uorb: do not open a node exclusively for an advertiser

Exclusive open is not required, but we now need to ensure the queue size
is set atomically.

It avoids a race condition between 2 single-instance advertisers,
where one of them would fail to open the node with -EBUSY.

.ci/Jenkinsfile-SITL_tests

@@ -0,0 +1,160 @@
+#!/usr/bin/env groovy
+
+pipeline {
+  agent none
+
+  stages {
+
+    stage('Build') {
+      agent {
+        docker {
+          image 'px4io/px4-dev-ros-kinetic:2019-03-08'
+          args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
+        }
+      }
+      steps {
+        sh 'export'
+        sh 'make distclean'
+        sh 'ccache -z'
+        sh 'git fetch --tags'
+        sh 'make px4_sitl_default'
+        sh 'make px4_sitl_default sitl_gazebo'
+        sh 'make px4_sitl_default package'
+        sh 'ccache -s'
+        stash(name: "px4_sitl_package", includes: "build/px4_sitl_default/*.bz2")
+        archiveArtifacts(artifacts: "build/px4_sitl_default/*.bz2", fingerprint: true, onlyIfSuccessful: true)
+      }
+      post {
+        always {
+            sh 'make distclean'
+        }
+      }
+    } // stage Build
+
+    stage('ROS Tests') {
+      steps {
+        script {
+          def missions = [
+            [
+              name: "FW",
+              test: "mavros_posix_test_mission.test",
+              mission: "FW_mission_1",
+              vehicle: "plane"
+            ],
+
+            [
+              name: "MC_box",
+              test: "mavros_posix_test_mission.test",
+              mission: "MC_mission_box",
+              vehicle: "iris"
+            ],
+            [
+              name: "MC_offboard_att",
+              test: "mavros_posix_tests_offboard_attctl.test",
+              mission: "",
+              vehicle: "iris"
+            ],
+            [
+              name: "MC_offboard_pos",
+              test: "mavros_posix_tests_offboard_posctl.test",
+              mission: "",
+              vehicle: "iris"
+            ],
+
+            [
+              name: "VTOL_standard",
+              test: "mavros_posix_test_mission.test",
+              mission: "VTOL_mission_1",
+              vehicle: "standard_vtol"
+            ],
+            [
+              name: "VTOL_tailsitter",
+              test: "mavros_posix_test_mission.test",
+              mission: "VTOL_mission_1",
+              vehicle: "tailsitter"
+            ],
+            [
+              name: "VTOL_tiltrotor",
+              test: "mavros_posix_test_mission.test",
+              mission: "VTOL_mission_1",
+              vehicle: "tiltrotor"
+            ],
+            [
+              name: "MC_avoidance",
+              test: "mavros_posix_test_avoidance.test",
+              mission: "avoidance",
+              vehicle: "iris_obs_avoid",
+              run_script: "rostest_avoidance_run.sh"
+            ],
+
+          ]
+
+          def test_nodes = [:]
+          for (def i = 0; i < missions.size(); i++) {
+            test_nodes.put(missions[i].name, createTestNode(missions[i]))
+          }
+
+          parallel test_nodes
+        } // script
+      } // steps
+    } // stage ROS Tests
+
+  } //stages
+
+  environment {
+    CCACHE_DIR = '/tmp/ccache'
+    CI = true
+  }
+
+  options {
+    buildDiscarder(logRotator(numToKeepStr: '10', artifactDaysToKeepStr: '30'))
+    timeout(time: 60, unit: 'MINUTES')
+  }
+} // pipeline
+
+def createTestNode(Map test_def) {
+  return {
+    node {
+      cleanWs()
+      docker.image("px4io/px4-dev-ros-kinetic:2019-03-08").inside('-e HOME=${WORKSPACE}') {
+        stage(test_def.name) {
+          def run_script = test_def.get('run_script', 'rostest_px4_run.sh')
+          def test_ok = true
+          sh('export')
+
+          unstash('px4_sitl_package')
+          sh('tar -xjpvf build/px4_sitl_default/px4-px4_sitl_default*.bz2')
+
+          // run test
+          try {
+            sh('px4-px4_sitl_default*/px4/test/' + run_script + ' ' + test_def.test + ' mission:=' + test_def.mission + ' vehicle:=' + test_def.vehicle)
+
+          } catch (exc) {
+            // save all test artifacts for debugging
+            archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.ulg, .ros/**/rosunit-*.xml, .ros/**/rostest-*.log')
+            test_ok = false
+          }
+
+          // log analysis
+          // process ekf log data
+          try {
+            sh('px4-px4_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py .ros/log/*/*.ulg')
+          } catch (exc) {
+            // save log analysis artifacts for debugging
+            archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.pdf, .ros/**/*.csv')
+            // FIXME: don't let the script to fail the build
+            // test_ok = false
+          }
+
+          // upload log to flight review (https://logs.px4.io/)
+          sh('px4-px4_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/log/*/*.ulg')
+
+          if (!test_ok) {
+            error('ROS Test failed')
+          }
+        } // stage
+        cleanWs()
+      } // docker.image
+    } // node
+  } // return
+} // createTestNode

.ci/Jenkinsfile-SITL_tests_ASan

@@ -0,0 +1,153 @@
+#!/usr/bin/env groovy
+
+pipeline {
+  agent none
+
+  stages {
+
+    stage('Build') {
+      agent {
+        docker {
+          image 'px4io/px4-dev-ros-kinetic:2019-03-08'
+          args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
+        }
+      }
+      steps {
+        sh 'export'
+        sh 'make distclean'
+        sh 'ccache -z'
+        sh 'git fetch --tags'
+        sh 'make px4_sitl_default'
+        sh 'make px4_sitl_default sitl_gazebo'
+        sh 'make px4_sitl_default package'
+        sh 'ccache -s'
+        stash(name: "px4_sitl_package", includes: "build/px4_sitl_default/*.bz2")
+        //archiveArtifacts(artifacts: "build/px4_sitl_default/*.bz2", fingerprint: true, onlyIfSuccessful: true)
+      }
+      post {
+        always {
+            sh 'make distclean'
+        }
+      }
+    } // stage Build
+
+    stage('ROS Tests') {
+      steps {
+        script {
+          def missions = [
+            [
+              name: "FW",
+              test: "mavros_posix_test_mission.test",
+              mission: "FW_mission_1",
+              vehicle: "plane"
+            ],
+
+            [
+              name: "MC_box",
+              test: "mavros_posix_test_mission.test",
+              mission: "MC_mission_box",
+              vehicle: "iris"
+            ],
+            [
+              name: "MC_offboard_att",
+              test: "mavros_posix_tests_offboard_attctl.test",
+              mission: "",
+              vehicle: "iris"
+            ],
+            [
+              name: "MC_offboard_pos",
+              test: "mavros_posix_tests_offboard_posctl.test",
+              mission: "",
+              vehicle: "iris"
+            ],
+
+            [
+              name: "VTOL_standard",
+              test: "mavros_posix_test_mission.test",
+              mission: "VTOL_mission_1",
+              vehicle: "standard_vtol"
+            ],
+            [
+              name: "VTOL_tailsitter",
+              test: "mavros_posix_test_mission.test",
+              mission: "VTOL_mission_1",
+              vehicle: "tailsitter"
+            ],
+            [
+              name: "VTOL_tiltrotor",
+              test: "mavros_posix_test_mission.test",
+              mission: "VTOL_mission_1",
+              vehicle: "tiltrotor"
+            ],
+
+          ]
+
+          def test_nodes = [:]
+          for (def i = 0; i < missions.size(); i++) {
+            test_nodes.put(missions[i].name, createTestNode(missions[i]))
+          }
+
+          parallel test_nodes
+        } // script
+      } // steps
+    } // stage ROS Tests
+
+  } //stages
+
+  environment {
+    CCACHE_DIR = '/tmp/ccache'
+    CI = true
+    PX4_CMAKE_BUILD_TYPE = 'AddressSanitizer'
+  }
+
+  options {
+    buildDiscarder(logRotator(numToKeepStr: '10', artifactDaysToKeepStr: '30'))
+    timeout(time: 60, unit: 'MINUTES')
+  }
+} // pipeline
+
+def createTestNode(Map test_def) {
+  return {
+    node {
+      cleanWs()
+      docker.image("px4io/px4-dev-ros-kinetic:2019-03-08").inside('-e HOME=${WORKSPACE}') {
+        stage(test_def.name) {
+          def test_ok = true
+          sh('export')
+
+          unstash('px4_sitl_package')
+          sh('tar -xjpvf build/px4_sitl_default/px4-px4_sitl_default*.bz2')
+
+          // run test
+          try {
+            sh('px4-px4_sitl_default*/px4/test/rostest_px4_run.sh ' + test_def.test + ' mission:=' + test_def.mission + ' vehicle:=' + test_def.vehicle)
+
+          } catch (exc) {
+            // save all test artifacts for debugging
+            archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.ulg, .ros/**/rosunit-*.xml, .ros/**/rostest-*.log')
+            test_ok = false
+          }
+
+          // log analysis
+          // process ekf log data
+          try {
+            sh('px4-px4_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py .ros/log/*/*.ulg')
+          } catch (exc) {
+            // save log analysis artifacts for debugging
+            archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.pdf, .ros/**/*.csv')
+            // FIXME: don't let the script to fail the build
+            // test_ok = false
+          }
+
+          // upload log to flight review (https://logs.px4.io/)
+          sh('px4-px4_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/log/*/*.ulg')
+
+          if (!test_ok) {
+            error('ROS Test failed')
+          }
+        } // stage
+        cleanWs()
+      } // docker.image
+    } // node
+  } // return
+} // createTestNode

.ci/Jenkinsfile-SITL_tests_coverage

@@ -0,0 +1,182 @@
+#!/usr/bin/env groovy
+
+pipeline {
+  agent none
+
+  stages {
+
+    stage('ROS Tests') {
+      steps {
+        script {
+          def missions = [
+            [
+              name: "FW",
+              test: "mavros_posix_test_mission.test",
+              mission: "FW_mission_1",
+              vehicle: "plane"
+            ],
+
+            [
+              name: "MC_box",
+              test: "mavros_posix_test_mission.test",
+              mission: "MC_mission_box",
+              vehicle: "iris"
+            ],
+            [
+              name: "MC_offboard_att",
+              test: "mavros_posix_tests_offboard_attctl.test",
+              mission: "",
+              vehicle: "iris"
+            ],
+            [
+              name: "MC_offboard_pos",
+              test: "mavros_posix_tests_offboard_posctl.test",
+              mission: "",
+              vehicle: "iris"
+            ],
+
+            [
+              name: "VTOL_standard",
+              test: "mavros_posix_test_mission.test",
+              mission: "VTOL_mission_1",
+              vehicle: "standard_vtol"
+            ],
+            [
+              name: "VTOL_tailsitter",
+              test: "mavros_posix_test_mission.test",
+              mission: "VTOL_mission_1",
+              vehicle: "tailsitter"
+            ],
+            [
+              name: "VTOL_tiltrotor",
+              test: "mavros_posix_test_mission.test",
+              mission: "VTOL_mission_1",
+              vehicle: "tiltrotor"
+            ],
+
+          ]
+
+          def test_nodes = [:]
+          for (def i = 0; i < missions.size(); i++) {
+            test_nodes.put(missions[i].name, createTestNode(missions[i]))
+          }
+
+          parallel test_nodes
+        } // script
+      } // steps
+    } // stage ROS Tests
+
+    stage('Coverage') {
+      parallel {
+
+        stage('code coverage (python)') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-base-bionic:2019-03-08'
+              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+            }
+          }
+          steps {
+            sh 'export'
+            sh 'make distclean'
+            sh 'make python_coverage'
+            withCredentials([string(credentialsId: 'FIRMWARE_CODECOV_TOKEN', variable: 'CODECOV_TOKEN')]) {
+              sh 'curl -s https://codecov.io/bash | bash -s - -F python'
+            }
+
+            sh 'make distclean'
+          }
+        }
+
+        stage('unit tests') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-base-bionic:2019-03-08'
+              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+            }
+          }
+          steps {
+            sh 'export'
+            sh 'make distclean'
+            sh 'make px4_sitl_test test_results_junit'
+            withCredentials([string(credentialsId: 'FIRMWARE_CODECOV_TOKEN', variable: 'CODECOV_TOKEN')]) {
+              sh 'curl -s https://codecov.io/bash | bash -s - -F unittest'
+            }
+            sh 'make distclean'
+          }
+        }
+
+      } // parallel
+    } // stage Coverage
+
+  } //stages
+
+  environment {
+    CCACHE_DIR = '/tmp/ccache'
+    CI = true
+    CTEST_OUTPUT_ON_FAILURE = 1
+    PX4_CMAKE_BUILD_TYPE = 'Coverage'
+  }
+
+  options {
+    buildDiscarder(logRotator(numToKeepStr: '10', artifactDaysToKeepStr: '30'))
+    timeout(time: 60, unit: 'MINUTES')
+  }
+} // pipeline
+
+def createTestNode(Map test_def) {
+  return {
+    node {
+      cleanWs()
+      docker.image("px4io/px4-dev-ros-kinetic:2019-03-08").inside('-e HOME=${WORKSPACE}') {
+        stage(test_def.name) {
+          def test_ok = true
+          sh('export')
+
+          checkout(scm)
+
+          // run test
+          try {
+            sh('make distclean')
+            sh('ccache -z')
+            sh('make px4_sitl_default')
+            sh('make px4_sitl_default sitl_gazebo')
+            sh('ccache -s')
+            sh('make rostest_run TEST_FILE=' + test_def.test + ' TEST_MISSION=' + test_def.mission + ' TEST_VEHICLE=' + test_def.vehicle)
+          } catch (exc) {
+            // save all test artifacts for debugging
+            archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.ulg, .ros/**/rosunit-*.xml, .ros/**/rostest-*.log')
+            test_ok = false
+          }
+
+          // log analysis
+          withCredentials([string(credentialsId: 'FIRMWARE_CODECOV_TOKEN', variable: 'CODECOV_TOKEN')]) {
+            sh 'curl -s https://codecov.io/bash | bash -s - -F sitl_mission_${STAGE_NAME}'
+
+            // process log data (with python code coverage)
+            try {
+              //sh('coverage run -p Tools/ecl_ekf/process_logdata_ekf.py .ros/log/*/*.ulg')
+              sh('Tools/ecl_ekf/process_logdata_ekf.py .ros/log/*/*.ulg')
+            } catch (exc) {
+              // save log analysis artifacts for debugging
+              archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.pdf, .ros/**/*.csv')
+              // FIXME: don't let the script to fail the build
+              // test_ok = false
+            }
+
+            // upload log to flight review (https://logs.px4.io/) with python code coverage
+            sh('coverage run -p Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/log/*/*.ulg')
+
+            // upload python code coverage to codecov.io
+            sh 'curl -s https://codecov.io/bash | bash -s - -X gcov -F sitl_python_${STAGE_NAME}'
+          }
+
+          if (!test_ok) {
+            error('ROS Test failed')
+          }
+        } // stage
+        cleanWs()
+      } // docker.image
+    } // node
+  } // return
+} // createTestNode

.ci/Jenkinsfile-compile

@@ -0,0 +1,153 @@
+#!/usr/bin/env groovy
+
+pipeline {
+  agent none
+  stages {
+
+    stage('Build') {
+      steps {
+        script {
+          def build_nodes = [:]
+          def docker_images = [
+            armhf: "px4io/px4-dev-armhf:2019-03-08",
+            base: "px4io/px4-dev-base-bionic:2019-03-08",
+            nuttx: "px4io/px4-dev-nuttx:2019-03-08",
+            ros: "px4io/px4-dev-ros-kinetic:2019-03-08",
+            rpi: "px4io/px4-dev-raspi:2019-03-08",
+            snapdragon: "lorenzmeier/px4-dev-snapdragon:2018-09-12"
+          ]
+
+          def armhf_builds = [
+            target: ["aerotenna_ocpoc_ubuntu"],
+            image: docker_images.armhf,
+            archive: false
+          ]
+
+          def base_builds = [
+            target: ["px4_sitl_rtps"],
+            image: docker_images.base,
+            archive: false
+          ]
+
+          def nuttx_builds_archive = [
+            target: [
+                     "px4_fmu-v2_default", "px4_fmu-v2_fixedwing", "px4_fmu-v2_lpe", "px4_fmu-v2_multicopter", "px4_fmu-v2_rover", "px4_fmu-v2_test",
+                     "px4_fmu-v3_default",
+                     "px4_fmu-v4_default",
+                     "px4_fmu-v4pro_default",
+                     "px4_fmu-v5_default", "px4_fmu-v5_fixedwing", "px4_fmu-v5_multicopter", "px4_fmu-v5_rover", "px4_fmu-v5_rtps", "px4_fmu-v5_stackcheck",
+                     "intel_aerofc-v1_default", "auav_x21_default", "av_x-v1_default", "bitcraze_crazyflie_default", "airmind_mindpx-v2_default",
+                     "nxp_fmuk66-v3_default", "omnibus_f4sd_default"],
+            image: docker_images.nuttx,
+            archive: true
+          ]
+
+          def nuttx_builds_other = [
+            target: ["px4_cannode-v1_default", "px4_esc-v1_default", "thiemar_s2740vc-v1_default"],
+            image: docker_images.nuttx,
+            archive: false
+          ]
+
+          def rpi_builds = [
+            target: ["emlid_navio2_cross", "parrot_bebop_default"],
+            image: docker_images.rpi,
+            archive: false
+          ]
+
+          def snapdragon_builds = [
+            target: ["atlflight_eagle_qurt-default", "atlflight_eagle_default"],
+            image: docker_images.snapdragon,
+            archive: false
+          ]
+
+          def docker_builds = [
+            armhf_builds, base_builds, nuttx_builds_archive, nuttx_builds_other, rpi_builds, snapdragon_builds
+          ]
+
+          for (def build_type = 0; build_type < docker_builds.size(); build_type++) {
+            for (def build_target = 0; build_target < docker_builds[build_type].target.size(); build_target++) {
+              build_nodes.put(docker_builds[build_type].target[build_target],
+                createBuildNode(docker_builds[build_type].archive, docker_builds[build_type].image, docker_builds[build_type].target[build_target])
+                )
+            }
+          }
+
+        parallel build_nodes
+
+        } // script
+      } // steps
+    } // stage Build
+
+    // TODO: actually upload artifacts to S3
+    // stage('S3 Upload') {
+    //   agent {
+    //     docker { image 'px4io/px4-dev-base-bionic:2019-03-08' }
+    //   }
+    //   options {
+    //         skipDefaultCheckout()
+    //   }
+    //   when {
+    //     anyOf {
+    //       branch 'master'
+    //       branch 'beta'
+    //       branch 'stable'
+    //       branch 'pr-jenkins' // for testing
+    //     }
+    //   }
+    //   steps {
+    //     sh 'echo "uploading to S3"'
+    //   }
+    // }
+
+  } // stages
+  environment {
+    CCACHE_DIR = '/tmp/ccache'
+    CI = true
+  }
+  options {
+    buildDiscarder(logRotator(numToKeepStr: '2', artifactDaysToKeepStr: '14'))
+    timeout(time: 60, unit: 'MINUTES')
+  }
+}
+
+def createBuildNode(Boolean archive, String docker_image, String target) {
+  return {
+
+    // TODO: fix the snapdragon image
+    bypass_entrypoint = ''
+    if (docker_image == 'lorenzmeier/px4-dev-snapdragon:2018-09-12') {
+      bypass_entrypoint = ' --entrypoint=""'
+    }
+
+    node {
+      docker.withRegistry('https://registry.hub.docker.com', 'docker_hub_dagar') {
+        docker.image(docker_image).inside('-e CCACHE_BASEDIR=${WORKSPACE} -v ${CCACHE_DIR}:${CCACHE_DIR}:rw' + bypass_entrypoint) {
+          stage(target) {
+            try {
+              sh('export')
+              checkout(scm)
+              sh('make distclean')
+              sh('git fetch --tags')
+              sh('ccache -z')
+              sh('make ' + target)
+              sh('ccache -s')
+              sh('make sizes')
+              if (archive) {
+                archiveArtifacts(allowEmptyArchive: false, artifacts: 'build/*/*.px4, build/*/*.elf, build/*/*.bin', fingerprint: true, onlyIfSuccessful: true)
+              }
+              sh('make ' + target + ' package')
+              archiveArtifacts(allowEmptyArchive: true, artifacts: 'build/*/*.tar.bz2', fingerprint: true, onlyIfSuccessful: true)
+              archiveArtifacts(allowEmptyArchive: true, artifacts: 'build/*/*.deb', fingerprint: true, onlyIfSuccessful: true)
+            }
+            catch (exc) {
+              throw (exc)
+            }
+            finally {
+              sh('make distclean')
+            }
+          }
+        }
+      }
+    }
+  }
+}

.ci/Jenkinsfile-compile_mac

@@ -0,0 +1,87 @@
+#!/usr/bin/env groovy
+
+pipeline {
+  agent none
+  stages {
+
+    stage('Build') {
+
+      parallel {
+
+        stage('px4_sitl_default (OSX)') {
+          agent {
+            label 'mac'
+          }
+          environment {
+            CCACHE_BASEDIR = "${env.WORKSPACE}"
+          }
+          steps {
+            sh 'export'
+            sh 'make distclean'
+            sh 'ccache -z'
+            sh 'make px4_sitl_default'
+            sh 'ccache -s'
+          }
+          post {
+            always {
+              sh 'make distclean'
+            }
+          }
+        } // stage px4_sitl_default
+
+        stage('px4_fmu-v5_default (OSX)') {
+          agent {
+            label 'mac'
+          }
+          environment {
+            CCACHE_BASEDIR = "${env.WORKSPACE}"
+          }
+          steps {
+            sh 'export'
+            sh 'make distclean'
+            sh 'ccache -z'
+            sh 'make px4_fmu-v5_default'
+            sh 'ccache -s'
+          }
+          post {
+            always {
+              sh 'make distclean'
+            }
+          }
+        } // stage px4_fmu-v5_default
+
+        stage('sitl tests (OSX)') {
+          agent {
+            label 'mac'
+          }
+          environment {
+            CCACHE_BASEDIR = "${env.WORKSPACE}"
+          }
+          steps {
+            sh 'export'
+            sh 'make distclean'
+            sh 'ccache -z'
+            sh 'make tests'
+            sh 'ccache -s'
+          }
+          post {
+            always {
+              sh 'make distclean'
+            }
+          }
+        } // stage sitl tests
+
+      } // parallel
+    } // stage Build
+
+  } // stages
+  environment {
+    CCACHE_CPP2 = '1'
+    CCACHE_DIR = '/tmp/ccache'
+    CI = true
+  }
+  options {
+    buildDiscarder(logRotator(numToKeepStr: '10', artifactDaysToKeepStr: '30'))
+    timeout(time: 120, unit: 'MINUTES')
+  }
+}

.ci/Jenkinsfile-hardware

@@ -0,0 +1,366 @@
+#!/usr/bin/env groovy
+
+pipeline {
+  agent none
+  stages {
+
+    stage('Build') {
+
+      parallel {
+
+        stage('px4_fmu-v2_test') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-nuttx:2019-03-08'
+              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+            }
+          }
+          steps {
+            sh 'export'
+            sh 'make distclean'
+            sh 'ccache -z'
+            sh 'git fetch --tags'
+            sh 'make px4_fmu-v2_default'
+            sh 'make sizes'
+            sh 'ccache -s'
+            stash includes: 'build/px4_fmu-v2_default/px4_fmu-v2_default.elf', name: 'px4_fmu-v2_test'
+          }
+          post {
+            always {
+                sh 'make distclean'
+            }
+          }
+        }
+
+        stage('px4_fmu-v3_default') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-nuttx:2019-03-08'
+              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+            }
+          }
+          steps {
+            sh 'export'
+            sh 'make distclean'
+            sh 'ccache -z'
+            sh 'git fetch --tags'
+            sh 'make px4_fmu-v3_default'
+            sh 'make sizes'
+            sh 'ccache -s'
+            stash includes: 'build/px4_fmu-v3_default/px4_fmu-v3_default.elf', name: 'px4_fmu-v3_default'
+          }
+          post {
+            always {
+                sh 'make distclean'
+            }
+          }
+        }
+
+        stage('px4_fmu-v4_default') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-nuttx:2019-03-08'
+              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+            }
+          }
+          steps {
+            sh 'export'
+            sh 'make distclean'
+            sh 'ccache -z'
+            sh 'git fetch --tags'
+            sh 'make px4_fmu-v4_default'
+            sh 'make sizes'
+            sh 'ccache -s'
+            stash includes: 'build/px4_fmu-v4_default/px4_fmu-v4_default.elf', name: 'px4_fmu-v4_default'
+          }
+          post {
+            always {
+                sh 'make distclean'
+            }
+          }
+        }
+
+        stage('px4_fmu-v4pro_default') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-nuttx:2019-03-08'
+              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+            }
+          }
+          steps {
+            sh 'export'
+            sh 'make distclean'
+            sh 'ccache -z'
+            sh 'git fetch --tags'
+            sh 'make px4_fmu-v4pro_default'
+            sh 'make sizes'
+            sh 'ccache -s'
+            stash includes: 'build/px4_fmu-v4pro_default/px4_fmu-v4pro_default.elf', name: 'px4_fmu-v4pro_default'
+          }
+          post {
+            always {
+                sh 'make distclean'
+            }
+          }
+        }
+
+        stage('px4_fmu-v5_default') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-nuttx:2019-03-08'
+              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+            }
+          }
+          steps {
+            sh 'export'
+            sh 'make distclean'
+            sh 'ccache -z'
+            sh 'git fetch --tags'
+            sh 'make px4_fmu-v5_default'
+            sh 'make sizes'
+            sh 'ccache -s'
+            stash includes: 'build/px4_fmu-v5_default/px4_fmu-v5_default.elf', name: 'px4_fmu-v5_default'
+          }
+          post {
+            always {
+                sh 'make distclean'
+            }
+          }
+        }
+
+        stage('px4_fmu-v5_stackcheck') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-nuttx:2019-03-08'
+              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+            }
+          }
+          steps {
+            sh 'export'
+            sh 'make distclean'
+            sh 'ccache -z'
+            sh 'git fetch --tags'
+            sh 'make px4_fmu-v5_stackcheck'
+            sh 'make sizes'
+            sh 'ccache -s'
+            stash includes: 'build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf', name: 'px4_fmu-v5_stackcheck'
+          }
+          post {
+            always {
+                sh 'make distclean'
+            }
+          }
+        }
+
+        stage('nxp_fmuk66-v3_default') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-nuttx:2019-03-08'
+              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+            }
+          }
+          steps {
+            sh 'export'
+            sh 'make distclean'
+            sh 'ccache -z'
+            sh 'git fetch --tags'
+            sh 'make nxp_fmuk66-v3_default'
+            sh 'make sizes'
+            sh 'ccache -s'
+            stash includes: 'build/nxp_fmuk66-v3_default/nxp_fmuk66-v3_default.elf', name: 'nxp_fmuk66-v3_default'
+          }
+          post {
+            always {
+                sh 'make distclean'
+            }
+          }
+        }
+
+      } // parallel
+    } // stage Build
+
+    stage('Flash and Run') {
+
+      parallel {
+
+        stage('px4_fmu-v2_test') {
+          agent {
+            label 'px4_fmu-v2'
+          }
+          steps {
+            script {
+              try {
+                sh 'export'
+                sh 'find /dev/serial'
+                unstash 'px4_fmu-v2_test'
+                sh 'platforms/nuttx/Debug/jlink_gdb_upload.sh build/px4_fmu-v2_test/px4_fmu-v2_test.elf'
+                sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
+                //sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
+              } catch (Exception err) {
+                  // always report passed for now
+                  currentBuild.result = 'SUCCESS'
+              }
+            } // script
+          }
+          options {
+            timeout(time: 600, unit: 'SECONDS')
+          }
+        }
+
+        stage('px4_fmu-v3_default') {
+          agent {
+            label 'px4_fmu-v3'
+          }
+          steps {
+            script {
+              try {
+                sh 'export'
+                sh 'find /dev/serial'
+                unstash 'px4_fmu-v3_default'
+                sh 'platforms/nuttx/Debug/jlink_gdb_upload.sh build/px4_fmu-v3_default/px4_fmu-v3_default.elf'
+                sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
+                sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
+              } catch (Exception err) {
+                  // always report passed for now
+                  currentBuild.result = 'SUCCESS'
+              }
+            } // script
+          }
+          options {
+            timeout(time: 600, unit: 'SECONDS')
+          }
+        }
+
+        stage('px4_fmu-v4_default') {
+          agent {
+            label 'px4_fmu-v4'
+          }
+          steps {
+            script {
+              try {
+                sh 'export'
+                sh 'find /dev/serial'
+                unstash 'px4_fmu-v4_default'
+                sh 'platforms/nuttx/Debug/jlink_gdb_upload.sh build/px4_fmu-v4_default/px4_fmu-v4_default.elf'
+                sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
+                sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
+              } catch (Exception err) {
+                  // always report passed for now
+                  currentBuild.result = 'SUCCESS'
+              }
+            } // script
+          }
+          options {
+            timeout(time: 600, unit: 'SECONDS')
+          }
+        }
+
+        stage('px4_fmu-v4pro_default') {
+          agent {
+            label 'px4_fmu-v4pro'
+          }
+          steps {
+            script {
+              try {
+                sh 'export'
+                sh 'find /dev/serial'
+                unstash 'px4_fmu-v4pro_default'
+                sh 'platforms/nuttx/Debug/jlink_gdb_upload.sh build/px4_fmu-v4pro_default/px4_fmu-v4pro_default.elf'
+                sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
+                sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
+              } catch (Exception err) {
+                  // always report passed for now
+                  currentBuild.result = 'SUCCESS'
+              }
+            } // script
+          }
+          options {
+            timeout(time: 600, unit: 'SECONDS')
+          }
+        }
+
+        stage('px4_fmu-v5_default') {
+          agent {
+            label 'px4_fmu-v5'
+          }
+          steps {
+            script {
+              try {
+                sh 'export'
+                sh 'find /dev/serial'
+                unstash 'px4_fmu-v5_default'
+                sh './platforms/nuttx/Debug/jlink_gdb_upload.sh  build/px4_fmu-v5_default/px4_fmu-v5_default.elf'
+                sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
+                sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
+              } catch (Exception err) {
+                  // always report passed for now
+                  currentBuild.result = 'SUCCESS'
+              }
+            } // script
+          }
+          options {
+            timeout(time: 600, unit: 'SECONDS')
+          }
+        }
+
+        stage('px4_fmu-v5_stackcheck') {
+          agent {
+            label 'px4_fmu-v5'
+          }
+          steps {
+            script {
+              try {
+                sh 'export'
+                sh 'find /dev/serial'
+                unstash 'px4_fmu-v5_stackcheck'
+                sh './platforms/nuttx/Debug/jlink_gdb_upload.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf'
+                sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
+                sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
+              } catch (Exception err) {
+                  // always report passed for now
+                  currentBuild.result = 'SUCCESS'
+              }
+            } // script
+          }
+          options {
+            timeout(time: 600, unit: 'SECONDS')
+          }
+        }
+
+        stage('nxp_fmuk66-v3_default') {
+          agent {
+            label 'nxp_fmuk66-v3'
+          }
+          steps {
+            script {
+              try {
+                sh 'export'
+                sh 'find /dev/serial'
+                unstash 'nxp_fmuk66-v3_default'
+                sh './platforms/nuttx/Debug/jlink_gdb_upload.sh build/nxp_fmuk66-v3_default/nxp_fmuk66-v3_default.elf'
+                sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI*` --baudrate 57600'
+                sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
+              } catch (Exception err) {
+                  // always report passed for now
+                  currentBuild.result = 'SUCCESS'
+              }
+            } // script
+          }
+          options {
+            timeout(time: 600, unit: 'SECONDS')
+          }
+        }
+
+      } // parallel
+    } // stage Flash
+
+  } // stages
+  environment {
+    CCACHE_DIR = '/tmp/ccache'
+    CI = true
+  }
+  options {
+    buildDiscarder(logRotator(numToKeepStr: '20', artifactDaysToKeepStr: '30'))
+    timeout(time: 60, unit: 'MINUTES')
+  }
+}

.clang-tidy

@@ -1,5 +1,6 @@
 Checks:          '*
 		,-cert-dcl50-cpp
+		,-cert-env33-c
 		,-cert-err34-c
 		,-cert-err58-cpp
 		,-cert-msc30-c

.github/ISSUE_TEMPLATE/2_Feature_request.md

@@ -1,5 +1,5 @@
 ---
-name: Feature request
+name: 🚀 Feature Request
 about: Suggest an idea for this project
 
 ---

.github/ISSUE_TEMPLATE/3_Support_question.md

@@ -0,0 +1,10 @@
+---
+name: ⛔ Support Question
+about: See [PX4 Discuss](http://discuss.px4.io/) for questions about using PX4.
+
+---
+
+We use GitHub issues only to discuss PX4 bugs and new features. For
+questions about using PX4 or related components, please use [PX4 Discuss](http://discuss.px4.io/).
+
+Thanks!

.github/ISSUE_TEMPLATE/4_Documentation_issue.md

@@ -0,0 +1,9 @@
+---
+name: ⛔ Documentation Issue
+about: See https://github.com/PX4/Devguide for documentation issues
+
+---
+
+PX4 has dedicated repositories for developer documentation (https://github.com/PX4/Devguide) and user documentation (https://github.com/PX4/px4_user_guide).
+
+Thanks!

.github/stale.yml

@@ -1,55 +1,18 @@
-# Configuration for probot-stale - https://github.com/probot/stale
-
-# Number of days of inactivity before an Issue or Pull Request becomes stale
-daysUntilStale: 60
-
-# Number of days of inactivity before a stale Issue or Pull Request is closed.
-# Set to false to disable. If disabled, issues still need to be closed manually, but will remain marked as stale.
+# Number of days of inactivity before an issue becomes stale
+daysUntilStale: 90
+# Number of days of inactivity before a stale issue is closed
 daysUntilClose: 14
-
-# Issues or Pull Requests with these labels will never be considered stale. Set to `[]` to disable
+# Issues with these labels will never be considered stale
 exemptLabels:
-  - priority-crtical
+  - pinned
   - security
-  - "[Status] Maybe Later"
-
-# Set to true to ignore issues in a project (defaults to false)
-exemptProjects: true
-
-# Set to true to ignore issues in a milestone (defaults to false)
-exemptMilestones: true
-
-# Label to use when marking as stale
-staleLabel: status/STALE
-
-# Comment to post when marking as stale. Set to `false` to disable
+# Label to use when marking an issue as stale
+staleLabel: wontfix
+# Comment to post when marking an issue as stale. Set to `false` to disable
 markComment: >
   This issue has been automatically marked as stale because it has not had
-  recent activity. It will be closed in 2 weeks if no further activity occurs. Thank you
+  recent activity. It will be closed if no further activity occurs. Thank you
   for your contributions.
-
-# Comment to post when removing the stale label.
-# unmarkComment: >
-#   Your comment here.
-
-# Comment to post when closing a stale Issue or Pull Request.
- closeComment: >
-   Closing as stale.
-
-# Limit the number of actions per hour, from 1-30. Default is 30
-limitPerRun: 10
-
-# Limit to only `issues` or `pulls`
-# only: issues
-
-# Optionally, specify configuration settings that are specific to just 'issues' or 'pulls':
-# pulls:
-#   daysUntilStale: 30
-#   markComment: >
-#     This pull request has been automatically marked as stale because it has not had
-#     recent activity. It will be closed if no further activity occurs. Thank you
-#     for your contributions.
-
-# issues:
-#   exemptLabels:
-#     - confirmed
+# Comment to post when closing a stale issue. Set to `false` to disable
+closeComment: >
+  Closing as stale.

.gitignore

@@ -8,14 +8,13 @@
 .cproject
 .DS_Store
 .gdbinit
+.gdb_history
 .project
 .settings
 .swp
 .~lock.*
 Testing/
 Packages/*
-s3deploy-branch/
-s3deploy-archive/
 build/*
 build_*/
 core
@@ -33,18 +32,11 @@ tags
 .pydevproject
 .ropeproject
 *.orig
-src/modules/uORB/topics/*
-src/platforms/nuttx/px4_messages/*
-src/platforms/ros/px4_messages/*
 Firmware.zip
 *.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
@@ -60,8 +52,6 @@ GTAGS
 .idea
 cmake-build-*/
 
-.vscode
-
 posix-configs/SITL/init/test/*_generated
 
 /airframes.md
@@ -69,5 +59,8 @@ posix-configs/SITL/init/test/*_generated
 /parameters.md
 /parameters.xml
 /modules
+/msg/ros/*.msg
 
 *.gcov
+.coverage
+.coverage.*

.gitmodules

@@ -2,18 +2,18 @@
 	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
-	branch = master
+[submodule "src/drivers/uavcan/libuavcan"]
+	path = src/drivers/uavcan/libuavcan
+	url = https://github.com/PX4/uavcan.git
+	branch = px4
 [submodule "msg/tools/genmsg"]
 	path = msg/tools/genmsg
-	url = https://github.com/ros/genmsg.git
-	branch = indigo-devel
+	url = https://github.com/PX4/genmsg.git
+	branch = px4
 [submodule "msg/tools/gencpp"]
 	path = msg/tools/gencpp
-	url = https://github.com/ros/gencpp.git
-	branch = indigo-devel
+	url = https://github.com/PX4/gencpp.git
+	branch = px4
 [submodule "Tools/jMAVSim"]
 	path = Tools/jMAVSim
 	url = https://github.com/PX4/jMAVSim.git
@@ -34,26 +34,26 @@
 	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.git
-	branch = master
+[submodule "boards/atlflight/cmake_hexagon"]
+	path = boards/atlflight/cmake_hexagon
+	url = https://github.com/PX4/cmake_hexagon.git
+	branch = px4
 [submodule "src/drivers/gps/devices"]
 	path = src/drivers/gps/devices
 	url = https://github.com/PX4/GpsDrivers.git
 	branch = master
 [submodule "src/modules/micrortps_bridge/micro-CDR"]
 	path = src/modules/micrortps_bridge/micro-CDR
-	url = https://github.com/eProsima/micro-CDR.git
-	branch = master
+	url = https://github.com/PX4/micro-CDR.git
+	branch = px4
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
-	url = https://github.com/PX4-NuttX/nuttx.git
-	branch = px4_firmware_nuttx-7.22+
+	url = https://github.com/PX4/NuttX.git
+	branch = px4_firmware_nuttx-7.28+
 [submodule "platforms/nuttx/NuttX/apps"]
 	path = platforms/nuttx/NuttX/apps
-	url = https://github.com/PX4-NuttX/apps.git
-	branch = px4_firmware_nuttx-7.22+
+	url = https://github.com/PX4/NuttX-apps.git
+	branch = px4_firmware_nuttx-7.28+
 [submodule "cmake/configs/uavcan_board_ident"]
 	path = cmake/configs/uavcan_board_ident
 	url = https://github.com/PX4/uavcan_board_ident.git

.travis.yml

@@ -1,55 +1,26 @@
-# Build and autotest script for PX4 Firmware
-# http://travis-ci.org
-
-sudo: required
-
-services:
-  - docker
-
 language: cpp
 
 git:
-  depth: 2000
+  depth: 100
   submodules: false
 
-env:
-  global:
-    # COVERITY_SCAN_TOKEN
-    - secure: "Q4IAcmo1r5cr/UvhcixQa6QN5e5eTcP7FeidzEbX2+BA38yo2BH5O9YQCvZe2AI1Na8ZCjVx3H2luGgDwOKgzAIAjXjZ2KbmXYc6Ns/j/BXScY05dCCzYEhXKD98NZxIKH9lLN9pYDGRA8pChGRJnVlFOr1JHHHnB801+osHy7M="
-    # AWS KEY: $PX4_AWS_KEY
-    - secure: "XknnZHWBbpHbN4f3fuAVwUztdLIu8ej4keC3aQSDofo3uw8AFEzojfsQsN9u77ShWSIV4iYJWh9C9ALkCx7TocJ+xYjiboo10YhM9lH/8u+EXjYWG6GHS8ua0wkir+cViSxoLNaMtmcb/rPTicJecAGANxLsIHyBAgTL3fkbLSA="
-    # AWS SECRET: $PX4_AWS_SECRET
-    - secure: "h6oajlW68dWIr+wZhO58Dv6e68dZHrBLVA6lPXZmheFQBW6Xam1HuLGA0LOW6cL9TnrAsOZ8g4goB58eMQnMEijFZKi3mhRwZhd/Xjq/ZGJOWBUrLoQHZUw2dQk5ja5vmUlKEoQnFZjDuMjx8KfX5ZMNy8A3yssWZtJYHD8c+bk="
-
 matrix:
   fast_finish: true
   include:
-    - env: BUILD_TARGET=coverity_scan
-      dist: trusty
+    - os: linux
+      dist: xenial
       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 [[ "${TRAVIS_BRANCH}" = "coverity_scan" ]]; then
-      sudo pip install empy jinja2 numpy toml;
-      echo -n | openssl s_client -connect scan.coverity.com:443 | sed -ne '/-BEGIN CERTIFICATE-/,/-END CERTIFICATE-/p' | sudo tee -a /etc/ssl/certs/ca-;
-    fi
-  # use git:// to fetch instead of https://
-  - git config --global url."git://".insteadOf https://
+    - echo -n | openssl s_client -connect scan.coverity.com:443 | sed -ne '/-BEGIN CERTIFICATE-/,/-END CERTIFICATE-/p' | sudo tee -a /etc/ssl/certs/ca-
+
+install:
+    - export PATH=$HOME/.local/bin:$PATH
+    - pip install --user --upgrade pip
+    - pip install --user -r Tools/setup/requirements.txt
 
 script:
-  - ./Tools/docker_run.sh make ${BUILD_TARGET}
-
-after_success:
-  # upload code coverage
-  - if [ "${TRAVIS_PULL_REQUEST}" = "false" ]; then
-      [ "${BUILD_TARGET}" = "tests_coverage" ] && bash <(curl -s https://codecov.io/bash) -F unittests;
-    fi
+    - make
 
 addons:
   coverity_scan:
@@ -58,5 +29,5 @@ addons:
       description: "Build submitted via Travis CI"
     notification_email: ci@px4.io
     build_command_prepend: "make distclean"
-    build_command: "make posix_sitl_default"
+    build_command: "make px4_sitl_default"
     branch_pattern: coverity_scan

.vscode/.gitignore

@@ -0,0 +1,6 @@
+.cortex-debug.peripherals.state.json
+.cortex-debug.registers.state.json
+compile_commands.json
+
+# C/C++ extension does some local caching in this folder
+ipch/

.vscode/c_cpp_properties.json

@@ -0,0 +1,26 @@
+{
+    "configurations": [
+        {
+            "name": "Linux",
+            "intelliSenseMode": "gcc-x64",
+            "includePath": [
+                "${workspaceFolder}/**"
+            ],
+            "defines": [],
+            "browse": {
+                "path": [
+                    "${workspaceFolder}/src/",
+                    "${workspaceFolder}/src/lib/",
+                    "${workspaceFolder}/src/lib/matrix",
+                    "${workspaceFolder}/src/platforms",
+                    "${workspaceFolder}/platforms/",
+                    "."
+                ],
+                "limitSymbolsToIncludedHeaders": true
+            },
+            "compileCommands": "${workspaceFolder}/.vscode/compile_commands.json",
+            "configurationProvider": "vector-of-bool.cmake-tools"
+        }
+    ],
+    "version": 4
+}

.vscode/cmake-kits.json

@@ -0,0 +1,5 @@
+[
+	{
+		"name": "PX4 detect"
+	}
+]

.vscode/cmake-variants.yaml

@@ -0,0 +1,63 @@
+CONFIG:
+  default: px4_sitl_default
+  choices:
+    px4_sitl_default:
+      short: px4_sitl
+      buildType: RelWithDebInfo
+      settings:
+        CONFIG: px4_sitl_default
+    px4_sitl_default_Debug:
+      short: px4_sitl (Debug)
+      buildType: Debug
+      settings:
+        CONFIG: px4_sitl_default
+    px4_sitl_default_ASan:
+      short: px4_sitl (Address Sanitizer)
+      buildType: AddressSanitizer
+      settings:
+        CONFIG: px4_sitl_default
+    px4_fmu-v2_default:
+      short: px4_fmu-v2
+      buildType: MinSizeRel
+      settings:
+        CONFIG: px4_fmu-v2_default
+    px4_fmu-v3_default:
+      short: px4_fmu-v3
+      buildType: MinSizeRel
+      settings:
+        CONFIG: px4_fmu-v3_default
+    px4_fmu-v4_default:
+      short: px4_fmu-v4
+      buildType: MinSizeRel
+      settings:
+        CONFIG: px4_fmu-v4_default
+    px4_fmu-v4pro_default:
+      short: px4_fmu-v4pro
+      buildType: MinSizeRel
+      settings:
+        CONFIG: px4_fmu-v4pro_default
+    px4_fmu-v5_default:
+      short: px4_fmu-v5
+      buildType: MinSizeRel
+      settings:
+        CONFIG: px4_fmu-v5_default
+    airmind_mindpx-v2_default:
+      short: airmind_mindpx-v2
+      buildType: MinSizeRel
+      settings:
+        CONFIG: airmind_mindpx-v2_default
+    av_x-v1_default:
+      short: av-x
+      buildType: MinSizeRel
+      settings:
+        CONFIG: av_x-v1_default
+    intel_aerofc-v1_default:
+      short: intel_aerofc-v1
+      buildType: MinSizeRel
+      settings:
+        CONFIG: intel_aerofc-v1_default
+    nxp_fmuk66-v3_default:
+      short: nxp_fmuk66-v3
+      buildType: MinSizeRel
+      settings:
+        CONFIG: nxp_fmuk66-v3_default

.vscode/extensions.json

@@ -0,0 +1,18 @@
+{
+    // See http://go.microsoft.com/fwlink/?LinkId=827846
+    // for the documentation about the extensions.json format
+    "recommendations": [
+        "ajshort.ros",
+        "chiehyu.vscode-astyle",
+        "dan-c-underwood.arm",
+        "github.vscode-pull-request-github",
+        "marus25.cortex-debug",
+        "ms-python.python",
+        "ms-vscode.cpptools",
+        "peterjausovec.vscode-docker",
+        "twxs.cmake",
+        "uavcan.dsdl",
+        "vector-of-bool.cmake-tools",
+        "wholroyd.jinja"
+    ]
+}

.vscode/launch.json

@@ -0,0 +1,194 @@
+{
+    "version": "0.2.0",
+    "configurations": [
+        {
+            "name": "SITL shell",
+            "type": "cppdbg",
+            "request": "launch",
+            "program": "${command:cmake.launchTargetPath}",
+            "args": [
+                "${workspaceFolder}/ROMFS/px4fmu_common",
+                "-s",
+                "etc/init.d-posix/rcS",
+                "-t",
+                "${workspaceFolder}/test_data"
+            ],
+            "stopAtEntry": false,
+            "cwd": "${workspaceFolder}/build/px4_sitl_default/tmp",
+            "environment": [
+                {
+                    "name": "PX4_SIM_MODEL",
+                    "value": "shell"
+                }
+            ],
+            "externalConsole": false,
+            "linux": {
+                "MIMode": "gdb",
+                "setupCommands": [
+                    {
+                        "description": "Enable pretty-printing for gdb",
+                        "text": "-enable-pretty-printing",
+                        "ignoreFailures": true
+                    },
+                    {
+                        "description": "PX4 ignore wq signals",
+                        "text": "handle SIGCONT nostop noprint nopass",
+                        "ignoreFailures": true
+                    }
+                ]
+            },
+            "osx": {
+                "MIMode": "lldb",
+                "setupCommands": [
+                    {
+                        "text": "pro hand -p true -s false -n false SIGCONT",
+                    }
+                ]
+            }
+        },
+        {
+            "name": "SITL jmavsim iris",
+            "type": "cppdbg",
+            "request": "launch",
+            "program": "${command:cmake.launchTargetPath}",
+            "args": [
+                "${workspaceFolder}/ROMFS/px4fmu_common",
+                "-s",
+                "etc/init.d-posix/rcS",
+                "-t",
+                "${workspaceFolder}/test_data"
+            ],
+            "stopAtEntry": false,
+            "cwd": "${workspaceFolder}/build/px4_sitl_default/tmp",
+            "environment": [
+                {
+                    "name": "PX4_SIM_MODEL",
+                    "value": "iris"
+                }
+            ],
+            "externalConsole": false,
+            "preLaunchTask": "jmavsim",
+            "postDebugTask": "jmavsim kill",
+            "linux": {
+                "MIMode": "gdb",
+                "setupCommands": [
+                    {
+                        "description": "Enable pretty-printing for gdb",
+                        "text": "-enable-pretty-printing",
+                        "ignoreFailures": true
+                    },
+                    {
+                        "description": "PX4 ignore wq signals",
+                        "text": "handle SIGCONT nostop noprint nopass",
+                        "ignoreFailures": true
+                    }
+                ]
+            },
+            "osx": {
+                "MIMode": "lldb",
+                "setupCommands": [
+                    {
+                        "text": "pro hand -p true -s false -n false SIGCONT",
+                    }
+                ]
+            }
+        },
+        {
+            "name": "SITL gazebo iris",
+            "type": "cppdbg",
+            "request": "launch",
+            "program": "${command:cmake.launchTargetPath}",
+            "args": [
+                "${workspaceFolder}/ROMFS/px4fmu_common",
+                "-s",
+                "etc/init.d-posix/rcS",
+                "-t",
+                "${workspaceFolder}/test_data"
+            ],
+            "stopAtEntry": false,
+            "cwd": "${workspaceFolder}/build/px4_sitl_default/tmp",
+            "environment": [
+                {
+                    "name": "PX4_SIM_MODEL",
+                    "value": "iris"
+                }
+            ],
+            "externalConsole": false,
+            "preLaunchTask": "gazebo iris",
+            "postDebugTask": "gazebo kill",
+            "linux": {
+                "MIMode": "gdb",
+                "setupCommands": [
+                    {
+                        "description": "Enable pretty-printing for gdb",
+                        "text": "-enable-pretty-printing",
+                        "ignoreFailures": true
+                    },
+                    {
+                        "description": "PX4 ignore wq signals",
+                        "text": "handle SIGCONT nostop noprint nopass",
+                        "ignoreFailures": true
+                    }
+                ]
+            },
+            "osx": {
+                "MIMode": "lldb",
+                "setupCommands": [
+                    {
+                        "text": "pro hand -p true -s false -n false SIGCONT",
+                    }
+                ]
+            }
+        },
+        {
+            "name": "px4_fmu-v2 (jlink) ",
+            "executable": "${command:cmake.launchTargetPath}",
+            "request": "launch",
+            "type": "cortex-debug",
+            "servertype": "jlink",
+            "device": "STM32F427VI",
+            "svdFile": "${workspaceRoot}/../cmsis-svd/data/STMicro/STM32F427.svd",
+            "interface": "swd"
+        },
+        {
+            "name": "px4_fmu-v3 (jlink)",
+            "executable": "${command:cmake.launchTargetPath}",
+            "request": "launch",
+            "type": "cortex-debug",
+            "servertype": "jlink",
+            "device": "STM32F427VI",
+            "svdFile": "${workspaceRoot}/../cmsis-svd/data/STMicro/STM32F427.svd",
+            "interface": "swd"
+        },
+        {
+            "name": "px4_fmu-v4 (jlink)",
+            "executable": "${command:cmake.launchTargetPath}",
+            "request": "launch",
+            "type": "cortex-debug",
+            "servertype": "jlink",
+            "device": "STM32F427VI",
+            "svdFile": "${workspaceRoot}/../cmsis-svd/data/STMicro/STM32F427.svd",
+            "interface": "swd"
+        },
+        {
+            "name": "px4_fmu-v4pro (jlink)",
+            "executable": "${command:cmake.launchTargetPath}",
+            "request": "launch",
+            "type": "cortex-debug",
+            "servertype": "jlink",
+            "device": "STM32F469VI",
+            "svdFile": "${workspaceRoot}/../cmsis-svd/data/STMicro/STM32F469.svd",
+            "interface": "swd"
+        },
+        {
+            "name": "px4_fmu-v5 (jlink)",
+            "executable": "${command:cmake.launchTargetPath}",
+            "request": "launch",
+            "type": "cortex-debug",
+            "servertype": "jlink",
+            "device": "STM32F765VI",
+            "svdFile": "${workspaceRoot}/../cmsis-svd/data/STMicro/STM32F7x5.svd",
+            "interface": "swd"
+        },
+    ]
+}

.vscode/settings.json

@@ -0,0 +1,91 @@
+{
+        "astyle.astylerc": "${workspaceFolder}/Tools/astyle/astylerc",
+        "astyle.c.enable": true,
+        "astyle.cpp.enable": true,
+        "breadcrumbs.enabled": true,
+        "cmake.autoRestartBuild": true,
+        "cmake.buildDirectory": "${workspaceFolder}/build/${variant:CONFIG}",
+        "cmake.buildBeforeRun": true,
+        "cmake.configureOnOpen": true,
+        "cmake.copyCompileCommands": "${workspaceFolder}/.vscode/compile_commands.json",
+        "cmake.debugConfig": {
+                "name": "SITL shell (gdb)",
+                "type": "cppdbg",
+                "request": "launch",
+                "program": "${command:cmake.launchTargetPath}",
+                "args": [
+                        "${workspaceFolder}/ROMFS/px4fmu_common",
+                        "-s",
+                        "etc/init.d-posix/rcS",
+                        "-t",
+                        "${workspaceFolder}/test_data"
+                ],
+                "stopAtEntry": false,
+                "cwd": "${workspaceFolder}/build/px4_sitl_default/tmp",
+                "environment": [
+                        {
+                                "name": "PX4_SIM_MODEL",
+                                "value": "shell"
+                        }
+                ],
+                "externalConsole": false,
+                "linux": {
+                        "MIMode": "gdb",
+                        "setupCommands": [
+                                {
+                                        "description": "Enable pretty-printing for gdb",
+                                        "text": "-enable-pretty-printing",
+                                        "ignoreFailures": true
+                                },
+                                {
+                                        "description": "PX4 ignore wq signals",
+                                        "text": "handle SIGCONT nostop noprint nopass",
+                                        "ignoreFailures": true
+                                }
+                        ]
+                },
+                "osx": {
+                        "MIMode": "lldb",
+                        "setupCommands": [
+                                {
+                                        "text": "pro hand -p true -s false -n false SIGCONT",
+                                }
+                        ]
+                }
+        },
+        "C_Cpp.clang_format_fallbackStyle": "none",
+        "C_Cpp.configurationWarnings": "Disabled",
+        "C_Cpp.default.cppStandard": "c++11",
+        "C_Cpp.default.cStandard": "c99",
+        "C_Cpp.default.intelliSenseMode": "gcc-x64",
+        "C_Cpp.errorSquiggles": "Disabled",
+        "C_Cpp.formatting": "Disabled",
+        "C_Cpp.intelliSenseEngine": "Default",
+        "C_Cpp.intelliSenseEngineFallback": "Disabled",
+        "debug.toolBarLocation": "docked",
+        "editor.insertSpaces": false,
+        "editor.minimap.maxColumn": 120,
+        "editor.minimap.renderCharacters": false,
+        "editor.minimap.showSlider": "always",
+        "editor.smoothScrolling": true,
+        "editor.suggest.localityBonus": true,
+        "editor.tabSize": 8,
+        "editor.wordWrapColumn": 120,
+        "explorer.openEditors.visible": 0,
+        "files.insertFinalNewline": true,
+        "files.trimTrailingWhitespace": true,
+        "git.detectSubmodulesLimit": 20,
+        "files.associations": {
+                "*.jinja": "jinja"
+        },
+        "search.exclude": {
+                "build/**": true
+        },
+        "search.showLineNumbers": true,
+        "window.title": "${dirty} ${activeEditorMedium}${separator}${rootName}",
+        "workbench.editor.enablePreview": false,
+        "workbench.editor.enablePreviewFromQuickOpen": false,
+        "workbench.editor.highlightModifiedTabs": true,
+        "workbench.settings.enableNaturalLanguageSearch": false,
+        "workbench.statusBar.feedback.visible": false
+}

.vscode/tasks.json

@@ -0,0 +1,97 @@
+{
+    // See https://go.microsoft.com/fwlink/?LinkId=733558
+    // for the documentation about the tasks.json format
+    "version": "2.0.0",
+    "tasks": [
+        {
+            "label": "jmavsim",
+            "type": "shell",
+            "command": "Tools/jmavsim_run.sh",
+            "isBackground": true,
+            "args": [
+                "-r",
+                "500"
+            ],
+            "options": {
+                "cwd": "${workspaceRoot}"
+            },
+            "presentation": {
+                "reveal": "always",
+                "panel": "dedicated"
+            },
+            "problemMatcher": [
+                {
+                    "pattern": [
+                        {
+                            "regexp": ".",
+                            "file": 1,
+                            "location": 2,
+                            "message": 3
+                        }
+                    ],
+                    "background": {
+                        "activeOnStart": true,
+                        "beginsPattern": ".",
+                        "endsPattern": ".",
+                    }
+                }
+            ]
+        },
+        {
+            "label": "jmavsim kill",
+            "type": "shell",
+            "command": "kill $(ps aux | grep jmavsim | grep -v 'grep' | awk '{print $2}')",
+            "problemMatcher": []
+        },
+        {
+            "label": "gazebo build",
+            "type": "shell",
+            "command": "make px4_sitl_default sitl_gazebo",
+            "options": {
+                "cwd": "${workspaceRoot}"
+            },
+            "problemMatcher": []
+        },
+        {
+            "label": "gazebo iris",
+            "type": "shell",
+            "dependsOn": "gazebo build",
+            "options": {
+                "cwd": "${workspaceRoot}",
+                "env": {
+                    "GAZEBO_PLUGIN_PATH": "${workspaceRoot}/build/px4_sitl_default/build_gazebo",
+                    "GAZEBO_MODEL_PATH": "${workspaceRoot}/Tools/sitl_gazebo/models"
+                }
+            },
+            "command": "gzserver --verbose ${workspaceRoot}/Tools/sitl_gazebo/worlds/iris.world",
+            "isBackground": true,
+            "presentation": {
+                "reveal": "always",
+                "panel": "dedicated"
+            },
+            "problemMatcher": [
+                {
+                    "pattern": [
+                        {
+                            "regexp": ".",
+                            "file": 1,
+                            "location": 2,
+                            "message": 3
+                        }
+                    ],
+                    "background": {
+                        "activeOnStart": true,
+                        "beginsPattern": ".",
+                        "endsPattern": ".",
+                    }
+                }
+            ]
+        },
+        {
+            "label": "gazebo kill",
+            "type": "shell",
+            "command": "killall gzserver",
+            "problemMatcher": []
+        },
+    ]
+}

.ycm_extra_conf.py

@@ -61,7 +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-v2_default.build/nuttx-export/include/',
+'-I', 'Build/px4_io-v2_default.build/nuttx-export/include/',
 '-I', './NuttX/nuttx/arch/arm/include',
 '-include', './src/include/visibility.h',
 '-I', './src',

CMakeLists.txt

@@ -1,6 +1,6 @@
 ############################################################################
 #
-# Copyright (c) 2017 PX4 Development Team. All rights reserved.
+# Copyright (c) 2017 - 2019 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
@@ -40,7 +40,7 @@
 # * 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}_${BOARD}.cmake.
+#	px_impl_${PX4_PLATFORM}.cmake or px4_impl_${PX4_PLATFORM}_${PX4_BOARD}.cmake.
 #
 # Formatting
 # ---------------------------------------------------------------------------
@@ -92,9 +92,9 @@
 # ---------------------------------------------------------------------------
 #
 # * 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 ${OS} is not defined instead of silently
+#	Don't do "${PX4_PLATFORM}" STREQUAL "posix",
+#	instead type ${PX4_PLATFORM} STREQUAL "posix". This will throw an
+#	error when ${PX4_PLATFORM} is not defined instead of silently
 #	evaluating to false.
 #
 #=============================================================================
@@ -104,16 +104,16 @@ cmake_minimum_required(VERSION 3.2 FATAL_ERROR)
 set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
 set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}")
 
-list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/cmake")
+list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake)
 
 #=============================================================================
 # git
 #
-include(common/px4_git)
+include(px4_git)
 
 execute_process(
 	COMMAND git describe --always --tags
-	OUTPUT_VARIABLE git_tag
+	OUTPUT_VARIABLE PX4_GIT_TAG
 	OUTPUT_STRIP_TRAILING_WHITESPACE
 	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 	)
@@ -132,28 +132,116 @@ define_property(GLOBAL PROPERTY PX4_MODULE_PATHS
 # configuration
 #
 
-set(CONFIG "posix_sitl_default" CACHE STRING "desired configuration")
+set(CONFIG "px4_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)
+include(px4_add_module)
+set(config_module_list)
+set(config_df_driver_list)
 
-set(THREADS "4" CACHE STRING "number of threads to use for external build processes")
-set(DEBUG_PORT "/dev/ttyACM0" CACHE STRING "debugging port")
+# find PX4 config
+#  look for in tree board config that matches CONFIG input
+if(NOT PX4_CONFIG_FILE)
+
+	file(GLOB_RECURSE board_configs
+		RELATIVE "${PX4_SOURCE_DIR}/boards"
+		"boards/*.cmake"
+		)
+
+	set(PX4_CONFIGS ${board_configs} CACHE STRING "PX4 board configs" FORCE)
+
+	foreach(filename ${board_configs})
+		# parse input CONFIG into components to match with existing in tree configs
+		#  the platform prefix (eg nuttx_) is historical, and removed if present
+		string(REPLACE ".cmake" "" filename_stripped ${filename})
+		string(REPLACE "/" ";" config ${filename_stripped})
+		list(LENGTH config config_len)
+
+		if(${config_len} EQUAL 3)
+
+
+			list(GET config 0 vendor)
+			list(GET config 1 model)
+			list(GET config 2 label)
+
+			set(board "${vendor}${model}")
+
+			# <VENDOR>_<MODEL>_<LABEL> (eg px4_fmu-v2_default)
+			# <VENDOR>_<MODEL>_default (eg px4_fmu-v2) # allow skipping label if "default"
+			if ((${CONFIG} MATCHES "${vendor}_${model}_${label}") OR # match full vendor, model, label
+			    ((${label} STREQUAL "default") AND (${CONFIG} STREQUAL "${vendor}_${model}")) # default label can be omitted
+			)
+				set(PX4_CONFIG_FILE "${PX4_SOURCE_DIR}/boards/${filename}" CACHE FILEPATH "path to PX4 CONFIG file" FORCE)
+				break()
+			endif()
+
+			# <BOARD>_<LABEL> (eg px4_fmu-v2_default)
+			# <BOARD>_default (eg px4_fmu-v2) # allow skipping label if "default"
+			if ((${CONFIG} MATCHES "${board}_${label}") OR # match full board, label
+			    ((${label} STREQUAL "default") AND (${CONFIG} STREQUAL "${board}")) # default label can be omitted
+			)
+				set(PX4_CONFIG_FILE "${PX4_SOURCE_DIR}/boards/${filename}" CACHE FILEPATH "path to PX4 CONFIG file" FORCE)
+				break()
+			endif()
+
+
+			# LEGACY form
+			# <OS>_<BOARD>_<LABEL> (eg nuttx_px4_fmu-v2_default)
+			string(REGEX REPLACE "^nuttx_|^posix_|^qurt_" "" config_no_os ${CONFIG}) # ignore OS prefix
+
+			if ((${config_no_os} MATCHES "${board}_${label}"))
+				set(PX4_CONFIG_FILE "${PX4_SOURCE_DIR}/boards/${filename}" CACHE FILEPATH "path to PX4 CONFIG file" FORCE)
+				break()
+			endif()
+
+
+			# LEGACY form special case to ease board layout transition (2018-11-18)
+			#  match board with model and label only: eg sitl_default -> px4_sitl_default
+			if ((${config_no_os} MATCHES "${model}_${label}"))
+				set(PX4_CONFIG_FILE "${PX4_SOURCE_DIR}/boards/${filename}" CACHE FILEPATH "path to PX4 CONFIG file" FORCE)
+				break()
+			endif()
+
+		endif()
+
+	endforeach()
+endif()
+
+if(NOT PX4_CONFIG_FILE)
+	message(FATAL_ERROR "PX4 config file not set, try one of ${PX4_CONFIGS}")
+endif()
+
+message(STATUS "PX4 config file: ${PX4_CONFIG_FILE}")
+include(px4_add_board)
+include(${PX4_CONFIG_FILE})
+message(STATUS "PX4 config: ${PX4_CONFIG}")
+message(STATUS "PX4 platform: ${PX4_PLATFORM}")
+
+if (ENABLE_LOCKSTEP_SCHEDULER)
+	add_definitions(-DENABLE_LOCKSTEP_SCHEDULER)
+	message(STATUS "PX4 lockstep: enabled")
+else()
+	message(STATUS "PX4 lockstep: disabled")
+endif()
+
+# external modules
 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()
 
-include(platforms/${OS}/cmake/px4_impl_os.cmake)
-include(configs/${CONFIG})
-list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/platforms/${OS}/cmake)
+set_property(GLOBAL PROPERTY PX4_MODULE_CONFIG_FILES)
+
+include(platforms/${PX4_PLATFORM}/cmake/px4_impl_os.cmake)
+list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake)
+
+if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake/init.cmake")
+	include(init)
+endif()
 
 # CMake build type (Debug Release RelWithDebInfo MinSizeRel Coverage)
 if (NOT CMAKE_BUILD_TYPE)
-	if (${OS} STREQUAL "nuttx")
+	if (${PX4_PLATFORM} STREQUAL "nuttx")
 		set(PX4_BUILD_TYPE "MinSizeRel")
 	else()
 		set(PX4_BUILD_TYPE "RelWithDebInfo")
@@ -162,13 +250,12 @@ if (NOT CMAKE_BUILD_TYPE)
 	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")
+set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release;RelWithDebInfo;MinSizeRel;Coverage;AddressSanitizer;UndefinedBehaviorSanitizer")
 
 #=============================================================================
 
-message(STATUS "PX4 VERSION: ${git_tag}")
-message(STATUS "CONFIG: ${CONFIG}")
-message(STATUS "Build Type: ${CMAKE_BUILD_TYPE}")
+message(STATUS "PX4 version: ${PX4_GIT_TAG}")
+message(STATUS "cmake build type: ${CMAKE_BUILD_TYPE}")
 
 #=============================================================================
 # project definition
@@ -182,17 +269,29 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_C_STANDARD 99)
 set(CMAKE_C_STANDARD_REQUIRED ON)
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PX4_BINARY_DIR})
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${PX4_BINARY_DIR})
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${PX4_BINARY_DIR})
+
+# For the catkin build process, unset build of dynamically-linked binaries
+# and do not change CMAKE_RUNTIME_OUTPUT_DIRECTORY
+if (NOT CATKIN_DEVEL_PREFIX)
+	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})
+else()
+	SET(BUILD_SHARED_LIBS OFF)
+endif()
 
 #=============================================================================
 
 # Setup install paths
-if (${OS} STREQUAL "posix")
+if (${PX4_PLATFORM} STREQUAL "posix")
 
-	include(common/coverage)
-	include(common/sanitizers)
+	# This makes it possible to dynamically load code which depends on symbols
+	# inside the px4 executable.
+	set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+	set(CMAKE_ENABLE_EXPORTS ON)
+
+	include(coverage)
+	include(sanitizers)
 
 	# Define GNU standard installation directories
 	include(GNUInstallDirs)
@@ -200,38 +299,26 @@ if (${OS} STREQUAL "posix")
 	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} 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} must define ${conf}")
-	endif()
-endforeach()
-
 #=============================================================================
 # ccache
 #
 option(CCACHE "Use ccache if available" ON)
 find_program(CCACHE_PROGRAM ccache)
 if (CCACHE AND CCACHE_PROGRAM AND NOT DEFINED ENV{CCACHE_DISABLE})
-	set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE "${CCACHE_PROGRAM}")
+
+	get_filename_component(ccache_real_path ${CCACHE_PROGRAM} REALPATH)
+	get_filename_component(cxx_real_path ${CMAKE_CXX_COMPILER} REALPATH)
+	get_filename_component(cxx_abs_path ${CMAKE_CXX_COMPILER} ABSOLUTE)
+
+	if ("${ccache_real_path}" STREQUAL "${cxx_real_path}")
+		message(STATUS "ccache enabled via symlink (${cxx_abs_path} -> ${cxx_real_path})")
+	else()
+		message(STATUS "ccache enabled (export CCACHE_DISABLE=1 to disable)")
+		set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE "${CCACHE_PROGRAM}")
+	endif()
+
 endif()
 
 #=============================================================================
@@ -250,72 +337,37 @@ if (CATKIN_DEVEL_PREFIX)
 endif()
 
 find_package(PythonInterp REQUIRED)
-px4_find_python_module(jinja2 REQUIRED)
 
-#=============================================================================
-# check required toolchain variables
-#
-
-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})
+option(PYTHON_COVERAGE "Python code coverage" OFF)
+if(PYTHON_COVERAGE)
+	message(STATUS "python coverage enabled")
+	set(PYTHON_EXECUTABLE coverage run -p)
+else()
+	# run normally (broken under coveragepy)
+	px4_find_python_module(jinja2 REQUIRED)
+endif()
 
 #=============================================================================
 # 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(px4_add_common_flags)
+px4_add_common_flags()
+px4_os_add_flags()
 
 #=============================================================================
 # message, and airframe generation
 #
-include(common/px4_metadata)
+include(px4_metadata)
 
 add_subdirectory(msg EXCLUDE_FROM_ALL)
 
-px4_generate_airframes_xml(BOARD ${BOARD})
+px4_generate_airframes_xml(BOARD ${PX4_BOARD})
 
 #=============================================================================
 # DriverFramework
 #
 px4_add_git_submodule(TARGET git_driverframework PATH "src/lib/DriverFramework")
+set(OS ${PX4_PLATFORM})
 add_subdirectory(src/lib/DriverFramework/framework)
 
 # List the DriverFramework drivers
@@ -357,16 +409,56 @@ if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
 	endforeach()
 endif()
 
+#=============================================================================
+# Testing - Automatic unit and integration testing with CTest
+#
+
+# optionally enable cmake testing (supported only on posix)
+option(CMAKE_TESTING "Configure test targets" OFF)
+if (${PX4_CONFIG} STREQUAL "px4_sitl_test")
+	set(CMAKE_TESTING ON)
+endif()
+if(CMAKE_TESTING)
+	include(CTest) # sets BUILD_TESTING variable
+endif()
+
+# enable test filtering to run only specific tests with the ctest -R regex functionality
+set(TESTFILTER "" CACHE STRING "Filter string for ctest to selectively only run specific tests (ctest -R)")
+
+# if testing is enabled download and configure gtest
+list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake/gtest/)
+include(px4_add_gtest)
+if(BUILD_TESTING)
+	include(gtest)
+endif()
+
+add_custom_target(test_results
+		COMMAND GTEST_COLOR=1 ${CMAKE_CTEST_COMMAND} --output-on-failure -T Test -R ${TESTFILTER} USES_TERMINAL
+		DEPENDS
+			px4
+			examples__dyn_hello
+			test_mixer_multirotor
+		USES_TERMINAL
+		COMMENT "Running tests"
+		WORKING_DIRECTORY ${PX4_BINARY_DIR})
+set_target_properties(test_results PROPERTIES EXCLUDE_FROM_ALL TRUE)
+
 #=============================================================================
 # subdirectories
 #
 add_library(parameters_interface INTERFACE)
+
+include(px4_add_library)
 add_subdirectory(src/lib EXCLUDE_FROM_ALL)
-add_subdirectory(src/platforms/common EXCLUDE_FROM_ALL)
-add_subdirectory(src/modules/systemlib EXCLUDE_FROM_ALL) # TODO: split into libraries in platform layer
+
+add_subdirectory(src/platforms EXCLUDE_FROM_ALL)
 add_subdirectory(src/modules/uORB EXCLUDE_FROM_ALL) # TODO: platform layer
 add_subdirectory(src/drivers/boards EXCLUDE_FROM_ALL)
 
+if(EXISTS "${PX4_BOARD_DIR}/CMakeLists.txt")
+	add_subdirectory(${PX4_BOARD_DIR})
+endif()
+
 foreach(module ${config_module_list})
 	add_subdirectory(src/${module})
 endforeach()
@@ -376,26 +468,12 @@ add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL)
 target_link_libraries(parameters_interface INTERFACE parameters)
 
 # firmware added last to generate the builtin for included modules
-add_subdirectory(platforms/${OS})
-
-#=============================================================================
-# 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()
-
+add_subdirectory(platforms/${PX4_PLATFORM})
 
 #=============================================================================
 # uORB graph generation: add a custom target 'uorb_graph'
 #
-set(uorb_graph_config ${BOARD})
+set(uorb_graph_config ${PX4_BOARD})
 
 set(graph_module_list "")
 foreach(module ${config_module_list})
@@ -442,20 +520,69 @@ if (BUILD_DOXYGEN)
 	endif()
 endif()
 
+#=============================================================================
+# Metadata - helpers for generating documentation
+#
+
+add_custom_target(metadata_airframes
+	COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/docs
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
+		-v -a ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d
+		--markdown ${PX4_BINARY_DIR}/docs/airframes.md
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
+		-v -a ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d
+		--xml ${PX4_BINARY_DIR}/docs/airframes.xml
+	COMMENT "Generating full airframe metadata (markdown and xml)"
+	USES_TERMINAL
+)
+
+file(GLOB_RECURSE yaml_config_files ${PX4_SOURCE_DIR}/src/modules/*.yaml
+	${PX4_SOURCE_DIR}/src/drivers/*.yaml ${PX4_SOURCE_DIR}/src/lib/*.yaml)
+add_custom_target(metadata_parameters
+	COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/docs
+	COMMAND ${PYTHON_EXECUTABLE}
+	${PX4_SOURCE_DIR}/Tools/serial/generate_config.py --all-ports --params-file ${PX4_SOURCE_DIR}/src/generated_serial_params.c --config-files ${yaml_config_files}
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py
+		--src-path `find ${PX4_SOURCE_DIR}/src -maxdepth 4 -type d`
+		--inject-xml ${PX4_SOURCE_DIR}/src/lib/parameters/parameters_injected.xml
+		--markdown ${PX4_BINARY_DIR}/docs/parameters.md
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py
+		--src-path `find ${PX4_SOURCE_DIR}/src -maxdepth 4 -type d`
+		--inject-xml ${PX4_SOURCE_DIR}/src/lib/parameters/parameters_injected.xml
+		--xml ${PX4_BINARY_DIR}/docs/parameters.xml
+	COMMENT "Generating full parameter metadata (markdown and xml)"
+	USES_TERMINAL
+)
+
+add_custom_target(metadata_module_documentation
+	COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/docs
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_module_doc.py -v --src-path ${PX4_SOURCE_DIR}/src
+		--markdown ${PX4_BINARY_DIR}/docs/modules
+	COMMENT "Generating module documentation"
+	USES_TERMINAL
+)
+
+add_custom_target(all_metadata
+	DEPENDS
+		metadata_airframes
+		metadata_parameters
+		metadata_module_documentation
+)
+
 #=============================================================================
 # 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_NAME ${PROJECT_NAME}-${PX4_CONFIG})
+set(CPACK_PACKAGE_VERSION ${PX4_GIT_TAG})
 set(CPACK_PACKAGE_CONTACT ${package-contact})
-set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS ON)
+set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS OFF) # TODO: review packaging for linux boards
 set(CPACK_DEBIAN_PACKAGE_SECTION "devel")
 set(CPACK_DEBIAN_PACKAGE_PRIORITY "optional")
 set(CPACK_DEBIAN_PACKAGE_DESCRIPTION "The PX4 Pro autopilot.")
-set(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME}-${CONFIG}-${git_tag}")
-set(CPACK_SOURCE_PACKAGE_FILE_NAME "${PROJECT_NAME}-${git_version}")
+set(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME}-${PX4_CONFIG}-${PX4_GIT_TAG}")
+set(CPACK_SOURCE_PACKAGE_FILE_NAME "${PROJECT_NAME}-${PX4_GIT_TAG}")
 set(CPACK_SOURCE_GENERATOR "ZIP;TBZ2")
 set(CPACK_PACKAGING_INSTALL_PREFIX "")
 set(CPACK_SET_DESTDIR "OFF")
@@ -470,4 +597,4 @@ else()
 	set(CPACK_GENERATOR "ZIP")
 endif()
 
-include(CPack)
+include(CPack)

CONTRIBUTING.md

@@ -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://dev.px4.io/) explains how to set up the development environment on Mac OS, Linux or Windows. Please take note of our [coding style](https://dev.px4.io/master/en/contribute/code.html) when editing files.
 
 ### Commit your changes
 

Firmware.sublime-project

@@ -62,7 +62,7 @@
 			"name": "PX4: make and upload",
 			"working_dir": "${project_path}",
 			"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
-			"cmd": ["make upload px4fmu-v2_default -j8"],
+			"cmd": ["make upload px4_fmu-v2_default -j8"],
 			"shell": true
 		},
 		{

LICENSE

@@ -1,6 +1,6 @@
 BSD 3-Clause License
 
-Copyright (c) 2012 - 2018, PX4 Development Team
+Copyright (c) 2012 - 2019, PX4 Development Team
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

Makefile

@@ -1,6 +1,6 @@
 ############################################################################
 #
-# Copyright (c) 2015 - 2017 PX4 Development Team. All rights reserved.
+# Copyright (c) 2015 - 2019 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
@@ -48,16 +48,19 @@ endif
 #
 # Example usage:
 #
-# make px4fmu-v2_default 			(builds)
-# make px4fmu-v2_default upload 	(builds and uploads)
-# make px4fmu-v2_default test 		(builds and tests)
+# make px4_fmu-v2_default 			(builds)
+# make px4_fmu-v2_default upload 	(builds and uploads)
+# make px4_fmu-v2_default test 		(builds and tests)
 #
-# This tells cmake to build the nuttx px4fmu-v2 default config in the
-# directory build/nuttx_px4fmu-v2_default and then call make
+# This tells cmake to build the nuttx px4_fmu-v2 default config in the
+# directory build/px4_fmu-v2_default and then call make
 # in that directory with the target upload.
 
-#  explicity set default build target
-all: posix_sitl_default
+# explicity set default build target
+all: px4_sitl_default
+
+# define a space character to be able to explicitly find it in strings
+space := $(subst ,, )
 
 # Parsing
 # --------------------------------------------------------------------
@@ -98,7 +101,7 @@ else
 	PX4_MAKE_ARGS = -j$(j) --no-print-directory
 endif
 
-SRC_DIR := $(shell dirname $(realpath $(lastword $(MAKEFILE_LIST))))
+SRC_DIR := $(shell dirname "$(realpath $(lastword $(MAKEFILE_LIST)))")
 
 # check if replay env variable is set & set build dir accordingly
 ifdef replay
@@ -114,17 +117,61 @@ endif
 
 ifdef PX4_CMAKE_BUILD_TYPE
 	CMAKE_ARGS += -DCMAKE_BUILD_TYPE=${PX4_CMAKE_BUILD_TYPE}
+else
+
+	# Address Sanitizer
+	ifdef PX4_ASAN
+		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=AddressSanitizer
+	endif
+
+	# Memory Sanitizer
+	ifdef PX4_MSAN
+		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=MemorySanitizer
+	endif
+
+	# Thread Sanitizer
+	ifdef PX4_TSAN
+		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=ThreadSanitizer
+	endif
+
+	# Undefined Behavior Sanitizer
+	ifdef PX4_UBSAN
+		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=UndefinedBehaviorSanitizer
+	endif
+
 endif
 
 # Functions
 # --------------------------------------------------------------------
 # describe how to build a cmake config
 define cmake-build
-+@$(eval PX4_CONFIG = $(1))
-+@$(eval BUILD_DIR = $(SRC_DIR)/build/$(PX4_CONFIG)$(BUILD_DIR_SUFFIX))
-+@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(BUILD_DIR)/Makefile ]; then rm -rf $(BUILD_DIR); fi
-+@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ]; then mkdir -p $(BUILD_DIR) && cd $(BUILD_DIR) && cmake $(SRC_DIR) -G"$(PX4_CMAKE_GENERATOR)" $(CMAKE_ARGS) -DCONFIG=$(PX4_CONFIG) || (rm -rf $(BUILD_DIR)); fi
-+@$(PX4_MAKE) -C $(BUILD_DIR) $(PX4_MAKE_ARGS) $(ARGS)
+	@$(eval BUILD_DIR = "$(SRC_DIR)/build/$(1)")
+	@# check if the desired cmake configuration matches the cache then CMAKE_CACHE_CHECK stays empty
+	@$(call cmake-cache-check)
+	@# make sure to start from scratch when switching from GNU Make to Ninja
+	@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(BUILD_DIR)/Makefile ]; then rm -rf $(BUILD_DIR); fi
+	@# only excplicitly configure the first build, if cache file already exists the makefile will rerun cmake automatically if necessary
+	@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ] || [ $(CMAKE_CACHE_CHECK) ]; then \
+		mkdir -p $(BUILD_DIR) \
+		&& cd $(BUILD_DIR) \
+		&& cmake "$(SRC_DIR)" -G"$(PX4_CMAKE_GENERATOR)" $(CMAKE_ARGS) \
+		|| (rm -rf $(BUILD_DIR)); \
+	fi
+	@# run the build for the specified target
+	@cmake --build $(BUILD_DIR) -- $(PX4_MAKE_ARGS) $(ARGS)
+endef
+
+# check if the options we want to build with in CMAKE_ARGS match the ones which are already configured in the cache inside BUILD_DIR
+define cmake-cache-check
+	@# change to build folder which fails if it doesn't exist and CACHED_CMAKE_OPTIONS stays empty
+	@# fetch all previously configured and cached options from the build folder and transform them into the OPTION=VALUE format without type (e.g. :BOOL)
+	@$(eval CACHED_CMAKE_OPTIONS = $(shell cd $(BUILD_DIR) 2>/dev/null && cmake -L 2>/dev/null | sed -n 's/\([^[:blank:]]*\):[^[:blank:]]*\(=[^[:blank:]]*\)/\1\2/gp' ))
+	@# transform the options in CMAKE_ARGS into the OPTION=VALUE format without -D
+	@$(eval DESIRED_CMAKE_OPTIONS = $(shell echo $(CMAKE_ARGS) | sed -n 's/-D\([^[:blank:]]*=[^[:blank:]]*\)/\1/gp' ))
+	@# find each currently desired option in the already cached ones making sure the complete configured string value is the same
+	@$(eval VERIFIED_CMAKE_OPTIONS = $(foreach option,$(DESIRED_CMAKE_OPTIONS),$(strip $(findstring $(option)$(space),$(CACHED_CMAKE_OPTIONS)))))
+	@# if the complete list of desired options is found in the list of verified options we don't need to reconfigure and CMAKE_CACHE_CHECK stays empty
+	@$(eval CMAKE_CACHE_CHECK = $(if $(findstring $(DESIRED_CMAKE_OPTIONS),$(VERIFIED_CMAKE_OPTIONS)),,y))
 endef
 
 COLOR_BLUE = \033[0;94m
@@ -134,10 +181,8 @@ define colorecho
 +@echo -e '${COLOR_BLUE}${1} ${NO_COLOR}'
 endef
 
-# 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)))
+# Get a list of all config targets boards/*/*.cmake
+ALL_CONFIG_TARGETS := $(shell find boards -maxdepth 3 -mindepth 3 ! -name '*common*' ! -name '*sdflight*' -name '*.cmake' -print | sed -e 's/boards\///' | sed -e 's/\.cmake//' | sed -e 's/\//_/g' | sort)
 
 # ADD CONFIGS HERE
 # --------------------------------------------------------------------
@@ -145,32 +190,47 @@ NUTTX_CONFIG_TARGETS := $(patsubst nuttx_%,%,$(filter nuttx_%,$(ALL_CONFIG_TARGE
 
 # All targets.
 $(ALL_CONFIG_TARGETS):
-	$(call cmake-build,$@)
+	@$(eval PX4_CONFIG = $@)
+	@$(eval CMAKE_ARGS += -DCONFIG=$(PX4_CONFIG))
+	@$(call cmake-build,$(PX4_CONFIG)$(BUILD_DIR_SUFFIX))
 
-# Abbreviated config targets.
+# Filter for only default targets to allow omiting the "_default" postfix
+CONFIG_TARGETS_DEFAULT := $(patsubst %_default,%,$(filter %_default,$(ALL_CONFIG_TARGETS)))
+$(CONFIG_TARGETS_DEFAULT):
+	@$(eval PX4_CONFIG = $@_default)
+	@$(eval CMAKE_ARGS += -DCONFIG=$(PX4_CONFIG))
+	@$(call cmake-build,$(PX4_CONFIG)$(BUILD_DIR_SUFFIX))
 
-# nuttx_ is left off by default; provide a rule to allow that.
-$(NUTTX_CONFIG_TARGETS):
-	$(call cmake-build,nuttx_$@)
+all_config_targets: $(ALL_CONFIG_TARGETS)
+all_default_targets: $(CONFIG_TARGETS_DEFAULT)
 
-all_nuttx_targets: $(NUTTX_CONFIG_TARGETS)
+posix: px4_sitl_default
 
-posix: posix_sitl_default
-broadcast: posix_sitl_broadcast
+# board reorganization deprecation warnings (2018-11-22)
+define deprecation_warning
+	$(warning $(1) has been deprecated and will be removed, please use $(2)!)
+endef
+
+px4fmu-%_default:
+	$(call deprecation_warning, ${@},$(subst px4fmu,px4_fmu,$@))
+	$(MAKE) $(subst px4fmu,px4_fmu, $@)
+
+posix_sitl_default:
+	$(call deprecation_warning, ${@},px4_sitl_default)
+	$(MAKE) px4_sitl_default
 
 # All targets with just dependencies but no recipe must either be marked as phony (or have the special @: as recipe).
-.PHONY: all posix broadcast all_nuttx_targets
+.PHONY: all posix px4_sitl_default all_config_targets all_default_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
+eagle_default: atlflight_eagle_default atlflight_eagle_qurt-default
+eagle_rtps: atlflight_eagle_rtps atlflight_eagle_qurt-rtps
 
-.PHONY: eagle_default eagle_rtps eagle_legacy_default
-.PHONY: excelsior_default excelsior_rtps excelsior_legacy_default
+excelsior_default: atlflight_excelsior_default atlflight_excelsior_qurt-default
+excelsior_rtps: atlflight_excelsior_rtps atlflight_excelsior_qurt-rtps
+
+.PHONY: eagle_default eagle_rtps
+.PHONY: excelsior_default excelsior_rtps
 
 # Other targets
 # --------------------------------------------------------------------
@@ -182,41 +242,37 @@ 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 \
+	check_px4_io-v2_default \
+	check_px4_fmu-v2_default \
+	check_px4_fmu-v3_default \
+	check_px4_fmu-v4_default \
+	check_px4_fmu-v4pro_default \
+	check_px4_fmu-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 \
+	check_nxp_fmuk66-v3_default \
+	check_intel_aerofc-v1_default \
+	check_auav_x21_default \
+	check_bitcraze_crazyflie_default \
+	check_airmind_mindpx-v2_default \
+	check_px4_fmu-v2_lpe \
 	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 \
+	check_px4_cannode-v1_default \
+	check_px4_esc-v1_default \
+	check_auav_esc35-v1_default \
+	check_thiemar_s2740vc-v1_default \
 	sizes
 
 # builds with RTPS
 check_rtps: \
-	check_px4fmu-v3_rtps \
-	check_px4fmu-v4_rtps \
-	check_px4fmu-v4pro_rtps \
-	check_posix_sitl_rtps \
+	check_px4_fmu-v3_rtps \
+	check_px4_fmu-v4_rtps \
+	check_px4_fmu-v4pro_rtps \
+	check_px4_sitl_rtps \
 	sizes
 
 .PHONY: sizes check quick_check check_rtps uorb_graphs
@@ -225,10 +281,10 @@ 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
+check: check_px4_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
+quick_check: check_px4_sitl_test check_px4_fmu-v5_default tests check_format
 
 check_%:
 	@echo
@@ -239,119 +295,153 @@ check_%:
 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
-	@$(MAKE) --no-print-directory posix_sitl_default uorb_graph
+	@$(MAKE) --no-print-directory px4_fmu-v2_default uorb_graph
+	@$(MAKE) --no-print-directory px4_fmu-v4_default uorb_graph
+	@$(MAKE) --no-print-directory px4_sitl_default uorb_graph
 
 
 .PHONY: coverity_scan
 
-coverity_scan: posix_sitl_default
+coverity_scan: px4_sitl_default
 
 # Documentation
 # --------------------------------------------------------------------
-.PHONY: parameters_metadata airframe_metadata module_documentation px4_metadata
+.PHONY: parameters_metadata airframe_metadata module_documentation px4_metadata doxygen
 
 parameters_metadata:
-	@python $(SRC_DIR)/src/lib/parameters/px_process_params.py -s `find $(SRC_DIR)/src -maxdepth 4 -type d` --inject-xml $(SRC_DIR)/src/lib/parameters/parameters_injected.xml --markdown
-	@python $(SRC_DIR)/src/lib/parameters/px_process_params.py -s `find $(SRC_DIR)/src -maxdepth 4 -type d` --inject-xml $(SRC_DIR)/src/lib/parameters/parameters_injected.xml --xml
+	@$(MAKE) --no-print-directory px4_sitl_default metadata_parameters
 
 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 $(SRC_DIR)/ROMFS/px4fmu_common/init.d --xml
+	@$(MAKE) --no-print-directory px4_sitl_default metadata_airframes
 
 module_documentation:
-	@python $(SRC_DIR)/Tools/px_process_module_doc.py -v --markdown $(SRC_DIR)/modules --src-path $(SRC_DIR)/src
+	@$(MAKE) --no-print-directory px4_sitl_default metadata_module_documentation
 
 px4_metadata: parameters_metadata airframe_metadata module_documentation
 
+doxygen:
+	@mkdir -p "$(SRC_DIR)"/build/doxygen
+	@cd "$(SRC_DIR)"/build/doxygen && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DBUILD_DOXYGEN=ON
+	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/doxygen
+	@touch "$(SRC_DIR)"/build/doxygen/Documentation/.nojekyll
+
 # Astyle
 # --------------------------------------------------------------------
 .PHONY: check_format format
 
 check_format:
 	$(call colorecho,'Checking formatting with astyle')
-	@$(SRC_DIR)/Tools/astyle/check_code_style_all.sh
-	@cd $(SRC_DIR) && git diff --check
+	@"$(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
+	@"$(SRC_DIR)"/Tools/astyle/check_code_style_all.sh --fix
 
 # Testing
 # --------------------------------------------------------------------
-.PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard rostest
+.PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard tests_avoidance
+.PHONY: rostest python_coverage
 
 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"
+	$(eval CMAKE_ARGS += -DCONFIG=px4_sitl_test)
+	$(eval CMAKE_ARGS += -DTESTFILTER=$(TESTFILTER))
+	$(eval ARGS += test_results)
+	$(eval ASAN_OPTIONS += color=always:check_initialization_order=1:detect_stack_use_after_return=1)
+	$(eval UBSAN_OPTIONS += color=always)
+	$(call cmake-build,px4_sitl_test)
 
 tests_coverage:
 	@$(MAKE) clean
-	@$(MAKE) --no-print-directory posix_sitl_default test_coverage_genhtml PX4_CMAKE_BUILD_TYPE=Coverage
-	@echo "Open $(SRC_DIR)/build/posix_sitl_default/coverage-html/index.html to see coverage"
+	@$(MAKE) --no-print-directory px4_sitl_default test_coverage_genhtml PX4_CMAKE_BUILD_TYPE=Coverage
+	@echo "Open "$(SRC_DIR)"/build/px4_sitl_default/coverage-html/index.html to see coverage"
 
-rostest: posix_sitl_default
-	@$(MAKE) --no-print-directory posix_sitl_default sitl_gazebo
+rostest: px4_sitl_default
+	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
 
 tests_mission: rostest
-	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_missions.test
+	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_missions.test
+
+rostest_run: px4_sitl_default
+	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
+	@"$(SRC_DIR)"/test/rostest_px4_run.sh $(TEST_FILE) mission:=$(TEST_MISSION) vehicle:=$(TEST_VEHICLE)
 
 tests_mission_coverage:
 	@$(MAKE) clean
-	@$(MAKE) --no-print-directory posix_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage
-	@$(MAKE) --no-print-directory posix_sitl_default sitl_gazebo PX4_CMAKE_BUILD_TYPE=Coverage
-	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_new_1 vehicle:=standard_vtol
-	@$(MAKE) --no-print-directory posix_sitl_default generate_coverage
+	@$(MAKE) --no-print-directory px4_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage
+	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo PX4_CMAKE_BUILD_TYPE=Coverage
+	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=VTOL_mission_1 vehicle:=standard_vtol
+	@$(MAKE) --no-print-directory px4_sitl_default generate_coverage
 
 tests_offboard: rostest
-	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_offboard_attctl.test
-	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test
+	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_attctl.test
+	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test
+
+tests_avoidance: rostest
+	@"$(SRC_DIR)"/test/rostest_avoidance_run.sh mavros_posix_test_avoidance.test
+
+python_coverage:
+	@mkdir -p "$(SRC_DIR)"/build/python_coverage
+	@cd "$(SRC_DIR)"/build/python_coverage && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DPYTHON_COVERAGE=ON
+	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/python_coverage
+	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/python_coverage metadata_airframes
+	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/python_coverage metadata_parameters
+	#@$(PX4_MAKE) -C "$(SRC_DIR)"/build/python_coverage module_documentation # TODO: fix within coverage.py
+	@coverage combine `find . -name .coverage\*`
+	@coverage report -m
+
 
 # static analyzers (scan-build, clang-tidy, cppcheck)
 # --------------------------------------------------------------------
-.PHONY: scan-build posix_sitl_default-clang clang-tidy clang-tidy-fix clang-tidy-quiet cppcheck
+.PHONY: scan-build px4_sitl_default-clang clang-tidy clang-tidy-fix clang-tidy-quiet
+.PHONY: cppcheck shellcheck_all validate_module_configs
 
 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 "{}" $(SRC_DIR)/build/scan-build/report_latest \;
+	@rm -rf "$(SRC_DIR)"/build/px4_sitl_default-scan-build
+	@rm -rf "$(SRC_DIR)"/build/scan-build/report_latest
+	@mkdir -p "$(SRC_DIR)"/build/px4_sitl_default-scan-build
+	@cd "$(SRC_DIR)"/build/px4_sitl_default-scan-build && scan-build cmake "$(SRC_DIR)" -GNinja -DCONFIG=px4_sitl_default
+	@scan-build -o "$(SRC_DIR)"/build/scan-build cmake --build "$(SRC_DIR)"/build/px4_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 $(SRC_DIR)/build/posix_sitl_default-clang
+px4_sitl_default-clang:
+	@mkdir -p "$(SRC_DIR)"/build/px4_sitl_default-clang
+	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++
+	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/px4_sitl_default-clang
 
-clang-tidy: 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 .
+clang-tidy: px4_sitl_default-clang
+	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j) -p .
 
 # 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 && $(SRC_DIR)/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j) -fix -p .
+clang-tidy-fix: px4_sitl_default-clang
+	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j) -fix -p .
 
 # 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 .
+clang-tidy-quiet: px4_sitl_default-clang
+	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j) -p .
 
 # 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/
+cppcheck: px4_sitl_default
+	@mkdir -p "$(SRC_DIR)"/build/cppcheck
+	@cppcheck -i"$(SRC_DIR)"/src/examples --enable=performance --std=c++11 --std=c99 --std=posix --project="$(SRC_DIR)"/build/px4_sitl_default/compile_commands.json --xml-version=2 2> "$(SRC_DIR)"/build/cppcheck/cppcheck-result.xml > /dev/null
+	@cppcheck-htmlreport --source-encoding=ascii --file="$(SRC_DIR)"/build/cppcheck/cppcheck-result.xml --report-dir="$(SRC_DIR)"/build/cppcheck --source-dir="$(SRC_DIR)"/src/
+
+shellcheck_all:
+	@"$(SRC_DIR)"/Tools/run-shellcheck.sh "$(SRC_DIR)"/ROMFS/px4fmu_common/
+	@make px4_fmu-v5_default shellcheck
+
+validate_module_configs:
+	@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f -print0 | xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
 
 # Cleanup
 # --------------------------------------------------------------------
 .PHONY: clean submodulesclean submodulesupdate gazeboclean distclean
 
 clean:
-	@rm -rf $(SRC_DIR)/build
+	@rm -rf "$(SRC_DIR)"/build
 
 submodulesclean:
 	@git submodule foreach --quiet --recursive git clean -ff -x -d
@@ -371,6 +461,7 @@ distclean: gazeboclean
 	@git submodule deinit -f .
 	@git clean -ff -x -d -e ".project" -e ".cproject" -e ".idea" -e ".settings" -e ".vscode"
 
+# Help / Error
 # --------------------------------------------------------------------
 
 # All other targets are handled by PX4_MAKE. Add a rule here to avoid printing an error.
@@ -378,26 +469,17 @@ distclean: gazeboclean
 	$(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)
 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)'
+		egrep -v -e '^[^[:alnum:]]' -e '^($(subst $(space),|,$(ALL_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 $$targ; done
+	@for targ in $(patsubst %_default,%[_default],$(ALL_CONFIG_TARGETS)); do echo $$targ; done

PULL_REQUEST_TEMPLATE.md

@@ -0,0 +1,16 @@
+Please use [PX4 Discuss](http://discuss.px4.io/) or [Slack](http://slack.px4.io/) to align on pull requests if necessary. You can then open draft pull requests to get early feedback.
+
+**Describe problem solved by the proposed pull request**
+A clear and concise description of the problem this proposed change will solve. E.g. For this use case I ran into...
+
+**Test data / coverage**
+How was it tested? What cases were covered? Logs uploaded to https://review.px4.io/ and screenshots of the important plot parts.
+
+**Describe your preferred solution**
+A clear and concise description of what you have implemented.
+
+**Describe possible alternatives**
+A clear and concise description of alternative solutions or features you've considered.
+
+**Additional context**
+Add any other related context or media.

README.md

@@ -1,12 +1,12 @@
-# PX4 Pro Drone Autopilot
+# PX4 Drone Autopilot
 
 [![Releases](https://img.shields.io/github/release/PX4/Firmware.svg)](https://github.com/PX4/Firmware/releases) [![DOI](https://zenodo.org/badge/22634/PX4/Firmware.svg)](https://zenodo.org/badge/latestdoi/22634/PX4/Firmware)
 
-[![Build Status](http://ci.px4.io:8080/buildStatus/icon?job=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)
+[![Build Status](http://ci.px4.io:8080/buildStatus/icon?job=PX4/Firmware/master)](http://ci.px4.io:8080/blue/organizations/jenkins/PX4%2FFirmware/activity)
 
 [![Slack](https://px4-slack.herokuapp.com/badge.svg)](http://slack.px4.io)
 
-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.
+This repository holds the [PX4](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/Firmware/tree/master/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.
 
 * Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/Firmware/blob/master/LICENSE))
 * [Supported airframes](https://docs.px4.io/en/airframes/airframe_reference.html) ([portfolio](http://px4.io/#airframes)):
@@ -19,7 +19,7 @@ This repository holds the [PX4 Pro](http://px4.io) flight control solution for d
 
 ## PX4 Users
 
-The [PX4 User Guide](https://docs.px4.io/en/) explains how to assemble [supported vehicles](https://docs.px4.io/en/airframes/airframe_reference.html) and fly drones with PX4. 
+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!
 
 
@@ -75,7 +75,7 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/en/contribut
     * [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)
   * [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)
+  * RTPS/ROS2 Interface - [Nuno Marques](https://github.com/TSC21)
 
 See also [About Us](http://px4.io/about-us/#development_team) (px4.io) and the [contributors list](https://github.com/PX4/Firmware/graphs/contributors) (Github).
 
@@ -90,13 +90,13 @@ This repository contains code supporting these boards:
     * [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)
+  * FMUv3.x [Pixhawk 2](https://docs.px4.io/en/flight_controller/pixhawk-2.html)
   * 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)
+  * FMUv5.x (ARM Cortex M7)
+    * [Pixhawk 4](https://docs.px4.io/en/flight_controller/pixhawk4.html)
+    * [Pixhawk 4 mini](https://docs.px4.io/en/flight_controller/pixhawk4_mini.html)  
   * [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)

ROMFS/CMakeLists.txt

@@ -33,9 +33,11 @@
 
 message(STATUS "ROMFS: ${config_romfs_root}")
 
-set(config_romfs_files_list)
 set(romfs_src_dir ${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root})
-set(romfs_temp_dir ${PX4_BINARY_DIR}/genromfs/${config_romfs_root})
+set(romfs_gen_root_dir ${PX4_BINARY_DIR}/genromfs)
+
+set_property(GLOBAL PROPERTY PX4_ROMFS_FILES)
+set_property(GLOBAL PROPERTY PX4_ROMFS_CMAKE_FILES)
 
 #=============================================================================
 #
@@ -57,64 +59,210 @@ set(romfs_temp_dir ${PX4_BINARY_DIR}/genromfs/${config_romfs_root})
 #			)
 #
 function(px4_add_romfs_files)
-	foreach(arg IN LISTS ARGN)
-		list(APPEND config_romfs_files_list
-			${CMAKE_CURRENT_SOURCE_DIR}/${arg}
-			)
-	endforeach()
+	set_property(GLOBAL APPEND PROPERTY PX4_ROMFS_CMAKE_FILES ${CMAKE_CURRENT_LIST_FILE})
 
-	set(config_romfs_files_list ${config_romfs_files_list} CACHE INTERNAL "ROMFS file list")
+	foreach(arg IN LISTS ARGN)
+		set_property(GLOBAL APPEND PROPERTY PX4_ROMFS_FILES ${CMAKE_CURRENT_LIST_DIR}/${arg})
+	endforeach()
 endfunction()
 
 # get list of all ROMFS files
 add_subdirectory(${romfs_src_dir})
 
 # directory setup
-# copy all romfs files, process airframes, prune comments
-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}
+# copy all romfs files, process airframes
+get_property(romfs_cmake_files GLOBAL PROPERTY PX4_ROMFS_CMAKE_FILES)
+get_property(romfs_copy_files GLOBAL PROPERTY PX4_ROMFS_FILES)
+get_property(module_config_files GLOBAL PROPERTY PX4_MODULE_CONFIG_FILES)
+file(GLOB jinja_templates ${PX4_SOURCE_DIR}/Tools/serial/*.jinja)
+if (px4_constrained_flash_build)
+	set(added_arguments --constrained-flash)
+endif()
+add_custom_command(
+	OUTPUT
+		${romfs_gen_root_dir}/init.d/rcS
+		${romfs_gen_root_dir}/init.d/rc.serial
+		${romfs_gen_root_dir}/init.d/rc.autostart
+		romfs_copy.stamp
+	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}
+	# TODO: we should only copy the files in ${romfs_copy_files}
+	COMMAND ${CMAKE_COMMAND} -E copy_directory ${romfs_src_dir} ${romfs_gen_root_dir}
+	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/init.d-posix
+	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/mixers-sitl
+	COMMAND ${CMAKE_COMMAND} -E remove ${romfs_gen_root_dir}/mixers/CMakeLists.txt
+	COMMAND ${CMAKE_COMMAND} -E remove ${romfs_gen_root_dir}/init.d/CMakeLists.txt
+	COMMAND ${CMAKE_COMMAND} -E remove ${romfs_gen_root_dir}/init.d/airframes/CMakeLists.txt
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
-		-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}
+		--airframes-path ${romfs_gen_root_dir}/init.d
+		--start-script ${romfs_gen_root_dir}/init.d/rc.autostart
+		--board ${PX4_BOARD}
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
+		--rc-dir ${romfs_gen_root_dir}/init.d
+		--serial-ports ${board_serial_ports} ${added_arguments}
+		--config-files ${module_config_files} #--verbose
+	COMMAND ${CMAKE_COMMAND} -E touch romfs_copy.stamp
 	DEPENDS
-		${config_romfs_files_list}
-		${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py
-		${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root}/init.d/rcS
+		${jinja_templates}
+		${module_config_files}
+		${romfs_cmake_files}
+		${romfs_copy_files}
 		${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
+		${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
+	COMMENT "ROMFS: copying, generating airframes"
 	)
 
-set(romfs_dependencies)
-list(APPEND romfs_dependencies
-	${romfs_temp_dir}/init.d/rcS
-	${romfs_temp_dir}/init.d/rc.autostart
-	)
-	
+# copy extras into ROMFS
+set(extras_dependencies)
+
 # copy px4io binary if configured
-if (config_io_board)
-	list(APPEND romfs_dependencies
+if(config_io_board)
+	list(APPEND extras_dependencies
 		copy_px4io_bin
 		${fw_io_bin}
 		)
 endif()
 
-# create romfs.img
-add_custom_command(OUTPUT romfs.img
-	COMMAND ${CMAKE_COMMAND} -E remove -f romfs.img romfs.txt
-	COMMAND ${GENROMFS} -f romfs.img -d ${romfs_temp_dir} -V "NSHInitVol" -v > romfs.txt 2>&1
-	DEPENDS ${romfs_dependencies}
+
+if(config_bl_file)
+	file(MAKE_DIRECTORY ${PX4_BINARY_DIR}/romfs_extras)
+	configure_file(${config_bl_file} ${PX4_BINARY_DIR}/romfs_extras COPYONLY)
+
+	list(APPEND extras_dependencies
+		${config_bl_file}
+		)
+endif()
+
+set(OPTIONAL_BOARD_RC)
+list(APPEND OPTIONAL_BOARD_RC
+	rc.board_defaults
+	rc.board_sensors
+	rc.board_extras
+)
+
+foreach(board_rc_file ${OPTIONAL_BOARD_RC})
+
+	if(EXISTS "${PX4_BOARD_DIR}/init/${board_rc_file}")
+		message(STATUS "ROMFS: Adding ${board_rc_file}")
+
+		add_custom_command(
+			OUTPUT
+				${romfs_gen_root_dir}/init.d/${board_rc_file}
+				${board_rc_file}.stamp
+			COMMAND ${CMAKE_COMMAND} -E copy ${PX4_BOARD_DIR}/init/${board_rc_file} ${romfs_gen_root_dir}/init.d/${board_rc_file}
+			COMMAND ${CMAKE_COMMAND} -E touch ${board_rc_file}.stamp
+			DEPENDS
+				${PX4_BOARD_DIR}/init/${board_rc_file}
+				romfs_copy.stamp
+			COMMENT "ROMFS: copying ${board_rc_file}"
+		)
+
+		list(APPEND extras_dependencies
+			${board_rc_file}.stamp
+			)
+	endif()
+
+endforeach()
+
+add_custom_command(OUTPUT romfs_extras.stamp
+	COMMAND ${CMAKE_COMMAND} -E make_directory ${romfs_gen_root_dir}/extras/
+	COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/romfs_extras/
+	COMMAND ${CMAKE_COMMAND} -E copy_directory ${PX4_BINARY_DIR}/romfs_extras/ ${romfs_gen_root_dir}/extras/
+	COMMAND ${CMAKE_COMMAND} -E touch romfs_extras.stamp
+	DEPENDS
+		romfs_copy.stamp
+		${extras_dependencies}
+	COMMENT "ROMFS: copying extras"
 	)
 
-# create nsh_romfsimg.c
-add_custom_command(OUTPUT nsh_romfsimg.c
-	COMMAND ${CMAKE_COMMAND} -E remove -f nsh_romfsimg.c
-	COMMAND xxd -i romfs.img nsh_romfsimg.c
-	COMMAND sed 's/unsigned/const unsigned/g' nsh_romfsimg.c > nsh_romfsimg.c.tmp && mv nsh_romfsimg.c.tmp nsh_romfsimg.c
-	DEPENDS romfs.img
+add_custom_command(
+	OUTPUT romfs_pruned.stamp
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py --folder ${romfs_gen_root_dir} --board ${PX4_BOARD}
+	COMMAND ${CMAKE_COMMAND} -E touch romfs_pruned.stamp
+	DEPENDS
+		romfs_copy.stamp
+		romfs_extras.stamp
+		${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py
+	COMMENT "ROMFS: pruning"
 	)
 
+if("${CONFIG_FS_CROMFS}" STREQUAL "y")
+	add_custom_command(
+		OUTPUT ${CMAKE_BINARY_DIR}/gencromfs
+		COMMAND make --no-print-directory --silent -f Makefile.host gencromfs
+		COMMAND ${CMAKE_COMMAND} -E copy gencromfs ${CMAKE_BINARY_DIR}/gencromfs
+		DEPENDS ${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/nuttx/tools/gencromfs.c
+		WORKING_DIRECTORY ${NUTTX_DIR}/tools
+	)
+
+	# create nsh_romfsimg.c
+	add_custom_command(OUTPUT nsh_romfsimg.c
+		COMMAND ${CMAKE_COMMAND} -E remove -f nsh_romfsimg.c
+		COMMAND ${CMAKE_BINARY_DIR}/gencromfs ${romfs_gen_root_dir} nsh_romfsimg.c
+		DEPENDS
+			${CMAKE_BINARY_DIR}/gencromfs
+			romfs_pruned.stamp
+		COMMENT "ROMFS: generating image"
+	)
+
+else()
+	# create romfs.img
+	find_program(GENROMFS genromfs)
+	if(NOT GENROMFS)
+		message(FATAL_ERROR "genromfs not found")
+	endif()
+
+	add_custom_command(
+		OUTPUT
+			romfs.img
+			romfs.txt
+		COMMAND ${CMAKE_COMMAND} -E remove -f romfs.img romfs.txt
+		COMMAND ${GENROMFS} -f romfs.img -d ${romfs_gen_root_dir} -V "NSHInitVol" -v > romfs.txt 2>&1
+		DEPENDS romfs_pruned.stamp
+		COMMENT "ROMFS: generating image"
+	)
+
+
+	# create nsh_romfsimg.c
+	find_program(XXD xxd)
+	if(NOT XXD)
+		message(FATAL_ERROR "xxd not found")
+	endif()
+
+	find_program(SED sed)
+	if(NOT SED)
+		message(FATAL_ERROR "sed not found")
+	endif()
+
+	add_custom_command(OUTPUT nsh_romfsimg.c
+		COMMAND ${CMAKE_COMMAND} -E remove -f nsh_romfsimg.c
+		COMMAND ${XXD} -i romfs.img nsh_romfsimg.c
+		COMMAND ${SED} 's/unsigned/const unsigned/g' nsh_romfsimg.c > nsh_romfsimg.c.tmp && ${CMAKE_COMMAND} -E rename nsh_romfsimg.c.tmp nsh_romfsimg.c
+		DEPENDS romfs.img
+	)
+endif()
+
+
 add_library(romfs STATIC nsh_romfsimg.c)
 add_dependencies(romfs prebuild_targets)
 set_target_properties(romfs PROPERTIES LINKER_LANGUAGE C)
+
+
+# shellcheck
+find_program(SHELLCHECK_PATH shellcheck)
+
+if(SHELLCHECK_PATH)
+
+	# TODO: fix SC2086, SC2166
+	add_custom_target(shellcheck
+		COMMAND ${SHELLCHECK_PATH} --shell=sh
+			--exclude=SC2121 # SC2121: To assign a variable, use just 'var=value'
+			--exclude=SC2086 # SC2086: Double quote to prevent globbing and word splitting.
+			--exclude=SC2166 # SC2166: Prefer [ p ] || [ q ] as [ p -o q ] is not well defined.
+			--exclude=SC2154 # SC2154: <var> is referenced but not assigned (NuttX uses different asssignment)
+			--exclude=SC2164 # SC2164: Use 'cd ... || exit' or 'cd ... || return' in case cd fails.
+			`find ${romfs_gen_root_dir}/init.d -type f`
+		DEPENDS ${romfs_gen_root_dir}/init.d/rc.autostart
+		WORKING_DIRECTORY ${romfs_gen_root_dir}
+		USES_TERMINAL
+	)
+endif()

ROMFS/px4fmu_common/extras/README.txt

@@ -0,0 +1,5 @@
+px4fmuv3_bl.bin: Bootloader binary of the PX4 Bootloader
+  (https://github.com/PX4/Bootloader)
+  based on commit 184b813699a9cfd6f43a5a21556a06b4372baf5f
+  for the target px4fmuv3_bl
+

ROMFS/px4fmu_common/init.d-posix/10016_iris

@@ -0,0 +1,13 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL
+#
+# @type Quadrotor Wide
+#
+# @maintainer Julian Oes <julian@oes.ch>
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+set MIXER quad_w
+

ROMFS/px4fmu_common/init.d-posix/10020_if750a

@@ -0,0 +1,12 @@
+#!/bin/sh
+#
+# @name IF750A SITL
+# InspiredFlight 750 Auterion edition. Gazebo Only.
+#
+# @type Quadrotor
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+set MIXER quad_x
+

ROMFS/px4fmu_common/init.d-posix/1010_iris_opt_flow

@@ -0,0 +1,29 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (Optical Flow)
+#
+# @type Quadrotor Wide
+#
+
+sh /etc/init.d-posix/10016_iris
+
+if [ $AUTOCNF = yes ]
+then
+	# EKF2
+	param set EKF2_AID_MASK 2
+	param set EKF2_EVP_NOISE 0.05
+	param set EKF2_EVA_NOISE 0.05
+
+	# INAV
+	param set INAV_LIDAR_EST 1
+	param set INAV_W_XY_FLOW 1
+	param set INAV_W_XY_GPS_P 0
+	param set INAV_W_XY_GPS_V 0
+	param set INAV_W_Z_GPS_P 0
+
+	# LPE: Flow-only mode
+	param set LPE_FUSION 242
+	param set LPE_FAKE_ORIGIN 1
+
+	param set MPC_ALT_MODE 2
+fi

ROMFS/px4fmu_common/init.d-posix/1010_iris_opt_flow.post

@@ -0,0 +1,3 @@
+
+# shellcheck disable=SC2154
+mavlink stream -r 50 -s DISTANCE_SENSOR -u $udp_gcs_port_local

ROMFS/px4fmu_common/init.d-posix/1011_iris_irlock

@@ -0,0 +1,18 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (irlock)
+#
+# @type Quadrotor Wide
+#
+
+sh /etc/init.d-posix/10016_iris
+
+if [ $AUTOCNF = yes ]
+then
+	# enable fusion of landing target velocity
+	param set LTEST_MODE 1
+	param set PLD_HACC_RAD 0.1
+fi
+
+# Start up Landing Target Estimator module
+landing_target_estimator start

ROMFS/px4fmu_common/init.d-posix/1012_iris_rplidar

@@ -0,0 +1,13 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (rplidar)
+#
+# @type Quadrotor Wide
+#
+
+sh /etc/init.d-posix/10016_iris
+
+if [ $AUTOCNF = yes ]
+then
+	param set LPE_FUSION 242
+fi

ROMFS/px4fmu_common/init.d-posix/1013_iris_vision

@@ -0,0 +1,28 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (Vision)
+#
+# @type Quadrotor Wide
+#
+
+sh /etc/init.d-posix/10016_iris
+
+if [ $AUTOCNF = yes ]
+then
+	# EKF2: Vision position and heading
+	param set EKF2_AID_MASK 24
+	param set EKF2_EV_DELAY 5
+
+	# INAV: trust more on the vision input
+	param set INAV_W_XY_VIS_P 9
+	param set INAV_W_Z_VIS_P 7
+	param set INAV_W_XY_GPS_P 0
+	param set INAV_W_XY_GPS_V 0
+	param set INAV_W_Z_GPS_P 0
+
+	# LPE: Vision + baro
+	param set LPE_FUSION 132
+
+	# AEQ: External heading set to use vision input
+	param set ATT_EXT_HDG_M 1
+fi

ROMFS/px4fmu_common/init.d-posix/1013_iris_vision.post

@@ -0,0 +1,3 @@
+
+# shellcheck disable=SC2154
+mavlink stream -r 30 -s ODOMETRY -u $udp_gcs_port_local

ROMFS/px4fmu_common/init.d-posix/1014_solo

@@ -0,0 +1,16 @@
+#!/bin/sh
+#
+# @name Solo
+#
+# @type Quadrotor
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set MC_PITCHRATE_P 0.15
+	param set MC_ROLLRATE_P 0.15
+fi
+
+set MIXER quad_x

ROMFS/px4fmu_common/init.d-posix/1015_iris_obs_avoid

@@ -0,0 +1,14 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (Obstacle Avoidance)
+#
+# @type Quadrotor Wide
+#
+
+sh /etc/init.d-posix/10016_iris
+
+if [ $AUTOCNF = yes ]
+then
+	param set COM_OBS_AVOID 1
+	param set MPC_XY_CRUISE 5.0
+fi

ROMFS/px4fmu_common/init.d-posix/1015_iris_obs_avoid.post

@@ -0,0 +1,2 @@
+# shellcheck disable=SC2154
+mavlink start -x -u 14558 -r 4000000 -m onboard -o 14541 # add mavlink stream for SDK

ROMFS/px4fmu_common/init.d-posix/1020_hippocampus

@@ -0,0 +1,8 @@
+#!/bin/sh
+#
+# @name Hippocampus UUV
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+set MIXER uuv_quad_x

ROMFS/px4fmu_common/init.d-posix/1030_plane

@@ -0,0 +1,44 @@
+#!/bin/sh
+#
+# @name Plane SITL
+#
+
+sh /etc/init.d/rc.fw_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set EKF2_ARSP_THR 8
+	param set EKF2_FUSE_BETA 1
+	param set EKF2_MAG_ACCLIM 0
+	param set EKF2_MAG_YAWLIM 0
+
+	param set FW_LND_AIRSPD_SC 1
+	param set FW_LND_ANG 8
+	param set FW_THR_LND_MAX 0
+
+	param set FW_P_TC 0.5
+	param set FW_PR_FF 0.40
+	param set FW_PR_I 0.05
+	param set FW_PR_P 0.05
+
+	param set FW_R_TC 0.7
+	param set FW_RR_FF 0.20
+	param set FW_RR_I 0.02
+	param set FW_RR_P 0.22
+
+	param set FW_W_EN 1
+
+	param set MIS_LTRMIN_ALT 30
+	param set MIS_TAKEOFF_ALT 30
+
+	param set NAV_ACC_RAD 15
+	param set NAV_DLL_ACT 2
+	param set NAV_LOITER_RAD 50
+
+	param set RWTO_TKOFF 1
+
+	param set WEST_EN 1
+fi
+
+set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
+set MIXER custom

ROMFS/px4fmu_common/init.d-posix/1031_plane_cam

@@ -0,0 +1,6 @@
+#!/bin/sh
+#
+# @name Plane SITL with camera
+#
+
+sh /etc/init.d-posix/1030_plane

ROMFS/px4fmu_common/init.d-posix/1040_standard_vtol

@@ -0,0 +1,50 @@
+#!/bin/sh
+#
+# @name Standard VTOL
+#
+# @type Standard VTOL
+#
+
+sh /etc/init.d/rc.vtol_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set FW_AIRSPD_MAX 25
+	param set FW_AIRSPD_MIN 14
+	param set FW_AIRSPD_TRIM 16
+
+	param set MC_ROLLRATE_P 0.3
+
+	param set MIS_LTRMIN_ALT 10
+	param set MIS_TAKEOFF_ALT 10
+	param set MIS_YAW_TMT 10
+
+	param set MPC_ACC_HOR_MAX 2
+	param set MPC_ACC_HOR_MAX 2
+	param set MPC_THR_MIN 0.1
+	param set MPC_TKO_SPEED 1
+	param set MPC_XY_P 0.8
+	param set MPC_XY_VEL_D 0.005
+	param set MPC_XY_VEL_I 0.2
+	param set MPC_XY_VEL_P 0.15
+	param set MPC_Z_VEL_MAX_DN 1.5
+
+	param set NAV_ACC_RAD 5
+	param set NAV_LOITER_RAD 80
+
+	param set VT_F_TRANS_DUR 5
+	param set VT_F_TRANS_THR 0.75
+	param set VT_ARSP_TRANS 16
+	param set VT_MOT_COUNT 4
+	param set VT_TYPE 2
+
+	param set WEST_EN 1
+
+	# Indicate that FW roll direction was fixed in mixer, to be removed in v1.10
+	param set V19_VT_ROLLDIR 0
+fi
+
+set MAV_TYPE 22
+
+set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
+set MIXER custom

ROMFS/px4fmu_common/init.d-posix/1041_tailsitter

@@ -0,0 +1,50 @@
+#!/bin/sh
+#
+# @name Quadrotor + Tailsitter
+#
+# @type VTOL Quad Tailsitter
+#
+
+sh /etc/init.d/rc.vtol_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set FW_AIRSPD_MAX 25
+	param set FW_AIRSPD_MIN 14
+	param set FW_AIRSPD_TRIM 16
+
+	param set MC_ROLLRATE_P 0.3
+
+	param set MIS_LTRMIN_ALT 10
+	param set MIS_TAKEOFF_ALT 10
+	param set MIS_YAW_TMT 10
+
+	param set MPC_ACC_HOR_MAX 2
+	param set MPC_ACC_HOR_MAX 2
+	param set MPC_THR_MIN 0.1
+	param set MPC_TKO_SPEED 1
+	param set MPC_XY_P 0.15
+	param set MPC_XY_VEL_D 0.005
+	param set MPC_XY_VEL_I 0.2
+	param set MPC_XY_VEL_P 0.05
+	param set MPC_Z_VEL_MAX_DN 1.5
+	param set MPC_Z_VEL_P 0.8
+
+	param set NAV_ACC_RAD 5
+	param set NAV_LOITER_RAD 80
+
+	param set VT_F_TRANS_DUR 1.5
+	param set VT_F_TRANS_THR 0.7
+	param set VT_MOT_COUNT 0
+	param set VT_TYPE 0
+
+	param set WEST_EN 1
+
+	# Indicate that FW roll direction was fixed in mixer, to be removed in v1.10
+	param set V19_VT_ROLLDIR 0
+fi
+
+set MAV_TYPE 20
+
+set MIXER_FILE etc/mixers-sitl/quad_x_vtol.main.mix
+set MIXER custom

ROMFS/px4fmu_common/init.d-posix/1042_tiltrotor

@@ -0,0 +1,53 @@
+#!/bin/sh
+#
+# @name VTOL Tiltrotor
+#
+# @type VTOL Tiltrotor
+#
+
+sh /etc/init.d/rc.vtol_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set FW_AIRSPD_MAX 25
+	param set FW_AIRSPD_MIN 14
+	param set FW_AIRSPD_TRIM 16
+
+	param set MC_ROLLRATE_P 0.3
+
+	param set MIS_LTRMIN_ALT 10
+	param set MIS_TAKEOFF_ALT 10
+	param set MIS_YAW_TMT 10
+
+	param set MPC_ACC_HOR_MAX 2
+	param set MPC_ACC_HOR_MAX 2
+	param set MPC_THR_MIN 0.1
+	param set MPC_TKO_SPEED 1
+	param set MPC_XY_P 0.15
+	param set MPC_XY_VEL_D 0.005
+	param set MPC_XY_VEL_I 0.2
+	param set MPC_XY_VEL_P 0.05
+	param set MPC_Z_VEL_MAX_DN 1.5
+	param set MPC_Z_VEL_P 0.8
+
+	param set NAV_ACC_RAD 5
+	param set NAV_LOITER_RAD 80
+
+	param set VT_F_TRANS_DUR 1.5
+	param set VT_F_TRANS_THR 0.75
+	param set VT_MOT_COUNT 4
+	param set VT_TILT_FW 3.1415
+	param set VT_TILT_TRANS 1.2
+	param set VT_ELEV_MC_LOCK 0
+	param set VT_TYPE 1
+
+	param set WEST_EN 1
+
+	# Indicate that FW roll direction was fixed in mixer, to be removed in v1.10
+	param set V19_VT_ROLLDIR 0
+fi
+
+set MAV_TYPE 21
+
+set MIXER_FILE etc/mixers-sitl/tiltrotor_sitl.main.mix
+set MIXER custom

ROMFS/px4fmu_common/init.d-posix/1060_rover

@@ -0,0 +1,37 @@
+#!/bin/sh
+#
+# @name Rover
+#
+
+sh /etc/init.d/rc.ugv_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set GND_L1_DIST 5
+	param set GND_SP_CTRL_MODE 1
+	param set GND_SPEED_D 3
+	param set GND_SPEED_I 0.001
+	param set GND_SPEED_IMAX 0.125
+	param set GND_SPEED_P 0.25
+	param set GND_SPEED_THR_SC 1
+	param set GND_SPEED_TRIM 4
+	param set GND_THR_CRUISE 0.3
+	param set GND_THR_IDLE 0
+	param set GND_THR_MAX 0.5
+	param set GND_THR_MIN 0
+	param set GND_WR_D 1.2
+	param set GND_WR_I 0.9674
+	param set GND_WR_IMAX 0.1
+	param set GND_WR_P 2
+
+	param set MIS_LTRMIN_ALT 0.01
+	param set MIS_TAKEOFF_ALT 0.01
+	param set NAV_ACC_RAD 0.5
+	param set NAV_LOITER_RAD 2
+
+	param set CBRK_AIRSPD_CHK 162128
+fi
+
+set MAV_TYPE 10
+
+set MIXER_FILE etc/mixers-sitl/rover_sitl.main.mix

ROMFS/px4fmu_common/init.d-posix/6011_typhoon_h480

@@ -0,0 +1,28 @@
+#!/bin/sh
+#
+# @name Typhoon H480 SITL
+#
+# @type Hexarotor x
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set MC_PITCHRATE_P 0.1
+	param set MC_ROLLRATE_P 0.05
+	param set MPC_XY_VEL_I 0.2
+	param set MPC_XY_VEL_P 0.15
+
+	param set RTL_DESCEND_ALT 10
+	param set RTL_LAND_DELAY 0
+
+	param set TRIG_INTERFACE 3
+	param set TRIG_MODE 4
+	param set MNT_MODE_IN 0
+	param set MAV_PROTO_VER 2
+fi
+
+set MAV_TYPE 13
+
+set MIXER hexa_x

ROMFS/px4fmu_common/init.d-posix/6011_typhoon_h480.post

@@ -0,0 +1,10 @@
+
+mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
+
+mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530
+
+# shellcheck disable=SC2154
+mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local
+# shellcheck disable=SC2154
+mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_offboard_port_local
+mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_offboard_port_local

ROMFS/px4fmu_common/init.d-posix/rc.replay

@@ -0,0 +1,18 @@
+#!/bin/sh
+
+# EKF2 replay script
+
+publisher_rules_file="orb_publisher.rules"
+cat <<EOF > "$publisher_rules_file"
+restrict_topics: sensor_combined, vehicle_gps_position, vehicle_land_detected
+module: replay
+ignore_others: false
+EOF
+
+uorb start
+param set SDLOG_DIRS_MAX 7
+
+ekf2 start -r
+logger start -f -t -b 1000 -p vehicle_attitude
+sleep 0.2
+replay start

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -0,0 +1,265 @@
+#!/bin/sh
+
+# PX4 commands need the 'px4-' prefix in bash.
+# (px4-alias.sh is expected to be in the PATH)
+# shellcheck disable=SC1091
+. px4-alias.sh
+
+SCRIPT_DIR="$(CDPATH='' cd -- "$(dirname -- "$0")" && pwd)"
+
+#
+# Main SITL startup script
+#
+
+# check for ekf2 replay
+# shellcheck disable=SC2154
+if [ "$replay_mode" = "ekf2" ]
+then
+	sh etc/init.d-posix/rc.replay
+	exit 0
+fi
+
+# initialize script variables
+set AUX_MODE                    none
+set IO_PRESENT                  no
+set LOG_FILE                    bootlog.txt
+set MAV_TYPE                    none
+set MIXER                       none
+set MIXER_AUX                   none
+set MIXER_FILE                  none
+set OUTPUT_MODE                 sim
+set PWM_OUT                     none
+set SDCARD_MIXERS_PATH          etc/mixers
+set USE_IO                      no
+set VEHICLE_TYPE                none
+set LOGGER_BUF			1000
+
+set RUN_MINIMAL_SHELL           no
+
+# Use the variable set by sitl_run.sh to choose the model settings.
+if [ "$PX4_SIM_MODEL" = "shell" ]; then
+	set RUN_MINIMAL_SHELL yes
+else
+	# Find the matching Autostart ID (file name has the form: [0-9]+_${PX4_SIM_MODEL})
+	# TODO: unify with rc.autostart generation
+	# shellcheck disable=SC2012
+	REQUESTED_AUTOSTART=$(ls "$SCRIPT_DIR" | sed -n 's/^\([0-9][0-9]*\)_'${PX4_SIM_MODEL}'$/\1/p')
+	if [ -z "$REQUESTED_AUTOSTART" ]; then
+		echo "Error: Unknown model '$PX4_SIM_MODEL'"
+		exit 1
+	fi
+fi
+
+# clear bootlog
+[ -f $LOG_FILE ] && rm $LOG_FILE
+
+
+uorb start
+if [ -f eeprom/parameters ]
+then
+	param load
+fi
+
+# exit early when the minimal shell is requested
+[ $RUN_MINIMAL_SHELL = yes ] && exit 0
+
+
+# Use environment variable PX4_ESTIMATOR to choose estimator.
+if [ "$PX4_ESTIMATOR" = "ekf2" ]; then
+	param set SYS_MC_EST_GROUP 2
+elif [ "$PX4_ESTIMATOR" = "lpe" ]; then
+	param set SYS_MC_EST_GROUP 1
+elif [ "$PX4_ESTIMATOR" = "inav" ]; then
+	param set SYS_MC_EST_GROUP 0
+fi
+
+if param compare SYS_AUTOSTART $REQUESTED_AUTOSTART
+then
+	set AUTOCNF no
+else
+	set AUTOCNF yes
+fi
+
+# multi-instance setup
+# shellcheck disable=SC2154
+param set MAV_SYS_ID $((px4_instance+1))
+simulator_tcp_port=$((4560+px4_instance))
+udp_offboard_port_local=$((14580+px4_instance))
+udp_offboard_port_remote=$((14540+px4_instance))
+udp_gcs_port_local=$((14570+px4_instance))
+
+if [ $AUTOCNF = yes ]
+then
+	param set SYS_AUTOSTART $REQUESTED_AUTOSTART
+
+	param set BAT_N_CELLS 3
+
+	param set CAL_ACC0_ID 1376264
+	param set CAL_ACC1_ID 1310728
+	param set CAL_ACC_PRIME 1376264
+
+	param set CAL_GYRO0_ID 2293768
+	param set CAL_GYRO_PRIME 2293768
+
+	param set CAL_MAG0_ID 196616
+	param set CAL_MAG_PRIME 196616
+
+	param set CBRK_AIRSPD_CHK 0
+
+	param set COM_DISARM_LAND 0.1
+	param set COM_OBL_ACT 2
+	param set COM_OBL_RC_ACT 0
+	param set COM_OF_LOSS_T 5
+	param set COM_RC_IN_MODE 1
+
+	param set EKF2_AID_MASK 1
+	param set EKF2_ANGERR_INIT 0.01
+	param set EKF2_HGT_MODE 0
+	param set EKF2_GBIAS_INIT 0.01
+
+	# LPE: GPS only mode
+	param set LPE_FUSION 145
+
+	param set MIS_TAKEOFF_ALT 2.5
+
+	param set MC_PITCH_P 6
+	param set MC_PITCHRATE_P 0.2
+	param set MC_ROLL_P 6
+	param set MC_ROLLRATE_P 0.2
+
+	param set MPC_ALT_MODE 0
+	param set MPC_HOLD_MAX_Z 2
+	param set MPC_Z_VEL_I 0.15
+	param set MPC_Z_VEL_P 0.6
+	param set MPC_XY_P 0.8
+	param set MPC_XY_VEL_P 0.2
+	param set MPC_XY_VEL_I 0.02
+	param set MPC_XY_VEL_D 0.016
+
+	param set MPC_JERK_MIN 10
+	param set MPC_JERK_MAX 20
+	param set MPC_ACC_HOR_MAX 3
+
+	param set NAV_ACC_RAD 2
+	param set NAV_DLL_ACT 2
+
+	param set RTL_DESCEND_ALT 5
+	param set RTL_LAND_DELAY 5
+	param set RTL_RETURN_ALT 30
+
+	# By default log from boot until first disarm.
+	param set SDLOG_MODE 1
+	# enable default, estimator replay and vision/avoidance logging profiles
+	param set SDLOG_PROFILE 131
+	param set SDLOG_DIRS_MAX 7
+	param set SENS_BOARD_ROT 0
+	param set SENS_BOARD_X_OFF 0.000001
+	param set SENS_DPRES_OFF 0.001
+	param set SYS_RESTART_TYPE 2
+
+	param set WEST_EN 0
+fi
+
+# Adapt timeout parameters if simulation runs faster or slower than realtime.
+if [ ! -z $PX4_SIM_SPEED_FACTOR ]; then
+	COM_DL_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 10" | bc)
+	echo "COM_DL_LOSS_T set to $COM_DL_LOSS_T_LONGER"
+	param set COM_DL_LOSS_T $COM_DL_LOSS_T_LONGER
+
+	COM_RC_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 1" | bc)
+	echo "COM_RC_LOSS_T set to $COM_RC_LOSS_T_LONGER"
+	param set COM_RC_LOSS_T $COM_RC_LOSS_T_LONGER
+
+	COM_OF_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 10" | bc)
+	echo "COM_OF_LOSS_T set to $COM_OF_LOSS_T_LONGER"
+	param set COM_OF_LOSS_T $COM_OF_LOSS_T_LONGER
+fi
+
+# Autostart ID
+autostart_file=''
+for f in etc/init.d-posix/"$(param show -q SYS_AUTOSTART)"_*
+do
+	filename=$(basename "$f")
+	case "$filename" in
+		*\.*)
+			# ignore files that contain a dot (e.g. <vehicle>.post)
+			;;
+		*)
+			autostart_file="$f"
+			;;
+	esac
+done
+if [ ! -e "$autostart_file" ]; then
+	echo "Error: no autostart file found ($autostart_file)"
+	exit 1
+fi
+
+sh "$autostart_file"
+
+
+dataman start
+replay tryapplyparams
+simulator start -s -c $simulator_tcp_port
+tone_alarm start
+gyrosim start
+accelsim start
+barosim start
+gpssim start
+sensors start
+commander start
+navigator start
+
+if param compare WEST_EN 1
+then
+	wind_estimator start
+fi
+
+if ! param compare MNT_MODE_IN -1
+then
+	vmount start
+fi
+
+if param greater TRIG_MODE 0
+then
+	camera_trigger start
+	camera_feedback start
+fi
+
+
+if [ ${VEHICLE_TYPE} = fw -o ${VEHICLE_TYPE} = vtol ]
+then
+	if param compare CBRK_AIRSPD_CHK 0
+	then
+		measairspeedsim start
+	fi
+fi
+
+# Configure vehicle type specific parameters.
+# Note: rc.vehicle_setup is the entry point for rc.interface,
+#       rc.fw_apps, rc.mc_apps, rc.ugv_apps, and rc.vtol_apps.
+#
+sh etc/init.d/rc.vehicle_setup
+
+# GCS link
+mavlink start -x -u $udp_gcs_port_local -r 4000000
+mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u $udp_gcs_port_local
+mavlink stream -r 50 -s LOCAL_POSITION_NED -u $udp_gcs_port_local
+mavlink stream -r 50 -s GLOBAL_POSITION_INT -u $udp_gcs_port_local
+mavlink stream -r 50 -s ATTITUDE -u $udp_gcs_port_local
+mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_gcs_port_local
+mavlink stream -r 50 -s ATTITUDE_TARGET -u $udp_gcs_port_local
+mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u $udp_gcs_port_local
+mavlink stream -r 20 -s RC_CHANNELS -u $udp_gcs_port_local
+mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local
+
+# API/Offboard link
+mavlink start -x -u $udp_offboard_port_local -r 4000000 -m onboard -o $udp_offboard_port_remote
+
+# execute autostart post script if any
+[ -e "$autostart_file".post ] && sh "$autostart_file".post
+
+# Run script to start logging
+sh etc/init.d/rc.logging
+
+mavlink boot_complete
+replay trystart

ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil

@@ -1,13 +0,0 @@
-#!nsh
-#
-# @name HIL Quadcopter X
-#
-# @type Simulation
-# @class Copter
-#
-# @maintainer Lorenz Meier <lorenz@px4.io>
-#
-
-sh /etc/init.d/4001_quad_x
-
-param set SYS_HITL 1

ROMFS/px4fmu_common/init.d/13003_quad_tailsitter

@@ -1,26 +0,0 @@
-#!nsh
-#
-# @name Quadrotor X Tailsitter
-#
-# @type VTOL Quad Tailsitter
-# @class VTOL
-#
-# @maintainer Roman Bapst <roman@px4.io>
-#
-
-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_x_vtol
-
-set PWM_OUT 1234
-set PWM_MAX 2000
-set PWM_RATE 400
-set MAV_TYPE 20

ROMFS/px4fmu_common/init.d/13009_vtol_spt_ranger

@@ -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_F_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

ROMFS/px4fmu_common/init.d/13010_claire

@@ -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

ROMFS/px4fmu_common/init.d/13012_convergence

@@ -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 1200
-    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

ROMFS/px4fmu_common/init.d/3000_generic_wing

@@ -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

ROMFS/px4fmu_common/init.d/3035_viper

@@ -1,15 +0,0 @@
-#
-#!nsh
-#
-# @name Viper
-#
-# @type Flying Wing
-# @class Plane
-#
-# @maintainer Simon Wilks <simon@uaventure.com>
-#
-
-sh /etc/init.d/rc.fw_defaults
-
-set MIXER Viper
-

ROMFS/px4fmu_common/init.d/4013_bebop

@@ -1,43 +0,0 @@
-#!nsh
-#
-# @name Parrot Bebop Frame
-#
-# @type Quadrotor x
-# @class Copter
-#
-# @board px4fmu-v2 exclude
-# @board px4fmu-v3 exclude
-# @board px4fmu-v4 exclude
-# @board px4fmu-v4pro exclude
-# @board px4fmu-v5 exclude
-# @board aerofc-v1 exclude
-#
-# @maintainer Michael Schaeuble
-#
-
-sh /etc/init.d/rc.mc_defaults
-
-#
-# Load default params for this platform
-#
-if [ $AUTOCNF == yes ]
-then
-    # Set all params here, then disable autoconfig
-    param set MC_ROLL_P 6.5
-    param set MC_ROLLRATE_P 0.109999999403953552
-    param set MC_ROLLRATE_I 0.0
-    param set MC_ROLLRATE_D 0.0006
-    param set MC_PITCH_P 6.5
-    param set MC_PITCHRATE_P 0.1
-    param set MC_PITCHRATE_I 0.0
-    param set MC_PITCHRATE_D 0.000799999
-    param set MC_YAW_P 1.049999
-    param set MC_YAWRATE_P 0.05
-    param set MC_YAWRATE_I 0.001
-    param set MC_YAWRATE_D 0.0
-    param set MC_YAW_FF 0.7
-fi
-
-set OUTPUT_MODE bebop
-set USE_IO no
-set MIXER bebop

ROMFS/px4fmu_common/init.d/4030_3dr_solo

@@ -1,95 +0,0 @@
-#!nsh
-#
-# @name 3DR Solo
-#
-# @type Quadrotor x
-# @class Copter
-#
-# @board px4fmu-v2 exclude
-# @board px4fmu-v4 exclude
-# @board px4fmu-v4pro exclude
-# @board px4fmu-v5 exclude
-# @board aerofc-v1 exclude
-#
-# @maintainer Andreas Antener <andreas@uaventure.com>
-#
-
-sh /etc/init.d/rc.mc_defaults
-
-if [ $AUTOCNF == yes ]
-then
-    # tuning
-    param set MC_PITCHRATE_P    0.11
-    param set MC_ROLLRATE_P     0.11
-    param set MPC_MANTHR_MIN    0.08
-    param set MPC_XY_VEL_MAX    3.0
-    param set MPC_Z_VEL_MAX_DN     2.0
-
-    # INAV: higher GPS weights for better altitude control
-    param set INAV_W_Z_BARO     0.3
-    param set INAV_W_Z_GPS_P    0.8
-    param set INAV_W_Z_GPS_V    0.8
-
-    # takeoff, land and RTL settings
-    param set MIS_TAKEOFF_ALT   4.0
-    param set COM_DISARM_LAND   1
-    param set RTL_LAND_DELAY    1
-    param set RTL_DESCEND_ALT   5.0
-    param set RTL_RETURN_ALT    15.0
-    param set MPC_TILTMAX_LND   8.0
-    param set MPC_LAND_SPEED    0.4
-    param set MPC_HOLD_MAX_Z    1.5
-    param set MPC_TKO_JMPSPD    2.0
-    param set MPC_TKO_SPEED     1.5
-
-    # setup
-    # main board rotation: pitch 180
-    param set SENS_BOARD_ROT    12
-    # solo external mag rotation
-    param set CAL_MAG0_ROT      30
-    # no safety switch
-    param set CBRK_IO_SAFETY    22027
-    # battery voltage not available yet
-    param set CBRK_SUPPLY_CHK   894281
-
-    # RC configuration
-    param set RC_MAP_MODE_SW    5
-    param set RC_MAP_PITCH      2
-    param set RC_MAP_ROLL       1
-    param set RC_MAP_THROTTLE   3
-    param set RC_MAP_YAW        4
-
-    param set RC1_DZ            10
-    param set RC1_MAX           1988
-    param set RC1_MIN           1003
-    param set RC1_REV           1
-    param set RC1_TRIM          1499
-    param set RC2_DZ            10
-    param set RC2_MAX           1987
-    param set RC2_MIN           1023
-    param set RC2_REV           -1
-    param set RC2_TRIM          1499
-    param set RC3_DZ            10
-    param set RC3_MAX           1877
-    param set RC3_MIN           1023
-    param set RC3_REV           1
-    param set RC3_TRIM          1023
-    param set RC4_DZ            10
-    param set RC4_MAX           1998
-    param set RC4_MIN           1012
-    param set RC4_REV           1
-    param set RC4_TRIM          1500
-    param set RC5_DZ            10
-    param set RC5_MAX           2000
-    param set RC5_MIN           1000
-    param set RC5_REV           1
-    param set RC5_TRIM          1500
-fi
-
-set MIXER quad_x
-
-set PWM_OUT 1234
-set MIXER_AUX none
-
-# enable high-speed link on telem 1
-set MAVLINK_F "-d /dev/ttyS1 -b 921600 -r 80000 -m onboard -x"

ROMFS/px4fmu_common/init.d/4040_reaper

@@ -1,48 +0,0 @@
-#!nsh
-#
-# @name Reaper 500 Quad
-#
-# @type Quadrotor H
-# @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
-#
-# @maintainer Blankered
-#
-
-sh /etc/init.d/rc.mc_defaults
-
-if [ $AUTOCNF == yes ]
-then
-    param set MC_ROLL_P 6.5
-    param set MC_ROLLRATE_P 0.14
-    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_I 0.09
-    param set MC_PITCHRATE_D 0.004
-    param set MC_YAW_P 4
-
-    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 1100
-    param set PWM_MAX 1900
-    param set PWM_AUX_DISARMED 950
-fi
-
-set MIXER quad_h
-
-set PWM_RATE 50
-set PWM_OUT 1234
-
-set MIXER_AUX pass
-set PWM_AUX_RATE 50
-set PWM_AUX_OUT 1234

ROMFS/px4fmu_common/init.d/4900_crazyflie

@@ -1,65 +0,0 @@
-#!nsh
-#
-# @name Crazyflie 2.0
-#
-# @board px4fmu-v2 exclude
-# @board px4fmu-v3 exclude
-# @board px4fmu-v4 exclude
-# @board px4fmu-v4pro exclude
-# @board px4fmu-v5 exclude
-# @board aerofc-v1 exclude
-#
-# @type Quadrotor x
-# @class Copter
-#
-# @maintainer Dennis Shtatov <densht@gmail.com>
-#
-sh /etc/init.d/4001_quad_x
-if [ $AUTOCNF == yes ]
-then
-    param set COM_RC_IN_MODE 1
-    param set BAT_N_CELLS 1
-    param set BAT_CAPACITY 240
-    param set BAT_SOURCE 1
-    param set PWM_DISARMED 0
-    param set PWM_MIN 0
-    param set PWM_MAX 255
-    param set SYS_COMPANION 20
-    param set MC_PITCHRATE_D 0.002
-    param set MC_PITCHRATE_I 0.2
-    param set MC_PITCHRATE_P 0.07
-    param set MC_PITCH_P 6.5
-    param set MC_ROLLRATE_D 0.002
-    param set MC_ROLLRATE_I 0.2
-    param set MC_ROLLRATE_P 0.07
-    param set MC_ROLL_P 6.5
-    param set MC_YAW_P 3.0
-    param set EKF2_HGT_MODE 2
-    param set EKF2_AID_MASK 3
-    param set EKF2_OF_DELAY 10
-    param set MPC_THR_HOVER 0.7
-    param set MPC_MANTHR_MAX 1.0
-    param set MPC_THR_MAX 1.0
-    param set MPC_Z_P 1.5
-    param set MPC_Z_VEL_I 0.3
-    param set MPC_Z_VEL_P 0.4
-    param set MPC_HOLD_MAX_XY 0.1
-    param set MPC_MAX_FLOW_HGT 3
-    param set IMU_GYRO_CUTOFF 100
-    param set IMU_ACCEL_CUTOFF 30
-    param set MC_DTERM_CUTOFF 70
-    param set SYS_FMU_TASK 1
-    param set CBRK_SUPPLY_CHK 894281
-    param set CBRK_USB_CHK 197848
-    param set SDLOG_PROFILE 1
-    param set EKF2_MAG_TYPE 1
-    param set EKF2_ABL_LIM 2.0
-    param set MC_AIRMODE 1
-    param set NAV_RCL_ACT 3
-    param set SENS_FLOW_MINRNG 0.05
-fi
-set PWM_MIN none
-set PWM_MAX none
-set PWM_DISARMED none
-# Will run the motors at 328.125 kHz (recommended)
-set PWM_RATE 3921

ROMFS/px4fmu_common/init.d/CMakeLists.txt

@@ -32,87 +32,20 @@
 ############################################################################
 
 px4_add_romfs_files(
-	1000_rc_fw_easystar.hil
-	1001_rc_quad_x.hil
-	2100_standard_plane
-	2105_maja
-	2106_albatross
-	24001_dodeca_cox
-	3000_generic_wing
-	3030_io_camflyer
-	3031_phantom
-	3032_skywalker_x5
-	3033_wingwing
-	3034_fx79
-	3035_viper
-	3036_pigeon
-	3037_parrot_disco_mod
-	3100_tbs_caipirinha
-	4001_quad_x
-	4002_quad_x_mount
-	4003_qavr5
-	4004_H4_680mm
-	4009_qav250
-	4010_dji_f330
-	4011_dji_f450
-	4012_quad_x_can
-	4013_bebop
-	4020_hk_micro_pcb
-	4030_3dr_solo
-	4031_3dr_quad
-	4040_reaper
-	4050_generic_250
-	4051_s250aq
-	4060_dji_matrice_100
-	4070_aerofc
-	4080_zmr250
-	4090_nanomind
-	4900_crazyflie
-	5001_quad_+
-	6001_hexa_x
-	7001_hexa_+
-	8001_octo_x
-	9001_octo_+
-	10015_tbs_discovery
-	10016_3dr_iris
-	10017_steadidrone_qu4d
-	10018_tbs_endurance
-	11001_hexa_cox
-	12001_octo_cox
-	12002_steadidrone_mavrik
-	13000_generic_vtol_standard
-	13001_caipirinha_vtol
-	13002_firefly6
-	13003_quad_tailsitter
-	13004_quad+_tailsitter
-	13005_vtol_AAERT_quad
-	13006_vtol_standard_delta
-	13007_vtol_AAVVT_quad
-	13008_QuadRanger
-	13009_vtol_spt_ranger
-	13010_claire
-	13012_convergence
-	13013_deltaquad
-	14001_tri_y_yaw+
-	14002_tri_y_yaw-
-	15001_coax_heli
-	16001_helicopter
-	50000_generic_ground_vehicle
-	50001_axialracing_ax10
-	50002_traxxas_stampede_2wd
-	rc.axialracing_ax10_apps
-	rc.axialracing_ax10_defaults
 	rc.fw_apps
 	rc.fw_defaults
 	rc.interface
 	rc.io
 	rc.logging
+	rc.mavlink
 	rc.mc_apps
 	rc.mc_defaults
 	rcS
 	rc.sensors
+	rc.thermal_cal
 	rc.ugv_apps
 	rc.ugv_defaults
+	rc.vehicle_setup
 	rc.vtol_apps
 	rc.vtol_defaults
 )

ROMFS/px4fmu_common/init.d/airframes/1000_rc_fw_easystar.hil

@@ -1,4 +1,4 @@
-#!nsh
+#!/bin/sh
 #
 # @name HILStar (XPlane)
 #
@@ -17,9 +17,10 @@
 
 sh /etc/init.d/rc.fw_defaults
 
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF = yes ]
 then
 	param set BAT_N_CELLS 3
+
 	param set FW_AIRSPD_MAX 20
 	param set FW_AIRSPD_MIN 12
 	param set FW_AIRSPD_TRIM 14
@@ -41,8 +42,10 @@ 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
+
 set MIXER AERT

ROMFS/px4fmu_common/init.d/airframes/10015_tbs_discovery

@@ -1,4 +1,4 @@
-#!nsh
+#!/bin/sh
 #
 # @name Team Blacksheep Discovery
 #
@@ -22,7 +22,7 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF = yes ]
 then
 	param set MC_ROLL_P 6.5
 	param set MC_ROLLRATE_P 0.1
@@ -35,7 +35,7 @@ then
 	param set MC_YAW_P 2.8
 	param set MC_YAWRATE_P 0.28
 	param set MC_YAWRATE_I 0.1
-	param set MC_YAWRATE_D 0.0
+	param set MC_YAWRATE_D 0
 fi
 
 set MIXER quad_w

ROMFS/px4fmu_common/init.d/airframes/10016_3dr_iris

@@ -1,4 +1,4 @@
-#!nsh
+#!/bin/sh
 #
 # @name 3DR Iris Quadrotor
 #
@@ -20,21 +20,21 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF = yes ]
 then
 	# TODO tune roll/pitch separately
-	param set MC_ROLL_P 7.0
+	param set MC_ROLL_P 7
 	param set MC_ROLLRATE_P 0.15
 	param set MC_ROLLRATE_I 0.05
 	param set MC_ROLLRATE_D 0.004
-	param set MC_PITCH_P 7.0
+	param set MC_PITCH_P 7
 	param set MC_PITCHRATE_P 0.15
 	param set MC_PITCHRATE_I 0.05
 	param set MC_PITCHRATE_D 0.004
 	param set MC_YAW_P 2.5
 	param set MC_YAWRATE_P 0.25
 	param set MC_YAWRATE_I 0.25
-	param set MC_YAWRATE_D 0.0
+	param set MC_YAWRATE_D 0
 
 	param set BAT_V_DIV 12.27559
 	param set BAT_A_PER_V 15.39103

ROMFS/px4fmu_common/init.d/airframes/10017_steadidrone_qu4d

@@ -1,4 +1,4 @@
-#!nsh
+#!/bin/sh
 #
 # @name Steadidrone QU4D
 #
@@ -22,23 +22,22 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF = yes ]
 then
-	param set MC_ROLL_P 7.0
+	param set BAT_N_CELLS 4
+
+	param set MC_ROLL_P 7
 	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_PITCH_P 7
 	param set MC_PITCHRATE_P 0.19
 	param set MC_PITCHRATE_I 0.05
 	param set MC_PITCHRATE_D 0.004
-	param set MC_YAW_P 4.0
+	param set MC_YAW_P 4
 	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 BAT_N_CELLS 4
+	param set MC_YAWRATE_D 0
 fi
 
 set MIXER quad_w

ROMFS/px4fmu_common/init.d/airframes/10018_tbs_endurance

@@ -1,4 +1,4 @@
-#!nsh
+#!/bin/sh
 #
 # @name Team Blacksheep Discovery Endurance
 #
@@ -22,25 +22,26 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF = yes ]
 then
 	param set BAT_N_CELLS 6
 	param set BAT_V_EMPTY 3.5
 
-	param set MC_ROLL_P 7.0
+	param set MC_ROLL_P 7
 	param set MC_ROLLRATE_P 0.08
 	param set MC_ROLLRATE_I 0.02
 	param set MC_ROLLRATE_D 0.003
-	param set MC_PITCH_P 7.0
+	param set MC_PITCH_P 7
 	param set MC_PITCHRATE_P 0.13
 	param set MC_PITCHRATE_I 0.02
 	param set MC_PITCHRATE_D 0.005
 	param set MC_YAW_P 2.8
 	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_D 0
 
 	param set MPC_XY_VEL_MAX 2
+
 	param set PWM_MIN 1080
 fi
 

ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil

@@ -0,0 +1,21 @@
+#!/bin/sh
+#
+# @name HIL Quadcopter X
+#
+# @type Simulation
+# @class Copter
+#
+# @maintainer Lorenz Meier <lorenz@px4.io>
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+set MIXER quad_x
+set PWM_OUT 1234
+
+if [ $AUTOCNF = yes ]
+then
+	param set COM_DISARM_LAND 5
+fi
+
+param set SYS_HITL 1

ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil

@@ -0,0 +1,75 @@
+#!/bin/sh
+#
+# @name HIL Standard VTOL QuadPlane
+#
+# @type Standard VTOL
+# @class VTOL
+#
+# @maintainer Roman Bapst <roman@auterion.com>
+#
+
+sh /etc/init.d/rc.vtol_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set BAT_N_CELLS 3
+
+	param set COM_DISARM_LAND 5
+	param set COM_RC_IN_MODE 1
+
+	param set EKF2_AID_MASK 1
+	param set EKF2_ANGERR_INIT 0.01
+	param set EKF2_GBIAS_INIT 0.01
+	param set EKF2_HGT_MODE 0
+	param set EKF2_MAG_TYPE 1
+
+	param set FW_AIRSPD_MAX 25
+	param set FW_AIRSPD_MIN 14
+	param set FW_AIRSPD_TRIM 16
+
+	param set MC_PITCH_P 6
+	param set MC_PITCHRATE_P 0.2
+	param set MC_ROLL_P 6
+	param set MC_ROLLRATE_P 0.3
+	param set MIS_LTRMIN_ALT 10
+	param set MIS_TAKEOFF_ALT 10
+	param set MIS_YAW_TMT 10
+
+	param set MPC_ACC_HOR_MAX 2
+	param set MPC_ACC_HOR_MAX 2
+	param set MPC_THR_MIN 0.1
+	param set MPC_TKO_SPEED 1
+	param set MPC_XY_P 0.8
+	param set MPC_XY_VEL_D 0.005
+	param set MPC_XY_VEL_I 0.2
+	param set MPC_XY_VEL_P 0.15
+	param set MPC_Z_VEL_I 0.15
+	param set MPC_Z_VEL_MAX_DN 1.5
+	param set MPC_Z_VEL_P 0.6
+
+	param set NAV_ACC_RAD 5
+	param set NAV_DLL_ACT 2
+	param set NAV_LOITER_RAD 80
+
+	param set RTL_DESCEND_ALT 10
+	param set RTL_LAND_DELAY 0
+	param set RTL_RETURN_ALT 30
+
+	param set SDLOG_DIRS_MAX 7
+	param set SYS_RESTART_TYPE 2
+
+	param set VT_F_TRANS_THR 0.75
+	param set VT_MOT_COUNT 4
+	param set VT_TYPE 2
+
+	# Indicate that FW roll direction was fixed in mixer, to be removed in v1.10
+	param set V19_VT_ROLLDIR 0
+fi
+
+param set SYS_HITL 1
+
+set MAV_TYPE 22
+
+set MIXER standard_vtol_hitl
+
+set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/11001_hexa_cox

@@ -1,4 +1,4 @@
-#!nsh
+#!/bin/sh
 #
 # @name Generic Hexarotor coaxial geometry
 #

ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil

@@ -0,0 +1,17 @@
+#!/bin/sh
+#
+# @name SIH Quadcopter X
+#
+# @type Simulation
+# @class Copter
+#
+# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+set MIXER quad_x
+set PWM_OUT 1234
+
+# set SYS_HITL to 2 to start the SIH and avoid sensors startup
+param set SYS_HITL 2

ROMFS/px4fmu_common/init.d/airframes/12001_octo_cox

@@ -1,4 +1,4 @@
-#!nsh
+#!/bin/sh
 #
 # @name Generic 10" Octo coaxial geometry
 #

ROMFS/px4fmu_common/init.d/airframes/12002_steadidrone_mavrik

@@ -1,4 +1,4 @@
-#!nsh
+#!/bin/sh
 #
 # @name Steadidrone MAVRIK
 #
@@ -19,29 +19,28 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF = yes ]
 then
-	param set MC_PITCH_P 4.0
+	param set MC_PITCH_P 4
 	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_PITCHRATE_MAX 180
 
-	param set MC_ROLL_P 4.0
+	param set MC_ROLL_P 4
 	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_ROLLRATE_MAX 180
 
-	param set MC_YAW_P 3.0
+	param set MC_YAW_P 3
 	param set MC_YAWRATE_P 0.2
 	param set MC_YAWRATE_I 0.1
-	param set MC_YAWRATE_D 0.0
-	param set MC_YAW_FF 0.5
+	param set MC_YAWRATE_D 0
 
 	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 MPC_Z_VEL_MAX_DN 2
 
 	param set BAT_N_CELLS 4
 fi

ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard

@@ -1,4 +1,4 @@
-#!nsh
+#!/bin/sh
 #
 # @name Generic Quadplane VTOL
 #
@@ -20,18 +20,21 @@
 
 sh /etc/init.d/rc.vtol_defaults
 
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF = yes ]
 then
+	param set PWM_AUX_DIS5 950
+	param set PWM_RATE 400
+
 	param set VT_TYPE 2
 	param set VT_MOT_COUNT 4
+
+	# Indicate that FW roll direction was fixed in mixer, to be removed in v1.10
+	param set V19_VT_ROLLDIR 0
 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
+
+set MIXER quad_x
+set MIXER_AUX vtol_AAERT
+
+set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/13001_caipirinha_vtol

@@ -1,4 +1,4 @@
-#!nsh
+#!/bin/sh
 #
 # @name Caipiroshka Duo Tailsitter
 #
@@ -15,32 +15,35 @@
 
 sh /etc/init.d/rc.vtol_defaults
 
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF = yes ]
 then
-	param set MC_ROLL_P 6.0
+	param set MC_ROLL_P 6
 	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_ROLLRATE_FF 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_PITCHRATE_FF 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 MC_YAWRATE_D 0
+	param set MC_YAWRATE_FF 0
 
-	param set VT_MOT_COUNT 2
 	param set VT_IDLE_PWM_MC  1080
-	param set VT_TYPE 0
-	param set MAV_TYPE 19
 	param set VT_ELEV_MC_LOCK 0
+	param set VT_MOT_COUNT 2
+	param set VT_TYPE 0
+
+	# Indicate that FW roll direction was fixed in mixer, to be removed in v1.10
+	param set V19_VT_ROLLDIR 0
 fi
 
+set MAV_TYPE 19
+
 set MIXER caipirinha_vtol
 
 set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/13002_firefly6

@@ -1,4 +1,4 @@
-#!nsh
+#!/bin/sh
 #
 # @name BirdsEyeView Aerobotics FireFly6
 # @type VTOL Tiltrotor
@@ -20,39 +20,42 @@
 
 sh /etc/init.d/rc.vtol_defaults
 
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF = yes ]
 then
-	param set MC_ROLL_P 7.0
+	param set MC_ROLL_P 7
 	param set MC_ROLLRATE_P 0.19
 	param set MC_ROLLRATE_I 0.002
 	param set MC_ROLLRATE_D 0.005
-	param set MC_ROLLRATE_FF 0.0
-	param set MC_PITCH_P 7.0
+	param set MC_ROLLRATE_FF 0
+	param set MC_PITCH_P 7
 	param set MC_PITCHRATE_P 0.14
 	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 4.0
-	param set MC_YAW_FF 0.5
+	param set MC_PITCHRATE_FF 0
+	param set MC_YAW_P 4
 	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_D 0
+	param set MC_YAWRATE_FF 0
 
+	param set PWM_RATE 400
+
+	param set VT_FW_MOT_OFFID 34
+	param set VT_IDLE_PWM_MC 1080
+	param set VT_MOT_COUNT 6
 	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 6
-	param set VT_FW_MOT_OFFID 34
-	param set VT_IDLE_PWM_MC 1080
+	param set VT_ELEV_MC_LOCK 0
 	param set VT_TYPE 1
+
+	# Indicate that FW roll direction was fixed in mixer, to be removed in v1.10
+	param set V19_VT_ROLLDIR 0
 fi
 
-set MIXER firefly6
-set PWM_OUT 12345678
-set PWM_RATE 400
+set MAV_TYPE 21
 
+set MIXER firefly6
 set MIXER_AUX firefly6
 
-set MAV_TYPE 21
+set PWM_OUT 12345678

ROMFS/px4fmu_common/init.d/airframes/13003_quad_tailsitter

@@ -0,0 +1,31 @@
+#!/bin/sh
+#
+# @name Quadrotor X Tailsitter
+#
+# @type VTOL Quad Tailsitter
+# @class VTOL
+#
+# @maintainer Roman Bapst <roman@px4.io>
+#
+
+sh /etc/init.d/rc.vtol_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set PWM_MAX 2000
+	param set PWM_RATE 400
+
+	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
+
+	# Indicate that FW roll direction was fixed in mixer, to be removed in v1.10
+	param set V19_VT_ROLLDIR 0
+fi
+
+set MAV_TYPE 20
+
+set MIXER quad_x_vtol
+
+set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/13004_quad+_tailsitter

@@ -1,4 +1,4 @@
-#!nsh
+#!/bin/sh
 #
 # @name Quadrotor + Tailsitter
 #
@@ -16,22 +16,27 @@
 #
 # @maintainer Roman Bapst <roman@px4.io>
 #
-# @board px4fmu-v2 exclude
+# @board px4_fmu-v2 exclude
 #
 
 sh /etc/init.d/rc.vtol_defaults
 
-if [ $AUTOCNF == yes ]
+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
+	param set PWM_MAX 2000
+	param set PWM_RATE 400
+
+	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
+
+	# Indicate that FW roll direction was fixed in mixer, to be removed in v1.10
+	param set V19_VT_ROLLDIR 0
 fi
 
+set MAV_TYPE 20
+
 set MIXER quad_+_vtol
 
 set PWM_OUT 1234
-set PWM_MAX 2000
-set PWM_RATE 400
-set MAV_TYPE 20

ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad

@@ -1,4 +1,4 @@
-#!nsh
+#!/bin/sh
 #
 # @name Fun Cub Quad VTOL
 #
@@ -20,32 +20,30 @@
 
 sh /etc/init.d/rc.vtol_defaults
 
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF = yes ]
 then
-	param set VT_TYPE 2
-	param set VT_MOT_COUNT 4
-	param set VT_F_TRANS_THR 0.75
-	param set VT_ARSP_TRANS 12
-	param set VT_ARSP_BLEND 6
+	param set PWM_AUX_DIS5 950
 
-	param set MC_ROLL_P 6.0
+	param set PWM_RATE 400
+
+	param set MC_ROLL_P 6
 	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_ROLLRATE_FF 0
+	param set MC_PITCH_P 6
 	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_PITCHRATE_FF 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_D 0
+	param set MC_YAWRATE_FF 0
 	param set MC_YAWRATE_MAX 40
-	param set MC_YAWRAUTO_MAX 40
+
+	param set MPC_YAWRAUTO_MAX 40
 
 	param set FW_PR_FF 0.5
 	param set FW_PR_I 0.02
@@ -57,17 +55,20 @@ then
 	param set FW_RR_P 0.05
 	param set FW_THR_CRUISE 0.75
 
+	param set VT_ARSP_BLEND 6
+	param set VT_ARSP_TRANS 12
+	param set VT_F_TRANS_THR 0.75
 	param set VT_MOT_COUNT 4
 	param set VT_IDLE_PWM_MC 1080
 	param set VT_TYPE 2
+
+	# Indicate that FW roll direction was fixed in mixer, to be removed in v1.10
+	param set V19_VT_ROLLDIR 0
 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
+
+set MIXER quad_x
+set MIXER_AUX vtol_AAERT
+
+set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/13006_vtol_standard_delta

@@ -1,4 +1,4 @@
-#!nsh
+#!/bin/sh
 #
 # @name Generic quad delta VTOL
 #
@@ -18,46 +18,45 @@
 
 sh /etc/init.d/rc.vtol_defaults
 
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF = yes ]
 then
-	param set VT_TYPE 2
-	param set VT_MOT_COUNT 4
-	param set VT_F_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_ROLLRATE_FF 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_PITCHRATE_FF 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_D 0
+	param set MC_YAWRATE_FF 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 MPC_ACC_HOR_MAX 2
+	param set MPC_YAWRAUTO_MAX 20
+
+	param set PWM_AUX_DIS3 950
+	param set PWM_RATE 400
 
 	param set VT_MOT_COUNT 4
+	param set VT_F_TRANS_THR 0.75
 	param set VT_IDLE_PWM_MC 1080
 	param set VT_TYPE 2
+
+	# Indicate that FW roll direction was fixed in mixer, to be removed in v1.10
+	param set V19_VT_ROLLDIR 0
 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
+
+set MIXER quad_x
+set MIXER_AUX vtol_delta
+
+set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/13007_vtol_AAVVT_quad

@@ -1,4 +1,4 @@
-#!nsh
+#!/bin/sh
 #
 # @name Generic AAVVT v-tail plane airframe with Quad VTOL.
 #
@@ -10,42 +10,42 @@
 
 sh /etc/init.d/rc.vtol_defaults
 
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF = yes ]
 then
-	param set VT_TYPE 2
-	param set VT_MOT_COUNT 4
-	param set VT_F_TRANS_THR 0.75
-
-	param set MC_ROLL_P 7.0
+	param set MC_ROLL_P 7
 	param set MC_ROLLRATE_P 0.15
 	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 7.0
+	param set MC_ROLLRATE_FF 0
+	param set MC_PITCH_P 7
 	param set MC_PITCHRATE_P 0.12
 	param set MC_PITCHRATE_I 0.002
 	param set MC_PITCHRATE_D 0.003
-	param set MC_PITCHRATE_FF 0.0
+	param set MC_PITCHRATE_FF 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_D 0
+	param set MC_YAWRATE_FF 0
 	param set MC_YAWRATE_MAX 40
-	param set MC_YAWRAUTO_MAX 40
 
+	param set MPC_YAWRAUTO_MAX 40
+
+	param set PWM_AUX_DIS5 950
+	param set PWM_RATE 400
+
+	param set VT_F_TRANS_THR 0.75
 	param set VT_MOT_COUNT 4
 	param set VT_IDLE_PWM_MC 1080
 	param set VT_TYPE 2
+
+	# Indicate that FW roll direction was fixed in mixer, to be removed in v1.10
+	param set V19_VT_ROLLDIR 0
 fi
 
-set MIXER quad_x
-set PWM_OUT 1234
-set PWM_RATE 400
-
-set MIXER_AUX vtol_AAVVT
-set PWM_ACHDIS 5
-set PWM_AUX_DISARMED 950
-
 set MAV_TYPE 22
+
+set MIXER quad_x
+set MIXER_AUX vtol_AAVVT
+
+set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger

@@ -1,4 +1,4 @@
-#!nsh
+#!/bin/sh
 #
 # @name QuadRanger
 #
@@ -10,40 +10,9 @@
 
 sh /etc/init.d/rc.vtol_defaults
 
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF = yes ]
 then
-	param set VT_TYPE 2
-	param set VT_MOT_COUNT 4
-	param set VT_F_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_THR_CRUISE 65
 	param set FW_PR_P 0.08
 	param set FW_PR_FF 0.5
 	param set FW_RR_P 0.05
@@ -51,21 +20,49 @@ then
 
 	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 MC_ROLL_P 7
+	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
+	param set MC_PITCH_P 7
+	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
+	param set MC_YAW_P 3.5
+	param set MC_YAWRATE_P 0.6
+	param set MC_YAWRATE_I 0.04
+	param set MC_YAWRATE_D 0
+	param set MC_YAWRATE_FF 0
+	param set MC_YAWRATE_MAX 40
 
-	param set VT_MOT_COUNT 4
+	param set MPC_ACC_HOR_MAX 2
+	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 MPC_YAWRAUTO_MAX 40
+
+	param set PWM_AUX_DIS5 950
+	param set PWM_AUX_REV1 1
+	param set PWM_AUX_REV2 1
+	param set PWM_RATE 400
+
+	param set VT_ARSP_TRANS 15
+	param set VT_ARSP_BLEND 8
+	param set VT_B_TRANS_DUR 4
+	param set VT_F_TRANS_THR 0.75
 	param set VT_IDLE_PWM_MC 1080
+	param set VT_MOT_COUNT 4
 	param set VT_TYPE 2
+
+	# Indicate that FW roll direction was fixed in mixer, to be removed in v1.10
+	param set V19_VT_ROLLDIR 0
 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
+
+set MIXER quad_x
+set MIXER_AUX vtol_AAERT
+
+set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/13009_vtol_spt_ranger

@@ -0,0 +1,89 @@
+#!/bin/sh
+#
+# @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 FW_AIRSPD_MAX   22
+	param set FW_AIRSPD_MIN   14
+	param set FW_AIRSPD_TRIM  16
+	param set FW_L1_PERIOD    25
+	param set FW_PR_P 0.060
+	param set FW_P_RMAX_NEG   40
+	param set FW_P_RMAX_POS   40
+	param set FW_RR_FF    0.4
+	param set FW_RR_P 0.04
+	param set FW_R_RMAX   40
+
+	param set MC_PITCHRATE_D 0.004
+	param set MC_PITCHRATE_I 0
+	param set MC_PITCHRATE_MAX 60
+	param set MC_PITCHRATE_P 0.21
+	param set MC_PITCH_P 4
+	param set MC_ROLLRATE_D 0.004
+	param set MC_ROLLRATE_I 0.002
+	param set MC_ROLLRATE_MAX 60
+	param set MC_ROLLRATE_P 0.24
+	param set MC_ROLL_P 4
+	param set MC_YAWRATE_I 0.02
+	param set MC_YAWRATE_MAX 40
+	param set MC_YAWRATE_P 0.18
+
+	param set MIS_TAKEOFF_ALT 2.5
+	param set MIS_YAW_TMT 20
+
+	param set MPC_ACC_HOR_MAX 1
+	param set MPC_HOLD_MAX_XY 0.5
+	param set MPC_HOLD_MAX_Z  0.5
+	param set MPC_LAND_SPEED  1
+	param set MPC_MANTHR_MIN  0.05
+	param set MPC_MAN_Y_MAX   120
+	param set MPC_THR_MIN 0.07
+	param set MPC_TILTMAX_AIR 35
+	param set MPC_TILTMAX_LND 20
+	param set MPC_TKO_SPEED   1
+	param set MPC_XY_P    0.3
+	param set MPC_XY_VEL_MAX  3
+	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 MPC_YAWRAUTO_MAX 40
+
+	param set NAV_ACC_RAD 3
+
+	param set PWM_AUX_REV1    1
+	param set PWM_AUX_REV2    1
+	param set PWM_AUX_REV3    1
+	param set PWM_AUX_REV4    1
+
+	param set PWM_AUX_DIS5 950
+
+	param set PWM_RATE 400
+
+	param set VT_ARSP_TRANS   15
+	param set VT_B_TRANS_DUR  4
+	param set VT_F_TRANS_THR    0.6
+	param set VT_IDLE_PWM_MC 1180
+	param set VT_MOT_COUNT 4
+	param set VT_TRANS_MIN_TM 5
+	param set VT_TRANS_TIMEOUT    30
+	param set VT_TYPE 2
+
+	# Indicate that FW roll direction was fixed in mixer, to be removed in v1.10
+	param set V19_VT_ROLLDIR 0
+fi
+
+set MAV_TYPE 22
+
+set MIXER quad_x
+set MIXER_AUX vtol_AAERT
+
+set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/13010_claire

@@ -0,0 +1,43 @@
+#!/bin/sh
+#
+# @name CruiseAder Claire
+#
+# @type VTOL Tiltrotor
+# @class VTOL
+#
+# @maintainer Samay Siga <samay_s@icloud.com>
+#
+# @board px4_fmu-v2 exclude
+#
+
+sh /etc/init.d/rc.vtol_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set PWM_AUX_DISARMED 1000
+	param set PWM_AUX_MAX 2000
+	param set PWM_AUX_MIN 1000
+	param set PWM_AUX_RATE 50
+
+	param set PWM_MAX 2000
+	param set PWM_RATE 400
+
+	param set VT_MOT_COUNT 4
+	param set VT_FW_MOT_OFFID 13
+	param set VT_IDLE_PWM_MC 1080
+	param set VT_TILT_FW 0.9
+	param set VT_TILT_MC 0.08
+	param set VT_TILT_TRANS 0.5
+	param set VT_ELEV_MC_LOCK 0
+	param set VT_TYPE 1
+
+	# Indicate that FW roll direction was fixed in mixer, to be removed in v1.10
+	param set V19_VT_ROLLDIR 0
+fi
+
+set MAV_TYPE 21
+
+set MIXER claire
+set MIXER_AUX claire
+
+set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/13012_convergence

@@ -0,0 +1,89 @@
+#!/bin/sh
+#
+# @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 CBRK_AIRSPD_CHK 162128
+
+	param set FW_ARSP_MODE 2
+
+	param set FW_L1_PERIOD 17
+	param set FW_MAN_R_MAX 50
+	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
+	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
+	param set MC_ROLLRATE_D   0.003
+	param set MC_ROLLRATE_P   0.15
+	param set MC_ROLL_P   6
+	param set MC_YAWRATE_MAX  120
+	param set MC_YAWRATE_P    0.27
+	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
+
+	param set PWM_RATE 400
+
+	param set SENS_BOARD_ROT 8
+
+	param set VT_B_TRANS_DUR  1
+	param set VT_F_TRANS_DUR  1.2
+	param set VT_F_TR_OL_TM   4
+	param set VT_FW_DIFTHR_EN 1
+	param set VT_FW_DIFTHR_SC 0.17
+	param set VT_FW_MOT_OFFID 3
+	param set VT_FW_PERM_STAB 0
+	param set VT_IDLE_PWM_MC 1200
+	param set VT_MOT_COUNT 3
+	param set VT_TILT_FW  1
+	param set VT_TILT_MC  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 VT_ELEV_MC_LOCK 0
+	param set VT_TYPE 1
+
+	# Indicate that FW roll direction was fixed in mixer, to be removed in v1.10
+	param set V19_VT_ROLLDIR 0
+fi
+
+set MAV_TYPE 21
+
+set MIXER vtol_convergence
+
+set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad

@@ -1,6 +1,6 @@
-#!nsh
+#!/bin/sh
 #
-# @name DeltaQuad
+# @name Vertical Technologies DeltaQuad
 #
 # @type Standard VTOL
 # @class VTOL
@@ -19,21 +19,22 @@
 
 sh /etc/init.d/rc.vtol_defaults
 
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF = yes ]
 then
-	param set VT_TYPE 2
-	param set VT_MOT_COUNT 4
-	param set VT_F_TRANS_THR 1
-	param set VT_DWN_PITCH_MAX 8
-	param set VT_FW_QC_P 55
-	param set VT_FW_QC_R 55
-	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 BAT_CAPACITY 23000
+	param set BAT_N_CELLS 4
+	param set BAT_R_INTERNAL 0.0025
+
+	param set COM_DISARM_LAND 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 EKF2_GPS_P_GATE 10
+	param set EKF2_GPS_V_GATE 10
 
 	param set FW_ARSP_MODE 2
 	param set FW_L1_PERIOD 25
@@ -51,14 +52,19 @@ then
 	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_T_HRATE_P 0.1
+	param set FW_THR_CRUISE 0.70
 	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_MAX 15
 	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 FW_THR_MIN 0.55
+	param set FW_BAT_SCALE_EN 1
+	param set FW_THR_ALT_SCL 2.7
+	param set FW_T_RLL2THR 20
 
 	param set LNDMC_ALT_MAX 9999
 	param set LNDMC_XY_VEL_MAX 1
@@ -68,28 +74,31 @@ then
 	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_FF 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_FF 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_D 0
+	param set MC_YAWRATE_FF 0
 	param set MC_YAWRATE_MAX 20
-	param set MC_YAWRAUTO_MAX 20
+	param set MC_AIRMODE 1
+
+	param set MIS_DIST_1WP 100
+	param set MIS_DIST_WPS 100000
+	param set MIS_TAKEOFF_ALT 15
 
 	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_XY_VEL_MAX 5
+	param set MPC_ACC_HOR_MAX 2
+	param set MPC_LAND_SPEED 1.2
 	param set MPC_MAN_R_MAX 30
 	param set MPC_TILTMAX_LND 35
 	param set MPC_Z_VEL_MAX 1.5
@@ -97,28 +106,59 @@ then
 	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 MPC_TKO_RAMP_T 0.8
+	param set MPC_XY_CRUISE 5
+	param set MPC_TILTMAX_AIR 25
+	param set MPC_TILTMAX_LND 25
+	param set MPC_YAWRAUTO_MAX 20
 
-	param set CBRK_AIRSPD_CHK 162128
-	param set CBRK_IO_SAFETY 22027
+	param set NAV_DLL_ACT 0
+	param set NAV_LOITER_RAD 100
 
-	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 PWM_AUX_DISARMED 950
 
-	param set SYS_COMPANION 57600
+	param set PWM_MAIN_DIS5 1500
+	param set PWM_MAIN_DIS6 1500
+	param set PWM_MAIN_DIS7 900
+	param set PWM_MAIN_DIS8 900
+
+	param set PWM_RATE 400
+
+	param set SENS_BOARD_ROT 18
+
+	# TELEM2 config
+	param set MAV_1_CONFIG 102
+	param set MAV_1_RATE 5000
+	param set MAV_1_FORWARD 1
+	param set SER_TEL2_BAUD 57600
+
+	param set VT_TYPE 2
+	param set VT_MOT_COUNT 4
+	param set VT_F_TRANS_THR 1
+	param set VT_DWN_PITCH_MAX 8
+	param set VT_FW_QC_P 55
+	param set VT_FW_QC_R 55
+	param set VT_TRANS_MIN_TM 15
+	param set VT_B_TRANS_DUR 8
+	param set VT_WV_LND_EN 1
+	param set VT_WV_LTR_EN 1
+	param set VT_FWD_THRUST_SC 4
+	param set VT_F_TRANS_DUR 1
+	param set VT_IDLE_PWM_MC 1025
+	param set VT_B_REV_OUT 0.5
+	param set VT_B_TRANS_THR 0.7
+	param set VT_FW_PERM_STAB 1
+	param set VT_TRANS_TIMEOUT 22
+	param set VT_F_TRANS_RAMP 4
+
+	# Indicate that FW roll direction was fixed in mixer, to be removed in v1.10
+	param set V19_VT_ROLLDIR 0
 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
+
+set MIXER deltaquad
+set MIXER_AUX pass
+
+set PWM_OUT 1234
+set PWM_AUX_OUT 12345

ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark

@@ -0,0 +1,84 @@
+#!/bin/sh
+#
+# @name BabyShark VTOL
+#
+# @type Standard VTOL
+# @class VTOL
+#
+# @maintainer Silvan Fuhrer <silvan@auterion.com>
+#
+# @output MAIN1 Ailerons
+# @output MAIN2 A-tail left
+# @output MAIN3 Pusher motor
+# @output MAIN4 A-tail right
+# @output MAIN5 motor 1
+# @output MAIN6 motor 2
+# @output MAIN7 motor 3
+# @output MAIN8 motor 4
+
+sh /etc/init.d/rc.vtol_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set FW_AIRSPD_MAX   28
+	param set FW_AIRSPD_MIN   17
+	param set FW_AIRSPD_TRIM  23
+	param set FW_CLMBOUT_DIFF 0.1
+	param set FW_L1_R_SLEW_MAX 40
+	param set FW_LND_EARLYCFG 1
+	param set FW_P_LIM_MAX 25
+	param set FW_P_LIM_MIN -25
+	param set FW_R_LIM 35
+	param set FW_THR_CRUISE 0.7
+	param set FW_THR_MIN 0.25
+	param set FW_THR_SLEW_MAX 0.6
+	param set FW_T_HRATE_FF 0
+
+	param set IMU_GYRO_CUTOFF 40
+
+	param set MC_DTERM_CUTOFF 15
+	param set MC_PITCHRATE_MAX 60
+	param set MC_ROLLRATE_MAX 60
+	param set MC_YAWRATE_I 0.15
+	param set MC_YAWRATE_MAX 40
+	param set MC_YAWRATE_P 0.3
+
+	param set MPC_MAN_TILT_MAX 25
+	param set MPC_MAN_Y_MAX 40
+	param set MPC_SPOOLUP_TIME 2
+	param set MPC_THR_HOVER 0.45
+	param set MPC_TILTMAX_AIR 25
+	param set MPC_TKO_RAMP_T0.8
+	param set MPC_VEL_MANUAL 3
+	param set MPC_XY_VEL_MAX 3.5
+	param set MPC_Z_VEL_MAX_UP 2
+	param set MPC_YAWRAUTO_MAX 40
+
+	param set PWM_MAIN_DIS3 1000
+	param set PWM_MAIN_MIN3 1120
+	param set PWM_MIN 950
+
+	param set V19_VT_ROLLDIR 0
+
+	param set VT_ARSP_TRANS 19
+	param set VT_B_TRANS_DUR 9
+	param set VT_ELEV_MC_LOCK 0
+	param set VT_FWD_THRUST_SC 1.2
+	param set VT_FW_MOT_OFFID 5678
+	param set VT_F_TRANS_DUR 8
+	param set VT_F_TRANS_THR 0.85
+	param set VT_F_TR_OL_TM 7
+	param set VT_IDLE_PWM_MC 1000
+	param set VT_MOT_COUNT 8
+	param set VT_PSHER_RMP_DT 2
+	param set VT_TRANS_MIN_TM 6
+	param set VT_TYPE 2
+
+fi
+
+set MAV_TYPE 22
+
+set MIXER babyshark
+set MIXER_AUX pass
+
+set PWM_OUT 5678

ROMFS/px4fmu_common/init.d/airframes/14001_tri_y_yaw+

@@ -1,4 +1,4 @@
-#!nsh
+#!/bin/sh
 #
 # @name Generic Tricopter Y+ Geometry
 #
@@ -18,4 +18,3 @@ sh /etc/init.d/rc.mc_defaults
 set MIXER tri_y_yaw+
 
 set PWM_OUT 1234
-

ROMFS/px4fmu_common/init.d/airframes/14002_tri_y_yaw-

@@ -1,4 +1,4 @@
-#!nsh
+#!/bin/sh
 #
 # @name Generic Tricopter Y- Geometry
 #

ROMFS/px4fmu_common/init.d/airframes/15001_coax_heli

@@ -1,4 +1,4 @@
-#!nsh
+#!/bin/sh
 #
 # @name Esky (Big) Lama v4
 #
@@ -16,16 +16,8 @@
 sh /etc/init.d/rc.mc_defaults
 set MIXER coax
 
-if [ $AUTOCNF == yes ]
+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
@@ -37,18 +29,26 @@ then
 	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_D 0
 	param set MC_YAWRATE_FF 0
-fi
 
-# use PWM parameters for throttle channel
-set PWM_OUT 34
-set PWM_RATE 400
+	param set NAV_ACC_RAD 2
+
+	param set PWM_AUX_RATE 50
+	param set PWM_DISARMED 900
+	param set PWM_MIN 1075
+	param set PWM_MAX 1950
+	param set PWM_RATE 400
+
+	param set RTL_RETURN_ALT 30
+	param set RTL_DESCEND_ALT 10
+fi
 
 # This is the gimbal pass mixer
 set MIXER_AUX pass
-set PWM_AUX_RATE 50
+
+# use PWM parameters for throttle channel
 set PWM_AUX_OUT 1234
+set PWM_OUT 34

ROMFS/px4fmu_common/init.d/airframes/16001_helicopter

@@ -1,4 +1,4 @@
-#!nsh
+#!/bin/sh
 #
 # @name Blade 130X
 #
@@ -23,35 +23,34 @@ set MIXER blade130
 
 #set PWM_OUT 1234
 
-if [ $AUTOCNF == yes ]
+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 ATT_BIAS_MAX 0
+
+	param set CBRK_IO_SAFETY 22027
+
+	param set MC_ROLL_P 5
+	param set MC_ROLLRATE_P 0
+	param set MC_ROLLRATE_I 0
+	param set MC_ROLLRATE_D 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_P 0
+	param set MC_PITCHRATE_I 0
+	param set MC_PITCHRATE_D 0
 	param set MC_PITCHRATE_FF 0.15
-	param set MC_YAW_P 3.0
+	param set MC_YAW_P 3
 	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 MC_YAWRATE_I 0
+	param set MC_YAWRATE_D 0
+	param set MC_ROLLRATE_MAX 720
+	param set MC_PITCHRATE_MAX 720
+	param set MC_YAWRATE_MAX 400
+	param set MC_ACRO_R_MAX 360
+	param set MC_ACRO_P_MAX 360
 
 	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
+	param set PWM_MIN 1075
 fi

ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane

@@ -1,4 +1,4 @@
-#!nsh
+#!/bin/sh
 #
 # @name Standard Plane
 #
@@ -21,10 +21,13 @@
 
 sh /etc/init.d/rc.fw_defaults
 
+if [ $AUTOCNF = yes ]
+then
+	param set PWM_AUX_RATE 50
+	param set PWM_RATE 50
+fi
+
 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
+# Rate must be set by group (see pwm info).
+# Throttle is in the same group as servos.