(CPACK_GENERATOR "ZIP")
-set(CPACK_PACKAGE_FILE_NAME "${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")
-	find_program(DPKG_PROGRAM dpkg)
-	if (EXISTS ${DPKG_PROGRAM})
-		list (APPEND CPACK_GENERATOR "DEB")
-	endif()
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependencies might have been
+##     pulled in transitively but can be declared for certainty nonetheless:
+##     * add a build_depend tag for "message_generation"
+##     * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+add_message_files(
+  FILES
+  rc_channels.msg
+  vehicle_attitude.msg
+  vehicle_attitude_setpoint.msg
+  manual_control_setpoint.msg
+  actuator_controls.msg
+  actuator_controls_0.msg
+  actuator_controls_virtual_mc.msg
+  vehicle_rates_setpoint.msg
+  mc_virtual_rates_setpoint.msg
+  vehicle_attitude.msg
+  vehicle_control_mode.msg
+  actuator_armed.msg
+  parameter_update.msg
+  vehicle_status.msg
+  vehicle_local_position.msg
+  position_setpoint.msg
+  position_setpoint_triplet.msg
+  vehicle_local_position_setpoint.msg
+  vehicle_global_velocity_setpoint.msg
+  offboard_control_mode.msg
+  vehicle_force_setpoint.msg
+)
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+generate_messages(
+  DEPENDENCIES
+  std_msgs
+  gazebo_msgs
+)
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+  INCLUDE_DIRS src/include
+  LIBRARIES px4
+  CATKIN_DEPENDS message_runtime roscpp rospy std_msgs libmavconn
+  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+  src/platforms
+  src/platforms/ros/px4_messages
+  src/include
+  src/modules
+  src/
+  src/lib
+  ${EIGEN_INCLUDE_DIRS}
+  integrationtests
+)
+
+## generate multiplatform wrapper headers
+## note that the message header files are generated as in any ROS project with generate_messages()
+set(MULTIPLATFORM_HEADER_DIR ${CMAKE_CURRENT_SOURCE_DIR}/src/platforms/ros/px4_messages)
+set(MULTIPLATFORM_TEMPLATE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/msg/templates/px4/ros)
+set(TOPICHEADER_TEMP_DIR ${CMAKE_BINARY_DIR}/topics_temporary)
+set(MULTIPLATFORM_PREFIX px4_)
+add_custom_target(multiplatform_message_headers ALL ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/Tools/px_generate_uorb_topic_headers.py
+	-d ${CMAKE_CURRENT_SOURCE_DIR}/msg -o ${MULTIPLATFORM_HEADER_DIR} -e ${MULTIPLATFORM_TEMPLATE_DIR}
+	-t ${TOPICHEADER_TEMP_DIR} -p ${MULTIPLATFORM_PREFIX})
+
+## Declare a cpp library
+add_library(px4
+  src/platforms/ros/px4_ros_impl.cpp
+  src/platforms/ros/perf_counter.cpp
+  src/platforms/ros/geo.cpp
+  src/lib/mathlib/math/Limits.cpp
+  src/modules/systemlib/circuit_breaker.cpp
+)
+add_dependencies(px4 ${PROJECT_NAME}_generate_messages_cpp multiplatform_message_headers)
+
+target_link_libraries(px4
+  ${catkin_LIBRARIES}
+)
+
+## Declare a test publisher
+add_executable(publisher
+	src/examples/publisher/publisher_main.cpp
+	src/examples/publisher/publisher_example.cpp)
+add_dependencies(publisher ${PROJECT_NAME}_generate_messages_cpp multiplatform_message_headers)
+target_link_libraries(publisher
+  ${catkin_LIBRARIES}
+  px4
+)
+
+## Declare a test subscriber
+add_executable(subscriber
+	src/examples/subscriber/subscriber_main.cpp
+	src/examples/subscriber/subscriber_example.cpp)
+add_dependencies(subscriber ${PROJECT_NAME}_generate_messages_cpp multiplatform_message_headers)
+target_link_libraries(subscriber
+  ${catkin_LIBRARIES}
+  px4
+)
+
+## MC Attitude Control
+add_executable(mc_att_control
+	src/modules/mc_att_control_multiplatform/mc_att_control_main.cpp
+	src/modules/mc_att_control_multiplatform/mc_att_control.cpp
+	src/modules/mc_att_control_multiplatform/mc_att_control_base.cpp)
+add_dependencies(mc_att_control ${PROJECT_NAME}_generate_messages_cpp_cpp)
+target_link_libraries(mc_att_control
+  ${catkin_LIBRARIES}
+  px4
+)
+
+## MC Position Control
+add_executable(mc_pos_control
+	src/modules/mc_pos_control_multiplatform/mc_pos_control_main.cpp
+	src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp)
+add_dependencies(mc_pos_control ${PROJECT_NAME}_generate_messages_cpp_cpp)
+target_link_libraries(mc_pos_control
+  ${catkin_LIBRARIES}
+  px4
+)
+
+## Attitude Estimator dummy
+add_executable(attitude_estimator
+	src/platforms/ros/nodes/attitude_estimator/attitude_estimator.cpp)
+add_dependencies(attitude_estimator ${PROJECT_NAME}_generate_messages_cpp_cpp)
+target_link_libraries(attitude_estimator
+  ${catkin_LIBRARIES}
+  px4
+)
+
+## Position Estimator dummy
+add_executable(position_estimator
+	src/platforms/ros/nodes/position_estimator/position_estimator.cpp)
+add_dependencies(position_estimator ${PROJECT_NAME}_generate_messages_cpp_cpp)
+target_link_libraries(position_estimator
+  ${catkin_LIBRARIES}
+  px4
+)
+
+## Manual input
+add_executable(manual_input
+	src/platforms/ros/nodes/manual_input/manual_input.cpp)
+add_dependencies(manual_input ${PROJECT_NAME}_generate_messages_cpp_cpp)
+target_link_libraries(manual_input
+  ${catkin_LIBRARIES}
+  px4
+)
+
+## Multicopter Mixer dummy
+add_executable(mc_mixer
+  src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp)
+add_dependencies(mc_mixer ${PROJECT_NAME}_generate_messages_cpp_cpp)
+target_link_libraries(mc_mixer
+  ${catkin_LIBRARIES}
+  px4
+)
+
+## Commander dummy
+add_executable(commander
+	src/platforms/ros/nodes/commander/commander.cpp)
+add_dependencies(commander ${PROJECT_NAME}_generate_messages_cpp_cpp)
+target_link_libraries(commander
+  ${catkin_LIBRARIES}
+  px4
+)
+
+## Mavlink dummy
+add_executable(mavlink
+	src/platforms/ros/nodes/mavlink/mavlink.cpp)
+add_dependencies(mavlink ${PROJECT_NAME}_generate_messages_cpp_cpp)
+target_link_libraries(mavlink
+  ${catkin_LIBRARIES}
+  px4
+)
+
+## Offboard Position Setpoint Demo
+add_executable(demo_offboard_position_setpoints
+	src/platforms/ros/nodes/demo_offboard_position_setpoints/demo_offboard_position_setpoints.cpp)
+add_dependencies(demo_offboard_position_setpoints ${PROJECT_NAME}_generate_messages_cpp_cpp)
+target_link_libraries(demo_offboard_position_setpoints
+  ${catkin_LIBRARIES}
+  px4
+)
+
+## Offboard Attitude Setpoint Demo
+add_executable(demo_offboard_attitude_setpoints
+	src/platforms/ros/nodes/demo_offboard_attitude_setpoints/demo_offboard_attitude_setpoints.cpp)
+add_dependencies(demo_offboard_attitude_setpoints ${PROJECT_NAME}_generate_messages_cpp_cpp)
+target_link_libraries(demo_offboard_attitude_setpoints
+  ${catkin_LIBRARIES}
+  px4
+)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+install(TARGETS ${PROJECT_NAME}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_px4test.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
+
+if(CATKIN_ENABLE_TESTING)
+  find_package(rostest REQUIRED)
+  add_rostest(integrationtests/demo_tests/direct_tests.launch)
+  add_rostest(integrationtests/demo_tests/mavros_tests.launch)
 endif()
-include(CPack)

-# vim: set noet fenc=utf-8 ff=unix ft=cmake :
+
@@ -1,46 +0,0 @@
-# Contributor Covenant Code of Conduct
-
-## Our Pledge
-
-In the interest of fostering an open and welcoming environment, we as contributors and maintainers pledge to making participation in our project and our community a harassment-free experience for everyone, regardless of age, body size, disability, ethnicity, gender identity and expression, level of experience, nationality, personal appearance, race, religion, or sexual identity and orientation.
-
-## Our Standards
-
-Examples of behavior that contributes to creating a positive environment include:
-
-* Using welcoming and inclusive language
-* Being respectful of differing viewpoints and experiences
-* Gracefully accepting constructive criticism
-* Focusing on what is best for the community
-* Showing empathy towards other community members
-
-Examples of unacceptable behavior by participants include:
-
-* The use of sexualized language or imagery and unwelcome sexual attention or advances
-* Trolling, insulting/derogatory comments, and personal or political attacks
-* Public or private harassment
-* Publishing others' private information, such as a physical or electronic address, without explicit permission
-* Other conduct which could reasonably be considered inappropriate in a professional setting
-
-## Our Responsibilities
-
-Project maintainers are responsible for clarifying the standards of acceptable behavior and are expected to take appropriate and fair corrective action in response to any instances of unacceptable behavior.
-
-Project maintainers have the right and responsibility to remove, edit, or reject comments, commits, code, wiki edits, issues, and other contributions that are not aligned to this Code of Conduct, or to ban temporarily or permanently any contributor for other behaviors that they deem inappropriate, threatening, offensive, or harmful.
-
-## Scope
-
-This Code of Conduct applies both within project spaces and in public spaces when an individual is representing the project or its community. Examples of representing a project or community include using an official project e-mail address, posting via an official social media account, or acting as an appointed representative at an online or offline event. Representation of a project may be further defined and clarified by project maintainers.
-
-## Enforcement
-
-Instances of abusive, harassing, or otherwise unacceptable behavior may be reported by contacting the project team at lorenz@px4.io. The project team will review and investigate all complaints, and will respond in a way that it deems appropriate to the circumstances. The project team is obligated to maintain confidentiality with regard to the reporter of an incident. Further details of specific enforcement policies may be posted separately.
-
-Project maintainers who do not follow or enforce the Code of Conduct in good faith may face temporary or permanent repercussions as determined by other members of the project's leadership.
-
-## Attribution
-
-This Code of Conduct is adapted from the [Contributor Covenant][homepage], version 1.4, available at [http://contributor-covenant.org/version/1/4][version]
-
-[homepage]: http://contributor-covenant.org
-[version]: http://contributor-covenant.org/version/1/4/
@@ -16,7 +16,7 @@ git checkout -b mydescriptivebranchname

 ### Edit and build the code

-The [developer guide](http://dev.px4.io/) explains how to set up the development environment on Mac OS, Linux or Windows. Please take note of our [coding style](http://px4.io/dev/code_style) when editing files.
+The [developer guide](http://px4.io/dev/start) explains how to set up the development environment on Mac OS, Linux or Windows. Please take note of our [coding style](http://px4.io/dev/code_style) when editing files.

 ### Commit your changes

@@ -1,15 +0,0 @@
-## This file should be placed in the root directory of your project.
-## Then modify the CMakeLists.txt file in the root directory of your
-## project to incorporate the testing dashboard.
-##
-## # The following are required to submit to the CDash dashboard:
-##   ENABLE_TESTING()
-##   INCLUDE(CTest)
-
-set(CTEST_PROJECT_NAME "PX4 Firmware")
-set(CTEST_NIGHTLY_START_TIME "00:00:00 EST")
-
-set(CTEST_DROP_METHOD "http")
-set(CTEST_DROP_SITE "my.cdash.org")
-set(CTEST_DROP_LOCATION "/submit.php?project=PX4+Firmware")
-set(CTEST_DROP_SITE_CDASH TRUE)
@@ -1,8 +1,8 @@
 #
 # Various PX4-specific macros
 #
-source platforms/nuttx/Debug/NuttX
-source platforms/nuttx/Debug/ARMv7M
+source Debug/NuttX
+source Debug/ARMv7M

 echo Loading PX4 GDB macros.  Use 'help px4' for more information.\n

@@ -10,4 +10,4 @@ attach 1
 monitor vector_catch disable hard
 set mem inaccessible-by-default off
 set print pretty
-source platforms/nuttx/Debug/PX4
+source Debug/PX4
@@ -2,7 +2,7 @@
 # To run type openocd -f mavprogram.cfg

 source [find interface/olimex-arm-usb-ocd-h.cfg]
-source [find px4fmu-board.cfg]
+source [find px4fmu-v1-board.cfg]

 init
 halt
@@ -15,7 +15,7 @@ mon poll
 mon cortex_m maskisr auto
 set mem inaccessible-by-default off
 set print pretty
-source platforms/nuttx/Debug/PX4
+source Debug/PX4

 echo PX4 resumed, press ctrl-c to interrupt\n
 continue
@@ -1,20 +1,12 @@
 #!/bin/bash
 #
-# Author: Pavel Kirienko <pavel.kirienko@zubax.com>
-#
 # Poor man's sampling profiler for NuttX.
 #
 # Usage: Install flamegraph.pl in your PATH, configure your .gdbinit, run the script with proper arguments and go
 #        have a coffee. When you're back, you'll see the flamegraph. Note that frequent calls to GDB significantly
 #        interfere with normal operation of the target, which means that you can't profile real-time tasks with it.
-#        For best results, ensure that the PC is not overloaded, the USB host controller to which the debugger is
-#        connected is not congested. You should also allow the current user to set negative nice values.
 #
-# The FlameGraph script can be downloaded from https://github.com/brendangregg/FlameGraph. Thanks Mr. Gregg.
-#
-# Requirements: ARM GDB with Python support. You can get one by downloading the sources from
-#               https://launchpad.net/gcc-arm-embedded and building them with correct flags.
-#               Note that Python support is not required if no per-task sampling is needed.
+# Requirements: ARM GDB with Python support
 #

 set -e
@@ -41,7 +33,7 @@ which flamegraph.pl > /dev/null || die "Install flamegraph.pl first"
 nsamples=0
 sleeptime=0.1    # Doctors recommend 7-8 hours a day
 taskname=
-elf=
+elf=$root/Build/px4fmu-v2_default.build/firmware.elf
 append=0
 fgfontsize=10
 fgwidth=1900
@@ -77,8 +69,6 @@ do
    shift
 done

-[[ -z "$elf" ]] && die "Please specify the ELF file location, e.g.: build/px4fmu-v4_default/src/firmware/nuttx/firmware_nuttx"
-
 #
 # Temporary files
 #
@@ -108,7 +98,7 @@ then
                >> $stacksfile
        else
            arm-none-eabi-gdb $elf --batch -ex "set print asm-demangle on" \
-                                           -ex "source $root/platforms/nuttx/Debug/Nuttx.py" \
+                                           -ex "source $root/Debug/Nuttx.py" \
                                           -ex "show mybt $taskname" \
                2> $gdberrfile \
                | sed -n 's/0\.0:\(#.*\)/\1/p' \
@@ -247,8 +237,8 @@ for s, f in sorted(stacks.items(), key=lambda (s, f): s):

 print('Total stack frames:', num_stack_frames, file=sys.stderr)
 print('Top consumers (distribution of the stack tops):', file=sys.stderr)
-for name,num in sorted(stack_tops.items(), key=lambda (name, num): num, reverse=True)[:300]:
-    print('% 7.3f%%   ' % (100 * num / num_stack_frames), name, file=sys.stderr)
+for name,num in sorted(stack_tops.items(), key=lambda (name, num): num, reverse=True)[:10]:
+    print('% 5.1f%%   ' % (100 * num / num_stack_frames), name, file=sys.stderr)
 EOF

 cat $stacksfile | python /tmp/pmpn-folder.py > $foldfile
@@ -35,3 +35,4 @@ gdb_memory_map enable

 # doesn't work yet
 gdb_flash_program disable
+
@@ -0,0 +1,5 @@
+#!/bin/bash
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
+
+openocd -f interface/olimex-arm-usb-ocd-h.cfg -f $DIR/px4fmu-v1-board.cfg
@@ -281,7 +281,7 @@ TYPEDEF_HIDES_STRUCT   = NO
 # causing a significant performance penality.
 # If the system has enough physical memory increasing the cache will improve the
 # performance by keeping more symbols in memory. Note that the value works on
-# a logarithmic scale so increasing the size by one will roughly double the
+# a logarithmic scale so increasing the size by one will rougly double the
 # memory usage. The cache size is given by this formula:
 # 2^(16+SYMBOL_CACHE_SIZE). The valid range is 0..9, the default is 0,
 # corresponding to a cache size of 2^16 = 65536 symbols
@@ -599,7 +599,8 @@ RECURSIVE              = YES
 # excluded from the INPUT source files. This way you can easily exclude a
 # subdirectory from a directory tree whose root is specified with the INPUT tag.

-EXCLUDE                = ../src/modules/attitude_estimator_ekf/codegen
+EXCLUDE                = ../src/lib/mathlib/CMSIS \
+			 ../src/modules/attitude_estimator_ekf/codegen

 # The EXCLUDE_SYMLINKS tag can be used select whether or not files or
 # directories that are symbolic links (a Unix filesystem feature) are excluded
@@ -9,7 +9,7 @@ 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:
+Then to generate the html, run the following code while you are in the qgroundcontrol/doc directory:
 $doxygen Doxyfile

 The html file index.html should be in doc/html unless you changed the output directory. 
@@ -0,0 +1,2 @@
+#!/bin/sh
+git log --pretty=format:"Last change: commit %h - %aN, %ar : %s" -1 $1 || echo no git
@@ -25,8 +25,7 @@
 			[
 				".settings",
 				"nuttx/arch/arm/src/board",
-				"nuttx/arch/arm/src/chip",
-				"build_*"
+				"nuttx/arch/arm/src/chip"
 			]
 		}
 	],
@@ -34,20 +33,7 @@
 	{
 		"tab_size": 8,
 		"translate_tabs_to_spaces": false,
-		"highlight_line": true,
-		"AStyleFormatter":
-		{
-			"options_c":
-			{
-				"use_only_additional_options": true,
-				"additional_options_file": "${project_path}/Tools/astyle/astylerc"
-			},
-			"options_c++":
-			{
-				"use_only_additional_options": true,
-				"additional_options_file": "${project_path}/Tools/astyle/astylerc"
-			}
-		}
+	       "highlight_line": true
 	},
 	"build_systems":
 	[
@@ -64,20 +50,6 @@
 			"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
 			"cmd": ["make upload px4fmu-v2_default -j8"],
 			"shell": true
-		},
-		{
-			"name": "PX4: make posix",
-			"working_dir": "${project_path}",
-			"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
-			"cmd": ["make posix"],
-			"shell": true
-		},
-		{
-			"name": "MindPX_V2: make and upload",
-			"working_dir": "${project_path}",
-			"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
-			"cmd": ["make upload mindpx-v2_default -j8"],
-			"shell": true
 		}
 	]
 }
@@ -0,0 +1,12 @@
+{
+    "board_id": 19,
+    "magic": "AeroCore",
+    "description": "Firmware for the Gumstix AeroCore board",
+    "image": "",
+    "build_time": 0,
+    "summary": "AEROCORE",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}
@@ -7,7 +7,6 @@
    "summary": "PX4/STM32F4Discovery",
    "version": "0.1",
    "image_size": 0,
-    "image_maxsize": 1032192,
    "git_identity": "",
    "board_revision": 0
 }
@@ -0,0 +1,12 @@
+{
+    "board_id": 5, 
+    "magic": "PX4FWv1", 
+    "description": "Firmware for the PX4FMU board", 
+    "image": "", 
+    "build_time": 0, 
+    "summary": "PX4FMU",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}
@@ -7,7 +7,6 @@
    "summary": "PX4FMUv2",
    "version": "0.1",
    "image_size": 0,
-    "image_maxsize": 1032192,
    "git_identity": "",
    "board_revision": 0
 }
@@ -0,0 +1,12 @@
+{
+    "board_id": 7, 
+    "magic": "PX4FWv1", 
+    "description": "Firmware for the PX4IO board", 
+    "image": "", 
+    "build_time": 0, 
+    "summary": "PX4IO",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}
@@ -7,7 +7,6 @@
    "summary": "PX4IOv2",
    "version": "2.0",
    "image_size": 0,
-    "image_maxsize": 61440,
    "git_identity": "",
    "board_revision": 0
 }
@@ -0,0 +1,12 @@
+{
+    "board_id": 10, 
+    "magic": "PX4FWv2", 
+    "description": "Firmware for the PX4IOv2 board", 
+    "image": "", 
+    "build_time": 0, 
+    "summary": "PX4IOv2",
+    "version": "2.0",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}
@@ -1,663 +0,0 @@
-pipeline {
-  agent none
-  stages {
-
-    stage('Build') {
-      steps {
-        script {
-          def builds = [:]
-
-
-          // nuttx default targets that are archived and uploaded to s3
-          for (def option in ["px4fmu-v4", "px4fmu-v4pro", "px4fmu-v5", "aerofc-v1"]) {
-            def node_name = "${option}"
-
-            builds["${node_name}"] = {
-              node {
-                stage("Build Test ${node_name}") {
-                  docker.image('px4io/px4-dev-nuttx:2017-10-23').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
-                    stage("${node_name}") {
-                      checkout scm
-                      sh "make clean"
-                      sh "ccache -z"
-                      sh "git fetch --tags"
-                      sh "make nuttx_${node_name}_default"
-                      sh "make nuttx_${node_name}_rtps"
-                      sh "make sizes"
-                      sh "ccache -s"
-                      archiveArtifacts(artifacts: 'build/*/*.px4', fingerprint: true)
-                    }
-                  }
-                }
-              }
-            }
-          }
-
-
-          // special case for fmu-v2/fmu-v3
-          builds["px4fmu-v2"] = {
-            node {
-              stage("Build Test ${node_name}") {
-                docker.image('px4io/px4-dev-nuttx:2017-10-23').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
-                  stage("${node_name}") {
-                    checkout scm
-                    sh "make clean"
-                    sh "ccache -z"
-                    sh "git fetch --tags"
-                    sh "make px4io-v2_default"
-                    sh "make nuttx_px4fmu-v2_default"
-                    sh "make nuttx_px4fmu-v2_lpe"
-                    sh "make nuttx_px4fmu-v3_default"
-                    sh "make nuttx_px4fmu-v3_rtps"
-                    sh "make sizes"
-                    sh "ccache -s"
-                    archiveArtifacts(artifacts: 'build/*/*.px4', fingerprint: true)
-                  }
-                }
-              }
-            }
-          }
-
-
-          // nuttx default targets that are archived and uploaded to s3
-          for (def option in ["aerocore2", "auav-x21", "crazyflie", "mindpx-v2", "nxphlite-v3", "tap-v1"]) {
-            def node_name = "${option}"
-
-            builds["${node_name}"] = {
-              node {
-                stage("Build Test ${node_name}") {
-                  docker.image('px4io/px4-dev-nuttx:2017-10-23').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
-                    stage("${node_name}") {
-                      checkout scm
-                      sh "make clean"
-                      sh "ccache -z"
-                      sh "git fetch --tags"
-                      sh "make nuttx_${node_name}_default"
-                      sh "make sizes"
-                      sh "ccache -s"
-                      archiveArtifacts(artifacts: 'build/*/*.px4', fingerprint: true)
-                    }
-                  }
-                }
-              }
-            }
-          }
-
-
-          // other nuttx default targets
-          for (def option in ["px4-same70xplained-v1", "px4-stm32f4discovery", "px4cannode-v1", "px4esc-v1", "px4nucleoF767ZI-v1", "s2740vc-v1"]) {
-            def node_name = "${option}"
-
-            builds["${node_name}"] = {
-              node {
-                stage("Build Test ${node_name}") {
-                  docker.image('px4io/px4-dev-nuttx:2017-10-23').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
-                    stage("${node_name}") {
-                      checkout scm
-                      sh "make clean"
-                      sh "ccache -z"
-                      sh "make nuttx_${node_name}_default"
-                      sh "make sizes"
-                      sh "ccache -s"
-                    }
-                  }
-                }
-              }
-            }
-          }
-
-
-          // posix_sitl
-          for (def option in ["sitl_default", "sitl_rtps"]) {
-            def node_name = "${option}"
-
-            builds["${node_name}"] = {
-              node {
-                stage("Build Test ${node_name}") {
-                  docker.image('px4io/px4-dev-base:2017-12-30').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
-                    stage("${node_name}") {
-                      checkout scm
-                      sh "make clean"
-                      sh "ccache -z"
-                      sh "make posix_${node_name}"
-                      sh "ccache -s"
-                    }
-                  }
-                }
-              }
-            }
-          }
-
-
-          // raspberry pi and bebop (armhf)
-          for (def option in ["rpi_cross", "bebop_default"]) {
-            def node_name = "${option}"
-
-            builds["${node_name}"] = {
-              node {
-                stage("Build Test ${node_name}") {
-                  docker.image('px4io/px4-dev-raspi:2017-12-30').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
-                    stage("${node_name}") {
-                      checkout scm
-                      sh "make clean"
-                      sh "ccache -z"
-                      sh "make posix_${node_name}"
-                      sh "ccache -s"
-                    }
-                  }
-                }
-              }
-            }
-          }
-
-
-          // other armhf (to be merged with raspi and bebop)
-          for (def option in ["ocpoc_ubuntu"]) {
-            def node_name = "${option}"
-
-            builds["${node_name}"] = {
-              node {
-                stage("Build Test ${node_name}") {
-                  docker.image('px4io/px4-dev-armhf:2017-12-30').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
-                    stage("${node_name}") {
-                      checkout scm
-                      sh "make clean"
-                      sh "ccache -z"
-                      sh "make posix_${node_name}"
-                      sh "ccache -s"
-                    }
-                  }
-                }
-              }
-            }
-          }
-
-
-          // snapdragon eagle (posix + qurt)
-          for (def option in ["eagle_default"]) {
-            def node_name = "${option}"
-
-            builds["${node_name}"] = {
-              node {
-                stage("Build Test ${node_name}") {
-                  docker.withRegistry('https://registry.hub.docker.com', 'docker_hub_dagar') {
-                    docker.image("lorenzmeier/px4-dev-snapdragon:2017-12-29").inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
-                      stage("${node_name}") {
-                        checkout scm
-                        sh "make clean"
-                        sh "ccache -z"
-                        sh "make ${node_name}"
-                        sh "ccache -s"
-                      }
-                    }
-                  }
-                }
-              }
-            }
-          }
-
-
-          // GCC7 posix
-          for (def option in ["sitl_default"]) {
-            def node_name = "${option}"
-
-            builds["${node_name} (GCC7)"] = {
-              node {
-                stage("Build Test ${node_name} (GCC7)") {
-                  docker.image('px4io/px4-dev-base-archlinux:2017-12-30').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
-                    stage("${node_name}") {
-                      checkout scm
-                      sh "make clean"
-                      sh "ccache -z"
-                      sh "make posix_${node_name}"
-                      sh "ccache -s"
-                    }
-                  }
-                }
-              }
-            }
-          }
-
-          // GCC7 nuttx
-          for (def option in ["px4fmu-v5_default"]) {
-            def node_name = "${option}"
-
-            builds["${node_name} (GCC7)"] = {
-              node {
-                stage("Build Test ${node_name} (GCC7)") {
-                  docker.image('px4io/px4-dev-base-archlinux:2017-12-08').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
-                    stage("${node_name}") {
-                      checkout scm
-                      sh "make clean"
-                      sh "ccache -z"
-                      sh "make nuttx_${node_name}"
-                      sh "ccache -s"
-                    }
-                  }
-                }
-              }
-            }
-          }
-
-          parallel builds
-        }
-      }
-    }
-
-    stage('Test') {
-      parallel {
-
-        stage('check style') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-base:2017-12-30'
-              args '-e CI=true'
-            }
-          }
-          steps {
-            sh 'make check_format'
-          }
-        }
-
-        stage('clang analyzer') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-clang:2017-12-30'
-              args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw'
-            }
-          }
-          steps {
-            sh 'make clean'
-            sh 'make scan-build'
-            // publish html
-            publishHTML target: [
-              reportTitles: 'clang static analyzer',
-              allowMissing: false,
-              alwaysLinkToLastBuild: true,
-              keepAll: true,
-              reportDir: 'build/scan-build/report_latest',
-              reportFiles: '*',
-              reportName: 'Clang Static Analyzer'
-            ]
-          }
-          when {
-            anyOf {
-              branch 'master'
-              branch 'beta'
-              branch 'stable'
-            }
-          }
-        }
-
-        stage('clang tidy') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-clang:2017-12-30'
-              args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw'
-            }
-          }
-          steps {
-            sh 'make clean'
-            sh 'make clang-tidy-quiet'
-          }
-        }
-
-        stage('cppcheck') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-base:ubuntu17.10'
-              args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw'
-            }
-          }
-          steps {
-            sh 'make clean'
-            sh 'make cppcheck'
-            // publish html
-            publishHTML target: [
-              reportTitles: 'Cppcheck',
-              allowMissing: false,
-              alwaysLinkToLastBuild: true,
-              keepAll: true,
-              reportDir: 'build/cppcheck/',
-              reportFiles: '*',
-              reportName: 'Cppcheck'
-            ]
-          }
-          when {
-            anyOf {
-              branch 'master'
-              branch 'beta'
-              branch 'stable'
-            }
-          }
-        }
-
-        stage('tests') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-base:2017-12-30'
-              args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw'
-            }
-          }
-          steps {
-            sh 'make clean'
-            sh 'make posix_sitl_default test_results_junit'
-            junit 'build/posix_sitl_default/JUnitTestResults.xml'
-          }
-        }
-
-        stage('ROS vtol mission new 1') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-ros:2017-12-31'
-              args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
-            }
-          }
-          steps {
-            sh 'make clean; rm -rf .ros; rm -rf .gazebo'
-            sh 'git fetch --tags'
-            sh 'make posix_sitl_default'
-            sh 'make posix_sitl_default sitl_gazebo'
-            sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_new_1.txt vehicle:=vtol_standard'
-          }
-          post {
-            success {
-              sh './Tools/upload_log.py -q --description "ROS mission test vtol_new_1.txt: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
-            }
-            failure {
-              sh './Tools/upload_log.py -q --description "ROS mission test vtol_new_1.txt: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI --email "${CHANGE_AUTHOR_EMAIL}" .ros/rootfs/fs/microsd/log/*/*.ulg'
-              archiveArtifacts '**/*.ulg'
-              archiveArtifacts '.ros/*/px4/**.xml'
-              archiveArtifacts '.ros/log/**.log'
-            }
-          }
-        }
-
-        stage('ROS vtol mission new 2') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-ros:2017-12-31'
-              args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
-            }
-          }
-          steps {
-            sh 'make clean; rm -rf .ros; rm -rf .gazebo'
-            sh 'git fetch --tags'
-            sh 'make posix_sitl_default'
-            sh 'make posix_sitl_default sitl_gazebo'
-            sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_new_2.txt vehicle:=vtol_standard'
-          }
-          post {
-            success {
-              sh './Tools/upload_log.py -q --description "ROS mission test vtol_new_2.txt: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
-            }
-            failure {
-              sh './Tools/upload_log.py -q --description "ROS mission test vtol_new_2.txt: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI --email "${CHANGE_AUTHOR_EMAIL}" .ros/rootfs/fs/microsd/log/*/*.ulg'
-              archiveArtifacts '**/*.ulg'
-              archiveArtifacts '.ros/*/px4/**.xml'
-              archiveArtifacts '.ros/log/**.log'
-            }
-          }
-        }
-
-        stage('ROS vtol mission old 1') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-ros:2017-12-31'
-              args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
-            }
-          }
-          steps {
-            sh 'make clean; rm -rf .ros; rm -rf .gazebo'
-            sh 'git fetch --tags'
-            sh 'make posix_sitl_default'
-            sh 'make posix_sitl_default sitl_gazebo'
-            sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_old_1.txt vehicle:=vtol_standard'
-          }
-          post {
-            success {
-              sh './Tools/upload_log.py -q --description "ROS mission test vtol_old_1.txt: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
-            }
-            failure {
-              sh './Tools/upload_log.py -q --description "ROS mission test vtol_old_1.txt: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI --email "${CHANGE_AUTHOR_EMAIL}" .ros/rootfs/fs/microsd/log/*/*.ulg'
-              archiveArtifacts '**/*.ulg'
-              archiveArtifacts '.ros/*/px4/**.xml'
-              archiveArtifacts '.ros/log/**.log'
-            }
-          }
-        }
-
-        stage('ROS vtol mission old 2') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-ros:2017-12-31'
-              args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
-            }
-          }
-          steps {
-            sh 'make clean; rm -rf .ros; rm -rf .gazebo'
-            sh 'git fetch --tags'
-            sh 'make posix_sitl_default'
-            sh 'make posix_sitl_default sitl_gazebo'
-            sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_old_2.txt vehicle:=vtol_standard'
-          }
-          post {
-            success {
-              sh './Tools/upload_log.py -q --description "ROS mission test vtol_old_2.txt: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
-            }
-            failure {
-              sh './Tools/upload_log.py -q --description "ROS mission test vtol_old_2.txt: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI --email "${CHANGE_AUTHOR_EMAIL}" .ros/rootfs/fs/microsd/log/*/*.ulg'
-              archiveArtifacts '**/*.ulg'
-              archiveArtifacts '.ros/*/px4/**.xml'
-              archiveArtifacts '.ros/log/**.log'
-            }
-          }
-        }
-
-        stage('ROS vtol mission old 3') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-ros:2017-12-31'
-              args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
-            }
-          }
-          steps {
-            sh 'make clean; rm -rf .ros; rm -rf .gazebo'
-            sh 'git fetch --tags'
-            sh 'make posix_sitl_default'
-            sh 'make posix_sitl_default sitl_gazebo'
-            sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_old_3.txt vehicle:=vtol_standard'
-          }
-          post {
-            success {
-              sh './Tools/upload_log.py -q --description "ROS mission test vtol_old_3.txt: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
-            }
-            failure {
-              sh './Tools/upload_log.py -q --description "ROS mission test vtol_old_3.txt: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI --email "${CHANGE_AUTHOR_EMAIL}" .ros/rootfs/fs/microsd/log/*/*.ulg'
-              archiveArtifacts '**/*.ulg'
-              archiveArtifacts '.ros/*/px4/**.xml'
-              archiveArtifacts '.ros/log/**.log'
-            }
-          }
-        }
-
-        stage('ROS MC mission box') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-ros:2017-12-31'
-              args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
-            }
-          }
-          steps {
-            sh 'make clean; rm -rf .ros; rm -rf .gazebo'
-            sh 'git fetch --tags'
-            sh 'make posix_sitl_default'
-            sh 'make posix_sitl_default sitl_gazebo'
-            sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=multirotor_box.mission vehicle:=iris'
-          }
-          post {
-            success {
-              sh './Tools/upload_log.py -q --description "ROS mission test multirotor_box.mission: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
-            }
-            failure {
-              sh './Tools/upload_log.py -q --description "ROS mission test multirotor_box.mission: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI --email "${CHANGE_AUTHOR_EMAIL}" .ros/rootfs/fs/microsd/log/*/*.ulg'
-              archiveArtifacts '**/*.ulg'
-              archiveArtifacts '.ros/*/px4/**.xml'
-              archiveArtifacts '.ros/log/**.log'
-            }
-          }
-        }
-
-        stage('ROS offboard att') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-ros:2017-12-31'
-              args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
-            }
-          }
-          steps {
-            sh 'make clean; rm -rf .ros; rm -rf .gazebo'
-            sh 'git fetch --tags'
-            sh 'make posix_sitl_default'
-            sh 'make posix_sitl_default sitl_gazebo'
-            sh './test/rostest_px4_run.sh mavros_posix_tests_offboard_attctl.test'
-          }
-          post {
-            success {
-              sh './Tools/upload_log.py -q --description "ROS offboard attitude test: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
-            }
-            failure {
-              sh './Tools/upload_log.py -q --description "ROS offboard attitude test: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI --email "${CHANGE_AUTHOR_EMAIL}" .ros/rootfs/fs/microsd/log/*/*.ulg'
-              archiveArtifacts '**/*.ulg'
-              archiveArtifacts '.ros/*/px4/**.xml'
-              archiveArtifacts '.ros/log/**.log'
-            }
-          }
-        }
-
-        stage('ROS offboard pos') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-ros:2017-12-31'
-              args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
-            }
-          }
-          steps {
-            sh 'make clean; rm -rf .ros; rm -rf .gazebo'
-            sh 'git fetch --tags'
-            sh 'make posix_sitl_default'
-            sh 'make posix_sitl_default sitl_gazebo'
-            sh './test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test'
-          }
-          post {
-            success {
-              sh './Tools/upload_log.py -q --description "ROS offboard position test: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
-            }
-            failure {
-              sh './Tools/upload_log.py -q --description "ROS offboard position test: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI --email "${CHANGE_AUTHOR_EMAIL}" .ros/rootfs/fs/microsd/log/*/*.ulg'
-              archiveArtifacts '**/*.ulg'
-              archiveArtifacts '.ros/*/px4/**.xml'
-              archiveArtifacts '.ros/log/**.log'
-            }
-          }
-        }
-
-        // temporarily disabled until stable
-        //stage('tests coverage') {
-        //  agent {
-        //    docker {
-        //      image 'px4io/px4-dev-base:2017-12-30'
-        //      args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw'
-        //    }
-        //  }
-        //  steps {
-        //    sh 'make clean'
-        //    sh 'make tests_coverage'
-        //    // publish html
-        //    publishHTML target: [
-        //      allowMissing: false,
-        //      alwaysLinkToLastBuild: false,
-        //      keepAll: true,
-        //      reportDir: 'build/posix_sitl_default/coverage-html',
-        //      reportFiles: '*',
-        //      reportName: 'Coverage Report'
-        //    ]
-        //  }
-        //}
-
-      }
-    }
-
-    stage('Generate Metadata') {
-
-      parallel {
-
-        stage('airframe') {
-          agent {
-            docker { image 'px4io/px4-dev-base:2017-12-30' }
-          }
-          steps {
-            sh 'make airframe_metadata'
-            archiveArtifacts(artifacts: 'airframes.md, airframes.xml', fingerprint: true)
-          }
-        }
-
-        stage('parameter') {
-          agent {
-            docker { image 'px4io/px4-dev-base:2017-12-30' }
-          }
-          steps {
-            sh 'make parameters_metadata'
-            archiveArtifacts(artifacts: 'parameters.md, parameters.xml', fingerprint: true)
-          }
-        }
-
-        stage('module') {
-          agent {
-            docker { image 'px4io/px4-dev-base:2017-12-30' }
-          }
-          steps {
-            sh 'make module_documentation'
-            archiveArtifacts(artifacts: 'modules/*.md', fingerprint: true)
-          }
-        }
-
-        stage('uorb graphs') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-nuttx:2017-12-30'
-              args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
-            }
-          }
-          steps {
-            sh 'make uorb_graphs'
-            archiveArtifacts(artifacts: 'Tools/uorb_graph/graph_sitl.json')
-          }
-        }
-      }
-    }
-
-    stage('S3 Upload') {
-      agent {
-        docker { image 'px4io/px4-dev-base:2017-12-30' }
-      }
-
-      when {
-        anyOf {
-          branch 'master'
-          branch 'beta'
-          branch 'stable'
-        }
-      }
-
-      steps {
-        sh 'echo "uploading to S3"'
-      }
-    }
-  }
-
-  options {
-    buildDiscarder(logRotator(numToKeepStr: '5'))
-    timeout(time: 60, unit: 'MINUTES')
-  }
-}
@@ -1,29 +0,0 @@
-BSD 3-Clause License
-
-Copyright (c) 2012 - 2017, 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:
-
-* Redistributions of source code must retain the above copyright notice, this
-  list of conditions and the following disclaimer.
-
-* 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.
-
-* Neither the name of the copyright holder 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 HOLDER 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.
@@ -0,0 +1,41 @@
+The PX4 firmware is licensed generally under a permissive 3-clause BSD license. Contributions are required
+to be made under the same license. Any exception to this general rule is listed below.
+
+	/****************************************************************************
+	 *
+	 *   Copyright (c) 2012-2014 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 middleware: BSD 3-clause
+  - PX4 flight control stack: BSD 3-clause
+  - NuttX operating system: BSD 3-clause
+  - Exceptions: Currently only this [400 LOC file](https://github.com/PX4/Firmware/blob/master/src/lib/external_lgpl/tecs/tecs.cpp) remains LGPL, but will be replaced with a BSD implementation.
@@ -1,6 +1,5 @@
-############################################################################
 #
-# Copyright (c) 2015 - 2017 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012-2015 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
@@ -29,381 +28,349 @@
 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 # POSSIBILITY OF SUCH DAMAGE.
 #
-############################################################################

-# Enforce the presence of the GIT repository
 #
-# We depend on our submodules, so we have to prevent attempts to
-# compile without it being present.
-ifeq ($(wildcard .git),)
-    $(error YOU HAVE TO USE GIT TO DOWNLOAD THIS REPOSITORY. ABORTING.)
-endif
-
-# Help
-# --------------------------------------------------------------------
-# Don't be afraid of this makefile, it is just passing
-# arguments to cmake to allow us to keep the wiki pages etc.
-# that describe how to build the px4 firmware
-# the same even when using cmake instead of make.
+# Top-level Makefile for building PX4 firmware images.
 #
-# Example usage:
+
 #
-# make px4fmu-v2_default 			(builds)
-# make px4fmu-v2_default upload 	(builds and uploads)
-# make px4fmu-v2_default test 		(builds and tests)
+# Get path and tool configuration
 #
-# This tells cmake to build the nuttx px4fmu-v2 default config in the
-# directory build/nuttx_px4fmu-v2_default and then call make
-# in that directory with the target upload.
+export PX4_BASE		 := $(realpath $(dir $(lastword $(MAKEFILE_LIST))))/
+include $(PX4_BASE)makefiles/setup.mk

-#  explicity set default build target
-all: posix_sitl_default
-
-# Parsing
-# --------------------------------------------------------------------
-# assume 1st argument passed is the main target, the
-# rest are arguments to pass to the makefile generated
-# by cmake in the subdirectory
-FIRST_ARG := $(firstword $(MAKECMDGOALS))
-ARGS := $(wordlist 2,$(words $(MAKECMDGOALS)),$(MAKECMDGOALS))
-j ?= 4
-
-NINJA_BIN := ninja
-ifndef NO_NINJA_BUILD
-	NINJA_BUILD := $(shell $(NINJA_BIN) --version 2>/dev/null)
-
-	ifndef NINJA_BUILD
-		NINJA_BIN := ninja-build
-		NINJA_BUILD := $(shell $(NINJA_BIN) --version 2>/dev/null)
-	endif
+#
+# Get a version string provided by git
+# This assumes that git command is available and that
+# the directory holding this file also contains .git directory
+#
+GIT_DESC := $(shell git log -1 --pretty=format:%H)
+ifneq ($(words $(GIT_DESC)),1)
+    GIT_DESC := "unknown_git_version"
 endif

-ifdef NINJA_BUILD
-	PX4_CMAKE_GENERATOR := Ninja
-	PX4_MAKE := $(NINJA_BIN)
+GIT_DESC_SHORT := $(shell echo $(GIT_DESC) | cut -c1-16)

-	ifdef VERBOSE
-		PX4_MAKE_ARGS := -v
-	else
-		PX4_MAKE_ARGS :=
-	endif
-else
-	ifdef SYSTEMROOT
-		# Windows
-		PX4_CMAKE_GENERATOR := "MSYS\ Makefiles"
-	else
-		PX4_CMAKE_GENERATOR := "Unix\ Makefiles"
-	endif
-	PX4_MAKE = $(MAKE)
-	PX4_MAKE_ARGS = -j$(j) --no-print-directory
+#
+# Canned firmware configurations that we (know how to) build.
+#
+KNOWN_CONFIGS		:= $(subst config_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)config_*.mk))))
+CONFIGS			?= $(KNOWN_CONFIGS)
+
+#
+# Boards that we (know how to) build NuttX export kits for.
+#
+KNOWN_BOARDS		:= $(subst board_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)board_*.mk))))
+BOARDS			?= $(KNOWN_BOARDS)
+
+#
+# Debugging
+#
+MQUIET			 = --no-print-directory
+#MQUIET			 = --print-directory
+
+################################################################################
+# No user-serviceable parts below
+################################################################################
+
+#
+# If the user has listed a config as a target, strip it out and override CONFIGS.
+#
+FIRMWARE_GOAL		 = firmware
+EXPLICIT_CONFIGS	:= $(filter $(CONFIGS),$(MAKECMDGOALS))
+ifneq ($(EXPLICIT_CONFIGS),)
+CONFIGS			:= $(EXPLICIT_CONFIGS)
+.PHONY:			$(EXPLICIT_CONFIGS)
+$(EXPLICIT_CONFIGS):	all
+
+#
+# If the user has asked to upload, they must have also specified exactly one
+# config.
+#
+ifneq ($(filter upload,$(MAKECMDGOALS)),)
+ifneq ($(words $(EXPLICIT_CONFIGS)),1)
+$(error In order to upload, exactly one board config must be specified)
+endif
+FIRMWARE_GOAL		 = upload
+.PHONY: upload
+upload:
+	@:
+endif
 endif

-SRC_DIR := $(shell dirname $(realpath $(lastword $(MAKEFILE_LIST))))
+#
+# Built products
+#
+DESIRED_FIRMWARES 	 = $(foreach config,$(CONFIGS),$(IMAGE_DIR)$(config).px4)
+STAGED_FIRMWARES	 = $(foreach config,$(KNOWN_CONFIGS),$(IMAGE_DIR)$(config).px4)
+FIRMWARES		 = $(foreach config,$(KNOWN_CONFIGS),$(BUILD_DIR)$(config).build/firmware.px4)

-# check if replay env variable is set & set build dir accordingly
-ifdef replay
-	BUILD_DIR_SUFFIX := _replay
-else
-	BUILD_DIR_SUFFIX :=
-endif
+all:	$(DESIRED_FIRMWARES)

-# additional config parameters passed to cmake
-ifdef EXTERNAL_MODULES_LOCATION
-	CMAKE_ARGS += -DEXTERNAL_MODULES_LOCATION:STRING=$(EXTERNAL_MODULES_LOCATION)
-endif
+#
+# Copy FIRMWARES into the image directory.
+#
+# XXX copying the .bin files is a hack to work around the PX4IO uploader
+#     not supporting .px4 files, and it should be deprecated onced that
+#     is taken care of.
+#
+$(STAGED_FIRMWARES): $(IMAGE_DIR)%.px4: $(BUILD_DIR)%.build/firmware.px4
+	@$(ECHO) %% Copying $@
+	$(Q) $(COPY) $< $@
+	$(Q) $(COPY) $(patsubst %.px4,%.bin,$<) $(patsubst %.px4,%.bin,$@)

-ifdef PX4_CMAKE_BUILD_TYPE
-	CMAKE_ARGS += -DCMAKE_BUILD_TYPE=${PX4_CMAKE_BUILD_TYPE}
-endif
+#
+# Generate FIRMWARES.
+#
+.PHONY: $(FIRMWARES)
+$(BUILD_DIR)%.build/firmware.px4: config   = $(patsubst $(BUILD_DIR)%.build/firmware.px4,%,$@)
+$(BUILD_DIR)%.build/firmware.px4: work_dir = $(BUILD_DIR)$(config).build/
+$(FIRMWARES): $(BUILD_DIR)%.build/firmware.px4:	checkgitversion generateuorbtopicheaders checksubmodules
+	@$(ECHO) %%%%
+	@$(ECHO) %%%% Building $(config) in $(work_dir)
+	@$(ECHO) %%%%
+	$(Q) $(MKDIR) -p $(work_dir)
+	$(Q) $(MAKE) -r -C $(work_dir) \
+		-f $(PX4_MK_DIR)firmware.mk \
+		CONFIG=$(config) \
+		WORK_DIR=$(work_dir) \
+		$(FIRMWARE_GOAL)

-# Functions
-# --------------------------------------------------------------------
-# describe how to build a cmake config
-define cmake-build
-+@$(eval BUILD_DIR = $(SRC_DIR)/build/$@$(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))
+#
+# Make FMU firmwares depend on the corresponding IO firmware.
+#
+# This is a pretty vile hack, since it hard-codes knowledge of the FMU->IO dependency
+# and forces the _default config in all cases. There has to be a better way to do this...
+#
+FMU_VERSION		 = $(patsubst px4fmu-%,%,$(word 1, $(subst _, ,$(1))))
+define FMU_DEP
+$(BUILD_DIR)$(1).build/firmware.px4: $(IMAGE_DIR)px4io-$(call FMU_VERSION,$(1))_default.px4
 endef
+FMU_CONFIGS		:= $(filter px4fmu%,$(CONFIGS))
+$(foreach config,$(FMU_CONFIGS),$(eval $(call FMU_DEP,$(config))))

-COLOR_BLUE = \033[0;34m
-NO_COLOR   = \033[m
+#
+# Build the NuttX export archives.
+#
+# Note that there are no explicit dependencies extended from these
+# archives. If NuttX is updated, the user is expected to rebuild the
+# archives/build area manually. Likewise, when the 'archives' target is
+# invoked, all archives are always rebuilt.
+#
+# XXX Should support fetching/unpacking from a separate directory to permit
+#     downloads of the prebuilt archives as well...
+#
+NUTTX_ARCHIVES		 = $(foreach board,$(BOARDS),$(ARCHIVE_DIR)$(board).export)
+.PHONY:			archives
+archives:		checksubmodules $(NUTTX_ARCHIVES)

-define colorecho
-+@echo "${COLOR_BLUE}${1} ${NO_COLOR}"
-endef
+# We cannot build these parallel; note that we also force -j1 for the
+# sub-make invocations.
+ifneq ($(filter archives,$(MAKECMDGOALS)),)
+.NOTPARALLEL:
+endif

-# Get a list of all config targets cmake/configs/*.cmake
-ALL_CONFIG_TARGETS := $(basename $(shell find "$(SRC_DIR)/cmake/configs" -maxdepth 1 ! -name '*_common*' ! -name '*_sdflight_*' -name '*.cmake' -print | sed  -e 's:^.*/::' | sort))
-# Strip off leading nuttx_
-NUTTX_CONFIG_TARGETS := $(patsubst nuttx_%,%,$(filter nuttx_%,$(ALL_CONFIG_TARGETS)))
+J?=1

-# ADD CONFIGS HERE
-# --------------------------------------------------------------------
-#  Do not put any spaces between function arguments.
+$(ARCHIVE_DIR)%.export:	board = $(notdir $(basename $@))
+$(ARCHIVE_DIR)%.export:	configuration = nsh
+$(NUTTX_ARCHIVES): $(ARCHIVE_DIR)%.export: $(NUTTX_SRC)
+	@$(ECHO) %% Configuring NuttX for $(board)
+	$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
+	$(Q) $(MAKE) -r -j$(J) -C $(NUTTX_SRC) -r $(MQUIET) distclean
+	$(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)nuttx-configs/$(board) .)
+	$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(board)/$(configuration))
+	@$(ECHO) %% Exporting NuttX for $(board)
+	$(Q) $(MAKE) -r -j$(J) -C $(NUTTX_SRC) -r $(MQUIET) CONFIG_ARCH_BOARD=$(board) export
+	$(Q) $(MKDIR) -p $(dir $@)
+	$(Q) $(COPY) $(NUTTX_SRC)nuttx-export.zip $@
+	$(Q) (cd $(NUTTX_SRC)/configs && $(RMDIR) $(board))

-# All targets.
-$(ALL_CONFIG_TARGETS):
-	$(call cmake-build,$@,$(SRC_DIR))
+#
+# The user can run the NuttX 'menuconfig' tool for a single board configuration with
+# make BOARDS=<boardname> menuconfig
+#
+ifeq ($(MAKECMDGOALS),menuconfig)
+ifneq ($(words $(BOARDS)),1)
+$(error BOARDS must specify exactly one board for the menuconfig goal)
+endif
+BOARD			 = $(BOARDS)
+menuconfig: $(NUTTX_SRC)
+	@$(ECHO) %% Configuring NuttX for $(BOARD)
+	$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
+	$(Q) $(MAKE) -r -j$(J) -C $(NUTTX_SRC) -r $(MQUIET) distclean
+	$(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)nuttx-configs/$(BOARD) .)
+	$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(BOARD)/nsh)
+	@$(ECHO) %% Running menuconfig for $(BOARD)
+	$(Q) $(MAKE) -r -j$(J) -C $(NUTTX_SRC) -r $(MQUIET) menuconfig
+	@$(ECHO) %% Saving configuration file
+	$(Q)$(COPY) $(NUTTX_SRC).config $(PX4_BASE)nuttx-configs/$(BOARD)/nsh/defconfig
+else
+menuconfig:
+	@$(ECHO) ""
+	@$(ECHO) "The menuconfig goal must be invoked without any other goal being specified"
+	@$(ECHO) ""
+endif

-# Abbreviated config targets.
+$(NUTTX_SRC): checkgitversion checksubmodules

-# nuttx_ is left off by default; provide a rule to allow that.
-$(NUTTX_CONFIG_TARGETS):
-	$(call cmake-build,nuttx_$@,$(SRC_DIR))
-
-all_nuttx_targets: $(NUTTX_CONFIG_TARGETS)
-
-posix: posix_sitl_default
-broadcast: posix_sitl_broadcast
-
-# All targets with just dependencies but no recipe must either be marked as phony (or have the special @: as recipe).
-.PHONY: all posix broadcast all_nuttx_targets
-
-# Multi- config targets.
-eagle_default: posix_eagle_default qurt_eagle_default
-eagle_rtps: posix_eagle_rtps qurt_eagle_default
-eagle_legacy_default: posix_eagle_legacy qurt_eagle_legacy
-excelsior_default: posix_excelsior_default qurt_excelsior_default
-excelsior_rtps: posix_excelsior_rtps qurt_excelsior_default
-excelsior_legacy_default: posix_excelsior_legacy qurt_excelsior_legacy
-
-.PHONY: eagle_default eagle_rtps eagle_legacy_default
-.PHONY: excelsior_default excelsior_rtps excelsior_legacy_default
-
-# Other targets
-# --------------------------------------------------------------------
-
-.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware alt_firmware check_rtps
-
-# QGroundControl flashable NuttX firmware
-qgc_firmware: px4fmu_firmware misc_qgc_extra_firmware
-
-# px4fmu NuttX firmware
-px4fmu_firmware: \
-	check_px4io-v2_default \
-	check_px4fmu-v2_default \
-	check_px4fmu-v3_default \
-	check_px4fmu-v4_default \
-	check_px4fmu-v4pro_default \
-	check_px4fmu-v5_default \
-	sizes
-
-misc_qgc_extra_firmware: \
-	check_aerocore2_default \
-	check_aerofc-v1_default \
-	check_auav-x21_default \
-	check_crazyflie_default \
-	check_mindpx-v2_default \
-	check_px4fmu-v2_lpe \
-	check_tap-v1_default \
-	sizes
-
-# Other NuttX firmware
-alt_firmware: \
-	check_nxphlite-v3_default \
-	check_px4-same70xplained-v1_default \
-	check_px4-stm32f4discovery_default \
-	check_px4cannode-v1_default \
-	check_px4esc-v1_default \
-	check_px4nucleoF767ZI-v1_default \
-	check_s2740vc-v1_default \
-	sizes
-
-# builds with RTPS
-check_rtps: \
-	check_px4fmu-v3_rtps \
-	check_px4fmu-v4_rtps \
-	check_px4fmu-v4pro_rtps \
-	check_posix_sitl_rtps \
-	sizes
-
-.PHONY: sizes check quick_check check_rtps uorb_graphs
-
-sizes:
-	@-find build -name *.elf -type f | xargs size 2> /dev/null || :
-
-# All default targets that don't require a special build environment
-check: check_posix_sitl_default px4fmu_firmware misc_qgc_extra_firmware alt_firmware tests check_format
-
-# quick_check builds a single nuttx and posix target, runs testing, and checks the style
-quick_check: check_posix_sitl_default check_px4fmu-v4pro_default tests check_format
-
-check_%:
-	@echo
-	$(call colorecho,"Building" $(subst check_,,$@))
-	@$(MAKE) --no-print-directory $(subst check_,,$@)
-	@echo
-
-uorb_graphs:
-	@./Tools/uorb_graph/create_from_startupscript.sh
-	@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --file Tools/uorb_graph/graph_full
-	@$(MAKE) --no-print-directory px4fmu-v2_default uorb_graph
-	@$(MAKE) --no-print-directory px4fmu-v4_default uorb_graph
-	@$(MAKE) --no-print-directory posix_sitl_default uorb_graph
+$(UAVCAN_DIR):
+	$(Q) (./Tools/check_submodules.sh)


-.PHONY: coverity_scan
+ifeq ($(PX4_TARGET_OS),nuttx)
+# TODO
+# Move the above nuttx specific rules into $(PX4_BASE)makefiles/firmware_nuttx.mk
+endif
+ifeq ($(PX4_TARGET_OS),posix)
+include $(PX4_BASE)makefiles/firmware_posix.mk
+endif
+ifeq ($(PX4_TARGET_OS),posix-arm)
+include $(PX4_BASE)makefiles/firmware_posix.mk
+endif
+ifeq ($(PX4_TARGET_OS),qurt)
+include $(PX4_BASE)makefiles/firmware_qurt.mk
+endif

-coverity_scan: posix_sitl_default
+#
+# Versioning
+#

-# Documentation
-# --------------------------------------------------------------------
-.PHONY: parameters_metadata airframe_metadata module_documentation px4_metadata
+GIT_VER_FILE = $(PX4_VERSIONING_DIR).build_git_ver
+GIT_HEADER_FILE = $(PX4_VERSIONING_DIR)build_git_version.h

-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 $(SRC_DIR)/src/modules/systemlib/param/parameters_injected.xml --xml
+$(GIT_VER_FILE) :
+	$(Q) if [ ! -f $(GIT_VER_FILE) ]; then \
+		$(MKDIR) -p $(PX4_VERSIONING_DIR); \
+		$(ECHO) "" > $(GIT_VER_FILE); \
+	fi

-airframe_metadata:
-	@python $(SRC_DIR)/Tools/px_process_airframes.py -v -a $(SRC_DIR)/ROMFS/px4fmu_common/init.d --markdown
-	@python $(SRC_DIR)/Tools/px_process_airframes.py -v -a $(SRC_DIR)/ROMFS/px4fmu_common/init.d --xml
+.PHONY: checkgitversion
+checkgitversion: $(GIT_VER_FILE)
+	$(Q) if [ "$(GIT_DESC)" != "$(shell cat $(GIT_VER_FILE))" ]; then \
+		$(ECHO) "/* Auto Magically Generated file */" > $(GIT_HEADER_FILE); \
+		$(ECHO) "/* Do not edit! */" >> $(GIT_HEADER_FILE); \
+		$(ECHO) "#define PX4_GIT_VERSION_STR  \"$(GIT_DESC)\"" >> $(GIT_HEADER_FILE); \
+		$(ECHO) "#define PX4_GIT_VERSION_BINARY 0x$(GIT_DESC_SHORT)" >> $(GIT_HEADER_FILE); \
+		$(ECHO) $(GIT_DESC) > $(GIT_VER_FILE); \
+	fi

-module_documentation:
-	@python $(SRC_DIR)/Tools/px_process_module_doc.py -v --markdown $(SRC_DIR)/modules --src-path $(SRC_DIR)/src
+#
+# Submodule Checks
+#

-px4_metadata: parameters_metadata airframe_metadata module_documentation
+.PHONY: checksubmodules
+checksubmodules:
+	$(Q) ($(PX4_BASE)/Tools/check_submodules.sh)

-# Astyle
-# --------------------------------------------------------------------
-.PHONY: check_format format
+.PHONY: updatesubmodules
+updatesubmodules:
+	$(Q) (git submodule init)
+	$(Q) (git submodule update)

+MSG_DIR = $(PX4_BASE)msg
+UORB_TEMPLATE_DIR = $(PX4_BASE)msg/templates/uorb
+MULTIPLATFORM_TEMPLATE_DIR = $(PX4_BASE)msg/templates/px4/uorb
+TOPICS_DIR = $(PX4_BASE)src/modules/uORB/topics
+MULTIPLATFORM_HEADER_DIR = $(PX4_BASE)src/platforms/nuttx/px4_messages
+MULTIPLATFORM_PREFIX = px4_
+TOPICHEADER_TEMP_DIR = $(BUILD_DIR)topics_temporary
+MULTI_TOPICHEADER_TEMP_DIR = $(BUILD_DIR)multi_topics_temporary
+GENMSG_PYTHONPATH = $(PX4_BASE)Tools/genmsg/src
+GENCPP_PYTHONPATH = $(PX4_BASE)Tools/gencpp/src
+
+.PHONY: generateuorbtopicheaders
+generateuorbtopicheaders: checksubmodules
+	@$(ECHO) "Generating uORB topic headers"
+	$(Q) (PYTHONPATH=$(GENMSG_PYTHONPATH):$(GENCPP_PYTHONPATH):$(PYTHONPATH) $(PYTHON) \
+		$(PX4_BASE)Tools/px_generate_uorb_topic_headers.py \
+		-d $(MSG_DIR) -o $(TOPICS_DIR) -e $(UORB_TEMPLATE_DIR) -t $(TOPICHEADER_TEMP_DIR))
+	@$(ECHO) "Generating multiplatform uORB topic wrapper headers"
+	$(Q) (PYTHONPATH=$(GENMSG_PYTHONPATH):$(GENCPP_PYTHONPATH):$(PYTHONPATH) $(PYTHON) \
+		$(PX4_BASE)Tools/px_generate_uorb_topic_headers.py \
+		-d $(MSG_DIR) -o $(MULTIPLATFORM_HEADER_DIR) -e $(MULTIPLATFORM_TEMPLATE_DIR) -t $(MULTI_TOPICHEADER_TEMP_DIR) -p $(MULTIPLATFORM_PREFIX))
+
+#
+# Testing targets
+#
+testbuild:
+	$(Q) (cd $(PX4_BASE) && $(MAKE) distclean && $(MAKE) archives && $(MAKE) -j8)
+	$(Q) (zip -r Firmware.zip $(PX4_BASE)/Images)
+
+#
+# Unittest targets. Builds and runs the host-level
+# unit tests.
+.PHONY: tests
+tests:	generateuorbtopicheaders
+	$(Q) (mkdir -p $(PX4_BASE)/unittests/build && cd $(PX4_BASE)/unittests/build && cmake .. && $(MAKE) unittests)
+
+.PHONY: format check_format
 check_format:
-	$(call colorecho,"Checking formatting with astyle")
-	@$(SRC_DIR)/Tools/astyle/check_code_style_all.sh
-	@cd $(SRC_DIR) && git diff --check
-
-format:
-	$(call colorecho,"Formatting with astyle")
-	@$(SRC_DIR)/Tools/astyle/check_code_style_all.sh --fix
-
-# Testing
-# --------------------------------------------------------------------
-.PHONY: tests tests_coverage tests_mission tests_offboard rostest
-
-tests:
-	@$(MAKE) --no-print-directory posix_sitl_default test_results \
-	ASAN_OPTIONS="color=always:check_initialization_order=1:detect_stack_use_after_return=1" \
-	UBSAN_OPTIONS="color=always"
-
-tests_coverage:
-	@$(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 $(SRC_DIR)/build/posix_sitl_default/coverage-html/index.html to see coverage"
-
-rostest: posix_sitl_default
-	@$(MAKE) --no-print-directory posix_sitl_default sitl_gazebo
-
-tests_mission: rostest
-	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_missions.test
-
-tests_offboard: rostest
-	@$(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
-
-scan-build:
-	@export CCC_CC=clang
-	@export CCC_CXX=clang++
-	@rm -rf $(SRC_DIR)/build/posix_sitl_default-scan-build
-	@rm -rf $(SRC_DIR)/build/scan-build/report_latest
-	@mkdir -p $(SRC_DIR)/build/posix_sitl_default-scan-build
-	@cd $(SRC_DIR)/build/posix_sitl_default-scan-build && scan-build cmake $(SRC_DIR) -GNinja -DCONFIG=posix_sitl_default
-	@scan-build -o $(SRC_DIR)/build/scan-build cmake --build $(SRC_DIR)/build/posix_sitl_default-scan-build
-	@find $(SRC_DIR)/build/scan-build -maxdepth 1 -mindepth 1 -type d -exec cp -r "{}" $(SRC_DIR)/build/scan-build/report_latest \;
-
-posix_sitl_default-clang:
-	@mkdir -p $(SRC_DIR)/build/posix_sitl_default-clang
-	@cd $(SRC_DIR)/build/posix_sitl_default-clang && cmake $(SRC_DIR) $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=posix_sitl_default -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=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 .
-
-# 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 .
-
-# modified version of run-clang-tidy.py to return error codes and only output relevant results
-clang-tidy-quiet: posix_sitl_default-clang
-	@cd $(SRC_DIR)/build/posix_sitl_default-clang && $(SRC_DIR)/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j) -p .
-
-# TODO: Fix cppcheck errors then try --enable=warning,performance,portability,style,unusedFunction or --enable=all
-cppcheck: posix_sitl_default
-	@mkdir -p $(SRC_DIR)/build/cppcheck
-	@cppcheck -i$(SRC_DIR)/src/examples --enable=performance --std=c++11 --std=c99 --std=posix --project=$(SRC_DIR)/build/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
+	$(Q) (./Tools/check_code_style.sh | sort -n)

+#
+# Cleanup targets.  'clean' should remove all built products and force
+# a complete re-compilation, 'distclean' should remove everything
+# that's generated leaving only files that are in source control.
+#
+.PHONY:	clean
 clean:
-	@rm -rf $(SRC_DIR)/build
+	@echo > /dev/null
+	$(Q) $(RMDIR) $(BUILD_DIR)*.build
+	$(Q) $(RMDIR) $(PX4_VERSIONING_DIR)
+	$(Q) $(REMOVE) $(IMAGE_DIR)*.px4
+	$(Q) $(RMDIR) $(TOPICHEADER_TEMP_DIR)
+	$(Q) $(RMDIR) $(MULTI_TOPICHEADER_TEMP_DIR)

-submodulesclean:
-	@git submodule foreach --quiet --recursive git clean -ff -x -d
-	@git submodule update --quiet --init --recursive --force || true
-	@git submodule sync --recursive
-	@git submodule update --init --recursive --force
+.PHONY:	distclean
+distclean: clean
+	@echo > /dev/null
+	$(Q) $(REMOVE) $(ARCHIVE_DIR)*.export
+	$(Q) $(MAKE) -C $(NUTTX_SRC) -r $(MQUIET) distclean
+	$(Q) (cd $(NUTTX_SRC)/configs && $(FIND) . -maxdepth 1 -type l -delete)

-submodulesupdate:
-	@git submodule update --quiet --init --recursive || true
-	@git submodule sync --recursive
-	@git submodule update --init --recursive
-
-gazeboclean:
-	@rm -rf ~/.gazebo/*
-
-distclean: submodulesclean gazeboclean
-	@git clean -ff -x -d -e ".project" -e ".cproject" -e ".idea" -e ".settings" -e ".vscode"
-
-# --------------------------------------------------------------------
-
-# All other targets are handled by PX4_MAKE. Add a rule here to avoid printing an error.
-%:
-	$(if $(filter $(FIRST_ARG),$@), \
-		$(error "$@ cannot be the first argument. Use '$(MAKE) help|list_config_targets' to get a list of all possible [configuration] targets."),@#)
-
-#help:
-#	@echo
-#	@echo "Type 'make ' and hit the tab key twice to see a list of the available"
-#	@echo "build configurations."
-#	@echo
-
-empty :=
-space := $(empty) $(empty)
-
-# Print a list of non-config targets (based on http://stackoverflow.com/a/26339924/1487069)
+#
+# Print some help text
+#
+.PHONY: help
 help:
-	@echo "Usage: $(MAKE) <target>"
-	@echo "Where <target> is one of:"
-	@$(MAKE) -pRrq -f $(lastword $(MAKEFILE_LIST)) : 2>/dev/null | \
-		awk -v RS= -F: '/^# File/,/^# Finished Make data base/ {if ($$1 !~ "^[#.]") {print $$1}}' | sort | \
-		egrep -v -e '^[^[:alnum:]]' -e '^($(subst $(space),|,$(ALL_CONFIG_TARGETS) $(NUTTX_CONFIG_TARGETS)))$$' -e '_default$$' -e '^(posix|eagle|Makefile)'
-	@echo
-	@echo "Or, $(MAKE) <config_target> [<make_target(s)>]"
-	@echo "Use '$(MAKE) list_config_targets' for a list of configuration targets."
-
-# Print a list of all config targets.
-list_config_targets:
-	@for targ in $(patsubst nuttx_%,[nuttx_]%,$(ALL_CONFIG_TARGETS)); do echo $$targ; done
+	@$(ECHO) ""
+	@$(ECHO) " PX4 firmware builder"
+	@$(ECHO) " ===================="
+	@$(ECHO) ""
+	@$(ECHO) "  Available targets:"
+	@$(ECHO) "  ------------------"
+	@$(ECHO) ""
+	@$(ECHO) "  archives"
+	@$(ECHO) "    Build the NuttX RTOS archives that are used by the firmware build."
+	@$(ECHO) ""
+	@$(ECHO) "  all"
+	@$(ECHO) "    Build all firmware configs: $(CONFIGS)"
+	@$(ECHO) "    A limited set of configs can be built with CONFIGS=<list-of-configs>"
+	@$(ECHO) ""
+	@for config in $(CONFIGS); do \
+		$(ECHO) "  $$config"; \
+		$(ECHO) "    Build just the $$config firmware configuration."; \
+		$(ECHO) ""; \
+	done
+	@$(ECHO) "  clean"
+	@$(ECHO) "    Remove all firmware build pieces."
+	@$(ECHO) ""
+	@$(ECHO) "  distclean"
+	@$(ECHO) "    Remove all compilation products, including NuttX RTOS archives."
+	@$(ECHO) ""
+	@$(ECHO) "  upload"
+	@$(ECHO) "    When exactly one config is being built, add this target to upload the"
+	@$(ECHO) "    firmware to the board when the build is complete. Not supported for"
+	@$(ECHO) "    all configurations."
+	@$(ECHO) ""
+	@$(ECHO) "  testbuild"
+	@$(ECHO) "    Perform a complete clean build of the entire tree."
+	@$(ECHO) ""
+	@$(ECHO) "  Common options:"
+	@$(ECHO) "  ---------------"
+	@$(ECHO) ""
+	@$(ECHO) "  V=1"
+	@$(ECHO) "    If V is set, more verbose output is printed during the build. This can"
+	@$(ECHO) "    help when diagnosing issues with the build or toolchain."
+	@$(ECHO) ""
@@ -1,110 +1,43 @@
-# PX4 Pro Drone Autopilot
+## PX4 Flight Core and PX4 Middleware ##

-[![Releases](https://img.shields.io/github/release/PX4/Firmware.svg)](https://github.com/PX4/Firmware/releases) [![DOI](https://zenodo.org/badge/22634/PX4/Firmware.svg)](https://zenodo.org/badge/latestdoi/22634/PX4/Firmware)
+[![Build Status](https://travis-ci.org/PX4/Firmware.svg?branch=master)](https://travis-ci.org/PX4/Firmware) [![Coverity Scan](https://scan.coverity.com/projects/3966/badge.svg?flat=1)](https://scan.coverity.com/projects/3966?tab=overview)

-[![Build Status](http://ci.px4.io:8080/buildStatus/icon?job=Firmware/master)](http://ci.px4.io:8080/blue/organizations/jenkins/Firmware/activity) [![Coverity Scan](https://scan.coverity.com/projects/3966/badge.svg?flat=1)](https://scan.coverity.com/projects/3966?tab=overview)
+[![Gitter](https://badges.gitter.im/Join%20Chat.svg)](https://gitter.im/PX4/Firmware?utm_source=badge&utm_medium=badge&utm_campaign=pr-badge&utm_content=badge)

-[![Slack](https://px4-slack.herokuapp.com/badge.svg)](http://slack.px4.io)
+This repository contains the PX4 Flight Core, with the main applications located in the src/modules directory. It also contains the PX4 Drone Platform, which contains drivers and middleware to run drones. 

-This repository holds the [PX4 Pro](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/Firmware/tree/master/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.
+*   Official Website: http://px4.io
+*   License: BSD 3-clause (see LICENSE.md)
+*   Supported airframes (more experimental are supported):
+  * [Multicopters](http://px4.io/platforms/multicopters/start)
+  * [Fixed wing](http://px4.io/platforms/planes/start)
+  * [VTOL](http://px4.io/platforms/vtol/start)
+*   Binaries (always up-to-date from master):
+  * [Downloads](http://px4.io/firmware/downloads)
+*   Mailing list: [Google Groups](http://groups.google.com/group/px4users)

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

+Please refer to the [user documentation](https://pixhawk.org/users/start) for flying drones with the PX4 flight stack.

-## PX4 Users
+### Developers ###

-The [PX4 User Guide](https://docs.px4.io/en/) explains how to assemble [supported vehicles](https://docs.px4.io/en/airframes/airframe_reference.html) and fly drones with PX4. 
-See the [forum and chat](https://docs.px4.io/en/#support) if you need help!
+Contributing guide:
+  * [CONTRIBUTING.md](https://github.com/PX4/Firmware/blob/master/CONTRIBUTING.md)
+  * [PX4 Contribution Guide](http://px4.io/dev/contributing)

+Developer guide:
+http://px4.io/dev/

-## PX4 Developers
-
-This [Developer Guide](https://dev.px4.io/) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.
-
-Developers should read the [Guide for Contributions](https://dev.px4.io/en/contribute/).
-See the [forum and chat](https://dev.px4.io/en/#support) if you need help!
-
-
-### Weekly Dev Call
-
-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.
-
-
-## Maintenance Team
-
-  * Project / Founder - [Lorenz Meier](https://github.com/LorenzMeier)
-    * [Dev Call](https://github.com/PX4/Firmware/labels/devcall) - [Ramon Roche](https://github.com/mrpollo)
-  * Communication Architecture
-    * [Beat Kueng](https://github.com/bkueng)
-    * [Julian Oes](https://github.com/JulianOes)
-  * UI / UX
-    * [Donald Gagne](https://github.com/DonLakeFlyer)
-    * [Gus Grubba](https://github.com/dogmaphobic)
-  * [Multicopter Flight Control](https://github.com/PX4/Firmware/labels/multicopter)
-    * [Dennis Mannhart](https://github.com/Stifael)
-    * [Matthias Grob](https://github.com/MaEtUgR)
-  * [VTOL Flight Control](https://github.com/PX4/Firmware/labels/vtol)
-    * [Daniel Agar](https://github.com/dagar)
-    * [Mathieu Bresciani](https://github.com/bresch)
-    * [Sander Smeets](https://github.com/sanderux)
-    * [Roman Bapst](https://github.com/tumbili)
-    * [Andreas Antener](https://github.com/AndreasAntener)
-  * [Fixed Wing Flight Control](https://github.com/PX4/Firmware/labels/fixedwing)
-    * [Daniel Agar](https://github.com/dagar)
-    * [Paul Riseborough](https://github.com/priseborough)
-  * Racers - [Matthias Grob](https://github.com/MaEtUgR)
-  * OS / drivers - [David Sidrane](https://github.com/davids5)
-  * [UAVCAN](https://github.com/PX4/Firmware/labels/uavcan) / Industrial - [Pavel Kirienko](https://github.com/pavel-kirienko)
-  * [State Estimation](https://github.com/PX4/Firmware/issues?q=is%3Aopen+is%3Aissue+label%3A%22state+estimation%22) - [James Goppert](https://github.com/jgoppert), [Paul Riseborough](https://github.com/priseborough)
-  * Vision based navigation
-    * [Christoph Tobler](https://github.com/ChristophTobler)
-    * [Mohammed Kabir](https://github.com/mhkabir)
-  * Obstacle Avoidance - [Vilhjalmur Vilhjalmsson](https://github.com/vilhjalmur89)
-  * [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)
-
-See also [About Us](http://px4.io/about-us/#development_team) (px4.io) and the [contributors list](https://github.com/PX4/Firmware/graphs/contributors) (Github).
-
-## Supported Hardware
+Testing guide:
+http://px4.io/dev/unit_tests

 This repository contains code supporting these boards:
-  * [Snapdragon Flight](https://docs.px4.io/en/flight_controller/snapdragon_flight.html)
-  * [Intel Aero](https://docs.px4.io/en/flight_controller/intel_aero.html)
-  * [Raspberry PI with Navio 2](https://docs.px4.io/en/flight_controller/raspberry_pi_navio2.html)
-  * [Parrot Bebop 2](https://dev.px4.io/en/advanced/parrot_bebop.html)
+  * FMUv1.x
  * FMUv2.x
-    * [Pixhawk](https://docs.px4.io/en/flight_controller/pixhawk.html)
-    * [Pixhawk Mini](https://docs.px4.io/en/flight_controller/pixhawk_mini.html)
-    * [Pixfalcon](https://docs.px4.io/en/flight_controller/pixfalcon.html)
-  * FMUv3.x [Pixhawk 2](https://pixhawk.org/modules/pixhawk2)
-  * FMUv4.x
-    * [Pixracer](https://docs.px4.io/en/flight_controller/pixracer.html)
-    * [Pixhawk 3 Pro](https://docs.px4.io/en/flight_controller/pixhawk3_pro.html)
-  * FMUv5.x (ARM Cortex M7, future Pixhawk)
-  * [STM32F4Discovery](http://www.st.com/en/evaluation-tools/stm32f4discovery.html) (basic support) [Tutorial](https://pixhawk.org/modules/stm32f4discovery)
-  * [Gumstix AeroCore](https://www.gumstix.com/aerocore-2/) (only v2)
-  * [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
-  * [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
-  * [Bitcraze Crazyflie 2.0](https://docs.px4.io/en/flight_controller/crazyflie2.html)
+  * AeroCore (v1 and v2)

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

-## Project Roadmap
-
-A high level project roadmap is available [here](https://www.dronecode.org/roadmap/).
+NSH usage documentation:
+http://px4.io/users/serial_connection
@@ -1,46 +0,0 @@
-
-message(STATUS "ROMFS: ${config_romfs_root}")
-
-set(romfs_temp_dir ${PX4_BINARY_DIR}/ROMFS/${config_romfs_root})
-set(romfs_src_dir ${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root})
-
-# 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
-		-a ${romfs_temp_dir}/init.d
-		-s ${romfs_temp_dir}/init.d/rc.autostart
-		--board ${BOARD}
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py
-		--folder ${romfs_temp_dir} --board ${BOARD}
-	DEPENDS
-		${romfs_src_files}
-		${init_airframes}
-		${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root}/init.d/rcS
-		${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
-	)
-
-set(romfs_dependencies)
-list(APPEND romfs_dependencies
-	${romfs_temp_dir}/init.d/rcS
-	${romfs_temp_dir}/init.d/rc.autostart
-	)
-	
-# create romfs.bin
-add_custom_command(OUTPUT romfs.img
-	COMMAND ${GENROMFS} -f romfs.img -d ${romfs_temp_dir} -V "NSHInitVol" -v > romfs.txt 2>&1
-	DEPENDS ${romfs_dependencies}
-	)
-
-# create romfs.o
-add_custom_command(OUTPUT 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)
-set_target_properties(romfs PROPERTIES LINKER_LANGUAGE C)
@@ -3,14 +3,11 @@
 # @name HILStar (XPlane)
 #
 # @type Simulation
-# @class Plane
 #
 # @output MAIN1 aileron
 # @output MAIN2 elevator
 # @output MAIN3 rudder
 # @output MAIN4 throttle
-# @output MAIN5 flaps
-# @output MAIN6 gear
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
@@ -23,8 +20,7 @@ then
 	param set FW_AIRSPD_MAX 20
 	param set FW_AIRSPD_MIN 12
 	param set FW_AIRSPD_TRIM 14
-	param set FW_R_TC 0.3
-	param set FW_P_TC 0.3
+	param set FW_ATT_TC 0.3
 	param set FW_L1_DAMPING 0.74
 	param set FW_L1_PERIOD 16
 	param set FW_LND_ANG 15
@@ -41,8 +37,10 @@ then
 	param set FW_RR_I 0.1
 	param set FW_RR_IMAX 0.2
 	param set FW_RR_P 0.3
-	param set RWTO_TKOFF 1
 fi

-param set SYS_HITL 1
+# Enable gamepad / joystick support
+param set COM_RC_IN_MODE 2
+
+set HIL yes
 set MIXER AERT
@@ -3,21 +3,8 @@
 # @name Team Blacksheep Discovery
 #
 # @type Quadrotor Wide
-# @class Copter
 #
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-# @output MAIN5 feed-through of RC AUX1 channel
-# @output MAIN6 feed-through of RC AUX2 channel
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-# @output AUX4 feed-through of RC FLAPS channel
-#
-# @maintainer Lorenz Meier <lorenz@px4.io>
+# @maintainer Anton Babushkin <anton@px4.io>, Simon Wilks <simon@px4.io>
 #

 sh /etc/init.d/rc.mc_defaults
@@ -41,3 +28,11 @@ fi
 set MIXER quad_w

 set PWM_OUT 1234
+set PWM_MIN 1200
+
+set MIXER_AUX pass
+set PWM_AUX_RATE 50
+set PWM_AUX_OUT 1234
+set PWM_AUX_DISARMED 1000
+set PWM_AUX_MIN 1000
+set PWM_AUX_MAX 2000
@@ -3,19 +3,8 @@
 # @name 3DR Iris Quadrotor
 #
 # @type Quadrotor Wide
-# @class Copter
 #
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-# @output AUX4 feed-through of RC FLAPS channel
-#
-# @maintainer Lorenz Meier <lorenz@px4.io>
+# @maintainer Anton Babushkin <anton@px4.io>
 #

 sh /etc/init.d/rc.mc_defaults
@@ -24,11 +13,11 @@ if [ $AUTOCNF == yes ]
 then
 	# TODO tune roll/pitch separately
 	param set MC_ROLL_P 7.0
-	param set MC_ROLLRATE_P 0.15
+	param set MC_ROLLRATE_P 0.13
 	param set MC_ROLLRATE_I 0.05
 	param set MC_ROLLRATE_D 0.004
 	param set MC_PITCH_P 7.0
-	param set MC_PITCHRATE_P 0.15
+	param set MC_PITCHRATE_P 0.13
 	param set MC_PITCHRATE_I 0.05
 	param set MC_PITCHRATE_D 0.004
 	param set MC_YAW_P 2.5
@@ -36,10 +25,13 @@ then
 	param set MC_YAWRATE_I 0.25
 	param set MC_YAWRATE_D 0.0

-	param set BAT_V_DIV 12.27559
-	param set BAT_A_PER_V 15.39103
+	param set BAT_V_SCALING 0.00989
+	param set BAT_C_SCALING 0.0124
 fi

-set MIXER quad_dc
+set MIXER quad_w

 set PWM_OUT 1234
+
+set PWM_MIN 1200
+set PWM_MAX 1950
@@ -3,21 +3,8 @@
 # @name Steadidrone QU4D
 #
 # @type Quadrotor Wide
-# @class Copter
 #
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-# @output MAIN5 feed-through of RC AUX1 channel
-# @output MAIN6 feed-through of RC AUX2 channel
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-# @output AUX4 feed-through of RC FLAPS channel
-#
-# @maintainer Lorenz Meier <lorenz@px4.io>
+# @maintainer Thomas Gubler <thomas@px4.io>
 #

 sh /etc/init.d/rc.mc_defaults
@@ -43,4 +30,7 @@ fi

 set MIXER quad_w

+set PWM_MIN 1210
+set PWM_MAX 2100
+
 set PWM_OUT 1234
@@ -3,21 +3,8 @@
 # @name Team Blacksheep Discovery Endurance
 #
 # @type Quadrotor Wide
-# @class Copter
 #
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-# @output MAIN5 feed-through of RC AUX1 channel
-# @output MAIN6 feed-through of RC AUX2 channel
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-# @output AUX4 feed-through of RC FLAPS channel
-#
-# @maintainer Simon Wilks <simon@uaventure.com>
+# @maintainer Simon Wilks <simon@px4.io>
 #

 sh /etc/init.d/rc.mc_defaults
@@ -40,10 +27,11 @@ then
 	param set MC_YAWRATE_I 0.1
 	param set MC_YAWRATE_D 0.0

+	param set MPC_XY_FF 0.2
 	param set MPC_XY_VEL_MAX 2
-	param set PWM_MIN 1080
 fi

 set MIXER quad_w

 set PWM_OUT 1234
+set PWM_MIN 1080
@@ -0,0 +1,40 @@
+#!nsh
+#
+# @name HobbyKing SK450 DeadCat modification
+#
+# @type Quadrotor Wide
+#
+# @maintainer Anton Matosov <anton.matosov@gmail.com>
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+if [ $AUTOCNF == yes ]
+then
+	param set MC_ROLL_P 6.0
+	param set MC_ROLLRATE_P 0.08
+	param set MC_ROLLRATE_I 0.03
+	param set MC_ROLLRATE_D 0.0015
+	
+	param set MC_PITCH_P 6.0
+	param set MC_PITCHRATE_P 0.1
+	param set MC_PITCHRATE_I 0.03
+	param set MC_PITCHRATE_D 0.0015
+	
+	param set MC_YAW_P 2.8
+	param set MC_YAWRATE_P 0.1
+	param set MC_YAWRATE_I 0.07
+	param set MC_YAWRATE_D 0.0
+fi
+
+set MIXER sk450_deadcat
+
+set PWM_OUT 1234
+set PWM_MIN 1050
+
+set PWM_AUX_OUT 1234
+# set PWM_AUX_MIN 900
+# set PWM_AUX_MAX 2100
+set PWM_AUX_RATE 100
+
+gimbal start
@@ -3,11 +3,15 @@
 # @name HIL Quadcopter X
 #
 # @type Simulation
-# @class Copter
 #
-# @maintainer Lorenz Meier <lorenz@px4.io>
+# @maintainer Anton Babushkin <anton@px4.io>
 #

-sh /etc/init.d/4001_quad_x
+sh /etc/init.d/rc.mc_defaults

-param set SYS_HITL 1
+set MIXER quad_x
+
+# Enable gamepad / joystick support
+param set COM_RC_IN_MODE 2
+
+set HIL yes
@@ -1,24 +1,31 @@
 #!nsh
 #
-# @name 3DR DIY Quad
+# @name 3DR Iris DIY Quad
 #
 # @type Quadrotor x
-# @class Copter
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #

-sh /etc/init.d/4001_quad_x
+sh /etc/init.d/rc.mc_defaults

 if [ $AUTOCNF == yes ]
 then
+	# TODO tune roll/pitch separately
 	param set MC_ROLL_P 6.5
-	param set MC_ROLLRATE_P 0.14
+	param set MC_ROLLRATE_P 0.08
 	param set MC_ROLLRATE_I 0.1
 	param set MC_ROLLRATE_D 0.004
 	param set MC_PITCH_P 6.0
-	param set MC_PITCHRATE_P 0.14
+	param set MC_PITCHRATE_P 0.16
 	param set MC_PITCHRATE_I 0.09
 	param set MC_PITCHRATE_D 0.004
 	param set MC_YAW_P 4
 fi
+
+set MIXER quad_x
+
+set PWM_OUT 1234
+
+set PWM_MIN 1100
+set PWM_MAX 1950
@@ -0,0 +1,17 @@
+#!nsh
+#
+# @name HIL Quadcopter +
+#
+# @type Simulation
+#
+# @maintainer Anton Babushkin <anton@px4.io>
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+set MIXER quad_+
+
+# Enable gamepad / joystick support
+param set COM_RC_IN_MODE 2
+
+set HIL yes
@@ -0,0 +1,17 @@
+#!nsh
+#
+# @name HIL Rascal 110 (Flightgear)
+#
+# @type Simulation
+#
+# @maintainer Thomas Gubler <thomas@px4.io>
+#
+
+sh /etc/init.d/rc.fw_defaults
+
+set HIL yes
+
+# Enable gamepad / joystick support
+param set COM_RC_IN_MODE 2
+
+set MIXER AERT
@@ -0,0 +1,43 @@
+#!nsh
+#
+# @name HIL Malolo 1 (Flightgear)
+#
+# @type Simulation
+#
+# @maintainer Thomas Gubler <thomas@px4.io>
+#
+
+sh /etc/init.d/rc.fw_defaults
+
+if [ $AUTOCNF == yes ]
+then
+	param set FW_AIRSPD_MIN 12
+	param set FW_AIRSPD_TRIM 25
+	param set FW_AIRSPD_MAX 40
+	param set FW_ATT_TC 0.3
+	param set FW_L1_DAMPING 0.74
+	param set FW_L1_PERIOD 15
+	param set FW_PR_FF 0.8
+	param set FW_PR_I 0.05
+	param set FW_PR_IMAX 0.2
+	param set FW_PR_P 0.1
+	param set FW_P_ROLLFF 0
+	param set FW_RR_FF 0.6
+	param set FW_RR_I 0.02
+	param set FW_RR_IMAX 0.2
+	param set FW_RR_P 0.1
+	param set FW_R_LIM 45
+	param set FW_R_RMAX 0
+	param set FW_YR_FF 0.0
+	param set FW_YR_I 0
+	param set FW_YR_IMAX 0.2
+	param set FW_YR_P 0.0
+fi
+
+set HIL yes
+
+# Enable gamepad / joystick support
+param set COM_RC_IN_MODE 2
+
+# Set the AERT mixer for HIL (even if the malolo is a flying wing)
+set MIXER AERT
@@ -1,20 +1,8 @@
 #!nsh
 #
-# @name Generic Hexarotor coaxial geometry
+# @name Generic Hexa coaxial geometry
 #
 # @type Hexarotor Coaxial
-# @class Copter
-#
-# @output MAIN1 front right top, CW; angle:60; direction:CW
-# @output MAIN2 front right bottom, CCW; angle:60; direction:CCW
-# @output MAIN3 back top, CW; angle:180; direction:CW
-# @output MAIN4 back bottom, CCW; angle:180; direction:CCW
-# @output MAIN5 front left top, CW; angle:-60; direction:CW
-# @output MAIN6 front left bottom, CCW;angle:-60; direction:CCW
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
@@ -3,16 +3,6 @@
 # @name Generic 10" Octo coaxial geometry
 #
 # @type Octorotor Coaxial
-# @class Copter
-#
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-# @output MAIN5 motor 5
-# @output MAIN6 motor 6
-# @output MAIN7 motor 7
-# @output MAIN8 motor 8
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
@@ -1,51 +0,0 @@
-#!nsh
-#
-# @name Steadidrone MAVRIK
-#
-# @type Octo Coax Wide
-# @class Copter
-#
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-# @output MAIN5 motor 5
-# @output MAIN6 motor 6
-# @output MAIN7 motor 7
-# @output MAIN8 motor 8
-#
-# @maintainer Simon Wilks <simon@uaventure.com>
-#
-
-sh /etc/init.d/rc.mc_defaults
-
-if [ $AUTOCNF == yes ]
-then
-	param set MC_PITCH_P 4.0
-	param set MC_PITCHRATE_P 0.24
-	param set MC_PITCHRATE_I 0.09
-	param set MC_PITCHRATE_D 0.013
-	param set MC_PITCHRATE_MAX 180.0
-
-	param set MC_ROLL_P 4.0
-	param set MC_ROLLRATE_P 0.16
-	param set MC_ROLLRATE_I 0.07
-	param set MC_ROLLRATE_D 0.009
-	param set MC_ROLLRATE_MAX 180.0
-
-	param set MC_YAW_P 3.0
-	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 MPC_HOLD_MAX_XY 0.25
-	param set MPC_THR_MIN 0.15
-	param set MPC_Z_VEL_MAX_DN 2.0
-
-	param set BAT_N_CELLS 4
-fi
-
-set MIXER octo_cox_w
-
-set PWM_OUT 12345678
@@ -1,37 +0,0 @@
-#!nsh
-#
-# @name Generic Quadplane VTOL
-#
-# @type Standard VTOL
-# @class VTOL
-#
-# @maintainer
-#
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-# @output AUX1 Aileron 1
-# @output AUX2 Aileron 2
-# @output AUX3 Elevator
-# @output AUX4 Rudder
-# @output AUX5 Throttle
-#
-
-sh /etc/init.d/rc.vtol_defaults
-
-if [ $AUTOCNF == yes ]
-then
-	param set VT_TYPE 2
-	param set VT_MOT_COUNT 4
-fi
-
-set MIXER quad_x
-set PWM_OUT 1234
-set PWM_RATE 400
-
-set MIXER_AUX vtol_AAERT
-set PWM_ACHDIS 5
-set PWM_AUX_DISARMED 950
-
-set MAV_TYPE 22
@@ -1,45 +0,0 @@
-#!nsh
-#
-# @name Caipiroshka Duo Tailsitter
-#
-# @type VTOL Duo Tailsitter
-# @class VTOL
-#
-# @output MAIN1 motor right
-# @output MAIN2 motor left
-# @output MAIN5 elevon right
-# @output MAIN6 elevon left
-#
-# @maintainer Roman Bapst <roman@px4.io>
-#
-
-sh /etc/init.d/rc.vtol_defaults
-
-if [ $AUTOCNF == yes ]
-then
-	param set MC_ROLL_P 6.0
-	param set MC_ROLLRATE_P 0.12
-	param set MC_ROLLRATE_I 0.002
-	param set MC_ROLLRATE_D 0.003
-	param set MC_ROLLRATE_FF 0.0
-	param set MC_PITCH_P 4.5
-	param set MC_PITCHRATE_P 0.3
-	param set MC_PITCHRATE_I 0.002
-	param set MC_PITCHRATE_D 0.003
-	param set MC_PITCHRATE_FF 0.0
-	param set MC_YAW_P 3.8
-	param set MC_YAW_FF 0.5
-	param set MC_YAWRATE_P 0.22
-	param set MC_YAWRATE_I 0.02
-	param set MC_YAWRATE_D 0.0
-	param set MC_YAWRATE_FF 0.0
-
-	param set VT_MOT_COUNT 2
-	param set VT_IDLE_PWM_MC  1080
-	param set VT_TYPE 0
-	param set MAV_TYPE 19
-fi
-
-set MIXER caipirinha_vtol
-
-set PWM_OUT 1234
@@ -1,37 +0,0 @@
-#!nsh
-#
-# @name Quadrotor + Tailsitter
-#
-# @type VTOL Quad Tailsitter
-# @class VTOL
-#
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 4
-# @output MAIN4 motor 5
-# @output MAIN5 elevon left
-# @output MAIN6 elevon right
-# @output MAIN7 canard surface
-# @output MAIN8 rudder
-#
-# @maintainer Roman Bapst <roman@px4.io>
-#
-# @board px4fmu-v2 exclude
-#
-
-sh /etc/init.d/rc.vtol_defaults
-
-if [ $AUTOCNF == yes ]
-then
-    param set VT_MOT_COUNT 4
-    param set VT_IDLE_PWM_MC  1080
-    param set VT_TYPE 0
-    param set VT_ELEV_MC_LOCK 1
-fi
-
-set MIXER quad_+_vtol
-
-set PWM_OUT 1234
-set PWM_MAX 2000
-set PWM_RATE 400
-set MAV_TYPE 20
@@ -1,73 +0,0 @@
-#!nsh
-#
-# @name Fun Cub Quad VTOL
-#
-# @type Standard VTOL
-# @class VTOL
-#
-# @maintainer Simon Wilks <simon@uaventure.com>
-#
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-# @output AUX1 Aileron 1
-# @output AUX2 Aileron 2
-# @output AUX3 Elevator
-# @output AUX4 Rudder
-# @output AUX5 Throttle
-#
-
-sh /etc/init.d/rc.vtol_defaults
-
-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_ARSP_TRANS 12
-	param set VT_ARSP_BLEND 6
-
-	param set MC_ROLL_P 6.0
-	param set MC_ROLLRATE_P 0.17
-	param set MC_ROLLRATE_I 0.002
-	param set MC_ROLLRATE_D 0.004
-	param set MC_ROLLRATE_FF 0.0
-	param set MC_PITCH_P 6.0
-	param set MC_PITCHRATE_P 0.19
-	param set MC_PITCHRATE_I 0.002
-	param set MC_PITCHRATE_D 0.004
-	param set MC_PITCHRATE_FF 0.0
-	param set MC_YAW_P 2.8
-	param set MC_YAW_FF 0.5
-	param set MC_YAWRATE_P 0.22
-	param set MC_YAWRATE_I 0.02
-	param set MC_YAWRATE_D 0.0
-	param set MC_YAWRATE_FF 0.0
-	param set MC_YAWRATE_MAX 40
-	param set MC_YAWRAUTO_MAX 40
-
-	param set FW_PR_FF 0.5
-	param set FW_PR_I 0.02
-	param set FW_PR_IMAX 0.4
-	param set FW_PR_P 0.08
-	param set FW_RR_FF 0.6
-	param set FW_RR_I 0.01
-	param set FW_RR_IMAX 0.2
-	param set FW_RR_P 0.05
-	param set FW_THR_CRUISE 0.75
-
-	param set VT_MOT_COUNT 4
-	param set VT_IDLE_PWM_MC 1080
-	param set VT_TYPE 2
-fi
-
-set MIXER quad_x
-set PWM_OUT 1234
-set PWM_RATE 400
-
-set MIXER_AUX vtol_AAERT
-set PWM_ACHDIS 5
-set PWM_AUX_DISARMED 950
-
-set MAV_TYPE 22
@@ -1,63 +0,0 @@
-#!nsh
-#
-# @name Generic quad delta VTOL
-#
-# @type Standard VTOL
-# @class VTOL
-#
-# @maintainer Simon Wilks <simon@uaventure.com>
-#
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-# @output AUX1 Right elevon
-# @output AUX2 Left elevon
-# @output AUX3 Motor
-#
-
-sh /etc/init.d/rc.vtol_defaults
-
-if [ $AUTOCNF == yes ]
-then
-	param set VT_TYPE 2
-	param set VT_MOT_COUNT 4
-	param set VT_TRANS_THR 0.75
-
-	param set MC_ROLL_P 6.5
-	param set MC_ROLLRATE_P 0.15
-	param set MC_ROLLRATE_I 0.01
-	param set MC_ROLLRATE_D 0.003
-	param set MC_ROLLRATE_FF 0.0
-	param set MC_PITCH_P 6.5
-	param set MC_PITCHRATE_P 0.15
-	param set MC_PITCHRATE_I 0.01
-	param set MC_PITCHRATE_D 0.003
-	param set MC_PITCHRATE_FF 0.0
-	param set MC_YAW_P 3.5
-	param set MC_YAW_FF 0.5
-	param set MC_YAWRATE_P 0.2
-	param set MC_YAWRATE_I 0.1
-	param set MC_YAWRATE_D 0.0
-	param set MC_YAWRATE_FF 0.0
-	param set MC_YAWRATE_MAX 50
-	param set MC_YAWRAUTO_MAX 20
-
-	param set MPC_XY_P 0.8
-	param set MPC_XY_VEL_P 0.1
-	param set MPC_ACC_HOR_MAX 2.0
-
-	param set VT_MOT_COUNT 4
-	param set VT_IDLE_PWM_MC 1080
-	param set VT_TYPE 2
-fi
-
-set MIXER quad_x
-set PWM_OUT 1234
-set PWM_RATE 400
-
-set MIXER_AUX vtol_delta
-set PWM_ACHDIS 3
-set PWM_AUX_DISARMED 950
-
-set MAV_TYPE 22
@@ -1,71 +0,0 @@
-#!nsh
-#
-# @name QuadRanger
-#
-# @type Standard VTOL
-# @class VTOL
-#
-# @maintainer Sander Smeets <sander@droneslab.com>
-#
-
-sh /etc/init.d/rc.vtol_defaults
-
-if [ $AUTOCNF == yes ]
-then
-	param set VT_TYPE 2
-	param set VT_MOT_COUNT 4
-	param set VT_TRANS_THR 0.75
-
-	param set PWM_AUX_REV1 1
-	param set PWM_AUX_REV2 1
-
-	param set MC_ROLL_P 7.0
-	param set MC_ROLLRATE_P 0.15
-	param set MC_ROLLRATE_I 0.1
-	param set MC_ROLLRATE_D 0.004
-	param set MC_ROLLRATE_FF 0.0
-	param set MC_PITCH_P 7.0
-	param set MC_PITCHRATE_P 0.15
-	param set MC_PITCHRATE_I 0.1
-	param set MC_PITCHRATE_D 0.004
-	param set MC_PITCHRATE_FF 0.0
-	param set MC_YAW_P 3.5
-	param set MC_YAW_FF 0.7
-	param set MC_YAWRATE_P 0.6
-	param set MC_YAWRATE_I 0.04
-	param set MC_YAWRATE_D 0.0
-	param set MC_YAWRATE_FF 0.0
-	param set MC_YAWRATE_MAX 40.0
-	param set MC_YAWRAUTO_MAX 40.0
-
-	param set MPC_ACC_HOR_MAX 2.0
-	param set MPC_Z_VEL_MAX_DN 1.5
-	param set MPC_TKO_SPEED 1.5
-	param set MPC_LAND_SPEED 0.8
-
-	param set FW_THR_CRUISE 65.0
-	param set FW_PR_P 0.08
-	param set FW_PR_FF 0.5
-	param set FW_RR_P 0.05
-	param set FW_RR_FF 0.6
-
-	param set MIS_YAW_TMT 10
-
-	param set VT_ARSP_TRANS 15.0
-	param set VT_ARSP_BLEND 8.0
-	param set VT_B_TRANS_DUR 4.0
-
-	param set VT_MOT_COUNT 4
-	param set VT_IDLE_PWM_MC 1080
-	param set VT_TYPE 2
-fi
-
-set MIXER quad_x
-set PWM_OUT 1234
-set PWM_RATE 400
-
-set MIXER_AUX vtol_AAERT
-set PWM_ACHDIS 5
-set PWM_AUX_DISARMED 950
-
-set MAV_TYPE 22
@@ -1,87 +0,0 @@
-#!nsh
-#
-# @name Sparkle Tech Ranger VTOL
-#
-# @type Standard VTOL
-# @class VTOL
-#
-# @maintainer Andreas Antener <andreas@uaventure.com>
-#
-
-sh /etc/init.d/rc.vtol_defaults
-
-if [ $AUTOCNF == yes ]
-then
-    param set VT_TYPE 2
-    param set VT_MOT_COUNT 4
-    param set VT_IDLE_PWM_MC 1180
-    param set MAV_TYPE    22
-    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_TRANS_TIMEOUT    30.0
-
-    param set FW_AIRSPD_MAX   22.0
-    param set FW_AIRSPD_MIN   14.0
-    param set FW_AIRSPD_TRIM  16.0
-    param set FW_L1_PERIOD    25.0
-    param set FW_PR_P 0.060
-    param set FW_P_RMAX_NEG   40.0
-    param set FW_P_RMAX_POS   40.0
-    param set FW_RR_FF    0.4
-    param set FW_RR_P 0.04
-    param set FW_R_RMAX   40.0
-
-    param set MC_PITCHRATE_D  0.004
-    param set MC_PITCHRATE_I  0.0
-    param set MC_PITCHRATE_MAX    60.0
-    param set MC_PITCHRATE_P  0.21
-    param set MC_PITCH_P  4.0
-    param set MC_ROLLRATE_D   0.004
-    param set MC_ROLLRATE_I   0.002
-    param set MC_ROLLRATE_MAX 60.0
-    param set MC_ROLLRATE_P   0.24
-    param set MC_ROLL_P   4.0
-    param set MC_YAWRATE_I    0.02
-    param set MC_YAWRATE_MAX  40.0
-    param set MC_YAWRATE_P    0.18
-    param set MC_YAWRATE_MAX  40.0
-    param set MC_YAWRAUTO_MAX 40.0
-
-    param set MIS_TAKEOFF_ALT 2.5
-    param set MIS_YAW_TMT 20.0
-
-    param set MPC_ACC_HOR_MAX 1.0
-    param set MPC_HOLD_MAX_XY 0.5
-    param set MPC_HOLD_MAX_Z  0.5
-    param set MPC_LAND_SPEED  1.0
-    param set MPC_MANTHR_MIN  0.05
-    param set MPC_MAN_Y_MAX   120.0
-    param set MPC_THR_MIN 0.07
-    param set MPC_TILTMAX_AIR 35.0
-    param set MPC_TILTMAX_LND 20.0
-    param set MPC_TKO_SPEED   1.0
-    param set MPC_XY_P    0.3
-    param set MPC_XY_VEL_MAX  3.0
-    param set MPC_XY_VEL_P    0.05
-    param set MPC_Z_P 0.5
-    param set MPC_Z_VEL_P 0.1
-
-    param set NAV_ACC_RAD 3.0
-
-    param set PWM_AUX_REV1    1
-    param set PWM_AUX_REV2    1
-    param set PWM_AUX_REV3    1
-    param set PWM_AUX_REV4    1
-fi
-
-set MIXER quad_x
-set PWM_OUT 1234
-set PWM_RATE 400
-
-set MIXER_AUX vtol_AAERT
-set PWM_ACHDIS 5
-set PWM_AUX_DISARMED 950
-
-set MAV_TYPE 22
@@ -1,40 +0,0 @@
-#!nsh
-#
-# @name CruiseAder Claire
-#
-# @type VTOL Tiltrotor
-# @class VTOL
-#
-# @maintainer Samay Siga <samay_s@icloud.com>
-#
-# @board px4fmu-v2 exclude
-#
-
-sh /etc/init.d/rc.vtol_defaults
-
-if [ $AUTOCNF == yes ]
-then
-param set VT_TYPE 1
-param set VT_TILT_MC 0.08
-param set VT_TILT_TRANS 0.5
-param set VT_TILT_FW 0.9
-
-param set VT_MOT_COUNT 4
-param set VT_FW_MOT_OFFID 13
-param set VT_IDLE_PWM_MC 1080
-param set VT_TYPE 1
-fi
-
-set MIXER claire
-set PWM_OUT 1234
-set PWM_RATE 400
-set PWM_MAX 2000
-
-set MIXER_AUX claire
-set PWM_AUX_RATE 50
-set PWM_AUX_RATE 123
-set PWM_AUX_MIN 1000
-set PWM_AUX_MAX 2000
-set PWM_AUX_DISARMED 1000
-
-set MAV_TYPE 21
@@ -1,83 +0,0 @@
-#!nsh
-#
-# @name E-flite Convergence
-#
-# @type VTOL Tiltrotor
-# @class VTOL
-#
-# @maintainer Andreas Antener <andreas@uaventure.com>
-#
-# @output MAIN1 Motor right
-# @output MAIN2 Motor left
-# @output MAIN3 Motor back
-# @output MAIN4 empty
-# @output MAIN5 Tilt servo right
-# @output MAIN6 Tilt servo left
-# @output MAIN7 Elevon right
-# @output MAIN8 Elevon left
-#
-
-sh /etc/init.d/rc.vtol_defaults
-
-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_TYPE 1
-
-    param set VT_B_TRANS_DUR  1.0
-    param set VT_FW_DIFTHR_EN 1
-    param set VT_FW_DIFTHR_SC 0.17
-    param set VT_FW_PERM_STAB 0
-    param set VT_F_TRANS_DUR  1.2
-    param set VT_F_TR_OL_TM   4.0
-    param set VT_TILT_FW  1.0
-    param set VT_TILT_MC  0.0
-    param set VT_TILT_TRANS   0.45
-    param set VT_TRANS_MIN_TM 1.2
-    param set VT_TRANS_P2_DUR 1.3
-
-    param set FW_L1_PERIOD 17
-    param set FW_MAN_R_MAX 50.0
-    param set FW_ACRO_X_MAX   270
-    param set FW_ACRO_Y_MAX   270
-    param set FW_ACRO_Z_MAX   180
-    param set FW_PR_FF    0.5
-    param set FW_PR_P 0.08
-    param set FW_PSP_OFF  5.0
-    param set FW_P_LIM_MAX    30
-    param set FW_P_LIM_MIN    -30
-    param set FW_P_RMAX_NEG   60
-    param set FW_P_RMAX_POS   60
-    param set FW_RR_FF    0.33
-    param set FW_RR_P 0.11
-    param set FW_YR_FF    0.3
-    param set FW_YR_P 0.05
-    param set MC_PITCHRATE_D  0.003
-    param set MC_PITCHRATE_P  0.15
-    param set MC_PITCH_P  6.0
-    param set MC_ROLLRATE_D   0.003
-    param set MC_ROLLRATE_P   0.15
-    param set MC_ROLL_P   6.0
-    param set MC_YAWRATE_MAX  120
-    param set MC_YAWRATE_P    0.27
-    param set MC_YAW_FF   0.35
-    param set MC_YAW_P    2.5
-
-    param set MC_YAWRATE_P 0.3
-    param set MPC_LAND_SPEED 1.2
-    param set MPC_TKO_SPEED 2.5
-    param set MPC_Z_VEL_MAX_UP 3.0
-
-    param set CBRK_AIRSPD_CHK 162128
-    param set FW_ARSP_MODE 2
-
-    param set SENS_BOARD_ROT 8
-fi
-
-set MIXER vtol_convergence
-set PWM_OUT 1234
-set PWM_RATE 400
-
-set MAV_TYPE 21
@@ -1,124 +0,0 @@
-#!nsh
-#
-# @name DeltaQuad
-#
-# @type Standard VTOL
-# @class VTOL
-#
-# @maintainer Sander Smeets <sander@droneslab.com>
-#
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-# @output MAIN5 Right elevon
-# @output MAIN6 Left elevon
-# @output MAIN7 Pusher motor
-# @output MAIN8 Pusher reverse channel
-#
-
-sh /etc/init.d/rc.vtol_defaults
-
-if [ $AUTOCNF == yes ]
-then
-	param set VT_TYPE 2
-	param set VT_MOT_COUNT 4
-	param set VT_TRANS_THR 1
-	param set VT_DWN_PITCH_MAX 8
-	param set VT_FW_QC_P 55
-	param set VT_FW_QC_R 55
-	param set VT_TRANS_MIN_TM 8
-	param set VT_B_TRANS_DUR 5
-	param set VT_WV_LND_EN 1
-	param set VT_WV_LTR_EN 1
-	param set VT_FWD_THRUST_SC 2
-	param set VT_F_TRANS_DUR 1
-	param set VT_IDLE_PWM_MC 1025
-
-	param set FW_ARSP_MODE 2
-	param set FW_L1_PERIOD 25
-	param set FW_PR_FF 0.7
-	param set FW_PR_I 0.18
-	param set FW_PR_P 0.15
-	param set FW_P_TC 0.5
-	param set FW_PSP_OFF 5
-	param set FW_R_LIM 35
-	param set FW_RR_FF 0.9
-	param set FW_RR_I 0.08
-	param set FW_RR_P 0.18
-	param set FW_T_HRATE_FF 0.5
-	param set FW_T_CLMB_MAX 3
-	param set FW_T_SINK_MAX 3
-	param set FW_T_SINK_MIN 1
-	param set FW_T_VERT_ACC 6
-	param set FW_THR_CRUISE 0.68
-	param set FW_THR_SLEW_MAX 1
-	param set FW_MAN_P_MAX 30
-	param set FW_P_LIM_MAX 20
-	param set FW_P_LIM_MIN -25
-	param set FW_P_RMAX_NEG 45
-	param set FW_P_RMAX_POS 45
-	param set FW_R_RMAX 50
-
-	param set LNDMC_ALT_MAX 9999
-	param set LNDMC_XY_VEL_MAX 1
-	param set LNDMC_Z_VEL_MAX 0.7
-
-	param set MC_ROLL_P 6.5
-	param set MC_ROLLRATE_P 0.16
-	param set MC_ROLLRATE_I 0.01
-	param set MC_ROLLRATE_D 0.003
-	param set MC_ROLLRATE_FF 0.0
-	param set MC_ROLLRATE_MAX 80
-	param set MC_PITCH_P 6.5
-	param set MC_PITCHRATE_P 0.15
-	param set MC_PITCHRATE_I 0.05
-	param set MC_PITCHRATE_D 0.003
-	param set MC_PITCHRATE_FF 0.0
-	param set MC_PITCHRATE_MAX 80
-	param set MC_YAW_P 3.5
-	param set MC_YAW_FF 0.5
-	param set MC_YAWRATE_P 0.2
-	param set MC_YAWRATE_I 0.1
-	param set MC_YAWRATE_D 0.0
-	param set MC_YAWRATE_FF 0.0
-	param set MC_YAWRATE_MAX 20
-	param set MC_YAWRAUTO_MAX 20
-
-	param set MPC_XY_P 0.8
-	param set MPC_XY_VEL_P 0.1
-	param set MPC_XY_VEL_MAX 4
-	param set MPC_ACC_HOR_MAX 2.0
-	param set MPC_LAND_SPEED 1.5
-	param set MPC_MAN_R_MAX 30
-	param set MPC_TILTMAX_LND 35
-	param set MPC_Z_VEL_MAX 1.5
-	param set MPC_Z_VEL_MAX_UP 1.5
-	param set MPC_Z_VEL_MAX_DN 1.5
-	param set MPC_HOLD_MAX_XY 0.5
-	param set MPC_HOLD_MAX_Z 0.5
-
-	param set CBRK_AIRSPD_CHK 162128
-	param set CBRK_IO_SAFETY 22027
-
-	param set EKF2_GPS_POS_X -0.12
-	param set EKF2_IMU_POS_X -0.12
-	param set EKF2_TAU_VEL 0.5
-
-	param set SYS_COMPANION 57600
-fi
-
-set MIXER deltaquad
-set PWM_OUT 1234
-set PWM_RATE 400
-
-param set PWM_MAIN_DIS5 1500
-param set PWM_MAIN_DIS6 1500
-param set PWM_MAIN_DIS7 900
-param set PWM_MAIN_DIS8 900
-
-set MIXER_AUX pass
-set PWM_AUX_OUT 12345
-set PWM_AUX_DISARMED 950
-
-set MAV_TYPE 22
@@ -3,12 +3,6 @@
 # @name Generic Tricopter Y+ Geometry
 #
 # @type Tricopter Y+
-# @class Copter
-#
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 yaw servo
 #
 # @maintainer Trent Lukaczyk <aerialhedgehog@gmail.com>
 #
@@ -3,12 +3,6 @@
 # @name Generic Tricopter Y- Geometry
 #
 # @type Tricopter Y-
-# @class Copter
-#
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 yaw servo
 #
 # @maintainer Trent Lukaczyk <aerialhedgehog@gmail.com>
 #
@@ -17,4 +11,6 @@ sh /etc/init.d/rc.mc_defaults

 set MIXER tri_y_yaw-

-set PWM_OUT 1234
+set PWM_OUT 1234 
+
+
@@ -1,54 +0,0 @@
-#!nsh
-#
-# @name Esky (Big) Lama v4
-#
-# @type Coaxial Helicopter
-# @class Copter
-#
-# @output MAIN1 Left swashplate servomotor, pitch axis
-# @output MAIN2 Right swashplate servomotor, roll axis
-# @output MAIN3 Upper rotor (CCW)
-# @output MAIN4 Lower rotor (CW)
-#
-# @maintainer Emmanuel Roussel
-#
-
-sh /etc/init.d/rc.mc_defaults
-set MIXER coax
-
-if [ $AUTOCNF == yes ]
-then
-	param set NAV_ACC_RAD 2.0
-	param set RTL_RETURN_ALT 30.0
-	param set RTL_DESCEND_ALT 10.0
-
-	param set PWM_DISARMED 900
-	param set PWM_MIN 1075
-	param set PWM_MAX 1950
-
-	param set MC_ROLL_P 6.5
-	param set MC_ROLLRATE_P 0.17
-	param set MC_ROLLRATE_I 0.05
-	param set MC_ROLLRATE_D 0.005
-	param set MC_ROLLRATE_FF 0
-	param set MC_PITCH_P 6.5
-	param set MC_PITCHRATE_P 0.17
-	param set MC_PITCHRATE_I 0.05
-	param set MC_PITCHRATE_D 0.005
-	param set MC_PITCHRATE_FF 0
-	param set MC_YAW_P 2
-	param set MC_YAW_FF 0.5
-	param set MC_YAWRATE_P 0.1
-	param set MC_YAWRATE_I 0.1
-	param set MC_YAWRATE_D 0.0
-	param set MC_YAWRATE_FF 0
-fi
-
-# use PWM parameters for throttle channel
-set PWM_OUT 34
-set PWM_RATE 400
-
-# This is the gimbal pass mixer
-set MIXER_AUX pass
-set PWM_AUX_RATE 50
-set PWM_AUX_OUT 1234
@@ -1,57 +0,0 @@
-#!nsh
-#
-# @name Blade 130X
-#
-# @type Helicopter
-# @class Copter
-#
-# @maintainer Bart Slinger <bartslinger@gmail.com>
-#
-# @output MAIN1 main motor
-# @output MAIN2 front swashplate servo
-# @output MAIN3 right swashplate servo
-# @output MAIN4 left swashplate servo
-# @output MAIN5 tail-rotor servo
-#
-
-sh /etc/init.d/rc.mc_defaults
-
-# Configure as helicopter (number 4 defined in commander_helper.cpp)
-set MAV_TYPE 4
-
-set MIXER blade130
-
-#set PWM_OUT 1234
-
-if [ $AUTOCNF == yes ]
-then
-	param set MC_ROLL_P 5.0
-	param set MC_ROLLRATE_P 0.0
-	param set MC_ROLLRATE_I 0.0
-	param set MC_ROLLRATE_D 0.0
-	param set MC_ROLLRATE_FF 0.15
-	param set MC_PITCH_P 6.5
-	param set MC_PITCHRATE_P 0.0
-	param set MC_PITCHRATE_I 0.0
-	param set MC_PITCHRATE_D 0.0
-	param set MC_PITCHRATE_FF 0.15
-	param set MC_YAW_P 3.0
-	param set MC_YAWRATE_P 0.1
-	param set MC_YAWRATE_I 0.0
-	param set MC_YAWRATE_D 0.0
-	param set MC_YAW_FF 0.0
-	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 PWM_MIN 1075
-
-	param set MPC_THR_MIN 0.06
-	param set MPC_MANTHR_MIN 0.06
-
-	param set ATT_BIAS_MAX 0.0
-
-	param set CBRK_IO_SAFETY 22027
-fi
@@ -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
@@ -0,0 +1,12 @@
+#!nsh
+#
+# @name Multiplex Easystar
+#
+# @type Standard Plane
+#
+# @maintainer Lorenz Meier <lorenz@px4.io>
+#
+
+sh /etc/init.d/rc.fw_defaults
+ 
+set MIXER easystar
@@ -1,16 +1,14 @@
 #!nsh
 #
-# @name Standard Plane
+# @name Standard AERT Plane
 #
 # @type Standard Plane
-# @class Plane
 #
 # @output MAIN1 aileron
 # @output MAIN2 elevator
-# @output MAIN3 throttle
 # @output MAIN4 rudder
+# @output MAIN3 throttle
 # @output MAIN5 flaps
-# @output MAIN6 gear
 #
 # @output AUX1 feed-through of RC AUX1 channel
 # @output AUX2 feed-through of RC AUX2 channel
@@ -21,10 +19,4 @@

 sh /etc/init.d/rc.fw_defaults

-set MIXER AETRFG
-
-set PWM_RATE 50
-set PWM_AUX_RATE 50
-
-# rate must be set by group (see pwm info)
-# throttle is in the same group as servos
+set MIXER AERT
@@ -0,0 +1,22 @@
+#!nsh
+#
+# @name Skywalker (3DR Aero)
+#
+# @type Standard Plane
+#
+# @output MAIN1 aileron
+# @output MAIN2 elevator
+# @output MAIN4 rudder
+# @output MAIN3 throttle
+# @output MAIN5 flaps
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Lorenz Meier <lorenz@px4.io>
+#
+
+sh /etc/init.d/rc.fw_defaults
+
+set MIXER skywalker
@@ -0,0 +1,20 @@
+#!nsh
+#
+# @name Skyhunter 1800
+#
+# @type Standard Plane
+#
+# @output MAIN1 aileron
+# @output MAIN2 elevator
+# @output MAIN4 throttle
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Lorenz Meier <lorenz@px4.io>
+#
+
+sh /etc/init.d/rc.fw_defaults
+
+set MIXER AET
@@ -0,0 +1,22 @@
+#!nsh
+#
+# @name Standard AETR Plane
+#
+# @type Standard Plane
+#
+# @output MAIN1 aileron
+# @output MAIN2 elevator
+# @output MAIN3 throttle
+# @output MAIN4 rudder
+# @output MAIN5 flaps
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Lorenz Meier <lorenz@px4.io>
+#
+
+sh /etc/init.d/rc.fw_defaults
+
+set MIXER AETR
@@ -1,48 +0,0 @@
-#!nsh
-#
-# @name Bormatec Maja
-#
-# @type Standard Plane
-# @class Plane
-#
-# @output MAIN1 aileron
-# @output MAIN2 aileron
-# @output MAIN3 elevator
-# @output MAIN4 rudder
-# @output MAIN5 throttle
-# @output MAIN6 wheel
-# @output MAIN7 flaps
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-#
-# @maintainer Andreas Antener <andreas@uaventure.com>
-#
-
-sh /etc/init.d/rc.fw_defaults
-
-if [ $AUTOCNF == yes ]
-then
-    param set FW_AIRSPD_MIN 10
-    param set FW_AIRSPD_TRIM 15
-    param set FW_AIRSPD_MAX 20
-
-    param set FW_MAN_P_MAX 55
-    param set FW_MAN_R_MAX 55
-    param set FW_R_LIM 55
-
-    param set FW_WR_FF 0.2
-    param set FW_WR_I 0.2
-    param set FW_WR_IMAX 0.8
-    param set FW_WR_P 1
-    param set FW_W_RMAX 0
-
-    # set disarmed value for the ESC
-    param set PWM_DISARMED 1000
-fi
-
-set MIXER AAERTWF
-
-# use PWM parameters for throttle channel
-set PWM_OUT 5
@@ -1,49 +0,0 @@
-#!nsh
-#
-# @name Applied Aeronautics Albatross
-#
-# @type Plane A-Tail
-# @class Plane
-#
-# @output MAIN1 aileron right
-# @output MAIN2 aileron left
-# @output MAIN3 v-tail right
-# @output MAIN4 v-tail left
-# @output MAIN5 throttle
-# @output MAIN6 wheel
-# @output MAIN7 flaps right
-# @output MAIN8 flaps left
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-#
-# @maintainer Andreas Antener <andreas@uaventure.com>
-#
-
-sh /etc/init.d/rc.fw_defaults
-
-if [ $AUTOCNF == yes ]
-then
-    param set FW_AIRSPD_MIN 10
-    param set FW_AIRSPD_TRIM 15
-    param set FW_AIRSPD_MAX 20
-
-    param set FW_MAN_P_MAX 55
-    param set FW_MAN_R_MAX 55
-    param set FW_R_LIM 55
-
-    param set FW_WR_FF 0.2
-    param set FW_WR_I 0.2
-    param set FW_WR_IMAX 0.8
-    param set FW_WR_P 1
-    param set FW_W_RMAX 0
-
-    # set disarmed value for the ESC
-    param set PWM_DISARMED 1000
-fi
-
-set MIXER AAVVTWFF
-
-# use PWM parameters for throttle channel
-set PWM_OUT 5
@@ -1,51 +0,0 @@
-#!nsh
-#
-# @name Generic Dodecarotor cox geometry
-#
-# @type Dodecarotor cox
-# @class Copter
-#
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-# @output MAIN5 motor 5
-# @output MAIN6 motor 6
-#
-# @output AUX1 motor 7
-# @output AUX2 motor 8
-# @output AUX3 motor 9
-# @output AUX4 motor 10
-# @output AUX5 motor 11
-# @output AUX6 motor 12
-#
-# @maintainer Ian McNanie <ianmcnanie@gmail.com>
-# @maintainer William Peale <develop707@gmail.com>
-#
-
-set VEHICLE_TYPE mc
-
-if [ $AUTOCNF == yes ]
-then
-	param set NAV_ACC_RAD 2.0
-	param set RTL_RETURN_ALT 30.0
-	param set RTL_DESCEND_ALT 10.0
-	param set PWM_MIN 1075
-	param set PWM_MAX 1950
-	param set PWM_RATE 400
-
-	param set RTL_LAND_DELAY 0
-fi
-
-set PWM_AUX_RATE 400
-# Note: May Have to set these parameters manually. They don't appear to save.
-set PWM_AUX_DISARMED 900
-param set PWM_AUX_MIN 1075
-param set PWM_AUX_MAX 1950
-
-set MIXER dodeca_top_cox
-set MIXER_AUX dodeca_bottom_cox
-
-# Need to set all 8 channels
-set PWM_OUT 12345678
-set PWM_AUX_OUT 123456
@@ -1,18 +0,0 @@
-#!nsh
-#
-# @name Generic Flying Wing
-#
-# @type Flying Wing
-# @class Plane
-#
-# @maintainer
-#
-
-sh /etc/init.d/rc.fw_defaults
-
-if [ $AUTOCNF == yes ]
-then
-
-fi
-
-set MIXER fw_generic_wing
@@ -5,7 +5,6 @@
 # @url https://pixhawk.org/platforms/planes/bormatec_camflyer_q
 #
 # @type Flying Wing
-# @class Plane
 #
 # @output MAIN1 left aileron
 # @output MAIN2 right aileron
@@ -15,7 +14,7 @@
 # @output AUX2 feed-through of RC AUX2 channel
 # @output AUX3 feed-through of RC AUX3 channel
 #
-# @maintainer Simon Wilks <simon@uaventure.com>
+# @maintainer Simon Wilks <simon@px4.io>
 #

 sh /etc/init.d/rc.fw_defaults
@@ -25,8 +24,7 @@ then
 	param set FW_AIRSPD_MAX 15
 	param set FW_AIRSPD_MIN 10
 	param set FW_AIRSPD_TRIM 13
-	param set FW_R_TC 0.3
-	param set FW_P_TC 0.3
+	param set FW_ATT_TC 0.3
 	param set FW_L1_DAMPING 0.74
 	param set FW_L1_PERIOD 16
 	param set FW_LND_ANG 15
@@ -43,8 +41,7 @@ then
 	param set FW_RR_P 0.04
 fi

-set MIXER fw_generic_wing
-
+set MIXER Q
 # Provide ESC a constant 1000 us pulse while disarmed
 set PWM_OUT 4
 set PWM_DISARMED 1000
@@ -5,7 +5,6 @@
 # @url https://pixhawk.org/platforms/planes/z-84_wing_wing
 #
 # @type Flying Wing
-# @class Plane
 #
 # @output MAIN1 left aileron
 # @output MAIN2 right aileron
@@ -15,7 +14,7 @@
 # @output AUX2 feed-through of RC AUX2 channel
 # @output AUX3 feed-through of RC AUX3 channel
 #
-# @maintainer Simon Wilks <simon@uaventure.com>
+# @maintainer Simon Wilks <simon@px4.io>
 #

 sh /etc/init.d/rc.fw_defaults
@@ -25,8 +24,7 @@ then
 	param set FW_AIRSPD_MIN 13
 	param set FW_AIRSPD_TRIM 15
 	param set FW_AIRSPD_MAX 25
-	param set FW_R_TC 0.3
-	param set FW_P_TC 0.3
+	param set FW_ATT_TC 0.3
 	param set FW_L1_DAMPING 0.75
 	param set FW_L1_PERIOD 15
 	param set FW_PR_FF 0.2
@@ -5,7 +5,6 @@
 # @url https://pixhawk.org/platforms/planes/skywalker_x5
 #
 # @type Flying Wing
-# @class Plane
 #
 # @output MAIN1 left aileron
 # @output MAIN2 right aileron
@@ -15,7 +14,7 @@
 # @output AUX2 feed-through of RC AUX2 channel
 # @output AUX3 feed-through of RC AUX3 channel
 #
-# @maintainer Julian Oes <julian@px4.io>
+# @maintainer Thomas Gubler <thomas@px4.io>, Julian Oes <julian@px4.io>
 #

 sh /etc/init.d/rc.fw_defaults
@@ -25,8 +24,7 @@ then
 	param set FW_AIRSPD_MIN 15
 	param set FW_AIRSPD_TRIM 20
 	param set FW_AIRSPD_MAX 40
-	param set FW_R_TC 0.3
-	param set FW_P_TC 0.3
+	param set FW_ATT_TC 0.3
 	param set FW_L1_DAMPING 0.74
 	param set FW_L1_PERIOD 16
 	param set FW_LND_ANG 15
@@ -40,4 +38,4 @@ then
 	param set FW_RR_P 0.04
 fi

-set MIXER fw_generic_wing
+set MIXER X5
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Lorenz Meier	401d35677f	Merge branch 'beta' into stable	2015-08-23 14:07:12 +02:00
Lorenz Meier	b8517eb428	Merge branch 'beta' into stable	2015-08-23 00:32:42 +02:00
Lorenz Meier	630740d54f	Merge branch 'beta' into stable	2015-08-19 16:30:08 +02:00
Lorenz Meier	8531cde567	Merge branch 'beta' into stable	2015-08-14 14:29:28 +02:00
Lorenz Meier	c0316f3db1	Merge branch 'beta' into stable	2015-08-11 13:43:43 +02:00
Lorenz Meier	71e743009a	Merge branch 'beta' into stable	2015-08-11 10:51:43 +02:00
Lorenz Meier	b2ff9e37c4	Merge branch 'beta' into stable	2015-08-08 23:50:35 +02:00
Lorenz Meier	bd2551d5f7	Merge branch 'beta' into stable	2015-08-08 11:32:10 +02:00
Lorenz Meier	7df8610cbd	Merge branch 'beta' into stable	2015-08-07 17:46:57 +02:00
Lorenz Meier	24c98ef14e	Merge branch 'beta' into stable	2015-08-07 15:49:30 +02:00
Lorenz Meier	5e6aebc8fa	Merge branch 'beta' into stable	2015-08-06 22:09:46 +02:00
Lorenz Meier	1dbbe90e06	Merge branch 'beta' into stable	2015-08-06 10:07:02 +02:00
Lorenz Meier	f890dee5aa	Merge branch 'beta' into stable	2015-08-04 23:27:05 +02:00
Lorenz Meier	1418b45942	Merge branch 'beta' into stable	2015-08-04 11:58:47 +02:00
Lorenz Meier	e66aab8e3a	Merge branch 'beta' into stable	2015-08-04 10:57:09 +02:00
Lorenz Meier	9c7970bd7d	Merge branch 'beta' into stable	2015-08-02 01:25:33 +02:00
Lorenz Meier	d18491b76e	Merge branch 'beta' into stable	2015-08-01 17:34:20 +02:00
Lorenz Meier	40a7c5a55d	Merge branch 'beta' into stable	2015-08-01 17:16:30 +02:00
Lorenz Meier	57ac8c19ff	Merge branch 'beta' into stable	2015-08-01 12:48:20 +02:00
Lorenz Meier	acc1aeb571	Merge branch 'beta' into stable	2015-08-01 09:34:17 +02:00
Lorenz Meier	814a6fadc6	Merge branch 'beta' into stable	2015-08-01 09:26:23 +02:00
Lorenz Meier	041b0d379a	Merge branch 'beta' into stable	2015-07-29 21:23:29 +02:00
Lorenz Meier	7c058b21ac	Add airframe icons	2015-07-29 00:03:41 +02:00
Lorenz Meier	e7d45575ad	Airframe Configs: Add version field	2015-07-28 23:59:19 +02:00
Lorenz Meier	0255f881c6	Merge branch 'beta' into stable	2015-07-28 23:45:55 +02:00
Lorenz Meier	bed182f6ab	Merge branch 'beta' into stable	2015-07-22 17:17:13 +02:00
Lorenz Meier	78be95ebc1	Merge branch 'beta' into stable	2015-07-22 12:57:22 +02:00
Lorenz Meier	341d00e806	Merge branch 'beta' into stable	2015-07-22 12:51:00 +02:00
Lorenz Meier	fe3ae3c79b	Merge branch 'beta' into stable	2015-07-22 10:04:21 +02:00
Lorenz Meier	8fc749f19b	Merge branch 'beta' into stable	2015-07-22 09:03:07 +02:00
Lorenz Meier	1e6d911ab9	Merge branch 'beta' into stable	2015-07-14 19:20:19 +02:00
Lorenz Meier	364d323ddf	Merge branch 'release_v1.0.0' into stable	2015-07-04 17:27:12 +02:00
Lorenz Meier	47358a446f	uMerge branch 'release_v1.0.0' into stable	2015-07-03 00:25:40 +02:00
Lorenz Meier	a494b45078	Merge branch 'release_v1.0.0' of github.com:PX4/Firmware into stable	2015-07-02 01:00:41 +02:00
Lorenz Meier	7dfcfd5f2b	Merge branch 'release_v1.0.0' of github.com:PX4/Firmware into stable	2015-06-30 07:10:45 +02:00
Lorenz Meier	e11fbbf312	Merge branch 'release_v1.0.0' of github.com:PX4/Firmware into stable	2015-06-30 07:01:38 +02:00
Lorenz Meier	65f8b81fda	Merge branch 'release_v1.0.0' of github.com:PX4/Firmware into stable	2015-06-25 22:45:08 +02:00
Lorenz Meier	13c993dda4	Merge branch 'release_v1.0.0' of github.com:PX4/Firmware into stable	2015-06-25 21:20:38 +02:00
Lorenz Meier	61f98262cf	Merge branch 'release_v1.0.0' into stable	2015-06-24 21:46:44 +02:00
Lorenz Meier	5ace8d993d	Merge branch 'release_v1.0.0' into stable	2015-06-13 00:20:10 +02:00
Lorenz Meier	a8e5084897	Merge branch 'release_v1.0.0' of github.com:PX4/Firmware into stable	2015-06-11 09:03:26 +02:00
Lorenz Meier	7eebb22a9c	Merge branch 'release_v1.0.0' of github.com:PX4/Firmware into stable	2015-05-28 17:41:54 -07:00
Lorenz Meier	3bdbb6eacf	Merge branch 'release_v1.0.0' into stable	2015-05-24 20:11:13 +02:00
Lorenz Meier	20a829e691	Merge branch 'master' into stable	2015-05-18 23:18:52 +02:00
Lorenz Meier	045a598a97	Merge branch 'master' of github.com:PX4/Firmware into stable	2015-05-18 11:03:34 +02:00
Lorenz Meier	d188f8012f	Merge branch 'master' into stable	2015-05-13 15:46:54 +02:00
Lorenz Meier	4635827f01	Merge branch 'master' into stable	2015-05-13 15:34:56 +02:00
Lorenz Meier	162b7b87e9	Merge branch 'master' into stable	2015-05-13 15:19:34 +02:00
Lorenz Meier	acf01c5e88	Merge branch 'master' into stable	2015-05-12 11:27:17 +02:00
Lorenz Meier	f892492a17	Merge branch 'master' into stable	2015-05-06 19:39:41 +02:00
Lorenz Meier	2a68adfd35	Merge branch 'master' into stable	2015-05-04 13:04:10 +02:00
Lorenz Meier	f56efaf149	Merge branch 'master' into stable	2015-04-27 22:33:32 +02:00
Lorenz Meier	8595c734e6	Merge branch 'master' into stable	2015-04-25 12:54:46 +02:00
Lorenz Meier	0b50c6c003	Merge branch 'master' into stable	2015-04-22 20:45:19 +02:00
Lorenz Meier	9e143e3d4c	Merge branch 'master' into stable	2015-03-10 17:42:32 +01:00
Lorenz Meier	965e0e5226	Merge branch 'master' of github.com:PX4/Firmware into stable	2015-03-09 23:47:53 +01:00
Lorenz Meier	e55f1bc66d	Fix IO update when safety can not be set to on. From @zottgrammes Conflicts: ROMFS/px4fmu_common/init.d/rcS	2015-03-09 20:19:35 +01:00