.clang-tidy

@@ -59,7 +59,6 @@ Checks:          '*
 		,-modernize-use-equals-delete
 		,-modernize-use-override
 		,-modernize-use-using
-		,-modernize-pass-by-value
 		,-performance-inefficient-string-concatenation
 		,-readability-avoid-const-params-in-decls
 		,-readability-else-after-return

.github/ISSUE_TEMPLATE/bug_report.md

@@ -1,32 +0,0 @@
----
-name: Bug report
-about: Create a report to help us improve
-
----
-
-**Describe the bug**
-A clear and concise description of the bug.
-
-**To Reproduce**
-Steps to reproduce the behavior:
-1. Drone switched on '...'
-2. Uploaded mission '....' (attach QGC mission file)
-3. Took off '....'
-4. See error
-
-**Expected behavior**
-A clear and concise description of what you expected to happen.
-
-**Log Files and Screenshots**
-*Always* provide a link to the flight log file:
-- Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/en/getting_started/flight_reporting.html)).
-- Share the link to a log showing the problem on [PX4 Flight Review](http://logs.px4.io/).
-
-Add screenshots to help explain your problem.
-
-**Drone (please complete the following information):**
-- Describe the type of drone.
-- Photo of the IMU / autopilot setup if possible.
-
-**Additional context**
-Add any other context about the problem here.

.github/ISSUE_TEMPLATE/feature_request.md

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

.github/issue_template.md

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

.github/stale.yml

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

.github_changelog_generator

@@ -1,33 +0,0 @@
-# How to install:
-#   gem install github_changelog_generator
-# How to run:
-#   github_changelog_generator -u PX4 -p Firmware
-# Description:
-#   The following params are sensible defaults for the PX4 project,
-#   if you want to do a changelog before a release you need to update since-tag and future-releases,
-
-# Params:
-#   github_changelog_generator --help for all options
-
-# max-issues
-#   max threshold for github api queries
-#   make sure you set your CHANGELOG_GITHUB_TOKEN before
-#   running
-max-issues=1500
-
-# exclude-tags-regex
-#   excludes release candidates
-exclude-tags-regex=rc[0-9]{1,}|beta[0-9]{1,}
-
-# since-tag
-#   version of last stable release
-#   you need to change this depending on what you need
-#   if you want a changelog between versions this is the lowest version
-since-tag=1.6.5
-
-# future-release
-#   version you are about to release
-#   if you want a changelog between a version and all unreleased changes grouped as a release
-#     eg: v1.6.5 to v1.7.0
-future-release=v1.7.0
-

.gitmodules

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

CMakeLists.txt

@@ -69,7 +69,7 @@
 #
 # * Avoid use of global variables in functions. Functions in a nested
 #	scope may use global variables, but this makes it difficult to
-#	reuse functions.
+#	resuse functions.
 #
 # Included CMake Files
 # ---------------------------------------------------------------------------
@@ -99,11 +99,17 @@
 #
 #=============================================================================
 
+# Warning: Changing this modifies CMake's internal workings
+# and leads to wrong toolchain detection
 cmake_minimum_required(VERSION 3.2 FATAL_ERROR)
 
 set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
 set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}")
 
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PX4_BINARY_DIR})
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${PX4_BINARY_DIR})
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${PX4_BINARY_DIR})
+
 list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/cmake")
 
 #=============================================================================
@@ -118,14 +124,12 @@ execute_process(
 	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 	)
 
-define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES
-                 BRIEF_DOCS "PX4 module libs"
-                 FULL_DOCS "List of all PX4 module libraries"
-                 )
+px4_add_git_submodule(TARGET git_ecl PATH "src/lib/ecl")
+px4_add_git_submodule(TARGET git_matrix PATH "src/lib/matrix")
 
-define_property(GLOBAL PROPERTY PX4_MODULE_PATHS
-                 BRIEF_DOCS "PX4 module paths"
-                 FULL_DOCS "List of paths to all PX4 modules"
+define_property(GLOBAL PROPERTY PX4_LIBRARIES
+                 BRIEF_DOCS "PX4 libs"
+                 FULL_DOCS "List of all PX4 module libraries"
                  )
 
 #=============================================================================
@@ -138,6 +142,10 @@ string(REPLACE "_" ";" config_args ${CONFIG})
 list(GET config_args 0 OS)
 list(GET config_args 1 BOARD)
 list(GET config_args 2 LABEL)
+set(target_name "${OS}_${BOARD}_${LABEL}")
+
+file(GLOB_RECURSE configs RELATIVE cmake/configs "cmake/configs/*.cmake")
+set_property(CACHE CONFIG PROPERTY STRINGS ${configs})
 
 set(THREADS "4" CACHE STRING "number of threads to use for external build processes")
 set(DEBUG_PORT "/dev/ttyACM0" CACHE STRING "debugging port")
@@ -147,14 +155,19 @@ 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(config_module "configs/${CONFIG}")
+include(${config_module})
 
-# CMake build type (Debug Release RelWithDebInfo MinSizeRel Coverage)
+include(common/coverage)
+include(common/sanitizers)
+
+# CMake build type
+# Debug Release RelWithDebInfo MinSizeRel Coverage
 if (NOT CMAKE_BUILD_TYPE)
 	if (${OS} STREQUAL "nuttx")
 		set(PX4_BUILD_TYPE "MinSizeRel")
+	elseif (${OS} STREQUAL "bebop")
+		set(PX4_BUILD_TYPE "MinSizeRel")
 	else()
 		set(PX4_BUILD_TYPE "RelWithDebInfo")
 	endif()
@@ -164,10 +177,12 @@ endif()
 
 set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release;RelWithDebInfo;MinSizeRel;Coverage")
 
+message(STATUS "Build Type: ${CMAKE_BUILD_TYPE}")
+
 #=============================================================================
 
 message(STATUS "PX4 VERSION: ${git_tag}")
-message(STATUS "CONFIG: ${CONFIG}")
+message(STATUS "CONFIG: ${target_name}")
 message(STATUS "Build Type: ${CMAKE_BUILD_TYPE}")
 
 #=============================================================================
@@ -177,23 +192,20 @@ project(px4 CXX C ASM)
 
 set(package-contact "px4users@googlegroups.com")
 
-set(CMAKE_CXX_STANDARD 11)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
-set(CMAKE_C_STANDARD 99)
-set(CMAKE_C_STANDARD_REQUIRED ON)
-set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PX4_BINARY_DIR})
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${PX4_BINARY_DIR})
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${PX4_BINARY_DIR})
-
 #=============================================================================
 
+# The URL for the elf file for crash logging
+if (DEFINED ENV{BUILD_URI})
+	set(BUILD_URI $ENV{BUILD_URI})
+else()
+	set(BUILD_URI "localhost")
+endif()
+
+add_definitions(-DBUILD_URI=${BUILD_URI})
+
 # Setup install paths
 if (${OS} STREQUAL "posix")
 
-	include(common/coverage)
-	include(common/sanitizers)
-
 	# Define GNU standard installation directories
 	include(GNUInstallDirs)
 
@@ -214,23 +226,27 @@ set(px4_required_interface
 	)
 foreach(cmd ${px4_required_interface})
 	if (NOT COMMAND ${cmd})
-		message(FATAL_ERROR "${CONFIG} must implement ${cmd}")
+		message(FATAL_ERROR "${config_module} must implement ${cmd}")
 	endif()
 endforeach()
 
 set(px4_required_config config_module_list)
 foreach(conf ${px4_required_config})
 	if (NOT DEFINED ${conf})
-		message(FATAL_ERROR "cmake/${CONFIG} must define ${conf}")
+		message(FATAL_ERROR "cmake/${config_module} must define ${conf}")
 	endif()
 endforeach()
 
+# force static lib build
+set(BUILD_SHARED_LIBS OFF)
+
 #=============================================================================
 # ccache
 #
-option(CCACHE "Use ccache if available" ON)
+option(CCACHE "Use ccache if available" OFF)
 find_program(CCACHE_PROGRAM ccache)
-if (CCACHE AND CCACHE_PROGRAM AND NOT DEFINED ENV{CCACHE_DISABLE})
+if (CCACHE AND CCACHE_PROGRAM)
+	message(STATUS "Enabled ccache: ${CCACHE_PROGRAM}")
 	set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE "${CCACHE_PROGRAM}")
 endif()
 
@@ -252,10 +268,23 @@ endif()
 find_package(PythonInterp REQUIRED)
 px4_find_python_module(jinja2 REQUIRED)
 
+#=============================================================================
+# generate compile command database
+#
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+
 #=============================================================================
 # check required toolchain variables
 #
 
+# PX4 requires c++11
+set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+# PX4 requires c99
+set(CMAKE_C_STANDARD 99)
+set(CMAKE_C_STANDARD_REQUIRED ON)
+
 set(required_variables CMAKE_C_COMPILER_ID CMAKE_CXX_COMPILER_ID)
 foreach(var ${required_variables})
 	if (NOT ${var})
@@ -303,20 +332,24 @@ px4_join(OUT CMAKE_EXE_LINKER_FLAGS LIST "${CMAKE_EXE_LINKER_FLAGS};${exe_linker
 px4_join(OUT CMAKE_C_FLAGS LIST "${CMAKE_C_FLAGS};${c_flags};${optimization_flags}" GLUE " ")
 px4_join(OUT CMAKE_CXX_FLAGS LIST "${CMAKE_CXX_FLAGS};${cxx_flags};${optimization_flags}" GLUE " ")
 
+include_directories(${include_dirs})
+link_directories(${link_dirs})
+add_definitions(${definitions})
+
 #=============================================================================
 # message, and airframe generation
 #
 include(common/px4_metadata)
 
-add_subdirectory(msg EXCLUDE_FROM_ALL)
+add_subdirectory(msg)
 
 px4_generate_airframes_xml(BOARD ${BOARD})
 
 #=============================================================================
 # DriverFramework
 #
+
 px4_add_git_submodule(TARGET git_driverframework PATH "src/lib/DriverFramework")
-add_subdirectory(src/lib/DriverFramework/framework)
 
 # List the DriverFramework drivers
 if (DEFINED config_df_driver_list)
@@ -333,6 +366,7 @@ endforeach()
 #=============================================================================
 # external projects
 #
+
 set(ep_base ${PX4_BINARY_DIR}/external)
 set_property(DIRECTORY PROPERTY EP_BASE ${ep_base})
 
@@ -360,23 +394,11 @@ endif()
 #=============================================================================
 # subdirectories
 #
-add_library(parameters_interface INTERFACE)
-add_subdirectory(src/lib EXCLUDE_FROM_ALL)
-add_subdirectory(src/platforms/common EXCLUDE_FROM_ALL)
-add_subdirectory(src/modules/systemlib EXCLUDE_FROM_ALL) # TODO: split into libraries in platform layer
-add_subdirectory(src/modules/uORB EXCLUDE_FROM_ALL) # TODO: platform layer
-add_subdirectory(src/drivers/boards EXCLUDE_FROM_ALL)
-
 foreach(module ${config_module_list})
 	add_subdirectory(src/${module})
 endforeach()
 
-# must be the last module before firmware
-add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL)
-target_link_libraries(parameters_interface INTERFACE parameters)
-
-# firmware added last to generate the builtin for included modules
-add_subdirectory(platforms/${OS})
+add_subdirectory(src/firmware/${OS})
 
 #=============================================================================
 # generate custom target to print for all executable and module cmake targets
@@ -391,57 +413,6 @@ if (all_posix_cmake_targets)
 		)
 endif()
 
-
-#=============================================================================
-# uORB graph generation: add a custom target 'uorb_graph'
-#
-set(uorb_graph_config ${BOARD})
-
-set(graph_module_list "")
-foreach(module ${config_module_list})
-	set(graph_module_list "${graph_module_list}" "--src-path" "src/${module}")
-endforeach()
-
-add_custom_command(OUTPUT ${uorb_graph_config}
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/uorb_graph/create.py
-		${module_list}
-		--exclude-path src/examples
-		--file ${PX4_SOURCE_DIR}/Tools/uorb_graph/graph_${uorb_graph_config}
-	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
-	COMMENT "Generating uORB graph"
-)
-add_custom_target(uorb_graph DEPENDS ${uorb_graph_config})
-
-#=============================================================================
-# Doxygen
-#
-option(BUILD_DOXYGEN "Build doxygen documentation" OFF)
-
-if (BUILD_DOXYGEN)
-	find_package(Doxygen)
-	if (DOXYGEN_FOUND)
-	    # set input and output files
-	    set(DOXYGEN_IN ${CMAKE_SOURCE_DIR}/Documentation/Doxyfile.in)
-	    set(DOXYGEN_OUT ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile)
-
-	    # request to configure the file
-	    configure_file(${DOXYGEN_IN} ${DOXYGEN_OUT} @ONLY)
-
-	    # note the option ALL which allows to build the docs together with the application
-	    add_custom_target(doxygen ALL
-	        COMMAND ${DOXYGEN_EXECUTABLE} ${DOXYGEN_OUT}
-	        WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
-			COMMENT "Generating documentation with Doxygen"
-			DEPENDS uorb_msgs parameters
-			VERBATIM
-			USES_TERMINAL
-			)
-
-	else()
-		message("Doxygen needs to be installed to generate documentation")
-	endif()
-endif()
-
 #=============================================================================
 # packaging
 #
@@ -453,21 +424,20 @@ set(CPACK_PACKAGE_CONTACT ${package-contact})
 set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS ON)
 set(CPACK_DEBIAN_PACKAGE_SECTION "devel")
 set(CPACK_DEBIAN_PACKAGE_PRIORITY "optional")
-set(CPACK_DEBIAN_PACKAGE_DESCRIPTION "The PX4 Pro autopilot.")
+set(short-description "The px4 autopilot.")
+set(CPACK_DEBIAN_PACKAGE_DESCRIPTION ${short-description})
+set(CPACK_GENERATOR "ZIP")
 set(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME}-${CONFIG}-${git_tag}")
 set(CPACK_SOURCE_PACKAGE_FILE_NAME "${PROJECT_NAME}-${git_version}")
 set(CPACK_SOURCE_GENERATOR "ZIP;TBZ2")
 set(CPACK_PACKAGING_INSTALL_PREFIX "")
 set(CPACK_SET_DESTDIR "OFF")
-
 if ("${CMAKE_SYSTEM}" MATCHES "Linux")
-	set(CPACK_GENERATOR "TBZ2")
 	find_program(DPKG_PROGRAM dpkg)
 	if (EXISTS ${DPKG_PROGRAM})
 		list (APPEND CPACK_GENERATOR "DEB")
 	endif()
-else()
-	set(CPACK_GENERATOR "ZIP")
 endif()
+include(CPack)
 
-include(CPack)
+# vim: set noet fenc=utf-8 ff=unix ft=cmake :

CONTRIBUTING.md

@@ -41,4 +41,4 @@ Since we care about safety, we will regularly ask you for test results. Best is
 
 Push changes to your repo and send a [pull request](https://github.com/PX4/Firmware/compare/).
 
-MuncherMake sure to provide some testing feedback and if possible the link to a flight log file. Upload flight log files to [Flight Review](http://logs.px4.io) and link the resulting report.
+Make sure to provide some testing feedback and if possible the link to a flight log file. Upload flight log files to [Log Muncher](http://dash.oznet.ch) and link the resulting report.

Debug/Nuttx.py

@@ -0,0 +1,704 @@
+# GDB/Python functions for dealing with NuttX
+
+from __future__ import print_function
+import gdb, gdb.types
+
+parse_int = lambda x: int(str(x), 0)
+
+class NX_register_set(object):
+	"""Copy of the registers for a given context"""
+
+	v7_regmap = {
+		'R13':		0,
+		'SP':		0,
+		'PRIORITY':	1,
+		'R4':		2,
+		'R5':		3,
+		'R6':		4,
+		'R7':		5,
+		'R8':		6,
+		'R9':		7,
+		'R10':		8,
+		'R11':		9,
+		'EXC_RETURN':	10,
+		'R0':		11,
+		'R1':		12,
+		'R2':		13,
+		'R3':		14,
+		'R12':		15,
+		'R14':		16,
+		'LR':		16,
+		'R15':		17,
+		'PC':		17,
+		'XPSR':		18,
+	}
+
+	v7em_regmap = {
+		'R13':		0,
+		'SP':		0,
+		'PRIORITY':	1,
+		'R4':		2,
+		'R5':		3,
+		'R6':		4,
+		'R7':		5,
+		'R8':		6,
+		'R9':		7,
+		'R10':		8,
+		'R11':		9,
+		'EXC_RETURN':	10,
+		'R0':		27,
+		'R1':		28,
+		'R2':		29,
+		'R3':		30,
+		'R12':		31,
+		'R14':		32,
+		'LR':		32,
+		'R15':		33,
+		'PC':		33,
+		'XPSR':		34,
+	}
+
+	regs = dict()
+
+	def __init__(self, xcpt_regs):
+		if xcpt_regs is None:
+			self.regs['R0']         = self.mon_reg_call('r0')
+			self.regs['R1']         = self.mon_reg_call('r1')
+			self.regs['R2']         = self.mon_reg_call('r2')
+			self.regs['R3']         = self.mon_reg_call('r3')
+			self.regs['R4']         = self.mon_reg_call('r4')
+			self.regs['R5']         = self.mon_reg_call('r5')
+			self.regs['R6']         = self.mon_reg_call('r6')
+			self.regs['R7']         = self.mon_reg_call('r7')
+			self.regs['R8']         = self.mon_reg_call('r8')
+			self.regs['R9']         = self.mon_reg_call('r9')
+			self.regs['R10']        = self.mon_reg_call('r10')
+			self.regs['R11']        = self.mon_reg_call('r11')
+			self.regs['R12']        = self.mon_reg_call('r12')
+			self.regs['R13']        = self.mon_reg_call('r13')
+			self.regs['SP']         = self.mon_reg_call('sp')
+			self.regs['R14']        = self.mon_reg_call('r14')
+			self.regs['LR']         = self.mon_reg_call('lr')
+			self.regs['R15']        = self.mon_reg_call('r15')
+			self.regs['PC']         = self.mon_reg_call('pc')
+			self.regs['XPSR']       = self.mon_reg_call('xPSR')
+		else:
+			for key in self.v7em_regmap.keys():
+				self.regs[key] = int(xcpt_regs[self.v7em_regmap[key]])
+
+	def mon_reg_call(self,register):
+		"""
+		register is the register as a string e.g. 'pc'
+		return integer containing the value of the register
+		"""
+		str_to_eval = "mon reg "+register
+		resp = gdb.execute(str_to_eval,to_string = True)
+		content = resp.split()[-1];
+		try:
+			return int(content,16)
+		except:
+			return 0
+
+	@classmethod
+	def with_xcpt_regs(cls, xcpt_regs):
+		return cls(xcpt_regs)
+
+	@classmethod
+	def for_current(cls):
+		return cls(None)
+
+	def __format__(self, format_spec):
+		return format_spec.format(
+			registers	 = self.registers
+			)
+
+	@property
+	def registers(self):
+		return self.regs
+
+
+class NX_task(object):
+	"""Reference to a NuttX task and methods for introspecting it"""
+
+	def __init__(self, tcb_ptr):
+		self._tcb = tcb_ptr.dereference()
+		self._group = self._tcb['group'].dereference()
+		self.pid = tcb_ptr['pid']
+
+	@classmethod
+	def for_tcb(cls, tcb):
+		"""return a task with the given TCB pointer"""
+		pidhash_sym = gdb.lookup_global_symbol('g_pidhash')
+		pidhash_value = pidhash_sym.value()
+		pidhash_type = pidhash_sym.type
+		for i in range(pidhash_type.range()[0],pidhash_type.range()[1]):
+			pidhash_entry = pidhash_value[i]
+			if pidhash_entry['tcb'] == tcb:
+				return cls(pidhash_entry['tcb'])
+		return None
+
+	@classmethod
+	def for_pid(cls, pid):
+		"""return a task for the given PID"""
+		pidhash_sym = gdb.lookup_global_symbol('g_pidhash')
+		pidhash_value = pidhash_sym.value()
+		pidhash_type = pidhash_sym.type
+		for i in range(pidhash_type.range()[0],pidhash_type.range()[1]):
+			pidhash_entry = pidhash_value[i]
+			if pidhash_entry['pid'] == pid:
+				return cls(pidhash_entry['tcb'])
+		return None
+
+	@staticmethod
+	def pids():
+		"""return a list of all PIDs"""
+		pidhash_sym = gdb.lookup_global_symbol('g_pidhash')
+		pidhash_value = pidhash_sym.value()
+		pidhash_type = pidhash_sym.type
+		result = []
+		for i in range(pidhash_type.range()[0],pidhash_type.range()[1]):
+			entry = pidhash_value[i]
+			pid = parse_int(entry['pid'])
+			if pid is not -1:
+				result.append(pid)
+		return result
+
+	@staticmethod
+	def tasks():
+		"""return a list of all tasks"""
+		tasks = []
+		for pid in NX_task.pids():
+			tasks.append(NX_task.for_pid(pid))
+		return tasks
+
+	def _state_is(self, state):
+		"""tests the current state of the task against the passed-in state name"""
+		statenames = gdb.types.make_enum_dict(gdb.lookup_type('enum tstate_e'))
+		if self._tcb['task_state'] == statenames[state]:
+			return True
+		return False
+
+	@property
+	def stack_used(self):
+		"""calculate the stack used by the thread"""
+		if 'stack_used' not in self.__dict__:
+			stack_base = self._tcb['stack_alloc_ptr'].cast(gdb.lookup_type('unsigned char').pointer())
+			if stack_base == 0:
+				self.__dict__['stack_used'] = 0
+			else:
+				stack_limit = self._tcb['adj_stack_size']
+				for offset in range(0, parse_int(stack_limit)):
+					if stack_base[offset] != 0xff:
+						break
+				self.__dict__['stack_used'] = stack_limit - offset
+		return self.__dict__['stack_used']
+
+	@property
+	def name(self):
+		"""return the task's name"""
+		return self._tcb['name'].string()
+
+	@property
+	def state(self):
+		"""return the name of the task's current state"""
+		statenames = gdb.types.make_enum_dict(gdb.lookup_type('enum tstate_e'))
+		for name,value in statenames.items():
+			if value == self._tcb['task_state']:
+				return name
+		return 'UNKNOWN'
+
+	@property
+	def waiting_for(self):
+		"""return a description of what the task is waiting for, if it is waiting"""
+		if self._state_is('TSTATE_WAIT_SEM'):
+			try: 
+				waitsem = self._tcb['waitsem'].dereference()
+				waitsem_holder = waitsem['holder']
+				holder = NX_task.for_tcb(waitsem_holder['htcb'])
+				if holder is not None:
+					return '{}({})'.format(waitsem.address, holder.name)
+				else:
+					return '{}(<bad holder>)'.format(waitsem.address)
+			except:
+				return 'EXCEPTION'
+		if self._state_is('TSTATE_WAIT_SIG'):
+			return 'signal'
+		return ""
+
+	@property
+	def is_waiting(self):
+		"""tests whether the task is waiting for something"""
+		if self._state_is('TSTATE_WAIT_SEM') or self._state_is('TSTATE_WAIT_SIG'):
+			return True
+
+	@property
+	def is_runnable(self):
+		"""tests whether the task is runnable"""
+		if (self._state_is('TSTATE_TASK_PENDING') or 
+			self._state_is('TSTATE_TASK_READYTORUN') or 
+			self._state_is('TSTATE_TASK_RUNNING')):
+			return True
+		return False
+
+	@property
+	def file_descriptors(self):
+		"""return a dictionary of file descriptors and inode pointers"""
+		filelist = self._group['tg_filelist']
+		filearray = filelist['fl_files']
+		result = dict()
+		for i in range(filearray.type.range()[0],filearray.type.range()[1]):
+			inode = parse_int(filearray[i]['f_inode'])
+			if inode != 0:
+				result[i] = inode
+		return result
+
+	@property
+	def registers(self):
+		if 'registers' not in self.__dict__:
+			registers = dict()
+			if self._state_is('TSTATE_TASK_RUNNING'):
+				registers = NX_register_set.for_current().registers
+			else:
+				context = self._tcb['xcp']
+				regs = context['regs']
+				registers = NX_register_set.with_xcpt_regs(regs).registers
+
+			self.__dict__['registers'] = registers
+		return self.__dict__['registers']
+
+	def __repr__(self):
+		return "<NX_task {}>".format(self.pid)
+
+	def __str__(self):
+		return "{}:{}".format(self.pid, self.name)
+	
+	def showoff(self):
+		print("-------")
+		print(self.pid,end = ", ")
+		print(self.name,end = ", ")
+		print(self.state,end = ", ")
+		print(self.waiting_for,end = ", ")
+		print(self.stack_used,end = ", ")
+		print(self._tcb['adj_stack_size'],end = ", ")
+		print(self.file_descriptors)
+		print(self.registers)
+		
+	def __format__(self, format_spec):
+		return format_spec.format(
+			pid              = self.pid,
+			name             = self.name,
+			state            = self.state,
+			waiting_for      = self.waiting_for,
+			stack_used       = self.stack_used,
+			stack_limit      = self._tcb['adj_stack_size'],
+			file_descriptors = self.file_descriptors,
+			registers	 = self.registers
+			)
+	
+class NX_show_task (gdb.Command):
+	"""(NuttX) prints information about a task"""
+
+	def __init__(self):
+		super(NX_show_task, self).__init__("show task", gdb.COMMAND_USER)
+
+	def invoke(self, arg, from_tty):
+		t = NX_task.for_pid(parse_int(arg))
+		if t is not None:
+			my_fmt = 'PID:{pid}  name:{name}  state:{state}\n'
+			my_fmt += '  stack used {stack_used} of {stack_limit}\n'
+			if t.is_waiting:
+				my_fmt += '  waiting for {waiting_for}\n'
+			my_fmt += '  open files: {file_descriptors}\n'
+			my_fmt += '  R0  {registers[R0]:#010x} {registers[R1]:#010x} {registers[R2]:#010x} {registers[R3]:#010x}\n'
+			my_fmt += '  R4  {registers[R4]:#010x} {registers[R5]:#010x} {registers[R6]:#010x} {registers[R7]:#010x}\n'
+			my_fmt += '  R8  {registers[R8]:#010x} {registers[R9]:#010x} {registers[R10]:#010x} {registers[R11]:#010x}\n'
+			my_fmt += '  R12 {registers[PC]:#010x}\n'
+			my_fmt += '  SP  {registers[SP]:#010x} LR {registers[LR]:#010x} PC {registers[PC]:#010x} XPSR {registers[XPSR]:#010x}\n'
+			print(format(t, my_fmt))
+
+class NX_show_tasks (gdb.Command):
+	"""(NuttX) prints a list of tasks"""
+
+	def __init__(self):
+		super(NX_show_tasks, self).__init__('show tasks', gdb.COMMAND_USER)
+
+	def invoke(self, args, from_tty):
+		tasks = NX_task.tasks()
+		print ('Number of tasks: ' + str(len(tasks)))
+		for t in tasks:
+			#t.showoff()
+			print(format(t, 'Task: {pid} {name} {state} {stack_used}/{stack_limit}'))
+
+NX_show_task()
+NX_show_tasks()
+
+class NX_show_heap (gdb.Command):
+	"""(NuttX) prints the heap"""
+
+	def __init__(self):
+		super(NX_show_heap, self).__init__('show heap', gdb.COMMAND_USER)
+		struct_mm_allocnode_s = gdb.lookup_type('struct mm_allocnode_s')
+		preceding_size = struct_mm_allocnode_s['preceding'].type.sizeof
+		if preceding_size == 2:
+			self._allocflag = 0x8000
+		elif preceding_size == 4:
+			self._allocflag = 0x80000000
+		else:
+			raise gdb.GdbError('invalid mm_allocnode_s.preceding size %u' % preceding_size)
+			self._allocnodesize = struct_mm_allocnode_s.sizeof
+
+	def _node_allocated(self, allocnode):
+		if allocnode['preceding'] & self._allocflag:
+			return True
+		return False
+
+	def _node_size(self, allocnode):
+		return allocnode['size'] & ~self._allocflag
+
+	def _print_allocations(self, region_start, region_end):
+		if region_start >= region_end:
+			raise gdb.GdbError('heap region {} corrupt'.format(hex(region_start)))
+		nodecount = region_end - region_start
+		print ('heap {} - {}'.format(region_start, region_end))
+		cursor = 1
+		while cursor < nodecount:
+			allocnode = region_start[cursor]
+			if self._node_allocated(allocnode):
+				state = ''
+			else:
+				state = '(free)'
+			print( '  {} {} {}'.format(allocnode.address + self._allocnodesize,
+                                                  self._node_size(allocnode), state))
+			cursor += self._node_size(allocnode) / self._allocnodesize
+
+	def invoke(self, args, from_tty):
+		heap = gdb.lookup_global_symbol('g_mmheap').value()
+		nregions = heap['mm_nregions']
+		region_starts = heap['mm_heapstart']
+		region_ends = heap['mm_heapend']
+		print( '{} heap(s)'.format(nregions))
+		# walk the heaps
+		for i in range(0, nregions):
+			self._print_allocations(region_starts[i], region_ends[i])
+
+NX_show_heap()
+
+class NX_show_interrupted_thread (gdb.Command):
+	"""(NuttX) prints the register state of an interrupted thread when in interrupt/exception context"""
+
+	def __init__(self):
+		super(NX_show_interrupted_thread, self).__init__('show interrupted-thread', gdb.COMMAND_USER)
+
+	def invoke(self, args, from_tty):
+		regs = gdb.lookup_global_symbol('current_regs').value()
+		if regs is 0:
+			raise gdb.GdbError('not in interrupt context')
+		else:
+			registers = NX_register_set.with_xcpt_regs(regs)
+			my_fmt = ''
+			my_fmt += '  R0  {registers[R0]:#010x} {registers[R1]:#010x} {registers[R2]:#010x} {registers[R3]:#010x}\n'
+			my_fmt += '  R4  {registers[R4]:#010x} {registers[R5]:#010x} {registers[R6]:#010x} {registers[R7]:#010x}\n'
+			my_fmt += '  R8  {registers[R8]:#010x} {registers[R9]:#010x} {registers[R10]:#010x} {registers[R11]:#010x}\n'
+			my_fmt += '  R12 {registers[PC]:#010x}\n'
+			my_fmt += '  SP  {registers[SP]:#010x} LR {registers[LR]:#010x} PC {registers[PC]:#010x} XPSR {registers[XPSR]:#010x}\n'
+			print (format(registers, my_fmt))
+
+NX_show_interrupted_thread()
+
+class NX_check_tcb(gdb.Command):
+	""" check the tcb of a task from a address """
+	def __init__(self):
+		super(NX_check_tcb,self).__init__('show tcb', gdb.COMMAND_USER)
+		
+	def invoke(self,args,sth):
+		tasks = NX_task.tasks()
+		print("tcb int: ",int(args))
+		print(tasks[int(args)]._tcb)
+		a =tasks[int(args)]._tcb['xcp']['regs']
+		print("relevant registers:")
+		for reg in regmap:
+			hex_addr= hex(int(a[regmap[reg]]))
+			eval_string = 'info line *'+str(hex_addr)
+			print(reg,": ",hex_addr,)
+NX_check_tcb()
+
+class NX_tcb(object):
+	def __init__(self):
+		pass
+	
+	def is_in(self,arg,list):
+		for i in list:
+			if arg == i:
+				return True;
+		return False
+	
+	def find_tcb_list(self,dq_entry_t):
+		tcb_list = []
+		tcb_ptr = dq_entry_t.cast(gdb.lookup_type('struct tcb_s').pointer())
+		first_tcb = tcb_ptr.dereference()
+		tcb_list.append(first_tcb);
+		next_tcb = first_tcb['flink'].dereference()
+		while not self.is_in(parse_int(next_tcb['pid']),[parse_int(t['pid']) for t in tcb_list]):
+			tcb_list.append(next_tcb); 
+			old_tcb = next_tcb;
+			next_tcb = old_tcb['flink'].dereference()
+		
+		return [t for t in tcb_list if parse_int(t['pid'])<2000]
+	
+	def getTCB(self):
+		list_of_listsnames = ['g_pendingtasks','g_readytorun','g_waitingforsemaphore','g_waitingforsignal','g_inactivetasks']
+		tcb_list = [];
+		for l in list_of_listsnames:
+			li = gdb.lookup_global_symbol(l)
+			print(li)
+			cursor = li.value()['head']
+			tcb_list = tcb_list + self.find_tcb_list(cursor)
+
+class NX_check_stack_order(gdb.Command):
+	""" Check the Stack order corresponding to the tasks """
+	
+	def __init__(self):
+		super(NX_check_stack_order,self).__init__('show check_stack', gdb.COMMAND_USER)
+		
+	def is_in(self,arg,list):
+		for i in list:
+			if arg == i:
+				return True;
+		return False
+	
+	def find_tcb_list(self,dq_entry_t):
+		tcb_list = []
+		tcb_ptr = dq_entry_t.cast(gdb.lookup_type('struct tcb_s').pointer())
+		first_tcb = tcb_ptr.dereference()
+		tcb_list.append(first_tcb);
+		next_tcb = first_tcb['flink'].dereference()
+		while not self.is_in(parse_int(next_tcb['pid']),[parse_int(t['pid']) for t in tcb_list]):
+			tcb_list.append(next_tcb); 
+			old_tcb = next_tcb;
+			next_tcb = old_tcb['flink'].dereference()
+		
+		return [t for t in tcb_list if parse_int(t['pid'])<2000]
+	
+	def getTCB(self):
+		list_of_listsnames = ['g_pendingtasks','g_readytorun','g_waitingforsemaphore','g_waitingforsignal','g_inactivetasks']
+		tcb_list = [];
+		for l in list_of_listsnames:
+			li = gdb.lookup_global_symbol(l)
+			cursor = li.value()['head']
+			tcb_list = tcb_list + self.find_tcb_list(cursor)
+		return tcb_list
+		
+	def getSPfromTask(self,tcb):
+		regmap = NX_register_set.v7em_regmap
+		a =tcb['xcp']['regs']
+		return 	parse_int(a[regmap['SP']])
+	
+	def find_closest(self,list,val):
+		tmp_list = [abs(i-val) for i in list]
+		tmp_min = min(tmp_list)
+		idx = tmp_list.index(tmp_min)
+		return idx,list[idx]
+	
+	def find_next_stack(self,address,_dict_in):
+		add_list = []
+		name_list = []
+		for key in _dict_in.keys():
+			for i in range(3):
+				if _dict_in[key][i] < address:
+					add_list.append(_dict_in[key][i])
+					if i == 2: # the last one is the processes stack pointer
+						name_list.append(self.check_name(key)+"_SP")
+					else:
+						name_list.append(self.check_name(key))
+					
+		idx,new_address = self.find_closest(add_list,address)
+		return new_address,name_list[idx]
+	
+	def check_name(self,name):
+		if isinstance(name,(list)):
+			name = name[0];
+		idx = name.find("\\")
+		newname = name[:idx]
+		
+		return newname
+	 
+	def invoke(self,args,sth):
+		tcb = self.getTCB();
+		stackadresses={};
+		for t in tcb:
+			p = [];
+			#print(t.name,t._tcb['stack_alloc_ptr'])
+			p.append(parse_int(t['stack_alloc_ptr']))
+			p.append(parse_int(t['adj_stack_ptr']))
+			p.append(self.getSPfromTask(t))
+			stackadresses[str(t['name'])] = p;
+		address = int("0x30000000",0)
+		print("stack address  :  process")
+		for i in range(len(stackadresses)*3):
+			  address,name = self.find_next_stack(address,stackadresses)
+			  print(hex(address),": ",name)
+
+NX_check_stack_order()
+					 
+class NX_run_debug_util(gdb.Command):
+	""" show the registers of a task corresponding to a tcb address"""
+	def __init__(self):
+		super(NX_run_debug_util,self).__init__('show regs', gdb.COMMAND_USER)
+	
+	def printRegisters(self,task):
+		regmap = NX_register_set.v7em_regmap
+		a =task._tcb['xcp']['regs']
+		print("relevant registers in ",task.name,":")
+		for reg in regmap:
+			hex_addr= hex(int(a[regmap[reg]]))
+			eval_string = 'info line *'+str(hex_addr)
+			print(reg,": ",hex_addr,)
+			
+	def getPCfromTask(self,task):
+		regmap = NX_register_set.v7em_regmap
+		a =task._tcb['xcp']['regs']
+		return 	hex(int(a[regmap['PC']]))
+	
+	def invoke(self,args,sth):
+		tasks = NX_task.tasks() 
+		if args == '':
+			for t in tasks:
+				self.printRegisters(t)
+				eval_str = "list *"+str(self.getPCfromTask(t))
+				print("this is the location in code where the current threads $pc is:")
+				gdb.execute(eval_str)
+		else:
+			tcb_nr = int(args);
+			print("tcb_nr = ",tcb_nr)
+			t = tasks[tcb_nr]
+			self.printRegisters(t)
+			eval_str = "list *"+str(self.getPCfromTask(t))
+			print("this is the location in code where the current threads $pc is:")
+			gdb.execute(eval_str)
+			
+NX_run_debug_util()
+
+		
+class NX_search_tcb(gdb.Command):
+	""" shot PID's of all running tasks """
+	
+	def __init__(self):
+		super(NX_search_tcb,self).__init__('show alltcb', gdb.COMMAND_USER)
+	
+	def is_in(self,arg,list):
+		for i in list:
+			if arg == i:
+				return True;
+		return False
+	
+	def find_tcb_list(self,dq_entry_t):
+		tcb_list = []
+		tcb_ptr = dq_entry_t.cast(gdb.lookup_type('struct tcb_s').pointer())
+		first_tcb = tcb_ptr.dereference()
+		tcb_list.append(first_tcb);
+		next_tcb = first_tcb['flink'].dereference()
+		while not self.is_in(parse_int(next_tcb['pid']),[parse_int(t['pid']) for t in tcb_list]):
+			tcb_list.append(next_tcb); 
+			old_tcb = next_tcb;
+			next_tcb = old_tcb['flink'].dereference()
+		
+		return [t for t in tcb_list if parse_int(t['pid'])<2000]
+	
+	def invoke(self,args,sth):
+		list_of_listsnames = ['g_pendingtasks','g_readytorun','g_waitingforsemaphore','g_waitingforsignal','g_inactivetasks']
+		tasks = [];
+		for l in list_of_listsnames:
+			li = gdb.lookup_global_symbol(l)
+			cursor = li.value()['head']
+			tasks = tasks + self.find_tcb_list(cursor)
+		
+		# filter for tasks that are listed twice
+		tasks_filt = {}
+		for t in tasks:
+			pid = parse_int(t['pid']);
+			if not pid in tasks_filt.keys():
+				tasks_filt[pid] = t['name']; 
+		print('{num_t} Tasks found:'.format(num_t = len(tasks_filt)))
+		for pid in tasks_filt.keys():
+			print("PID: ",pid," ",tasks_filt[pid])
+
+NX_search_tcb()
+
+
+class NX_my_bt(gdb.Command):
+	""" 'fake' backtrace: backtrace the stack of a process and check every suspicious address for the list 
+	arg: tcb_address$
+	(can easily be found by typing 'showtask').
+	"""
+	
+	def __init__(self):
+		super(NX_my_bt,self).__init__('show mybt', gdb.COMMAND_USER)
+		
+	def readmem(self,addr):
+		'''
+		read memory at addr and return nr
+		'''	
+		str_to_eval = "x/x "+hex(addr)
+		resp = gdb.execute(str_to_eval,to_string = True)
+		idx = resp.find('\t')
+		return int(resp[idx:],16)
+	
+	def is_in_bounds(self,val):
+		lower_bound = int("08004000",16)
+		upper_bound = int("080ae0c0",16);
+		#print(lower_bound," ",val," ",upper_bound)
+		if val>lower_bound and val<upper_bound:
+			return True;
+		else:
+			return False;
+	def get_tcb_from_address(self,addr):
+		addr_value = gdb.Value(addr)
+		tcb_ptr = addr_value.cast(gdb.lookup_type('struct tcb_s').pointer())
+		return tcb_ptr.dereference()
+	
+	def resolve_file_line_func(self,addr,stack_percentage):
+		gdb.write(str(round(stack_percentage,2))+":")
+		str_to_eval = "info line *"+hex(addr)
+		#gdb.execute(str_to_eval)
+		res = gdb.execute(str_to_eval,to_string = True)
+		# get information from results string:
+		words = res.split()
+		if words[0] != 'No':
+			line = int(words[1])
+			block = gdb.block_for_pc(addr)
+			func = block.function
+			if str(func) == "None":
+				func = block.superblock.function
+			return words[3].strip('"'), line, func
+		
+	def invoke(self,args,sth):
+		try:
+			addr_dec = parse_int(args)   # Trying to interpret the input as TCB address
+		except ValueError:
+			for task in NX_task.tasks(): # Interpreting as a task name
+				if task.name == args:
+					_tcb = task._tcb
+					break
+		else:
+			_tcb = self.get_tcb_from_address(addr_dec)
+
+		print("found task with PID: ",_tcb["pid"])
+		up_stack = parse_int(_tcb['adj_stack_ptr'])
+		curr_sp = parse_int(_tcb['xcp']['regs'][0]) #curr stack pointer
+		other_sp = parse_int(_tcb['xcp']['regs'][8]) # other stack pointer
+		stacksize = parse_int(_tcb['adj_stack_size']) # other stack pointer
+		
+		print("tasks current SP = ",hex(curr_sp),"stack max ptr is at ",hex(up_stack))
+		
+		item = 0
+		for sp in range(other_sp if curr_sp == up_stack else curr_sp, up_stack, 4):
+			mem = self.readmem(sp)
+			#print(hex(sp)," : ",hex(mem))
+			if self.is_in_bounds(mem):
+				# this is a potential instruction ptr
+				stack_percentage = (up_stack-sp)/stacksize
+				filename,line,func = self.resolve_file_line_func(mem, stack_percentage)
+				print('#%-2d ' % item, '0x%08x in ' % mem, func, ' at ', filename, ':', line, sep='')
+				item += 1
+		
+NX_my_bt()

Debug/PX4

@@ -0,0 +1,55 @@
+#
+# Various PX4-specific macros
+#
+source Debug/NuttX
+source Debug/ARMv7M
+
+echo Loading PX4 GDB macros.  Use 'help px4' for more information.\n
+
+define px4
+	echo Use 'help px4' for more information.\n
+end
+
+document px4
+. Various macros for working with the PX4 firmware.
+.
+.    perf
+.        Prints the state of all performance counters.
+.
+. Use 'help <macro>' for more specific help.
+end
+
+
+define _perf_print
+	set $hdr = (struct perf_ctr_header *)$arg0
+	#printf "%p\n", $hdr
+	printf "%s: ", $hdr->name
+	# PC_COUNT
+	if $hdr->type == 0
+		set $count = (struct perf_ctr_count *)$hdr
+		printf "%llu events\n", $count->event_count
+	end
+	# PC_ELPASED
+	if $hdr->type == 1
+		set $elapsed = (struct perf_ctr_elapsed *)$hdr
+		printf "%llu events, %lluus elapsed, min %lluus, max %lluus\n", $elapsed->event_count, $elapsed->time_total, $elapsed->time_least, $elapsed->time_most
+	end
+	# PC_INTERVAL
+	if $hdr->type == 2
+		set $interval = (struct perf_ctr_interval *)$hdr
+		printf "%llu events, %llu avg, min %lluus max %lluus\n", $interval->event_count, ($interval->time_last - $interval->time_first) / $interval->event_count, $interval->time_least, $interval->time_most
+	end
+end
+
+define perf
+	set $ctr = (sq_entry_t *)(perf_counters.head)
+	while $ctr != 0
+		_perf_print $ctr
+		set $ctr = $ctr->flink
+	end
+end
+
+document perf
+.    perf
+.        Prints performance counters.
+end

Debug/dot.gdbinit

@@ -0,0 +1,13 @@
+# copy the file to .gdbinit in your Firmware tree, and adjust the path
+# below to match your system
+# For example:
+# target extended /dev/serial/by-id/usb-Black_Sphere_Technologies_Black_Magic_Probe_DDE5A1C4-if00
+# target extended /dev/ttyACM4
+
+
+monitor swdp_scan
+attach 1
+monitor vector_catch disable hard
+set mem inaccessible-by-default off
+set print pretty
+source Debug/PX4

Debug/openocd.gdbinit

@@ -0,0 +1,21 @@
+target remote :3333
+
+# Don't let GDB get confused while stepping
+define hook-step
+  mon cortex_m maskisr on
+end
+define hookpost-step
+  mon cortex_m maskisr off
+end
+
+mon init
+mon stm32_init
+# mon reset halt
+mon poll
+mon cortex_m maskisr auto
+set mem inaccessible-by-default off
+set print pretty
+source Debug/PX4
+
+echo PX4 resumed, press ctrl-c to interrupt\n
+continue

Debug/poor-mans-profiler.sh

@@ -0,0 +1,270 @@
+#!/bin/bash
+#
+# Author: Pavel Kirienko <pavel.kirienko@zubax.com>
+#
+# Poor man's sampling profiler for NuttX.
+#
+# Usage: Install flamegraph.pl in your PATH, configure your .gdbinit, run the script with proper arguments and go
+#        have a coffee. When you're back, you'll see the flamegraph. Note that frequent calls to GDB significantly
+#        interfere with normal operation of the target, which means that you can't profile real-time tasks with it.
+#        For best results, ensure that the PC is not overloaded, the USB host controller to which the debugger is
+#        connected is not congested. You should also allow the current user to set negative nice values.
+#
+# The FlameGraph script can be downloaded from https://github.com/brendangregg/FlameGraph. Thanks Mr. Gregg.
+#
+# Requirements: ARM GDB with Python support. You can get one by downloading the sources from
+#               https://launchpad.net/gcc-arm-embedded and building them with correct flags.
+#               Note that Python support is not required if no per-task sampling is needed.
+#
+
+set -e
+root=$(dirname $0)/..
+
+function die()
+{
+    echo "$@"
+    exit 1
+}
+
+function usage()
+{
+    echo "Invalid usage. Supported options:"
+    cat $0 | sed -n 's/^\s*--\([^)\*]*\).*/\1/p' # Don't try this at home.
+    exit 1
+}
+
+which flamegraph.pl > /dev/null || die "Install flamegraph.pl first"
+
+#
+# Parsing the arguments. Read this section for usage info.
+#
+nsamples=0
+sleeptime=0.1    # Doctors recommend 7-8 hours a day
+taskname=
+elf=
+append=0
+fgfontsize=10
+fgwidth=1900
+
+for i in "$@"
+do
+    case $i in
+        --nsamples=*)
+            nsamples="${i#*=}"
+            ;;
+        --sleeptime=*)
+            sleeptime="${i#*=}"
+            ;;
+        --taskname=*)
+            taskname="${i#*=}"
+            ;;
+        --elf=*)
+            elf="${i#*=}"
+            ;;
+        --append)
+            append=1
+            ;;
+        --fgfontsize=*)
+            fgfontsize="${i#*=}"
+            ;;
+        --fgwidth=*)
+            fgwidth="${i#*=}"
+            ;;
+        *)
+            usage
+            ;;
+    esac
+    shift
+done
+
+[[ -z "$elf" ]] && die "Please specify the ELF file location, e.g.: build/px4fmu-v4_default/src/firmware/nuttx/firmware_nuttx"
+
+#
+# Temporary files
+#
+stacksfile=/tmp/pmpn-stacks.log
+foldfile=/tmp/pmpn-folded.txt
+graphfile=/tmp/pmpn-flamegraph.svg
+gdberrfile=/tmp/pmpn-gdberr.log
+
+#
+# Sampling if requested. Note that if $append is true, the stack file will not be rewritten.
+#
+cd $root
+
+if [[ $nsamples > 0 ]]
+then
+    [[ $append = 0 ]] && (rm -f $stacksfile; echo "Old stacks removed")
+
+    echo "Sampling the task '$taskname'..."
+
+    for x in $(seq 1 $nsamples)
+    do
+        if [[ "$taskname" = "" ]]
+        then
+            arm-none-eabi-gdb $elf --batch -ex "set print asm-demangle on" -ex bt \
+                2> $gdberrfile \
+                | sed -n 's/\(#.*\)/\1/p' \
+                >> $stacksfile
+        else
+            arm-none-eabi-gdb $elf --batch -ex "set print asm-demangle on" \
+                                           -ex "source $root/Debug/Nuttx.py" \
+                                           -ex "show mybt $taskname" \
+                2> $gdberrfile \
+                | sed -n 's/0\.0:\(#.*\)/\1/p' \
+                >> $stacksfile
+        fi
+        echo -e '\n\n' >> $stacksfile
+        echo -ne "\r$x/$nsamples"
+        sleep $sleeptime
+    done
+
+    echo
+    echo "Stacks saved to $stacksfile"
+else
+    echo "Sampling skipped - set 'nsamples' to re-sample."
+fi
+
+#
+# Folding the stacks.
+#
+[ -f $stacksfile ] || die "Where are the stack samples?"
+
+cat << 'EOF' > /tmp/pmpn-folder.py
+#
+# This stack folder correctly handles C++ types.
+#
+from __future__ import print_function, division
+import fileinput, collections, os, sys
+
+def enforce(x, msg='Invalid input'):
+    if not x:
+        raise Exception(msg)
+
+def split_first_part_with_parens(line):
+    LBRACES = {'(':'()', '<':'<>', '[':'[]', '{':'{}'}
+    RBRACES = {')':'()', '>':'<>', ']':'[]', '}':'{}'}
+    QUOTES = set(['"', "'"])
+    quotes = collections.defaultdict(bool)
+    braces = collections.defaultdict(int)
+    out = ''
+    for ch in line:
+        out += ch
+        # escape character cancels further processing
+        if ch == '\\':
+            continue
+        # special cases
+        if out.endswith('operator>') or out.endswith('operator>>') or out.endswith('operator->'):  # gotta love c++
+            braces['<>'] += 1
+        if out.endswith('operator<') or out.endswith('operator<<'):
+            braces['<>'] -= 1
+        # switching quotes
+        if ch in QUOTES:
+            quotes[ch] = not quotes[ch]
+        # counting parens only when outside quotes
+        if sum(quotes.values()) == 0:
+            if ch in LBRACES.keys():
+                braces[LBRACES[ch]] += 1
+            if ch in RBRACES.keys():
+                braces[RBRACES[ch]] -= 1
+        # sanity check
+        for v in braces.values():
+            enforce(v >= 0, 'Unaligned braces: ' + str(dict(braces)))
+        # termination condition
+        if ch == ' ' and sum(braces.values()) == 0:
+            break
+    out = out.strip()
+    return out, line[len(out):]
+
+def parse(line):
+    def take_path(line, output):
+        line = line.strip()
+        if line.startswith('at '):
+            line = line[3:].strip()
+        if line:
+            output['file_full_path'] = line.rsplit(':', 1)[0].strip()
+            output['file_base_name'] = os.path.basename(output['file_full_path'])
+            output['line'] = int(line.rsplit(':', 1)[1])
+        return output
+
+    def take_args(line, output):
+        line = line.lstrip()
+        if line[0] == '(':
+            output['args'], line = split_first_part_with_parens(line)
+        return take_path(line.lstrip(), output)
+
+    def take_function(line, output):
+        output['function'], line = split_first_part_with_parens(line.lstrip())
+        return take_args(line.lstrip(), output)
+
+    def take_mem_loc(line, output):
+        line = line.lstrip()
+        if line.startswith('0x'):
+            end = line.find(' ')
+            num = line[:end]
+            output['memloc'] = int(num, 16)
+            line = line[end:].lstrip()
+            end = line.find(' ')
+            enforce(line[:end] == 'in')
+            line = line[end:].lstrip()
+        return take_function(line, output)
+
+    def take_frame_num(line, output):
+        line = line.lstrip()
+        enforce(line[0] == '#')
+        end = line.find(' ')
+        num = line[1:end]
+        output['frame_num'] = int(num)
+        return take_mem_loc(line[end:], output)
+
+    return take_frame_num(line, {})
+
+stacks = collections.defaultdict(int)
+current = ''
+
+stack_tops = collections.defaultdict(int)
+num_stack_frames = 0
+
+for idx,line in enumerate(fileinput.input()):
+    try:
+        line = line.strip()
+        if line:
+            inf = parse(line)
+            fun = inf['function']
+            current = (fun + ';' + current) if current else fun
+
+            if inf['frame_num'] == 0:
+                num_stack_frames += 1
+                stack_tops[fun] += 1
+        elif current:
+            stacks[current] += 1
+            current = ''
+    except Exception, ex:
+        print('ERROR (line %d):' % (idx + 1), ex, file=sys.stderr)
+
+for s, f in sorted(stacks.items(), key=lambda (s, f): s):
+    print(s, f)
+
+print('Total stack frames:', num_stack_frames, file=sys.stderr)
+print('Top consumers (distribution of the stack tops):', file=sys.stderr)
+for name,num in sorted(stack_tops.items(), key=lambda (name, num): num, reverse=True)[:300]:
+    print('% 7.3f%%   ' % (100 * num / num_stack_frames), name, file=sys.stderr)
+EOF
+
+cat $stacksfile | python /tmp/pmpn-folder.py > $foldfile
+
+echo "Folded stacks saved to $foldfile"
+
+#
+# Graphing.
+#
+cat $foldfile | flamegraph.pl --fontsize=$fgfontsize --width=$fgwidth > $graphfile
+echo "FlameGraph saved to $graphfile"
+
+# On KDE, xdg-open prefers Gwenview by default, which doesn't handle interactive SVGs, so we need a browser.
+# The current implementation is hackish and stupid. Somebody, please do something about it.
+opener=xdg-open
+which firefox       > /dev/null && opener=firefox
+which google-chrome > /dev/null && opener=google-chrome
+
+$opener $graphfile

Documentation/Doxyfile.in

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

Documentation/doxygen.README

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

Documentation/doxygen.sh

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

Documentation/px4_hil/UserGuide.md

@@ -0,0 +1,98 @@
+[TOC]
+
+# Introduction
+
+The HIL architecture allows you to test the flight stack replacing the real physical vehicle and sensors with a simulator of vehicle dynamics and sensor outputs.  The flight stack "is not aware" that it is not on a real vehicle.  This is a powerful tool for develping and testing code rapidly in a benchtop environment. 
+
+The flight stack can be run anywhere that supports a network connection to the simulator (with sufficient bandwidth and latency to transport the sensor and actuator messages).  This can be on a standard linux workstation, an on-target linux image, or the on-target DSP image.  These modes can be selected based on the goals of the testing.  Workstation is useful for rapid testing in a tool-rich environment.  DSP image testing is the closest to the final implementation, so is useful for testing actual HW operation, other than the physical sensing and actuation.
+
+## Px4 High-level HIL Architecture
+
+A diagram of the setup described is shown here.  Note that UDP port numbers are only displayed on the socket server and are left blank on the socket client. 
+
+(???NOTES:  This diagram needs to be updated to use control inputs over UDP, either from QGC or from other)
+
+![SITL Diagram](./SITL_Diagram_QGC.png "SITL Diagram")  
+
+## Requirements
+The simulator that is currently supported is jMAVSim.  The setup described here requires PX4 and jMAVSim installed and running.  qGroundControl (QGC) is also required because it is the supported method of providing manual control commands.  
+
+## Assumptions
+
+# Compiling Code
+
+## JMAVSim
+
+### Platform Requirements
+Linux with java-1.7.x or greater
+
+### Build Instructions
+In a clean directory
+```
+> git clone https://github.com/PX4/jMAVSim.git
+> cd jMAVSim
+> git submodule init
+> git submodule update
+> ant
+```
+
+## qGroundControl
+
+### Platform Requirements
+Windows 7
+Logitech Gamepad F310 joystick controller
+
+### Download/Install Instructions
+Download QGC from http://qgroundcontrol.org/downloads and install using the windows executable.
+
+
+## PX4
+
+### Platform Requirements
+Linux or Eagle with a working IP interface (?? does this need further instructions?)
+
+### Build Host Requirements
+(???Notes:  Windows?)
+
+### Download & Build Instructions
+
+### Installing binaries on the Qualcomm Target
+
+# Running PX4 in HIL Mode
+
+## Starting PX4 on Qualcomm Eagle
+
+```
+> adb shell
+# bash
+root@linaro-developer:/# cd ???
+root@linaro-developer:/# ./px4
+App name: px4
+Enter a command and its args:
+uorb start
+muorb start
+mavlink start -u 14556
+simulator start -p
+```
+
+## Starting jMAVSim
+In the directory where jMAVSim is installed
+```
+ java -cp lib/*:out/production/jmavsim.jar me.drton.jmavsim.Simulator -udp <IPADDR>:14560 -n 100
+```
+replacing <IPADDR> with the IP address of the machine running PX4 (Eagle).  This can be found by running "ifconfig" on that machine.
+
+## Starting qGroundControl
+Launch the qGroundControl application
+1. Set up the communication to the flight stack.  In the menu File:Settings:CommLinks, select Add.  Enter a Link Name of your choice.  Select Link Type: UDP.  Set the listening port to an unused port (example: 14561).  Select Add.  Enter the IP address and port of the PX4 Mavlink app, which is <IPADDR>:14556 with <IPADDR> being the IP address of the Eagle board. Select OK.
+1. Set up the joystick.  Plug in the joystick to your Windows machine.  In the menu File:Settings:CommLinks, check Enable Controllers.  Select "Gamepad F310".  Select "Manual".  Set the axes/channel mapping to 0:Yaw, 1:Throttle, 2:unset, 3:Pitch, 4:Roll.  Seletct "Inverted" for the throttle axis.  Click "Calibrate range".  Move the right joystick through its full range of motion.  Move the left joystick full left then full right.  Move the left joystick full forward (but not full backward).  Click "end calibration."
+1. Connect to the flight stack.  Click Analyze.  Click the "Connect" button in the upper right, and select the connection that you created in the first step.
+
+You should now be connected to the flight stack.  You can see incoming Mavlink packets using the MAVLink Instpector (from Advanced:Tool Widgets)
+
+
+## Controlling PX4 flight in HIL Mode
+The joystick can now be used to fly the simulated vehicle.  The jMAVSim world visualization gives a FPV view, and QGC can be used to display instruments such as artificial horizon and maps (if GPS simulation is enabled).
+
+
+# Debugging/FAQ

Documentation/versionfilter.sh

@@ -0,0 +1,2 @@
+#!/bin/sh
+git log --pretty=format:"Last change: commit %h - %aN, %ar : %s" -1 $1 || echo no git

Images/aerocore2.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 98,
+    "magic": "AeroCore2",
+    "description": "Firmware for the Gumstix AeroCore2 board",
+    "image": "",
+    "build_time": 0,
+    "summary": "AEROCORE2",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/aerofc-v1.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 65,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the Intel Aero FC board",
+    "image": "",
+    "build_time": 0,
+    "summary": "AEROFCv1",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/auav-x21.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 33,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the AUAV X2.1 board",
+    "image": "",
+    "build_time": 0,
+    "summary": "AUAV X2.1",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/crazyflie.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 12,
+    "magic": "Crazyflie",
+    "description": "Firmware for the Crazyflie 2.0",
+    "image": "",
+    "build_time": 0,
+    "summary": "CRAZYFLIE",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/esc35-v1.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 27,
+    "magic": "ESC35v1",
+    "description": "Firmware for the ESC35V1 board",
+    "image": "",
+    "build_time": 0,
+    "summary": "ESC35v1",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/mindpx-v2.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 88,
+    "magic": "MindPX",
+    "description": "Firmware for the MindPXFMUv2 board",
+    "image": "", 
+    "build_time": 0, 
+    "summary": "MindPXFMUv2",
+    "version": "2.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/nxphlite-v3.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 29,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the NXPHLITEv3 board",
+    "image": "",
+    "build_time": 0,
+    "summary": "NXPHLITEv3",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/px4-same70xplained-v1.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 110,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the SAME70xplained board",
+    "image": "",
+    "build_time": 0,
+    "summary": "PX4/SAME70xplained",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/px4-stm32f4discovery.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 99, 
+    "magic": "PX4FWv1", 
+    "description": "Firmware for the STM32F4Discovery board", 
+    "image": "", 
+    "build_time": 0, 
+    "summary": "PX4/STM32F4Discovery",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/px4cannode-v1.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 22,
+    "magic": "CANNODEFWv1",
+    "description": "Firmware for the PX4CANNODE board",
+    "image": "",
+    "build_time": 0,
+    "summary": "PX4CANNODEv1",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/px4esc-v1.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 25,
+    "magic": "ESCv1",
+    "description": "Firmware for the PX4ESCV1 board",
+    "image": "",
+    "build_time": 0,
+    "summary": "PX4ESCv1",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/px4flow-v2.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 24,
+    "magic": "FLOWv1",
+    "description": "Firmware for the PX4FLowV1 board",
+    "image": "",
+    "build_time": 0,
+    "summary": "PX4FLOWv1",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/px4fmu-v2.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 9, 
+    "magic": "PX4FWv1", 
+    "description": "Firmware for the PX4FMUv2 board", 
+    "image": "", 
+    "build_time": 0, 
+    "summary": "PX4FMUv2",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/px4fmu-v3.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 9,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the PX4FMUv3 board",
+    "image": "",
+    "build_time": 0,
+    "summary": "PX4FMUv3",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/px4fmu-v4.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 11,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the PX4FMUv4 board",
+    "image": "",
+    "build_time": 0,
+    "summary": "PX4FMUv4",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/px4fmu-v4pro.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 13,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the PX4FMUv4PRO board, based on STM32F469",
+    "image": "",
+    "build_time": 0,
+    "summary": "PX4FMUv4PRO",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/px4fmu-v5.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 50,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the PX4FMUv5 board",
+    "image": "",
+    "build_time": 0,
+    "summary": "PX4FMUv5",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/px4io-v2.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 10, 
+    "magic": "PX4FWv2", 
+    "description": "Firmware for the PX4IOv2 board", 
+    "image": "", 
+    "build_time": 0, 
+    "summary": "PX4IOv2",
+    "version": "2.0",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/px4nucleoF767ZI-v1.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 90,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the ST nucleo-144 with STM32FF767ZI-v1 board",
+    "image": "",
+    "build_time": 0,
+    "summary": "PX4NUCLEOF767ZIv1",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/s2740vc-v1.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 23,
+    "magic": "S2740VCblv1",
+    "description": "Firmware for the S2740VC board",
+    "image": "",
+    "build_time": 0,
+    "summary": "S2740VCv1",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/tap-v1.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 64,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the TAPv1 board",
+    "image": "",
+    "build_time": 0,
+    "summary": "TAPv1",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/zubaxgnss-v1.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 26,
+    "magic": "ZUBAXGNSSFWv1",
+    "description": "Firmware for the ZUBAXGNSS board",
+    "image": "",
+    "build_time": 0,
+    "summary": "ZUBAXGNSSv1",
+    "version": "0.0",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Jenkinsfile

@@ -7,144 +7,253 @@ pipeline {
         script {
           def builds = [:]
 
-          def docker_base = "px4io/px4-dev-base:2018-03-30"
-          def docker_nuttx = "px4io/px4-dev-nuttx:2018-03-30"
-          def docker_ros = "px4io/px4-dev-ros:2018-03-30"
-          def docker_rpi = "px4io/px4-dev-raspi:2018-03-30"
-          def docker_armhf = "px4io/px4-dev-armhf:2017-12-30"
-          def docker_arch = "px4io/px4-dev-base-archlinux:2018-03-30"
-          def docker_snapdragon = "lorenzmeier/px4-dev-snapdragon:2017-12-29"
-          def docker_clang = "px4io/px4-dev-clang:2018-03-30"
 
-          // fmu-v2_{default, lpe} and fmu-v3_{default, rtps}
-          // bloaty compare to last successful master build
+          // nuttx default targets that are archived and uploaded to s3
+          for (def option in ["px4fmu-v4", "px4fmu-v4pro", "px4fmu-v5", "aerofc-v1"]) {
+            def node_name = "${option}"
+
+            builds["${node_name}"] = {
+              node {
+                stage("Build Test ${node_name}") {
+                  docker.image('px4io/px4-dev-nuttx:2017-10-23').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
+                    stage("${node_name}") {
+                      checkout scm
+                      sh "make clean"
+                      sh "ccache -z"
+                      sh "git fetch --tags"
+                      sh "make nuttx_${node_name}_default"
+                      sh "make nuttx_${node_name}_rtps"
+                      sh "make sizes"
+                      sh "ccache -s"
+                      archiveArtifacts(artifacts: 'build/*/*.px4', fingerprint: true)
+                    }
+                  }
+                }
+              }
+            }
+          }
+
+
+          // special case for fmu-v2/fmu-v3
           builds["px4fmu-v2"] = {
             node {
-              stage("Build Test px4fmu-v2") {
-                docker.image(docker_nuttx).inside('-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw') {
-                  stage("px4fmu-v2") {
+              stage("Build Test ${node_name}") {
+                docker.image('px4io/px4-dev-nuttx:2017-10-23').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
+                  stage("${node_name}") {
                     checkout scm
-                    sh "export"
-                    sh "make distclean"
+                    sh "make clean"
                     sh "ccache -z"
                     sh "git fetch --tags"
-                    sh "make nuttx_px4io-v2_default"
-                    sh "make nuttx_px4io-v2_default bloaty_symbols"
-                    sh "make nuttx_px4io-v2_default bloaty_compileunits"
-                    sh "make nuttx_px4io-v2_default bloaty_compare_master"
+                    sh "make px4io-v2_default"
                     sh "make nuttx_px4fmu-v2_default"
-                    sh "make nuttx_px4fmu-v2_default bloaty_symbols"
-                    sh "make nuttx_px4fmu-v2_default bloaty_compileunits"
-                    sh "make nuttx_px4fmu-v2_default bloaty_inlines"
-                    sh "make nuttx_px4fmu-v2_default bloaty_templates"
-                    sh "make nuttx_px4fmu-v2_default bloaty_compare_master"
                     sh "make nuttx_px4fmu-v2_lpe"
-                    sh "make nuttx_px4fmu-v2_test"
                     sh "make nuttx_px4fmu-v3_default"
                     sh "make nuttx_px4fmu-v3_rtps"
                     sh "make sizes"
                     sh "ccache -s"
-                    archiveArtifacts(allowEmptyArchive: false, artifacts: 'build/**/*.px4, build/**/*.elf', fingerprint: true, onlyIfSuccessful: true)
-                    sh "make distclean"
+                    archiveArtifacts(artifacts: 'build/*/*.px4', fingerprint: true)
                   }
                 }
               }
             }
           }
 
+
           // nuttx default targets that are archived and uploaded to s3
-          for (def option in ["px4fmu-v4", "px4fmu-v4pro", "px4fmu-v5", "aerofc-v1", "aerocore2", "auav-x21", "crazyflie", "mindpx-v2", "nxphlite-v3", "tap-v1", "omnibus-f4sd"]) {
+          for (def option in ["aerocore2", "auav-x21", "crazyflie", "mindpx-v2", "nxphlite-v3", "tap-v1"]) {
             def node_name = "${option}"
-            builds[node_name] = createBuildNodeArchive(docker_nuttx, "${node_name}_default")
+
+            builds["${node_name}"] = {
+              node {
+                stage("Build Test ${node_name}") {
+                  docker.image('px4io/px4-dev-nuttx:2017-10-23').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
+                    stage("${node_name}") {
+                      checkout scm
+                      sh "make clean"
+                      sh "ccache -z"
+                      sh "git fetch --tags"
+                      sh "make nuttx_${node_name}_default"
+                      sh "make sizes"
+                      sh "ccache -s"
+                      archiveArtifacts(artifacts: 'build/*/*.px4', fingerprint: true)
+                    }
+                  }
+                }
+              }
+            }
           }
 
+
           // other nuttx default targets
           for (def option in ["px4-same70xplained-v1", "px4-stm32f4discovery", "px4cannode-v1", "px4esc-v1", "px4nucleoF767ZI-v1", "s2740vc-v1"]) {
             def node_name = "${option}"
-            builds[node_name] = createBuildNode(docker_nuttx, "${node_name}_default")
-          }
 
-          builds["sitl_rtps"] = createBuildNode(docker_base, 'posix_sitl_rtps')
-          builds["sitl (GCC 7)"] = createBuildNode(docker_arch, 'posix_sitl_default')
-
-          builds["rpi"] = createBuildNode(docker_rpi, 'posix_rpi_cross')
-          builds["bebop"] = createBuildNode(docker_rpi, 'posix_bebop_default')
-
-          builds["ocpoc"] = createBuildNode(docker_armhf, 'posix_ocpoc_ubuntu')
-
-          // snapdragon (eagle_default)
-          builds["eagle (linux)"] = createBuildNodeDockerLogin(docker_snapdragon, 'docker_hub_dagar', 'posix_eagle_default')
-          builds["eagle (qurt)"] = createBuildNodeDockerLogin(docker_snapdragon, 'docker_hub_dagar', 'qurt_eagle_default')
-
-          // posix_sitl_default with package
-          builds["sitl"] = {
-            node {
-              stage("Build Test sitl") {
-                docker.image(docker_ros).inside('-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE') {
-                  stage("sitl") {
-                    checkout scm
-                    sh "export"
-                    sh "make distclean"
-                    sh "ccache -z"
-                    sh "make posix_sitl_default"
-                    sh "make posix_sitl_default sitl_gazebo"
-                    sh "make posix_sitl_default package"
-                    sh "ccache -s"
-                    stash name: "px4_sitl_package", includes: "build/posix_sitl_default/*.bz2"
-                    sh "make distclean"
+            builds["${node_name}"] = {
+              node {
+                stage("Build Test ${node_name}") {
+                  docker.image('px4io/px4-dev-nuttx:2017-10-23').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
+                    stage("${node_name}") {
+                      checkout scm
+                      sh "make clean"
+                      sh "ccache -z"
+                      sh "make nuttx_${node_name}_default"
+                      sh "make sizes"
+                      sh "ccache -s"
+                    }
                   }
                 }
               }
             }
           }
 
-          // MAC OS posix_sitl_default
-          builds["sitl (OSX)"] = {
-            node("mac") {
-              withEnv(["CCACHE_BASEDIR=${pwd()}"]) {
-                stage("sitl (OSX)") {
-                  checkout scm
-                  sh "export"
-                  sh "make distclean"
-                  sh "ccache -z"
-                  sh "make posix_sitl_default"
-                  sh "ccache -s"
-                  sh "make distclean"
+
+          // posix_sitl
+          for (def option in ["sitl_default", "sitl_rtps"]) {
+            def node_name = "${option}"
+
+            builds["${node_name}"] = {
+              node {
+                stage("Build Test ${node_name}") {
+                  docker.image('px4io/px4-dev-base:2017-10-23').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
+                    stage("${node_name}") {
+                      checkout scm
+                      sh "make clean"
+                      sh "ccache -z"
+                      sh "make posix_${node_name}"
+                      sh "ccache -s"
+                    }
+                  }
                 }
               }
             }
           }
 
-          // MAC OS nuttx_px4fmu-v4pro_default
-          builds["px4fmu-v4pro (OSX)"] = {
-            node("mac") {
-              withEnv(["CCACHE_BASEDIR=${pwd()}"]) {
-                stage("px4fmu-v4pro (OSX)") {
-                  checkout scm
-                  sh "export"
-                  sh "make distclean"
-                  sh "ccache -z"
-                  sh "make nuttx_px4fmu-v4pro_default"
-                  sh "ccache -s"
-                  sh "make distclean"
+
+          // raspberry pi and bebop (armhf)
+          for (def option in ["rpi_cross", "bebop_default"]) {
+            def node_name = "${option}"
+
+            builds["${node_name}"] = {
+              node {
+                stage("Build Test ${node_name}") {
+                  docker.image('px4io/px4-dev-raspi:2017-10-23').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
+                    stage("${node_name}") {
+                      checkout scm
+                      sh "make clean"
+                      sh "ccache -z"
+                      sh "make posix_${node_name}"
+                      sh "ccache -s"
+                    }
+                  }
+                }
+              }
+            }
+          }
+
+
+          // other armhf (to be merged with raspi and bebop)
+          for (def option in ["ocpoc_ubuntu"]) {
+            def node_name = "${option}"
+
+            builds["${node_name}"] = {
+              node {
+                stage("Build Test ${node_name}") {
+                  docker.image('px4io/px4-dev-armhf:2017-10-23').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
+                    stage("${node_name}") {
+                      checkout scm
+                      sh "make clean"
+                      sh "ccache -z"
+                      sh "make posix_${node_name}"
+                      sh "ccache -s"
+                    }
+                  }
+                }
+              }
+            }
+          }
+
+
+          // snapdragon eagle (posix + qurt)
+          for (def option in ["eagle_default"]) {
+            def node_name = "${option}"
+
+            builds["${node_name}"] = {
+              node {
+                stage("Build Test ${node_name}") {
+                  docker.withRegistry('https://registry.hub.docker.com', 'docker_hub_dagar') {
+                    docker.image("lorenzmeier/px4-dev-snapdragon:2017-10-23").inside {
+                      stage("${node_name}") {
+                        checkout scm
+                        sh "make clean"
+                        sh "ccache -z"
+                        sh "make ${node_name}"
+                        sh "ccache -s"
+                      }
+                    }
+                  }
+                }
+              }
+            }
+          }
+
+
+          // GCC7 posix
+          for (def option in ["sitl_default"]) {
+            def node_name = "${option}"
+
+            builds["${node_name} (GCC7)"] = {
+              node {
+                stage("Build Test ${node_name} (GCC7)") {
+                  docker.image('px4io/px4-dev-base-archlinux:2017-12-08').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
+                    stage("${node_name}") {
+                      checkout scm
+                      sh "make clean"
+                      sh "ccache -z"
+                      sh "make posix_${node_name}"
+                      sh "ccache -s"
+                    }
+                  }
+                }
+              }
+            }
+          }
+
+          // GCC7 nuttx
+          for (def option in ["px4fmu-v5_default"]) {
+            def node_name = "${option}"
+
+            builds["${node_name} (GCC7)"] = {
+              node {
+                stage("Build Test ${node_name} (GCC7)") {
+                  docker.image('px4io/px4-dev-base-archlinux:2017-12-08').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
+                    stage("${node_name}") {
+                      checkout scm
+                      sh "make clean"
+                      sh "ccache -z"
+                      sh "make nuttx_${node_name}"
+                      sh "ccache -s"
+                    }
+                  }
                 }
               }
             }
           }
 
           parallel builds
-        } // script
-      } // steps
-    } // stage Builds
+        }
+      }
+    }
 
     stage('Test') {
       parallel {
 
-        stage('Style Check') {
+        stage('check style') {
           agent {
-            docker { image 'px4io/px4-dev-base:2018-03-30' }
+            docker {
+              image 'px4io/px4-dev-base:2017-10-23'
+              args '-e CI=true'
+            }
           }
-
           steps {
             sh 'make check_format'
           }
@@ -153,13 +262,12 @@ pipeline {
         stage('clang analyzer') {
           agent {
             docker {
-              image 'px4io/px4-dev-clang:2018-03-30'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+              image 'px4io/px4-dev-clang:2017-10-23'
+              args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw'
             }
           }
           steps {
-            sh 'export'
-            sh 'make distclean'
+            sh 'make clean'
             sh 'make scan-build'
             // publish html
             publishHTML target: [
@@ -171,29 +279,19 @@ pipeline {
               reportFiles: '*',
               reportName: 'Clang Static Analyzer'
             ]
-            sh 'make distclean'
-          }
-          when {
-            anyOf {
-              branch 'master'
-              branch 'beta'
-              branch 'stable'
-            }
           }
         }
 
         stage('clang tidy') {
           agent {
             docker {
-              image 'px4io/px4-dev-clang:2018-03-30'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+              image 'px4io/px4-dev-clang:2017-10-23'
+              args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw'
             }
           }
           steps {
-            sh 'export'
-            sh 'make distclean'
+            sh 'make clean'
             sh 'make clang-tidy-quiet'
-            sh 'make distclean'
           }
         }
 
@@ -201,12 +299,11 @@ pipeline {
           agent {
             docker {
               image 'px4io/px4-dev-base:ubuntu17.10'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+              args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw'
             }
           }
           steps {
-            sh 'export'
-            sh 'make distclean'
+            sh 'make clean'
             sh 'make cppcheck'
             // publish html
             publishHTML target: [
@@ -218,414 +315,45 @@ pipeline {
               reportFiles: '*',
               reportName: 'Cppcheck'
             ]
-            sh 'make distclean'
-          }
-          when {
-            anyOf {
-              branch 'master'
-              branch 'beta'
-              branch 'stable'
-            }
           }
         }
 
         stage('tests') {
           agent {
             docker {
-              image 'px4io/px4-dev-base:2018-03-30'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+              image 'px4io/px4-dev-base:2017-10-23'
+              args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw'
             }
           }
           steps {
-            sh 'export'
-            sh 'make distclean'
+            sh 'make clean'
             sh 'make posix_sitl_default test_results_junit'
             junit 'build/posix_sitl_default/JUnitTestResults.xml'
-            sh 'make distclean'
           }
         }
 
-        stage('test mission (code coverage)') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-ros:2018-03-30'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
-            }
-          }
-          steps {
-            sh 'export'
-            sh 'make distclean; rm -rf .ros; rm -rf .gazebo'
-            sh 'make tests_mission_coverage'
-            withCredentials([string(credentialsId: 'FIRMWARE_CODECOV_TOKEN', variable: 'CODECOV_TOKEN')]) {
-              sh 'curl -s https://codecov.io/bash | bash -s'
-            }
-            sh 'make distclean'
-          }
-        }
-
-        // TODO: PX4 requires clean shutdown first
-        // stage('tests (address sanitizer)') {
-        //   agent {
-        //     docker {
-        //       image 'px4io/px4-dev-base:2018-03-30'
-        //       args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-        //     }
-        //   }
-        //   environment {
-        //       PX4_ASAN = 1
-        //       ASAN_OPTIONS = "color=always:check_initialization_order=1:detect_stack_use_after_return=1"
-        //   }
-        //   steps {
-        //     sh 'export'
-        //     sh 'make distclean'
-        //     sh 'make tests'
-        //     sh 'make distclean'
-        //   }
-        // }
-
-        // TODO: test and re-enable once GDB is available in px4-dev-ros
-        // stage('tests (code coverage)') {
-        //   agent {
-        //     docker {
-        //       image 'px4io/px4-dev-ros:2018-03-30'
-        //       args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-        //     }
-        //   }
-        //   steps {
-        //     sh 'export'
-        //     sh 'make distclean'
-        //     sh 'ulimit -c unlimited; make tests_coverage'
-        //     sh 'ls'
-        //     withCredentials([string(credentialsId: 'FIRMWARE_CODECOV_TOKEN', variable: 'CODECOV_TOKEN')]) {
-        //       sh 'curl -s https://codecov.io/bash | bash -s'
-        //     }
-        //     sh 'make distclean'
-        //   }
-        //   post {
-        //     failure {
-        //       sh('find . -name core')
-        //       sh('gdb --batch --quiet -ex "thread apply all bt full" -ex "quit" build/posix_sitl_default/px4 core')
-        //     }
-        //   }
-        // }
-
-        stage('check stack') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-nuttx:2018-03-30'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-            }
-          }
-          steps {
-            sh 'export'
-            sh 'make distclean'
-            sh 'make px4fmu-v2_default stack_check'
-            sh 'make distclean'
-          }
-        }
-
-        stage('ROS vtol standard mission') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-ros:2018-03-30'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
-            }
-          }
-          options {
-            skipDefaultCheckout()
-          }
-          steps {
-            sh 'export'
-            sh 'rm -rf build; rm -rf px4-posix_sitl_default*; rm -rf .ros; rm -rf .gazebo'
-            unstash 'px4_sitl_package'
-            sh 'tar -xjpvf build/posix_sitl_default/px4-posix_sitl_default*.bz2'
-            sh 'px4-posix_sitl_default*/px4/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_new_1 vehicle:=standard_vtol'
-            sh 'px4-posix_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
-          }
-          post {
-            always {
-              sh 'px4-posix_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
-              archiveArtifacts '.ros/**/*.pdf'
-              archiveArtifacts '.ros/**/*.csv'
-              deleteDir()
-            }
-            failure {
-              sh 'ls -a'
-              archiveArtifacts '.ros/**/*.ulg'
-              archiveArtifacts '.ros/**/rosunit-*.xml'
-              archiveArtifacts '.ros/**/rostest-*.log'
-            }
-          }
-        }
-
-        stage('ROS vtol tailsitter mission') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-ros:2018-03-30'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
-            }
-          }
-          options {
-            skipDefaultCheckout()
-          }
-          steps {
-            sh 'export'
-            sh 'rm -rf build; rm -rf px4-posix_sitl_default*; rm -rf .ros; rm -rf .gazebo'
-            unstash 'px4_sitl_package'
-            sh 'tar -xjpvf build/posix_sitl_default/px4-posix_sitl_default*.bz2'
-            sh 'px4-posix_sitl_default*/px4/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_new_1 vehicle:=tailsitter'
-            sh 'px4-posix_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
-          }
-          post {
-            always {
-              sh 'px4-posix_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
-              archiveArtifacts '.ros/**/*.pdf'
-              archiveArtifacts '.ros/**/*.csv'
-              deleteDir()
-            }
-            failure {
-              sh 'ls -a'
-              archiveArtifacts '.ros/**/*.ulg'
-              archiveArtifacts '.ros/**/rosunit-*.xml'
-              archiveArtifacts '.ros/**/rostest-*.log'
-            }
-          }
-        }
-
-        stage('ROS vtol tiltrotor mission') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-ros:2018-03-30'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
-            }
-          }
-          options {
-            skipDefaultCheckout()
-          }
-          steps {
-            sh 'export'
-            sh 'rm -rf build; rm -rf px4-posix_sitl_default*; rm -rf .ros; rm -rf .gazebo'
-            unstash 'px4_sitl_package'
-            sh 'tar -xjpvf build/posix_sitl_default/px4-posix_sitl_default*.bz2'
-            sh 'px4-posix_sitl_default*/px4/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_new_1 vehicle:=tiltrotor'
-            sh 'px4-posix_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
-          }
-          post {
-            always {
-              sh 'px4-posix_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
-              archiveArtifacts '.ros/**/*.pdf'
-              archiveArtifacts '.ros/**/*.csv'
-              deleteDir()
-            }
-            failure {
-              sh 'ls -a'
-              archiveArtifacts '.ros/**/*.ulg'
-              archiveArtifacts '.ros/**/rosunit-*.xml'
-              archiveArtifacts '.ros/**/rostest-*.log'
-            }
-          }
-        }
-
-        stage('ROS vtol mission new 2') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-ros:2018-03-30'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
-            }
-          }
-          options {
-            skipDefaultCheckout()
-          }
-          steps {
-            sh 'export'
-            sh 'rm -rf build; rm -rf px4-posix_sitl_default*; rm -rf .ros; rm -rf .gazebo'
-            unstash 'px4_sitl_package'
-            sh 'tar -xjpvf build/posix_sitl_default/px4-posix_sitl_default*.bz2'
-            sh 'px4-posix_sitl_default*/px4/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_new_2 vehicle:=standard_vtol'
-            sh 'px4-posix_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
-          }
-          post {
-            always {
-              sh 'px4-posix_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
-              archiveArtifacts '.ros/**/*.pdf'
-              archiveArtifacts '.ros/**/*.csv'
-              deleteDir()
-            }
-            failure {
-              sh 'ls -a'
-              archiveArtifacts '.ros/**/*.ulg'
-              archiveArtifacts '.ros/**/rosunit-*.xml'
-              archiveArtifacts '.ros/**/rostest-*.log'
-            }
-          }
-        }
-
-        stage('ROS vtol mission old 1') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-ros:2018-03-30'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
-            }
-          }
-          options {
-            skipDefaultCheckout()
-          }
-          steps {
-            sh 'export'
-            sh 'rm -rf build; rm -rf px4-posix_sitl_default*; rm -rf .ros; rm -rf .gazebo'
-            unstash 'px4_sitl_package'
-            sh 'tar -xjpvf build/posix_sitl_default/px4-posix_sitl_default*.bz2'
-            sh 'px4-posix_sitl_default*/px4/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_old_1 vehicle:=standard_vtol'
-            sh 'px4-posix_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
-          }
-          post {
-            always {
-              sh 'px4-posix_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
-              archiveArtifacts '.ros/**/*.pdf'
-              archiveArtifacts '.ros/**/*.csv'
-              deleteDir()
-            }
-            failure {
-              sh 'ls -a'
-              archiveArtifacts '.ros/**/*.ulg'
-              archiveArtifacts '.ros/**/rosunit-*.xml'
-              archiveArtifacts '.ros/**/rostest-*.log'
-            }
-          }
-        }
-
-        stage('ROS vtol mission old 2') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-ros:2018-03-30'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
-            }
-          }
-          options {
-            skipDefaultCheckout()
-          }
-          steps {
-            sh 'export'
-            sh 'rm -rf build; rm -rf px4-posix_sitl_default*; rm -rf .ros; rm -rf .gazebo'
-            unstash 'px4_sitl_package'
-            sh 'tar -xjpvf build/posix_sitl_default/px4-posix_sitl_default*.bz2'
-            sh 'px4-posix_sitl_default*/px4/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_old_2 vehicle:=standard_vtol'
-            sh 'px4-posix_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
-          }
-          post {
-            always {
-              sh 'px4-posix_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
-              archiveArtifacts '.ros/**/*.pdf'
-              archiveArtifacts '.ros/**/*.csv'
-              deleteDir()
-            }
-            failure {
-              sh 'ls -a'
-              archiveArtifacts '.ros/**/*.ulg'
-              archiveArtifacts '.ros/**/rosunit-*.xml'
-              archiveArtifacts '.ros/**/rostest-*.log'
-            }
-          }
-        }
-
-        stage('ROS MC mission box') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-ros:2018-03-30'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
-            }
-          }
-          options {
-            skipDefaultCheckout()
-          }
-          steps {
-            sh 'export'
-            sh 'rm -rf build; rm -rf px4-posix_sitl_default*; rm -rf .ros; rm -rf .gazebo'
-            unstash 'px4_sitl_package'
-            sh 'tar -xjpvf build/posix_sitl_default/px4-posix_sitl_default*.bz2'
-            sh 'px4-posix_sitl_default*/px4/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=multirotor_box vehicle:=iris'
-            sh 'px4-posix_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
-          }
-          post {
-            always {
-              sh 'px4-posix_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
-              archiveArtifacts '.ros/**/*.pdf'
-              archiveArtifacts '.ros/**/*.csv'
-              deleteDir()
-            }
-            failure {
-              sh 'ls -a'
-              archiveArtifacts '.ros/**/*.ulg'
-              archiveArtifacts '.ros/**/rosunit-*.xml'
-              archiveArtifacts '.ros/**/rostest-*.log'
-            }
-          }
-        }
-
-        stage('ROS offboard att') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-ros:2018-03-30'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
-            }
-          }
-          options {
-            skipDefaultCheckout()
-          }
-          steps {
-            sh 'export'
-            sh 'rm -rf build; rm -rf px4-posix_sitl_default*; rm -rf .ros; rm -rf .gazebo'
-            unstash 'px4_sitl_package'
-            sh 'tar -xjpvf build/posix_sitl_default/px4-posix_sitl_default*.bz2'
-            sh 'px4-posix_sitl_default*/px4/test/rostest_px4_run.sh mavros_posix_tests_offboard_attctl.test'
-            sh 'px4-posix_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
-          }
-          post {
-            always {
-              sh 'px4-posix_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
-              archiveArtifacts '.ros/**/*.pdf'
-              archiveArtifacts '.ros/**/*.csv'
-              deleteDir()
-            }
-            failure {
-              sh 'ls -a'
-              archiveArtifacts '.ros/**/*.ulg'
-              archiveArtifacts '.ros/**/rosunit-*.xml'
-              archiveArtifacts '.ros/**/rostest-*.log'
-            }
-          }
-        }
-
-        stage('ROS offboard pos') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-ros:2018-03-30'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
-            }
-          }
-          steps {
-            sh 'export'
-            sh 'rm -rf build; rm -rf px4-posix_sitl_default*; rm -rf .ros; rm -rf .gazebo'
-            unstash 'px4_sitl_package'
-            sh 'tar -xjpvf build/posix_sitl_default/px4-posix_sitl_default*.bz2'
-            sh 'px4-posix_sitl_default*/px4/test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test'
-            sh 'px4-posix_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
-          }
-          post {
-            always {
-              sh 'px4-posix_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
-              archiveArtifacts '.ros/**/*.pdf'
-              archiveArtifacts '.ros/**/*.csv'
-              deleteDir()
-            }
-            failure {
-              sh 'ls -a'
-              archiveArtifacts '.ros/**/*.ulg'
-              archiveArtifacts '.ros/**/rosunit-*.xml'
-              archiveArtifacts '.ros/**/rostest-*.log'
-            }
-          }
-        }
+        // temporarily disabled until stable
+        //stage('tests coverage') {
+        //  agent {
+        //    docker {
+        //      image 'px4io/px4-dev-base:2017-10-23'
+        //      args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw'
+        //    }
+        //  }
+        //  steps {
+        //    sh 'make clean'
+        //    sh 'make tests_coverage'
+        //    // publish html
+        //    publishHTML target: [
+        //      allowMissing: false,
+        //      alwaysLinkToLastBuild: false,
+        //      keepAll: true,
+        //      reportDir: 'build/posix_sitl_default/coverage-html',
+        //      reportFiles: '*',
+        //      reportName: 'Coverage Report'
+        //    ]
+        //  }
+        //}
 
       }
     }
@@ -636,66 +364,41 @@ pipeline {
 
         stage('airframe') {
           agent {
-            docker { image 'px4io/px4-dev-base:2018-03-30' }
+            docker { image 'px4io/px4-dev-base:2017-10-23' }
           }
           steps {
-            sh 'make distclean'
             sh 'make airframe_metadata'
             archiveArtifacts(artifacts: 'airframes.md, airframes.xml', fingerprint: true)
-            sh 'make distclean'
           }
         }
 
         stage('parameter') {
           agent {
-            docker { image 'px4io/px4-dev-base:2018-03-30' }
+            docker { image 'px4io/px4-dev-base:2017-10-23' }
           }
           steps {
-            sh 'make distclean'
             sh 'make parameters_metadata'
             archiveArtifacts(artifacts: 'parameters.md, parameters.xml', fingerprint: true)
-            sh 'make distclean'
           }
         }
 
         stage('module') {
           agent {
-            docker { image 'px4io/px4-dev-base:2018-03-30' }
+            docker { image 'px4io/px4-dev-base:2017-10-23' }
           }
           steps {
-            sh 'make distclean'
             sh 'make module_documentation'
             archiveArtifacts(artifacts: 'modules/*.md', fingerprint: true)
-            sh 'make distclean'
-          }
-        }
-
-        stage('uorb graphs') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-nuttx:2018-03-30'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-            }
-          }
-          steps {
-            sh 'export'
-            sh 'make distclean'
-            sh 'make uorb_graphs'
-            archiveArtifacts(artifacts: 'Tools/uorb_graph/graph_sitl.json')
-            sh 'make distclean'
           }
         }
       }
     }
 
-    // TODO: actually upload artifacts to S3
     stage('S3 Upload') {
       agent {
-        docker { image 'px4io/px4-dev-base:2018-03-30' }
-      }
-      options {
-            skipDefaultCheckout()
+        docker { image 'px4io/px4-dev-base:2017-10-23' }
       }
+
       when {
         anyOf {
           branch 'master'
@@ -703,81 +406,15 @@ pipeline {
           branch 'stable'
         }
       }
+
       steps {
         sh 'echo "uploading to S3"'
       }
     }
-  } // stages
-
-  environment {
-    CCACHE_DIR = '/tmp/ccache'
-    CI = true
   }
+
   options {
-    buildDiscarder(logRotator(numToKeepStr: '10', artifactDaysToKeepStr: '30'))
+    buildDiscarder(logRotator(numToKeepStr: '5'))
     timeout(time: 60, unit: 'MINUTES')
   }
 }
-
-def createBuildNode(String docker_repo, String target) {
-  return {
-    node {
-      docker.image(docker_repo).inside('-e CCACHE_BASEDIR=${WORKSPACE} -v ${CCACHE_DIR}:${CCACHE_DIR}:rw') {
-        stage(target) {
-          sh('export')
-          checkout scm
-          sh('make distclean')
-          sh('git fetch --tags')
-          sh('ccache -z')
-          sh('make ' + target)
-          sh('ccache -s')
-          sh('make sizes')
-          sh('make distclean')
-        }
-      }
-    }
-  }
-}
-
-def createBuildNodeArchive(String docker_repo, String target) {
-  return {
-    node {
-      docker.image(docker_repo).inside('-e CCACHE_BASEDIR=${WORKSPACE} -v ${CCACHE_DIR}:${CCACHE_DIR}:rw') {
-        stage(target) {
-          sh('export')
-          checkout scm
-          sh('make distclean')
-          sh('git fetch --tags')
-          sh('ccache -z')
-          sh('make ' + target)
-          sh('ccache -s')
-          sh('make sizes')
-          archiveArtifacts(allowEmptyArchive: false, artifacts: 'build/**/*.px4, build/**/*.elf, build/**/*.bin', fingerprint: true, onlyIfSuccessful: true)
-          sh('make distclean')
-        }
-      }
-    }
-  }
-}
-
-def createBuildNodeDockerLogin(String docker_repo, String docker_credentials, String target) {
-  return {
-    node {
-      docker.withRegistry('https://registry.hub.docker.com', docker_credentials) {
-        docker.image(docker_repo).inside('-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw') {
-          stage(target) {
-            sh('export')
-            checkout scm
-            sh('make distclean')
-            sh('git fetch --tags')
-            sh('ccache -z')
-            sh('make ' + target)
-            sh('ccache -s')
-            sh('make sizes')
-            sh('make distclean')
-          }
-        }
-      }
-    }
-  }
-}

LICENSE

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

Makefile

@@ -120,18 +120,17 @@ endif
 # --------------------------------------------------------------------
 # describe how to build a cmake config
 define cmake-build
-+@$(eval PX4_CONFIG = $(1))
-+@$(eval BUILD_DIR = $(SRC_DIR)/build/$(PX4_CONFIG)$(BUILD_DIR_SUFFIX))
++@$(eval BUILD_DIR = $(SRC_DIR)/build/$@$(BUILD_DIR_SUFFIX))
 +@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(BUILD_DIR)/Makefile ]; then rm -rf $(BUILD_DIR); fi
-+@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ]; then mkdir -p $(BUILD_DIR) && cd $(BUILD_DIR) && cmake $(SRC_DIR) -G"$(PX4_CMAKE_GENERATOR)" $(CMAKE_ARGS) -DCONFIG=$(PX4_CONFIG) || (rm -rf $(BUILD_DIR)); fi
-+@$(PX4_MAKE) -C $(BUILD_DIR) $(PX4_MAKE_ARGS) $(ARGS)
++@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ]; then mkdir -p $(BUILD_DIR) && cd $(BUILD_DIR) && cmake $(2) -G"$(PX4_CMAKE_GENERATOR)" $(CMAKE_ARGS) -DCONFIG=$(1) || (rm -rf $(BUILD_DIR)); fi
++@(cd $(BUILD_DIR) && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
 endef
 
-COLOR_BLUE = \033[0;94m
+COLOR_BLUE = \033[0;34m
 NO_COLOR   = \033[m
 
 define colorecho
-+@echo -e '${COLOR_BLUE}${1} ${NO_COLOR}'
++@echo "${COLOR_BLUE}${1} ${NO_COLOR}"
 endef
 
 # Get a list of all config targets cmake/configs/*.cmake
@@ -145,13 +144,13 @@ NUTTX_CONFIG_TARGETS := $(patsubst nuttx_%,%,$(filter nuttx_%,$(ALL_CONFIG_TARGE
 
 # All targets.
 $(ALL_CONFIG_TARGETS):
-	$(call cmake-build,$@)
+	$(call cmake-build,$@,$(SRC_DIR))
 
 # Abbreviated config targets.
 
 # nuttx_ is left off by default; provide a rule to allow that.
 $(NUTTX_CONFIG_TARGETS):
-	$(call cmake-build,nuttx_$@)
+	$(call cmake-build,nuttx_$@,$(SRC_DIR))
 
 all_nuttx_targets: $(NUTTX_CONFIG_TARGETS)
 
@@ -219,7 +218,7 @@ check_rtps: \
 	check_posix_sitl_rtps \
 	sizes
 
-.PHONY: sizes check quick_check check_rtps uorb_graphs
+.PHONY: sizes check quick_check check_rtps
 
 sizes:
 	@-find build -name *.elf -type f | xargs size 2> /dev/null || :
@@ -232,18 +231,10 @@ quick_check: check_posix_sitl_default check_px4fmu-v4pro_default tests check_for
 
 check_%:
 	@echo
-	$(call colorecho,'Building' $(subst check_,,$@))
+	$(call colorecho,"Building" $(subst check_,,$@))
 	@$(MAKE) --no-print-directory $(subst check_,,$@)
 	@echo
 
-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
-
-
 .PHONY: coverity_scan
 
 coverity_scan: posix_sitl_default
@@ -253,8 +244,8 @@ coverity_scan: posix_sitl_default
 .PHONY: parameters_metadata airframe_metadata module_documentation px4_metadata
 
 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
+	@python $(SRC_DIR)/src/modules/systemlib/param/px_process_params.py -s `find $(SRC_DIR)/src -maxdepth 3 -type d` --inject-xml $(SRC_DIR)/src/modules/systemlib/param/parameters_injected.xml --markdown
+	@python $(SRC_DIR)/src/modules/systemlib/param/px_process_params.py -s `find $(SRC_DIR)/src -maxdepth 3 -type d` --inject-xml $(SRC_DIR)/src/modules/systemlib/param/parameters_injected.xml --xml
 
 airframe_metadata:
 	@python $(SRC_DIR)/Tools/px_process_airframes.py -v -a $(SRC_DIR)/ROMFS/px4fmu_common/init.d --markdown
@@ -270,17 +261,17 @@ px4_metadata: parameters_metadata airframe_metadata module_documentation
 .PHONY: check_format format
 
 check_format:
-	$(call colorecho,'Checking formatting with astyle')
+	$(call colorecho,"Checking formatting with astyle")
 	@$(SRC_DIR)/Tools/astyle/check_code_style_all.sh
 	@cd $(SRC_DIR) && git diff --check
 
 format:
-	$(call colorecho,'Formatting with astyle')
+	$(call colorecho,"Formatting with astyle")
 	@$(SRC_DIR)/Tools/astyle/check_code_style_all.sh --fix
 
 # Testing
 # --------------------------------------------------------------------
-.PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard rostest
+.PHONY: tests tests_coverage
 
 tests:
 	@$(MAKE) --no-print-directory posix_sitl_default test_results \
@@ -288,30 +279,12 @@ tests:
 	UBSAN_OPTIONS="color=always"
 
 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"
 
-rostest: posix_sitl_default
-	@$(MAKE) --no-print-directory posix_sitl_default sitl_gazebo
-
-tests_mission: rostest
-	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_missions.test
-
-tests_mission_coverage:
-	@$(MAKE) clean
-	@$(MAKE) --no-print-directory posix_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage
-	@$(MAKE) --no-print-directory posix_sitl_default sitl_gazebo PX4_CMAKE_BUILD_TYPE=Coverage
-	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_new_1 vehicle:=standard_vtol
-	@$(MAKE) --no-print-directory posix_sitl_default generate_coverage
-
-tests_offboard: rostest
-	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_offboard_attctl.test
-	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test
-
 # static analyzers (scan-build, clang-tidy, cppcheck)
 # --------------------------------------------------------------------
-.PHONY: scan-build posix_sitl_default-clang clang-tidy clang-tidy-fix clang-tidy-quiet cppcheck
+.PHONY: scan-build posix_sitl_default-clang clang-tidy clang-tidy-fix clang-tidy-quiet cppcheck check_stack
 
 scan-build:
 	@export CCC_CC=clang
@@ -329,12 +302,12 @@ posix_sitl_default-clang:
 	@$(PX4_MAKE) -C $(SRC_DIR)/build/posix_sitl_default-clang
 
 clang-tidy: posix_sitl_default-clang
-	@cd $(SRC_DIR)/build/posix_sitl_default-clang && $(SRC_DIR)/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j) -p .
+	@cd $(SRC_DIR)/build/posix_sitl_default-clang && run-clang-tidy-4.0.py -header-filter=".*\.hpp" -j$(j) -p .
 
 # to automatically fix a single check at a time, eg modernize-redundant-void-arg
 #  % run-clang-tidy-4.0.py -fix -j4 -checks=-\*,modernize-redundant-void-arg -p .
 clang-tidy-fix: posix_sitl_default-clang
-	@cd $(SRC_DIR)/build/posix_sitl_default-clang && $(SRC_DIR)/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j) -fix -p .
+	@cd $(SRC_DIR)/build/posix_sitl_default-clang && run-clang-tidy-4.0.py -header-filter=".*\.hpp" -j$(j) -fix -p .
 
 # modified version of run-clang-tidy.py to return error codes and only output relevant results
 clang-tidy-quiet: posix_sitl_default-clang
@@ -346,6 +319,16 @@ cppcheck: posix_sitl_default
 	@cppcheck -i$(SRC_DIR)/src/examples --enable=performance --std=c++11 --std=c99 --std=posix --project=$(SRC_DIR)/build/posix_sitl_default/compile_commands.json --xml-version=2 2> $(SRC_DIR)/build/cppcheck/cppcheck-result.xml > /dev/null
 	@cppcheck-htmlreport --source-encoding=ascii --file=$(SRC_DIR)/build/cppcheck/cppcheck-result.xml --report-dir=$(SRC_DIR)/build/cppcheck --source-dir=$(SRC_DIR)/src/
 
+check_stack: px4fmu-v4pro_default
+	@echo "Checking worst case stack usage with checkstack.pl ..."
+	@echo " "
+	@echo "Top 10:"
+	@cd $(SRC_DIR)/build/px4fmu-v4pro_default && mkdir -p stack_usage && arm-none-eabi-objdump -d nuttx_px4fmu-v4pro_default.elf | $(SRC_DIR)/Tools/stack_usage/checkstack.pl arm 0 > stack_usage/checkstack_output.txt 2> stack_usage/checkstack_errors.txt
+	@head -n 10 $(SRC_DIR)/build/px4fmu-v4pro_default/stack_usage/checkstack_output.txt | c++filt
+	@echo " "
+	@echo "Symbols with 'main', 'thread' or 'task':"
+	@cat $(SRC_DIR)/build/px4fmu-v4pro_default/stack_usage/checkstack_output.txt | c++filt | grep -E 'thread|main|task'
+
 # Cleanup
 # --------------------------------------------------------------------
 .PHONY: clean submodulesclean submodulesupdate gazeboclean distclean
@@ -367,8 +350,7 @@ submodulesupdate:
 gazeboclean:
 	@rm -rf ~/.gazebo/*
 
-distclean: gazeboclean
-	@git submodule deinit -f .
+distclean: submodulesclean gazeboclean
 	@git clean -ff -x -d -e ".project" -e ".cproject" -e ".idea" -e ".settings" -e ".vscode"
 
 # --------------------------------------------------------------------

README.md

@@ -1,46 +1,38 @@
-# PX4 Pro Drone Autopilot
+## PX4 Pro 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)
+[![Releases](https://img.shields.io/github/release/PX4/Firmware.svg)](https://github.com/PX4/Firmware/releases) [![DOI](https://zenodo.org/badge/22634/PX4/Firmware.svg)](https://zenodo.org/badge/latestdoi/22634/PX4/Firmware) [![Build Status](https://travis-ci.org/PX4/Firmware.svg?branch=master)](https://travis-ci.org/PX4/Firmware) [![Coverity Scan](https://scan.coverity.com/projects/3966/badge.svg?flat=1)](https://scan.coverity.com/projects/3966?tab=overview)
 
 [![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.
 
-* Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/Firmware/blob/master/LICENSE))
-* [Supported airframes](https://docs.px4.io/en/airframes/airframe_reference.html) ([portfolio](http://px4.io/#airframes)):
-  * [Multicopters](https://docs.px4.io/en/airframes/airframe_reference.html#copter)
-  * [Fixed wing](https://docs.px4.io/en/airframes/airframe_reference.html#plane)
-  * [VTOL](https://docs.px4.io/en/airframes/airframe_reference.html#vtol)
-  * many more experimental types (Rovers, Blimps, Boats, Submarines, etc)
-* Releases: [Downloads](https://github.com/PX4/Firmware/releases)
-
-
-## PX4 Users
-
-The [PX4 User Guide](https://docs.px4.io/en/) explains how to assemble [supported vehicles](https://docs.px4.io/en/airframes/airframe_reference.html) and fly drones with PX4. 
-See the [forum and chat](https://docs.px4.io/en/#support) if you need help!
-
-
-## PX4 Developers
-
-This [Developer Guide](https://dev.px4.io/) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.
-
-Developers should read the [Guide for Contributions](https://dev.px4.io/en/contribute/).
-See the [forum and chat](https://dev.px4.io/en/#support) if you need help!
+  * Official Website: http://px4.io (License: BSD 3-clause, [LICENSE.md](https://github.com/PX4/Firmware/blob/master/LICENSE.md))
+  * Supported airframes:
+    * [Multicopters](http://px4.io/portfolio_category/multicopter/)
+    * [Fixed wing](http://px4.io/portfolio_category/plane/)
+    * [VTOL](http://px4.io/portfolio_category/vtol/)
+    * many more experimental types (Rovers, Blimps, Boats, Submarines, etc)
+  * Releases: [Downloads](https://github.com/PX4/Firmware/releases)
 
+Please refer to the [user documentation](https://docs.px4.io/en/) and [user forum](http://discuss.px4.io) for flying drones with the PX4 flight stack.
 
 ### Weekly Dev Call
 
-The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/en/contribute/#dev_call).
+The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/en/contribute/).
 
-> **Note** The dev call is open to all interested developers (not just the core dev team). This is a great opportunity to meet the team and contribute to the ongoing development of the platform. It includes a QA session for newcomers. All regular calls are listed in the [Dronecode calendar](https://www.dronecode.org/calendar/).
+  * [Wednesday 17:00 Central European Time, 11:00 Eastern Time, 08:00 Pacific Standard Time](https://www.google.com/calendar/embed?src=bGludXhmb3VuZGF0aW9uLm9yZ19nMjF0dmFtMjRtN3BtN2poZXYwMWJ2bHFoOEBncm91cC5jYWxlbmRhci5nb29nbGUuY29t)
+  * [Uber conference (dial-in or web client)](https://www.uberconference.com/lf-dronecode)
+  * The agenda is announced in advance on the [PX4 Discuss](http://discuss.px4.io/c/weekly-dev-call)
+  * Issues and PRs may be labelled [devcall](https://github.com/PX4/Firmware/issues?q=is%3Aopen+is%3Aissue+label%3Adevcall) to flag them for discussion
 
+### Developers ###
+  * [Developer Guide](https://dev.px4.io/)
+    * [Build instructions](https://dev.px4.io/en/setup/building_px4.html)
+    * [Guide for Contributions](https://dev.px4.io/en/contribute/)
 
 ## Maintenance Team
 
-  * Project: Founder - [Lorenz Meier](https://github.com/LorenzMeier), Architecture: [Daniel Agar](https://github.com/dagar)
+  * Project / Founder - [Lorenz Meier](https://github.com/LorenzMeier)
     * [Dev Call](https://github.com/PX4/Firmware/labels/devcall) - [Ramon Roche](https://github.com/mrpollo)
   * Communication Architecture
     * [Beat Kueng](https://github.com/bkueng)
@@ -67,42 +59,40 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/en/contribut
   * Vision based navigation
     * [Christoph Tobler](https://github.com/ChristophTobler)
     * [Mohammed Kabir](https://github.com/mhkabir)
-  * Obstacle Avoidance - [Martina Rivizzigno](https://github.com/mrivi)
+  * Obstacle Avoidance - [Vilhjalmur Vilhjalmsson](https://github.com/vilhjalmur89)
   * [Snapdragon](https://github.com/PX4/Firmware/labels/snapdragon)
     * [Christoph Tobler](https://github.com/ChristophTobler)
+    * [Mark Charlebois](https://github.com/mcharleb)
   * [Intel Aero](https://github.com/PX4/Firmware/labels/intel%20aero)
     * [Sugnan Prabhu](https://github.com/sugnanprabhu)
     * [José Roberto de Souza](https://github.com/zehortigoza)
   * [Raspberry Pi / Navio](https://github.com/PX4/Firmware/labels/raspberry_pi) - [Beat Kueng](https://github.com/bkueng)
+  * [Parrot Bebop](https://github.com/PX4/Firmware/labels/bebop) - [Michael Schaeuble](https://github.com/eyeam3)
   * [Airmind MindPX / MindRacer](https://github.com/PX4/Firmware/labels/mindpx) - [Henry Zhang](https://github.com/iZhangHui)
   * RTPS/ROS2 Interface - [Vicente Monge](https://github.com/vicenteeprosima)
 
-See also [About Us](http://px4.io/about-us/#development_team) (px4.io) and the [contributors list](https://github.com/PX4/Firmware/graphs/contributors) (Github).
-
 ## Supported Hardware
 
 This repository contains code supporting these boards:
-  * [Snapdragon Flight](https://docs.px4.io/en/flight_controller/snapdragon_flight.html)
-  * [Intel Aero](https://docs.px4.io/en/flight_controller/intel_aero.html)
-  * [Raspberry PI with Navio 2](https://docs.px4.io/en/flight_controller/raspberry_pi_navio2.html)
+  * [Snapdragon Flight](https://dev.px4.io/en/flight_controller/snapdragon_flight.html)
+  * [Intel Aero](https://dev.px4.io/en/flight_controller/intel_aero.html)
+  * [Raspberry PI with Navio 2](https://dev.px4.io/en/flight_controller/raspberry_pi.html)
   * [Parrot Bebop 2](https://dev.px4.io/en/advanced/parrot_bebop.html)
   * FMUv2.x
-    * [Pixhawk](https://docs.px4.io/en/flight_controller/pixhawk.html)
-    * [Pixhawk Mini](https://docs.px4.io/en/flight_controller/pixhawk_mini.html)
-    * [Pixfalcon](https://docs.px4.io/en/flight_controller/pixfalcon.html)
+    * [Pixhawk](https://dev.px4.io/en/flight_controller/pixhawk.html)
+    * Pixhawk Mini
+    * [Pixfalcon](https://dev.px4.io/en/flight_controller/pixfalcon.html)
   * FMUv3.x [Pixhawk 2](https://pixhawk.org/modules/pixhawk2)
   * FMUv4.x
-    * [Pixracer](https://docs.px4.io/en/flight_controller/pixracer.html)
-    * [Pixhawk 3 Pro](https://docs.px4.io/en/flight_controller/pixhawk3_pro.html)
+    * [Pixracer](https://dev.px4.io/en/flight_controller/pixracer.html)
+    * Pixhawk 3 Pro
   * 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)
+  * STM32F4Discovery (basic support) [Tutorial](https://pixhawk.org/modules/stm32f4discovery)
+  * Gumstix AeroCore (v1 and v2)
   * [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
   * [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
-  * [Bitcraze Crazyflie 2.0](https://docs.px4.io/en/flight_controller/crazyflie2.html)
+  * [Bitcraze Crazyflie 2.0](https://dev.px4.io/en/flight_controller/crazyflie2.html)
 
-Additional information about supported hardware can be found in [PX4 user Guide > Autopilot Hardware](https://docs.px4.io/en/flight_controller/).
+## Project Milestones
 
-## Project Roadmap
-
-A high level project roadmap is available [here](https://www.dronecode.org/roadmap/).
+The PX4 software and Pixhawk hardware (which has been designed for it) has been created in 2011 by [Lorenz Meier](https://github.com/LorenzMeier).

ROMFS/CMakeLists.txt

@@ -1,76 +1,12 @@
-############################################################################
-#
-#   Copyright (c) 2018 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
 
 message(STATUS "ROMFS: ${config_romfs_root}")
 
-set(config_romfs_files_list)
+set(romfs_temp_dir ${PX4_BINARY_DIR}/ROMFS/${config_romfs_root})
 set(romfs_src_dir ${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root})
-set(romfs_temp_dir ${PX4_BINARY_DIR}/genromfs/${config_romfs_root})
-
-#=============================================================================
-#
-#	px4_add_romfs_files
-#
-#	This function builds a list of files to be included in the ROMFS.
-#
-#	Usage:
-#		px4_add_romfs_files(<list of files in current directory to be added to the project>)
-#
-#	Output:
-#		list config_romfs_files_list populated with a list of ROMFS src files including their full file path.
-#
-#	Example:
-#		px4_add_module(
-#			<ROMFS_file_1>
-#			<ROMFS_file_2>
-#			<ROMFS_file_3>
-#			)
-#
-function(px4_add_romfs_files)
-	foreach(arg IN LISTS ARGN)
-		list(APPEND config_romfs_files_list
-			${CMAKE_CURRENT_SOURCE_DIR}/${arg}
-			)
-	endforeach()
-
-	set(config_romfs_files_list ${config_romfs_files_list} CACHE INTERNAL "ROMFS file list")
-endfunction()
-
-# get list of all ROMFS files
-add_subdirectory(${romfs_src_dir})
 
 # directory setup
 # copy all romfs files, process airframes, prune comments
+file(GLOB_RECURSE init_airframes ${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root}/*/[1-9]*)
 add_custom_command(OUTPUT ${romfs_temp_dir}/init.d/rcS ${romfs_temp_dir}/init.d/rc.autostart
 	COMMAND cmake -E copy_directory ${romfs_src_dir} ${romfs_temp_dir}
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
@@ -80,8 +16,8 @@ add_custom_command(OUTPUT ${romfs_temp_dir}/init.d/rcS ${romfs_temp_dir}/init.d/
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py
 		--folder ${romfs_temp_dir} --board ${BOARD}
 	DEPENDS
-		${config_romfs_files_list}
-		${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py
+		${romfs_src_files}
+		${init_airframes}
 		${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root}/init.d/rcS
 		${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
 	)
@@ -92,29 +28,19 @@ list(APPEND romfs_dependencies
 	${romfs_temp_dir}/init.d/rc.autostart
 	)
 	
-# copy px4io binary if configured
-if (config_io_board)
-	list(APPEND romfs_dependencies
-		copy_px4io_bin
-		${fw_io_bin}
-		)
-endif()
-
-# create romfs.img
+# create romfs.bin
 add_custom_command(OUTPUT romfs.img
-	COMMAND ${CMAKE_COMMAND} -E remove -f romfs.img romfs.txt
 	COMMAND ${GENROMFS} -f romfs.img -d ${romfs_temp_dir} -V "NSHInitVol" -v > romfs.txt 2>&1
 	DEPENDS ${romfs_dependencies}
 	)
 
-# create nsh_romfsimg.c
+# create romfs.o
 add_custom_command(OUTPUT nsh_romfsimg.c
-	COMMAND ${CMAKE_COMMAND} -E remove -f nsh_romfsimg.c
 	COMMAND xxd -i romfs.img nsh_romfsimg.c
 	COMMAND sed 's/unsigned/const unsigned/g' nsh_romfsimg.c > nsh_romfsimg.c.tmp && mv nsh_romfsimg.c.tmp nsh_romfsimg.c
 	DEPENDS romfs.img
 	)
 
 add_library(romfs STATIC nsh_romfsimg.c)
-add_dependencies(romfs prebuild_targets)
+add_dependencies(romfs platforms__common)
 set_target_properties(romfs PROPERTIES LINKER_LANGUAGE C)

ROMFS/px4fmu_common/CMakeLists.txt

@@ -1,35 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2018 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-add_subdirectory(init.d)
-add_subdirectory(mixers)

ROMFS/px4fmu_common/init.d/10016_3dr_iris

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

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

@@ -8,6 +8,7 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 
-sh /etc/init.d/4001_quad_x
+sh /etc/init.d/rc.mc_defaults
 
+set MIXER quad_x
 param set SYS_HITL 1

ROMFS/px4fmu_common/init.d/13000_generic_vtol_standard

@@ -17,6 +17,7 @@
 # @output AUX4 Rudder
 # @output AUX5 Throttle
 #
+# @board px4fmu-v1 exclude
 
 sh /etc/init.d/rc.vtol_defaults
 

ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol

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

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

@@ -16,8 +16,6 @@
 #
 # @maintainer Roman Bapst <roman@px4.io>
 #
-# @board px4fmu-v2 exclude
-#
 
 sh /etc/init.d/rc.vtol_defaults
 

ROMFS/px4fmu_common/init.d/13005_vtol_AAERT_quad

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

ROMFS/px4fmu_common/init.d/13006_vtol_standard_delta

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

ROMFS/px4fmu_common/init.d/13007_vtol_AAVVT_quad

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

ROMFS/px4fmu_common/init.d/13008_QuadRanger

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

ROMFS/px4fmu_common/init.d/13009_vtol_spt_ranger

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

ROMFS/px4fmu_common/init.d/13010_claire

@@ -7,8 +7,6 @@
 #
 # @maintainer Samay Siga <samay_s@icloud.com>
 #
-# @board px4fmu-v2 exclude
-#
 
 sh /etc/init.d/rc.vtol_defaults
 

ROMFS/px4fmu_common/init.d/13012_convergence

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

ROMFS/px4fmu_common/init.d/13013_deltaquad

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

ROMFS/px4fmu_common/init.d/20000_snapdragon_rc_pwm

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

ROMFS/px4fmu_common/init.d/3031_phantom

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

ROMFS/px4fmu_common/init.d/4014_s500

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

ROMFS/px4fmu_common/init.d/4050_generic_250

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

ROMFS/px4fmu_common/init.d/4070_aerofc

@@ -11,7 +11,7 @@
 # @type Quadrotor x
 # @class Copter
 #
-# @maintainer Beat Kueng <beat@px4.io>
+# @maintainer Lucas de Marchi
 #
 
 sh /etc/init.d/rc.mc_defaults
@@ -68,14 +68,10 @@ then
 	param set SYS_LOGGER 1
 fi
 
-if param compare SYS_HITL 0
-then
-  tap_esc start -d /dev/ttyS0 -n 4
-  usleep 300000
-
-  set OUTPUT_MODE tap_esc
-fi
+tap_esc start -d /dev/ttyS0 -n 4
+usleep 300000
 
+set OUTPUT_MODE tap_esc
 set MIXER quad_x
 set USE_IO no
 

ROMFS/px4fmu_common/init.d/4080_zmr250

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

ROMFS/px4fmu_common/init.d/4900_crazyflie

@@ -14,52 +14,39 @@
 #
 # @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
+	param set COM_RC_IN_MODE 2
+	param set BAT_N_CELLS 1
+	param set BAT_CAPACITY 240
+	param set BAT_SOURCE 1
+
+	param set PWM_DISARMED 0
+	param set PWM_MIN 0
+	param set PWM_MAX 255
+
+	param set SYS_COMPANION 20
+
+	param set MC_PITCHRATE_D 0.0015
+	param set MC_PITCHRATE_I 0.05
+	param set MC_PITCHRATE_P 0.045
+	param set MC_PITCH_P 6.5
+	param set MC_ROLLRATE_D 0.0015
+	param set MC_ROLLRATE_I 0.05
+	param set MC_ROLLRATE_P 0.045
+	param set MC_ROLL_P 6.5
+	param set MC_YAW_P 3.0
+
+	param set CBRK_SUPPLY_CHK 894281
+	param set CBRK_USB_CHK 197848
 fi
+
 set PWM_MIN none
 set PWM_MAX none
 set PWM_DISARMED none
 # Will run the motors at 328.125 kHz (recommended)
-set PWM_RATE 3921
+set PWM_RATE 3921

ROMFS/px4fmu_common/init.d/50000_generic_ground_vehicle

@@ -10,8 +10,6 @@
 #
 # @maintainer
 #
-# @board px4fmu-v2 exclude
-#
 
 sh /etc/init.d/rc.ugv_defaults
 

ROMFS/px4fmu_common/init.d/50001_axialracing_ax10

@@ -14,8 +14,6 @@
 # @output MAIN7 pass-through of control group 0, channel 6
 # @output MAIN8 pass-through of control group 0, channel 7
 #
-# @board px4fmu-v2 exclude
-#
 
 sh /etc/init.d/rc.axialracing_ax10_defaults
 

ROMFS/px4fmu_common/init.d/50002_traxxas_stampede_2wd

@@ -12,8 +12,6 @@
 #
 # @maintainer Marco Zorzi
 #
-# @board px4fmu-v2 exclude
-#
 
 sh /etc/init.d/rc.ugv_defaults
 

ROMFS/px4fmu_common/init.d/CMakeLists.txt

@@ -1,118 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2018 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-px4_add_romfs_files(
-	1000_rc_fw_easystar.hil
-	1001_rc_quad_x.hil
-	2100_standard_plane
-	2105_maja
-	2106_albatross
-	24001_dodeca_cox
-	3000_generic_wing
-	3030_io_camflyer
-	3031_phantom
-	3032_skywalker_x5
-	3033_wingwing
-	3034_fx79
-	3035_viper
-	3036_pigeon
-	3037_parrot_disco_mod
-	3100_tbs_caipirinha
-	4001_quad_x
-	4002_quad_x_mount
-	4003_qavr5
-	4004_H4_680mm
-	4009_qav250
-	4010_dji_f330
-	4011_dji_f450
-	4012_quad_x_can
-	4013_bebop
-	4020_hk_micro_pcb
-	4030_3dr_solo
-	4031_3dr_quad
-	4040_reaper
-	4050_generic_250
-	4051_s250aq
-	4060_dji_matrice_100
-	4070_aerofc
-	4080_zmr250
-	4090_nanomind
-	4900_crazyflie
-	5001_quad_+
-	6001_hexa_x
-	7001_hexa_+
-	8001_octo_x
-	9001_octo_+
-	10015_tbs_discovery
-	10016_3dr_iris
-	10017_steadidrone_qu4d
-	10018_tbs_endurance
-	11001_hexa_cox
-	12001_octo_cox
-	12002_steadidrone_mavrik
-	13000_generic_vtol_standard
-	13001_caipirinha_vtol
-	13002_firefly6
-	13003_quad_tailsitter
-	13004_quad+_tailsitter
-	13005_vtol_AAERT_quad
-	13006_vtol_standard_delta
-	13007_vtol_AAVVT_quad
-	13008_QuadRanger
-	13009_vtol_spt_ranger
-	13010_claire
-	13012_convergence
-	13013_deltaquad
-	14001_tri_y_yaw+
-	14002_tri_y_yaw-
-	15001_coax_heli
-	16001_helicopter
-	50000_generic_ground_vehicle
-	50001_axialracing_ax10
-	50002_traxxas_stampede_2wd
-	rc.axialracing_ax10_apps
-	rc.axialracing_ax10_defaults
-	rc.fw_apps
-	rc.fw_defaults
-	rc.interface
-	rc.io
-	rc.logging
-	rc.mc_apps
-	rc.mc_defaults
-	rcS
-	rc.sensors
-	rc.ugv_apps
-	rc.ugv_defaults
-	rc.vtol_apps
-	rc.vtol_defaults
-)