ModuleBase add common base type and cleanup

- this is a bit wasteful, but we can afford it for now everywhere listener is enabled

.ci/Jenkinsfile-SITL_tests

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

.ci/Jenkinsfile-SITL_tests_ASan

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

.ci/Jenkinsfile-SITL_tests_coverage

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

.ci/Jenkinsfile-compile

@@ -9,20 +9,25 @@ pipeline {
         script {
           def build_nodes = [:]
           def docker_images = [
-            armhf: "px4io/px4-dev-armhf:2019-03-08",
-            base: "px4io/px4-dev-base-bionic:2019-03-08",
-            nuttx: "px4io/px4-dev-nuttx:2019-03-08",
-            ros: "px4io/px4-dev-ros-kinetic:2019-03-08",
-            rpi: "px4io/px4-dev-raspi:2019-03-08",
-            snapdragon: "lorenzmeier/px4-dev-snapdragon:2018-09-12"
+            armhf: "px4io/px4-dev-armhf:2020-04-01",
+            arm64: "px4io/px4-dev-aarch64:latest",
+            base: "px4io/px4-dev-base-bionic:2020-04-01",
+            nuttx: "px4io/px4-dev-nuttx-focal:2020-09-14",
+            snapdragon: "lorenzmeier/px4-dev-snapdragon:2020-04-01"
           ]
 
           def armhf_builds = [
-            target: ["aerotenna_ocpoc_ubuntu"],
+            target: ["aerotenna_ocpoc_default", "beaglebone_blue_default", "emlid_navio2_default", "px4_raspberrypi_default", "scumaker_pilotpi_default"],
             image: docker_images.armhf,
             archive: false
           ]
 
+          def arm64_builds = [
+            target: ["scumaker_pilotpi_arm64"],
+            image: docker_images.arm64,
+            archive: false
+          ]
+
           def base_builds = [
             target: ["px4_sitl_rtps"],
             image: docker_images.base,
@@ -31,37 +36,69 @@ pipeline {
 
           def nuttx_builds_archive = [
             target: [
-                     "px4_fmu-v2_default", "px4_fmu-v2_fixedwing", "px4_fmu-v2_lpe", "px4_fmu-v2_multicopter", "px4_fmu-v2_rover", "px4_fmu-v2_test",
+                     "airmind_mindpx-v2_default",
+                     "av_x-v1_default",
+                     "bitcraze_crazyflie_default",
+                     "cuav_can-gps-v1_canbootloader",
+                     "cuav_can-gps-v1_default",
+                     "cuav_nora_default",
+                     "cuav_x7pro_default",
+                     "cubepilot_cubeorange_console",
+                     "cubepilot_cubeorange_default",
+                     "cubepilot_cubeyellow_console",
+                     "cubepilot_cubeyellow_default",
+                     "holybro_durandal-v1_default",
+                     "holybro_kakutef7_default",
+                     "holybro_pix32v5_default",
+                     "intel_aerofc-v1_default",
+                     "modalai_fc-v1_default",
+                     "mro_ctrl-zero-f7_default",
+                     "mro_x21-777_default",
+                     "mro_x21_default",
+                     "nxp_fmuk66-v3_default",
+                     "nxp_fmuk66-v3_socketcan",
+                     "nxp_fmuk66-v3_rtps",
+                     "nxp_fmurt1062-v1_default",
+                     "nxp_ucans32k146_default",
+                     "omnibus_f4sd_default",
+                     "px4_fmu-v2_default",
+                     "px4_fmu-v2_fixedwing",
+                     "px4_fmu-v2_lpe",
+                     "px4_fmu-v2_multicopter",
+                     "px4_fmu-v2_rover",
+                     "px4_fmu-v2_test",
                      "px4_fmu-v3_default",
+                     "px4_fmu-v4_cannode",
                      "px4_fmu-v4_default",
+                     "px4_fmu-v4_optimized",
                      "px4_fmu-v4pro_default",
-                     "px4_fmu-v5_default", "px4_fmu-v5_fixedwing", "px4_fmu-v5_multicopter", "px4_fmu-v5_rover", "px4_fmu-v5_rtps", "px4_fmu-v5_stackcheck",
-                     "intel_aerofc-v1_default", "auav_x21_default", "av_x-v1_default", "bitcraze_crazyflie_default", "airmind_mindpx-v2_default",
-                     "nxp_fmuk66-v3_default", "omnibus_f4sd_default"],
+                     "px4_fmu-v5_default",
+                     "px4_fmu-v5_debug",
+                     "px4_fmu-v5_fixedwing",
+                     "px4_fmu-v5_multicopter",
+                     "px4_fmu-v5_optimized",
+                     "px4_fmu-v5_rover",
+                     "px4_fmu-v5_rtps",
+                     "px4_fmu-v5_stackcheck",
+                     "px4_fmu-v5x_base_phy_DP83848C",
+                     "px4_fmu-v5x_default",
+                     "px4_fmu-v6x_default",
+                     "px4_io-v2_default",
+                     "spracing_h7extreme_default",
+                     "uvify_core_default"
+            ],
             image: docker_images.nuttx,
             archive: true
           ]
 
-          def nuttx_builds_other = [
-            target: ["px4_cannode-v1_default", "px4_esc-v1_default", "thiemar_s2740vc-v1_default"],
-            image: docker_images.nuttx,
-            archive: false
-          ]
-
-          def rpi_builds = [
-            target: ["emlid_navio2_cross", "parrot_bebop_default"],
-            image: docker_images.rpi,
-            archive: false
-          ]
-
           def snapdragon_builds = [
-            target: ["atlflight_eagle_qurt-default", "atlflight_eagle_default"],
+            target: ["atlflight_eagle_qurt", "atlflight_eagle_default"],
             image: docker_images.snapdragon,
             archive: false
           ]
 
           def docker_builds = [
-            armhf_builds, base_builds, nuttx_builds_archive, nuttx_builds_other, rpi_builds, snapdragon_builds
+            armhf_builds, base_builds, nuttx_builds_archive//, snapdragon_builds
           ]
 
           for (def build_type = 0; build_type < docker_builds.size(); build_type++) {
@@ -81,7 +118,7 @@ pipeline {
     // TODO: actually upload artifacts to S3
     // stage('S3 Upload') {
     //   agent {
-    //     docker { image 'px4io/px4-dev-base-bionic:2019-03-08' }
+    //     docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
     //   }
     //   options {
     //         skipDefaultCheckout()
@@ -105,7 +142,7 @@ pipeline {
     CI = true
   }
   options {
-    buildDiscarder(logRotator(numToKeepStr: '2', artifactDaysToKeepStr: '14'))
+    buildDiscarder(logRotator(numToKeepStr: '5', artifactDaysToKeepStr: '14'))
     timeout(time: 60, unit: 'MINUTES')
   }
 }
@@ -115,7 +152,7 @@ def createBuildNode(Boolean archive, String docker_image, String target) {
 
     // TODO: fix the snapdragon image
     bypass_entrypoint = ''
-    if (docker_image == 'lorenzmeier/px4-dev-snapdragon:2018-09-12') {
+    if (docker_image == 'lorenzmeier/px4-dev-snapdragon:2020-04-01') {
       bypass_entrypoint = ' --entrypoint=""'
     }
 
@@ -128,7 +165,7 @@ def createBuildNode(Boolean archive, String docker_image, String target) {
               checkout(scm)
               sh('make distclean')
               sh('git fetch --tags')
-              sh('ccache -z')
+              sh('ccache -s')
               sh('make ' + target)
               sh('ccache -s')
               sh('make sizes')

.ci/Jenkinsfile-compile_mac

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

.clang-tidy

@@ -1,89 +1,107 @@
-Checks:          '*
-		,-cert-dcl50-cpp
-		,-cert-env33-c
-		,-cert-err34-c
-		,-cert-err58-cpp
-		,-cert-msc30-c
-		,-cert-msc50-cpp
-		,-clang-analyzer-core.CallAndMessage
-		,-clang-analyzer-core.NullDereference
-		,-clang-analyzer-core.UndefinedBinaryOperatorResult
-		,-clang-analyzer-core.uninitialized.Assign
-		,-clang-analyzer-core.VLASize
-		,-clang-analyzer-cplusplus.NewDelete
-		,-clang-analyzer-cplusplus.NewDeleteLeaks
-		,-clang-analyzer-deadcode.DeadStores
-		,-clang-analyzer-optin.cplusplus.VirtualCall
-		,-clang-analyzer-optin.performance.Padding
-		,-clang-analyzer-security.insecureAPI.strcpy
-		,-clang-analyzer-unix.API
-		,-clang-analyzer-unix.cstring.BadSizeArg
-		,-clang-analyzer-unix.Malloc
-		,-clang-analyzer-unix.MallocSizeof
-		,-cppcoreguidelines-c-copy-assignment-signature
-		,-cppcoreguidelines-interfaces-global-init
-		,-cppcoreguidelines-no-malloc
-		,-cppcoreguidelines-pro-bounds-array-to-pointer-decay
-		,-cppcoreguidelines-pro-bounds-constant-array-index
-		,-cppcoreguidelines-pro-bounds-pointer-arithmetic
-		,-cppcoreguidelines-pro-type-const-cast
-		,-cppcoreguidelines-pro-type-cstyle-cast
-		,-cppcoreguidelines-pro-type-member-init
-		,-cppcoreguidelines-pro-type-reinterpret-cast
-		,-cppcoreguidelines-pro-type-union-access
-		,-cppcoreguidelines-pro-type-vararg
-		,-cppcoreguidelines-special-member-functions
-		,-google-build-using-namespace
-		,-google-explicit-constructor
-		,-google-global-names-in-headers
-		,-google-readability-casting
-		,-google-readability-namespace-comments
-		,-google-readability-todo
-		,-google-runtime-int
-		,-google-runtime-references
-		,-llvm-header-guard
-		,-llvm-include-order
-		,-llvm-namespace-comment
-		,-misc-incorrect-roundings
-		,-misc-macro-parentheses
-		,-misc-misplaced-widening-cast
-		,-misc-redundant-expression
-		,-misc-unconventional-assign-operator
-		,-misc-unused-parameters
-		,-modernize-deprecated-headers
-		,-modernize-loop-convert
-		,-modernize-use-auto
-		,-modernize-use-bool-literals
-		,-modernize-use-default-member-init
-		,-modernize-use-emplace
-		,-modernize-use-equals-default
-		,-modernize-use-equals-delete
-		,-modernize-use-override
-		,-modernize-use-using
-		,-modernize-pass-by-value
-		,-performance-inefficient-string-concatenation
-		,-readability-avoid-const-params-in-decls
-		,-readability-else-after-return
-		,-readability-implicit-bool-cast
-		,-readability-inconsistent-declaration-parameter-name
-		,-readability-non-const-parameter
-		,-readability-redundant-declaration
-		,-readability-redundant-member-init
-		,-readability-simplify-boolean-expr
-		'
+---
+Checks:          '*,
+                  -android*,
+                  -bugprone-integer-division,
+                  -cert-dcl50-cpp,
+                  -cert-env33-c,
+                  -cert-err34-c,
+                  -cert-err58-cpp,
+                  -cert-msc30-c,
+                  -cert-msc50-cpp,
+                  -clang-analyzer-core.CallAndMessage,
+                  -clang-analyzer-core.NullDereference,
+                  -clang-analyzer-core.UndefinedBinaryOperatorResult,
+                  -clang-analyzer-core.uninitialized.Assign,
+                  -clang-analyzer-core.VLASize,
+                  -clang-analyzer-cplusplus.NewDelete,
+                  -clang-analyzer-cplusplus.NewDeleteLeaks,
+                  -clang-analyzer-deadcode.DeadStores,
+                  -clang-analyzer-optin.cplusplus.VirtualCall,
+                  -clang-analyzer-optin.performance.Padding,
+                  -clang-analyzer-security.insecureAPI.strcpy,
+                  -clang-analyzer-unix.API,
+                  -clang-analyzer-unix.cstring.BadSizeArg,
+                  -clang-analyzer-unix.Malloc,
+                  -clang-analyzer-unix.MallocSizeof,
+                  -cppcoreguidelines-c-copy-assignment-signature,
+                  -cppcoreguidelines-interfaces-global-init,
+                  -cppcoreguidelines-no-malloc,
+                  -cppcoreguidelines-owning-memory,
+                  -cppcoreguidelines-pro-bounds-array-to-pointer-decay,
+                  -cppcoreguidelines-pro-bounds-constant-array-index,
+                  -cppcoreguidelines-pro-bounds-pointer-arithmetic,
+                  -cppcoreguidelines-pro-type-const-cast,
+                  -cppcoreguidelines-pro-type-cstyle-cast,
+                  -cppcoreguidelines-pro-type-member-init,
+                  -cppcoreguidelines-pro-type-reinterpret-cast,
+                  -cppcoreguidelines-pro-type-union-access,
+                  -cppcoreguidelines-pro-type-vararg,
+                  -cppcoreguidelines-special-member-functions,
+                  -fuchsia-default-arguments,
+                  -fuchsia-overloaded-operator,
+                  -google-build-using-namespace,
+                  -google-explicit-constructor,
+                  -google-global-names-in-headers,
+                  -google-readability-casting,
+                  -google-readability-function-size,
+                  -google-readability-namespace-comments,
+                  -google-readability-todo,
+                  -google-runtime-int,
+                  -google-runtime-references,
+                  -hicpp-deprecated-headers,
+                  -hicpp-explicit-conversions,
+                  -hicpp-function-size,
+                  -hicpp-member-init,
+                  -hicpp-no-array-decay,
+                  -hicpp-no-assembler,
+                  -hicpp-no-malloc,
+                  -hicpp-signed-bitwise,
+                  -hicpp-special-member-functions,
+                  -hicpp-use-auto,
+                  -hicpp-use-equals-default,
+                  -hicpp-use-equals-delete,
+                  -hicpp-use-override,
+                  -hicpp-vararg,
+                  -llvm-header-guard,
+                  -llvm-include-order,
+                  -llvm-namespace-comment,
+                  -misc-incorrect-roundings,
+                  -misc-macro-parentheses,
+                  -misc-misplaced-widening-cast,
+                  -misc-redundant-expression,
+                  -misc-unconventional-assign-operator,
+                  -misc-unused-parameters,
+                  -modernize-deprecated-headers,
+                  -modernize-loop-convert,
+                  -modernize-pass-by-value,
+                  -modernize-return-braced-init-list,
+                  -modernize-use-auto,
+                  -modernize-use-bool-literals,
+                  -modernize-use-default-member-init,
+                  -modernize-use-equals-default,
+                  -modernize-use-equals-delete,
+                  -modernize-use-override,
+                  -modernize-use-using,
+                  -performance-inefficient-string-concatenation,
+                  -readability-avoid-const-params-in-decls,
+                  -readability-container-size-empty,
+                  -readability-else-after-return,
+                  -readability-function-size,
+                  -readability-implicit-bool-cast,
+                  -readability-implicit-bool-conversion,
+                  -readability-inconsistent-declaration-parameter-name,
+                  -readability-named-parameter,
+                  -readability-non-const-parameter,
+                  -readability-redundant-declaration,
+                  -readability-static-accessed-through-instance,
+                  -readability-static-definition-in-anonymous-namespace,
+                 '
 WarningsAsErrors: '*'
-CheckOptions:    
-  - key:             google-readability-braces-around-statements.ShortStatementLines
-    value:           '1'
+CheckOptions:
   - key:             google-readability-function-size.BranchThreshold
     value:           '600'
   - key:             google-readability-function-size.LineThreshold
     value:           '4000'
   - key:             google-readability-function-size.StatementThreshold
     value:           '4000'
-  - key:             readability-braces-around-statements.ShortStatementLines
-    value:           '1'
-  - key:             readability-function-size.LineThreshold
-    value:           '4000'
-  - key:             readability-function-size.StatementThreshold
-    value:           '4000'
+...

.devcontainer/devcontainer.json

@@ -0,0 +1,42 @@
+// For format details, see https://aka.ms/vscode-remote/devcontainer.json or this file's README at:
+// https://github.com/microsoft/vscode-dev-containers/tree/v0.134.0/containers/cpp
+{
+	"name": "px4-dev-nuttx",
+	"image": "px4io/px4-dev-nuttx-focal:2020-09-14",
+
+	"runArgs": [ "--cap-add=SYS_PTRACE", "--security-opt", "seccomp=unconfined" ],
+
+	// Set *default* container specific settings.json values on container create.
+	"settings": {
+		"terminal.integrated.shell.linux": "/bin/bash"
+	},
+
+	// Add the IDs of extensions you want installed when the container is created.
+	"extensions": [
+		"chiehyu.vscode-astyle",
+		"dan-c-underwood.arm",
+		"fredericbonnet.cmake-test-adapter",
+		"github.vscode-pull-request-github",
+		"marus25.cortex-debug",
+		"ms-azuretools.vscode-docker",
+		"ms-iot.vscode-ros",
+		"ms-python.python",
+		"ms-vscode.cmake-tools",
+		"ms-vscode.cpptools",
+		"ms-vscode.cpptools-extension-pack",
+		"redhat.vscode-yaml",
+		"streetsidesoftware.code-spell-checker",
+		"twxs.cmake",
+		"uavcan.dsdl",
+		"wholroyd.jinja",
+		"zixuanwang.linkerscript"
+	],
+
+	"containerUser": "user",
+	"containerEnv": {
+		"LOCAL_USER_ID": "${localEnv:UID}"
+	},
+
+	// Use 'forwardPorts' to make a list of ports inside the container available locally.
+	"forwardPorts": [14556],
+}

.gitattributes

@@ -0,0 +1,80 @@
+* text=auto eol=lf
+
+*.cmake  text eol=lf
+*.c      text eol=lf
+*.cc     text eol=lf
+*.cpp    text eol=lf
+*.h      text eol=lf
+*.hh     text eol=lf
+*.hpp    text eol=lf
+*.hxx    text eol=lf
+*.S      text eol=lf
+
+*.ipynb  text eol=lf
+*.m      text eol=lf
+*.mat    binary
+*.py     text eol=lf
+
+*.java   text eol=lf
+*.jar    binary
+*.xml    text eol=lf
+
+# PX4 mixers, msgs, etc
+*.bin    binary
+*.mix    text eol=lf
+*.msg    text eol=lf
+*.config text eol=lf
+*.sdf    text eol=lf
+*.uavcan text eol=lf
+
+# NuttX
+Makefile.* text eol=lf
+*.defs   text eol=lf
+*.ld     text eol=lf
+
+*.csv    text eol=lf
+*.md     text eol=lf
+*.txt    text eol=lf
+
+# Scripts
+*.bash   text eol=lf
+*.sh     text eol=lf
+*.zsh    text eol=lf
+# These are explicitly windows files and should use crlf
+*.ps1    text eol=crlf
+*.{cmd,[cC][mM][dD]} text eol=crlf
+*.{bat,[bB][aA][tT]} text eol=crlf
+
+# Serialisation
+*.json   text eol=lf
+*.toml   text eol=lf
+*.xml    text eol=lf
+*.yaml   text eol=lf
+*.yml    text eol=lf
+
+# Graphics
+*.png    binary
+*.jpg    binary
+*.jpeg   binary
+*.gif    binary
+*.tif    binary
+*.tiff   binary
+*.ico    binary
+*.pdf    binary
+# SVG treated as an asset (binary) by default.
+*.svg    text eol=lf
+
+# Text files where line endings should be preserved
+*.patch  -text
+
+# Archives
+*.7z     binary
+*.gz     binary
+*.tar    binary
+*.tgz    binary
+*.zip    binary
+
+# everything else
+.gitattributes text eol=lf
+.gitignore     text eol=lf
+Makefile       text eol=lf

.github/ISSUE_TEMPLATE/1_Bug_report.md

@@ -19,7 +19,7 @@ A clear and concise description of what you expected to happen.
 
 **Log Files and Screenshots**
 *Always* provide a link to the flight log file:
-- Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/en/getting_started/flight_reporting.html)).
+- Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/master/en/getting_started/flight_reporting.html)).
 - Share the link to a log showing the problem on [PX4 Flight Review](http://logs.px4.io/).
 
 Add screenshots to help explain your problem.

.github/stale.yml

@@ -1,18 +1,15 @@
 # Number of days of inactivity before an issue becomes stale
 daysUntilStale: 90
-# Number of days of inactivity before a stale issue is closed
-daysUntilClose: 14
+# Number of days of inactivity before a stale issue is closed, or `false` to disable
+daysUntilClose: false
 # Issues with these labels will never be considered stale
 exemptLabels:
   - pinned
-  - security
 # Label to use when marking an issue as stale
-staleLabel: wontfix
+staleLabel: stale
 # Comment to post when marking an issue as stale. Set to `false` to disable
 markComment: >
   This issue has been automatically marked as stale because it has not had
-  recent activity. It will be closed if no further activity occurs. Thank you
-  for your contributions.
+  recent activity. Thank you for your contributions.
 # Comment to post when closing a stale issue. Set to `false` to disable
-closeComment: >
-  Closing as stale.
+closeComment: false

.github/workflows/checks.yml

@@ -0,0 +1,58 @@
+name: Checks
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        check: [
+          "check_format",
+          "tests",
+          "px4_fmu-v2_default stack_check",
+          "validate_module_configs",
+          "shellcheck_all",
+          "NO_NINJA_BUILD=1 px4_fmu-v5_default",
+          "NO_NINJA_BUILD=1 px4_sitl_default",
+          "airframe_metadata",
+          "module_documentation",
+          "parameters_metadata",
+        ]
+    container: px4io/px4-dev-nuttx-focal:2020-09-14
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: tests_${{matrix.ubuntu_release}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: tests_${{matrix.ubuntu_release}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: ${{matrix.check}}
+      run: make ${{matrix.check}}

.github/workflows/clang-tidy.yml

@@ -0,0 +1,46 @@
+name: Clang Tidy
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-clang:2020-08-14
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: clang-tidy-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: clang-tidy-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: make clang-tidy-quiet
+      run: |
+        ccache -z
+        make clang-tidy-quiet
+        ccache -s

.github/workflows/compile_linux.yml

@@ -0,0 +1,54 @@
+name: Linux Targets
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-armhf:2020-08-14
+    strategy:
+      matrix:
+        config: [
+          aerotenna_ocpoc_default,
+          beaglebone_blue_default,
+          emlid_navio2_default,
+          px4_raspberrypi_default,
+          scumaker_pilotpi_default,
+          ]
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: ${{matrix.config}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: make ${{matrix.config}}
+      run: make ${{matrix.config}}
+    - name: ccache post-run
+      run: ccache -s

.github/workflows/compile_linux_arm64.yml

@@ -0,0 +1,50 @@
+name: Linux ARM64 Targets
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-aarch64:latest
+    strategy:
+      matrix:
+        config: [
+          scumaker_pilotpi_arm64,
+          ]
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: ${{matrix.config}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: make ${{matrix.config}}
+      run: make ${{matrix.config}}
+    - name: ccache post-run
+      run: ccache -s

.github/workflows/compile_macos.yml

@@ -0,0 +1,55 @@
+name: MacOS build
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: macos-10.15
+    strategy:
+      matrix:
+        config: [
+          px4_fmu-v5_default,
+          px4_sitl_default,
+          #tests, # includes px4_sitl
+          ]
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+
+    - name: setup
+      run: ./Tools/setup/macos.sh
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: macos_${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: macos_${{matrix.config}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: make ${{matrix.config}}
+      run: |
+          ccache -z
+          make ${{matrix.config}}
+          ccache -s

.github/workflows/compile_nuttx.yml

@@ -0,0 +1,117 @@
+name: Nuttx Targets
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-nuttx-focal:2020-09-14
+    strategy:
+      matrix:
+        config: [
+          airmind_mindpx-v2_default,
+          av_x-v1_default,
+          bitcraze_crazyflie_default,
+          cuav_can-gps-v1_canbootloader,
+          cuav_can-gps-v1_default,
+          cuav_nora_default,
+          cuav_x7pro_default,
+          cubepilot_cubeorange_console,
+          cubepilot_cubeorange_default,
+          cubepilot_cubeyellow_console,
+          cubepilot_cubeyellow_default,
+          holybro_durandal-v1_default,
+          holybro_kakutef7_default,
+          holybro_pix32v5_default,
+          intel_aerofc-v1_default,
+          modalai_fc-v1_default,
+          mro_ctrl-zero-f7_default,
+          mro_x21-777_default,
+          mro_x21_default,
+          nxp_fmuk66-v3_default,
+          nxp_fmuk66-e_default,
+          nxp_fmuk66-v3_socketcan,
+          nxp_fmuk66-v3_rtps,
+          nxp_fmurt1062-v1_default,
+          nxp_ucans32k146_default,
+          omnibus_f4sd_default,
+          px4_fmu-v2_default,
+          px4_fmu-v2_fixedwing,
+          px4_fmu-v2_lpe,
+          px4_fmu-v2_multicopter,
+          px4_fmu-v2_rover,
+          px4_fmu-v2_test,
+          px4_fmu-v3_default,
+          px4_fmu-v4_cannode,
+          px4_fmu-v4_default,
+          px4_fmu-v4_optimized,
+          px4_fmu-v4pro_default,
+          px4_fmu-v5_default,
+          px4_fmu-v5_fixedwing,
+          px4_fmu-v5_multicopter,
+          px4_fmu-v5_optimized,
+          px4_fmu-v5_rover,
+          px4_fmu-v5_rtps,
+          px4_fmu-v5_stackcheck,
+          px4_fmu-v5x_base_phy_DP83848C,
+          px4_fmu-v5x_default,
+          px4_fmu-v6x_default,
+          px4_io-v2_default,
+          spracing_h7extreme_default,
+          uvify_core_default
+          ]
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: ${{matrix.config}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: make ${{matrix.config}}
+      run: make ${{matrix.config}}
+    - name: make ${{matrix.config}} bloaty_compileunits
+      run: make ${{matrix.config}} bloaty_compileunits || true
+    - name: make ${{matrix.config}} bloaty_inlines
+      run: make ${{matrix.config}} bloaty_inlines || true
+    - name: make ${{matrix.config}} bloaty_segments
+      run: make ${{matrix.config}} bloaty_segments || true
+    - name: make ${{matrix.config}} bloaty_symbols
+      run: make ${{matrix.config}} bloaty_symbols || true
+    - name: make ${{matrix.config}} bloaty_templates
+      run: make ${{matrix.config}} bloaty_templates || true
+    - name: make ${{matrix.config}} bloaty_compare_master
+      run: make ${{matrix.config}} bloaty_compare_master || true
+    - name: ccache post-run
+      run: ccache -s
+
+    - name: Upload px4 package
+      uses: actions/upload-artifact@v1
+      with:
+        name: px4_package_${{matrix.config}}
+        path: build/${{matrix.config}}/${{matrix.config}}.px4

.github/workflows/coverage.yml

@@ -0,0 +1,67 @@
+name: Coverage
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2020-09-14
+    strategy:
+      matrix:
+        config: [
+          tests,
+          #python_coverage,
+          ]
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: coverage_${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: coverage_${{matrix.config}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: make ${{matrix.config}}
+      env:
+        PX4_CMAKE_BUILD_TYPE: "Coverage"
+      run: make ${{matrix.config}}
+
+    # Report test coverage
+    - name: Upload coverage
+      run: |
+          git config --global credential.helper "" # disable the keychain credential helper
+          git config --global --add credential.helper store # enable the local store credential helper
+          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
+          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
+          mkdir -p coverage
+          lcov --directory build/px4_sitl_test --base-directory build/px4_sitl_test --gcov-tool gcov --capture -o coverage/lcov.info
+    - name: Upload coverage information to Codecov
+      uses: codecov/codecov-action@v1
+      with:
+        token: ${{ secrets.CODECOV_TOKEN }}
+        flags: ${{matrix.config}}
+        file: coverage/lcov.info

.github/workflows/mavros_avoidance_tests.yml

@@ -0,0 +1,129 @@
+name: MAVROS Avoidance Tests
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        config:
+          - {test_file: "mavros_posix_test_avoidance.test",    vehicle: "iris_obs_avoid", mission: "avoidance",       build_type: "RelWithDebInfo"}
+          - {test_file: "mavros_posix_test_safe_landing.test", vehicle: "iris_obs_avoid", mission: "MC_safe_landing", build_type: "RelWithDebInfo"}
+
+    container:
+      image: px4io/px4-dev-ros-melodic:2020-08-14
+      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: check environment
+      run: export
+    - name: Build PX4 and sitl_gazebo
+      env:
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: |
+        ccache -z
+        make px4_sitl_default
+        make px4_sitl_default sitl_gazebo
+        ccache -s
+
+    - name: Core dump settings
+      run: |
+          ulimit -c unlimited
+          echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
+
+    - name: Run SITL tests
+      env:
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: |
+        export
+        ./test/rostest_avoidance_run.sh ${{matrix.config.test_file}} mission:=${{matrix.config.mission}} vehicle:=${{matrix.config.vehicle}} || true
+
+    - name: Look at core files
+      if: failure()
+      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
+    - name: Upload px4 coredump
+      if: failure()
+      uses: actions/upload-artifact@v2-preview
+      with:
+        name: coredump
+        path: px4.core
+
+    # - name: ecl EKF analysis
+    #   if: always()
+    #   run: ./Tools/ecl_ekf/process_logdata_ekf.py ~/.ros/log/*/*.ulg
+
+    - name: Upload logs to flight review
+      if: always()
+      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg
+
+    - name: Upload px4 binary
+      if: failure()
+      uses: actions/upload-artifact@v2
+      with:
+        name: binary
+        path: build/px4_sitl_default/bin/px4
+
+    - name: Store PX4 log
+      if: failure()
+      uses: actions/upload-artifact@v2
+      with:
+        name: px4_log
+        path: ~/.ros/log/*/*.ulg
+
+    - name: Store ROS log
+      if: failure()
+      uses: actions/upload-artifact@v2
+      with:
+        name: ros_log
+        path: ~/.ros/**/rostest-*.log
+
+    # Report test coverage
+    - name: Upload coverage
+      if: contains(matrix.config.build_type, 'Coverage')
+      run: |
+          git config --global credential.helper "" # disable the keychain credential helper
+          git config --global --add credential.helper store # enable the local store credential helper
+          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
+          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
+          mkdir -p coverage
+          lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
+    - name: Upload coverage information to Codecov
+      if: contains(matrix.config.build_type, 'Coverage')
+      uses: codecov/codecov-action@v1
+      with:
+        token: ${{ secrets.CODECOV_TOKEN }}
+        flags: mavros_avoidance
+        file: coverage/lcov.info

.github/workflows/mavros_mission_tests.yml

@@ -0,0 +1,135 @@
+name: MAVROS Mission Tests
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        config:
+          - {vehicle: "iris",          mission: "MC_mission_box",  build_type: "RelWithDebInfo"}
+          - {vehicle: "rover",         mission: "rover_mission_1", build_type: "RelWithDebInfo"}
+          - {vehicle: "plane",         mission: "FW_mission_1",    build_type: "RelWithDebInfo"}
+          - {vehicle: "plane_catapult",mission: "FW_mission_1",    build_type: "RelWithDebInfo"}
+          - {vehicle: "standard_vtol", mission: "VTOL_mission_1",  build_type: "Coverage"}
+          - {vehicle: "standard_vtol", mission: "VTOL_mission_1",  build_type: "AddressSanitizer"}
+          #- {vehicle: "tailsitter",    mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}
+          - {vehicle: "tiltrotor",     mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}
+
+    container:
+      image: px4io/px4-dev-ros-melodic:2020-08-14
+      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: check environment
+      run: export
+    - name: Build PX4 and sitl_gazebo
+      env:
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: |
+        ccache -z
+        make px4_sitl_default
+        make px4_sitl_default sitl_gazebo
+        ccache -s
+
+    - name: Core dump settings
+      run: |
+          ulimit -c unlimited
+          echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
+
+    - name: Run SITL tests
+      env:
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: |
+        export
+        ./test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=${{matrix.config.mission}} vehicle:=${{matrix.config.vehicle}}
+
+    - name: Look at core files
+      if: failure()
+      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
+    - name: Upload px4 coredump
+      if: failure()
+      uses: actions/upload-artifact@v2-preview
+      with:
+        name: coredump
+        path: px4.core
+
+    - name: ecl EKF analysis
+      if: always()
+      run: ./Tools/ecl_ekf/process_logdata_ekf.py ~/.ros/log/*/*.ulg || true
+
+    - name: Upload logs to flight review
+      if: always()
+      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg
+
+    - name: Upload px4 binary
+      if: failure()
+      uses: actions/upload-artifact@v2
+      with:
+        name: binary
+        path: build/px4_sitl_default/bin/px4
+
+    - name: Store PX4 log
+      if: failure()
+      uses: actions/upload-artifact@v2
+      with:
+        name: px4_log
+        path: ~/.ros/log/*/*.ulg
+
+    - name: Store ROS log
+      if: failure()
+      uses: actions/upload-artifact@v2
+      with:
+        name: ros_log
+        path: ~/.ros/**/rostest-*.log
+
+    # Report test coverage
+    - name: Upload coverage
+      if: contains(matrix.config.build_type, 'Coverage')
+      run: |
+          git config --global credential.helper "" # disable the keychain credential helper
+          git config --global --add credential.helper store # enable the local store credential helper
+          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
+          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
+          mkdir -p coverage
+          lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
+    - name: Upload coverage information to Codecov
+      if: contains(matrix.config.build_type, 'Coverage')
+      uses: codecov/codecov-action@v1
+      with:
+        token: ${{ secrets.CODECOV_TOKEN }}
+        flags: mavros_mission
+        file: coverage/lcov.info

.github/workflows/mavros_offboard_tests.yml

@@ -0,0 +1,130 @@
+name: MAVROS Offboard Tests
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        config:
+          - {test_file: "mavros_posix_tests_offboard_posctl.test",    vehicle: "iris", build_type: "RelWithDebInfo"}
+          #- {test_file: "mavros_posix_tests_offboard_attctl.test",    vehicle: "iris", build_type: "RelWithDebInfo"}
+          #- {test_file: "mavros_posix_tests_offboard_rpyrt_ctl.test", vehicle: "iris", build_type: "RelWithDebInfo"}
+
+    container:
+      image: px4io/px4-dev-ros-melodic:2020-08-14
+      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: check environment
+      run: export
+    - name: Build PX4 and sitl_gazebo
+      env:
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: |
+        ccache -z
+        make px4_sitl_default
+        make px4_sitl_default sitl_gazebo
+        ccache -s
+
+    - name: Core dump settings
+      run: |
+          ulimit -c unlimited
+          echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
+
+    - name: Run SITL tests
+      env:
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: |
+        export
+        ./test/rostest_px4_run.sh ${{matrix.config.test_file}} vehicle:=${{matrix.config.vehicle}}
+
+    - name: Look at core files
+      if: failure()
+      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
+    - name: Upload px4 coredump
+      if: failure()
+      uses: actions/upload-artifact@v2-preview
+      with:
+        name: coredump
+        path: px4.core
+
+    - name: ecl EKF analysis
+      if: always()
+      run: ./Tools/ecl_ekf/process_logdata_ekf.py ~/.ros/log/*/*.ulg || true
+
+    - name: Upload logs to flight review
+      if: always()
+      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg
+
+    - name: Upload px4 binary
+      if: failure()
+      uses: actions/upload-artifact@v2
+      with:
+        name: binary
+        path: build/px4_sitl_default/bin/px4
+
+    - name: Store PX4 log
+      if: failure()
+      uses: actions/upload-artifact@v2
+      with:
+        name: px4_log
+        path: ~/.ros/log/*/*.ulg
+
+    - name: Store ROS log
+      if: failure()
+      uses: actions/upload-artifact@v2
+      with:
+        name: ros_log
+        path: ~/.ros/**/rostest-*.log
+
+    # Report test coverage
+    - name: Upload coverage
+      if: contains(matrix.config.build_type, 'Coverage')
+      run: |
+          git config --global credential.helper "" # disable the keychain credential helper
+          git config --global --add credential.helper store # enable the local store credential helper
+          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
+          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
+          mkdir -p coverage
+          lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
+    - name: Upload coverage information to Codecov
+      if: contains(matrix.config.build_type, 'Coverage')
+      uses: codecov/codecov-action@v1
+      with:
+        token: ${{ secrets.CODECOV_TOKEN }}
+        flags: mavros_offboard
+        file: coverage/lcov.info

.github/workflows/metadata.yml

@@ -0,0 +1,111 @@
+name: Metadata
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+
+  airframe:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2020-09-14
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: airframe metadata
+      run: |
+        make airframe_metadata
+        cd build/px4_sitl_default/docs
+        ls -ls *
+      # TODO: deploy to devguide gitbook and s3
+
+  module:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2020-09-14
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: module documentation
+      run: |
+        make module_documentation
+        cd build/px4_sitl_default/docs
+        ls -ls *
+      # TODO: deploy to devguide gitbook and s3
+
+  parameter:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2020-09-14
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: parameter metadata
+      run: |
+        make parameters_metadata
+        cd build/px4_sitl_default/docs
+        ls -ls *
+      # TODO: deploy 'parameters.md, parameters.xml to S3 px4-travis:Firmware/master/
+
+  uorb_graph:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-nuttx-focal:2020-09-14
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: uORB graph
+      run: |
+        make uorb_graphs
+        cd Tools/uorb_graph
+        ls -ls *
+      # TODO: deploy graph_px4_sitl.json to S3 px4-travis:Firmware/master/
+
+  micrortps_agent:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2020-09-14
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: microRTPS agent
+      run: |
+        make px4_sitl_rtps
+        git clone https://github.com/PX4/micrortps_agent.git
+        cp -R build/px4_sitl_rtps/src/modules/micrortps_bridge/micrortps_agent/* micrortps_agent
+
+  ROS_msgs:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2020-09-14
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: PX4 ROS msgs
+      run: |
+        git clone https://github.com/PX4/px4_msgs.git
+        python3 msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/
+
+  ROS2_bridge:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2020-09-14
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: PX4 ROS2 bridge
+      run: |
+        git clone https://github.com/PX4/px4_ros_com.git
+        ./msg/tools/uorb_to_ros_rtps_ids.py -i msg/tools/uorb_rtps_message_ids.yaml -o px4_ros_com/templates/uorb_rtps_message_ids.yaml

.github/workflows/python_checks.yml

@@ -0,0 +1,25 @@
+name: Python CI Checks
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+    - name: Install Python3
+      run: sudo apt-get install python3 python3-setuptools python3-pip -y
+    - name: Install tools
+      run: pip3 install --user mypy flake8
+    - name: Check MAVSDK test scripts with mypy
+      run: $HOME/.local/bin/mypy --strict test/mavsdk_tests/*.py
+    - name: Check MAVSDK test scripts with flake8
+      run: $HOME/.local/bin/flake8 test/mavsdk_tests/*.py

.github/workflows/sitl_tests.yml

@@ -0,0 +1,134 @@
+name: SITL Tests
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        config:
+          - {latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo", model: "iris"          } # Alaska
+          - {latitude: "-38.071235", longitude:  "145.281220", altitude:  "31", build_type: "RelWithDebInfo", model: "standard_vtol" } # Australia
+          - {latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo", model: "tailsitter"    } # Florida
+          - {latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage",       model: "standard_vtol" } # Zurich
+    container:
+      image: px4io/px4-dev-simulation-focal:2020-08-14
+      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: Download MAVSDK
+      run: wget https://github.com/mavlink/MAVSDK/releases/download/v0.33.1/mavsdk_0.33.1_ubuntu20.04_amd64.deb
+    - name: Install MAVSDK
+      run: dpkg -i mavsdk_0.33.1_ubuntu20.04_amd64.deb
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: check environment
+      env:
+        PX4_HOME_LAT: ${{matrix.config.latitude}}
+        PX4_HOME_LON: ${{matrix.config.longitude}}
+        PX4_HOME_ALT: ${{matrix.config.altitude}}
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: export
+    - name: Build PX4
+      env:
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: make px4_sitl_default
+    - name: ccache post-run px4/firmware
+      run: ccache -s
+    - name: Build SITL Gazebo
+      env:
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: make px4_sitl_default sitl_gazebo
+    - name: ccache post-run sitl_gazebo
+      run: ccache -s
+    - name: Build MAVSDK tests
+      env:
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+        DONT_RUN: 1
+      run: make px4_sitl_default gazebo mavsdk_tests
+    - name: ccache post-run mavsdk_tests
+      run: ccache -s
+
+    - name: Core dump settings
+      run: |
+          ulimit -c unlimited
+          echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
+
+    - name: Run SITL tests
+      env:
+        PX4_HOME_LAT: ${{matrix.config.latitude}}
+        PX4_HOME_LON: ${{matrix.config.longitude}}
+        PX4_HOME_ALT: ${{matrix.config.altitude}}
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} test/mavsdk_tests/configs/sitl.json
+
+    - name: Look at core files
+      if: failure()
+      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
+    - name: Upload px4 coredump
+      if: failure()
+      uses: actions/upload-artifact@v2-preview
+      with:
+        name: coredump
+        path: px4.core
+
+    - name: Upload logs to flight review
+      if: failure()
+      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ${GITHUB_WORKSPACE}/build/px4_sitl_default/tmp_mavsdk_tests/rootfs/log/*/*.ulg
+
+    - name: Upload px4 binary
+      if: failure()
+      uses: actions/upload-artifact@v2-preview
+      with:
+        name: binary
+        path: build/px4_sitl_default/bin/px4
+
+    # Report test coverage
+    - name: Upload coverage
+      if: contains(matrix.config.build_type, 'Coverage')
+      run: |
+          git config --global credential.helper "" # disable the keychain credential helper
+          git config --global --add credential.helper store # enable the local store credential helper
+          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
+          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
+          mkdir -p coverage
+          lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
+    - name: Upload coverage information to Codecov
+      if: contains(matrix.config.build_type, 'Coverage')
+      uses: codecov/codecov-action@v1
+      with:
+        token: ${{ secrets.CODECOV_TOKEN }}
+        flags: mavsdk
+        file: coverage/lcov.info

.gitignore

@@ -17,7 +17,6 @@ Testing/
 Packages/*
 build/*
 build_*/
-core
 cscope.out
 cscope.in.out
 cscope.po.out
@@ -64,3 +63,53 @@ posix-configs/SITL/init/test/*_generated
 *.gcov
 .coverage
 .coverage.*
+
+# KDevelop ignores
+.kdev4/*
+*.kdev4
+
+# cmake in tree (ninja)
+.ninja_deps
+.ninja_log
+bin/
+build.ninja
+cmake_install.cmake
+CMakeCache.txt
+CMakeFiles
+compile_commands.json
+CPackConfig.cmake
+CPackSourceConfig.cmake
+CTestTestfile.cmake
+external/
+rules.ninja
+
+# in tree build
+**/*.a
+**/*.px4mod
+**/*.stamp
+/coverage*
+/functional-*
+/generated_params/
+/googletest-*/
+/logs
+/mavsdk_tests
+/test_mixer_multirotor
+/unit-*
+/uORB/
+DartConfiguration.tcl
+msg/tmp/
+msg/topics_sources/
+platforms/posix/apps.cpp
+platforms/posix/apps.h
+src/lib/flight_tasks/FlightTasks_generated.cpp
+src/lib/flight_tasks/FlightTasks_generated.hpp
+src/lib/parameters/px4_parameters.c
+src/lib/parameters/px4_parameters.h
+src/lib/parameters/px4_parameters_public.h
+src/lib/version/build_git_version.h
+src/modules/simulator/simulator_config.h
+src/systemcmds/topic_listener/listener_generated.cpp
+
+# SITL
+dataman
+eeprom/

.gitmodules

@@ -6,33 +6,21 @@
 	path = src/drivers/uavcan/libuavcan
 	url = https://github.com/PX4/uavcan.git
 	branch = px4
-[submodule "msg/tools/genmsg"]
-	path = msg/tools/genmsg
-	url = https://github.com/PX4/genmsg.git
-	branch = px4
-[submodule "msg/tools/gencpp"]
-	path = msg/tools/gencpp
-	url = https://github.com/PX4/gencpp.git
-	branch = px4
 [submodule "Tools/jMAVSim"]
 	path = Tools/jMAVSim
 	url = https://github.com/PX4/jMAVSim.git
 	branch = master
 [submodule "Tools/sitl_gazebo"]
 	path = Tools/sitl_gazebo
-	url = https://github.com/PX4/sitl_gazebo.git
+	url = https://github.com/PX4/PX4-SITL_gazebo.git
 	branch = master
 [submodule "src/lib/matrix"]
 	path = src/lib/matrix
-	url = https://github.com/PX4/Matrix.git
-	branch = master
-[submodule "src/lib/DriverFramework"]
-	path = src/lib/DriverFramework
-	url = https://github.com/PX4/DriverFramework.git
+	url = https://github.com/PX4/PX4-Matrix
 	branch = master
 [submodule "src/lib/ecl"]
 	path = src/lib/ecl
-	url = https://github.com/PX4/ecl.git
+	url = https://github.com/PX4/PX4-ECL
 	branch = master
 [submodule "boards/atlflight/cmake_hexagon"]
 	path = boards/atlflight/cmake_hexagon
@@ -40,7 +28,7 @@
 	branch = px4
 [submodule "src/drivers/gps/devices"]
 	path = src/drivers/gps/devices
-	url = https://github.com/PX4/GpsDrivers.git
+	url = https://github.com/PX4/PX4-GPSDrivers
 	branch = master
 [submodule "src/modules/micrortps_bridge/micro-CDR"]
 	path = src/modules/micrortps_bridge/micro-CDR
@@ -49,12 +37,20 @@
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
 	url = https://github.com/PX4/NuttX.git
-	branch = px4_firmware_nuttx-7.28+
+	branch = px4_firmware_nuttx-10.0.0+
 [submodule "platforms/nuttx/NuttX/apps"]
 	path = platforms/nuttx/NuttX/apps
 	url = https://github.com/PX4/NuttX-apps.git
-	branch = px4_firmware_nuttx-7.28+
-[submodule "cmake/configs/uavcan_board_ident"]
-	path = cmake/configs/uavcan_board_ident
-	url = https://github.com/PX4/uavcan_board_ident.git
-	branch = master
+	branch = px4_firmware_nuttx-10.0.0+
+[submodule "platforms/qurt/dspal"]
+	path = platforms/qurt/dspal
+	url = https://github.com/ATLFlight/dspal.git
+[submodule "Tools/flightgear_bridge"]
+	path = Tools/flightgear_bridge
+	url = https://github.com/PX4/PX4-FlightGear-Bridge.git
+[submodule "Tools/jsbsim_bridge"]
+	path = Tools/jsbsim_bridge
+	url = https://github.com/PX4/px4-jsbsim-bridge.git
+[submodule "src/examples/gyro_fft/CMSIS_5"]
+	path = src/examples/gyro_fft/CMSIS_5
+	url = https://github.com/ARM-software/CMSIS_5.git

.travis.yml

@@ -9,7 +9,9 @@ matrix:
   include:
     - os: linux
       dist: xenial
-      if: branch = coverity_scan
+      # In order to stay under the coverity rate limit, we only run this weekly
+      # and not on push which is configured in travis-ci settings.
+      if: branch = master
 
 before_install:
     - echo -n | openssl s_client -connect scan.coverity.com:443 | sed -ne '/-BEGIN CERTIFICATE-/,/-END CERTIFICATE-/p' | sudo tee -a /etc/ssl/certs/ca-

.vscode/.gitignore

@@ -2,5 +2,10 @@
 .cortex-debug.registers.state.json
 compile_commands.json
 
+# generated by cmake
+launch.json
+
 # C/C++ extension does some local caching in this folder
 ipch/
+
+browse.vc.db*

.vscode/c_cpp_properties.json

@@ -1,25 +1,15 @@
 {
     "configurations": [
         {
-            "name": "Linux",
-            "intelliSenseMode": "gcc-x64",
+            "name": "PX4",
             "includePath": [
                 "${workspaceFolder}/**"
             ],
             "defines": [],
-            "browse": {
-                "path": [
-                    "${workspaceFolder}/src/",
-                    "${workspaceFolder}/src/lib/",
-                    "${workspaceFolder}/src/lib/matrix",
-                    "${workspaceFolder}/src/platforms",
-                    "${workspaceFolder}/platforms/",
-                    "."
-                ],
-                "limitSymbolsToIncludedHeaders": true
-            },
-            "compileCommands": "${workspaceFolder}/.vscode/compile_commands.json",
-            "configurationProvider": "vector-of-bool.cmake-tools"
+            "macFrameworkPath": [],
+            "configurationProvider": "ms-vscode.cmake-tools",
+            "cppStandard": "c++14",
+            "cStandard": "c11"
         }
     ],
     "version": 4

.vscode/cmake-variants.yaml

@@ -6,16 +6,21 @@ CONFIG:
       buildType: RelWithDebInfo
       settings:
         CONFIG: px4_sitl_default
-    px4_sitl_default_Debug:
-      short: px4_sitl (Debug)
-      buildType: Debug
+    px4_sitl_replay:
+      short: px4_sitl_replay
+      buildType: RelWithDebInfo
       settings:
-        CONFIG: px4_sitl_default
-    px4_sitl_default_ASan:
-      short: px4_sitl (Address Sanitizer)
-      buildType: AddressSanitizer
+        CONFIG: px4_sitl_replay
+    px4_sitl_test:
+      short: px4_sitl_test
+      buildType: RelWithDebInfo
       settings:
-        CONFIG: px4_sitl_default
+        CONFIG: px4_sitl_test
+    px4_io-v2_default:
+      short: px4_io-v2
+      buildType: MinSizeRel
+      settings:
+        CONFIG: px4_io-v2_default
     px4_fmu-v2_default:
       short: px4_fmu-v2
       buildType: MinSizeRel
@@ -41,21 +46,76 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: px4_fmu-v5_default
+    px4_fmu-v5x_default:
+      short: px4_fmu-v5x
+      buildType: MinSizeRel
+      settings:
+        CONFIG: px4_fmu-v5x_default
     airmind_mindpx-v2_default:
       short: airmind_mindpx-v2
       buildType: MinSizeRel
       settings:
         CONFIG: airmind_mindpx-v2_default
     av_x-v1_default:
-      short: av-x
+      short: av_x-v1
       buildType: MinSizeRel
       settings:
         CONFIG: av_x-v1_default
+    cuav_can-gps-v1_default:
+      short: cuav_can-gps-v1_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: cuav_can-gps-v1_default
+    cuav_nora_default:
+      short: cuav_nora
+      buildType: MinSizeRel
+      settings:
+        CONFIG: cuav_nora_default
+    cuav_x7pro_default:
+      short: cuav_x7pro
+      buildType: MinSizeRel
+      settings:
+        CONFIG: cuav_x7pro_default
+    cubepilot_cubeorange_default:
+      short: cubepilot_cubeorange
+      buildType: MinSizeRel
+      settings:
+        CONFIG: cubepilot_orange_default
+    cubepilot_cubeyellow_default:
+      short: cubepilot_cubeyellow
+      buildType: MinSizeRel
+      settings:
+        CONFIG: cubepilot_cubeyellow_default
+    emlid_navio2_default:
+      short: emlid_navio2
+      buildType: MinSizeRel
+      settings:
+        CONFIG: emlid_navio2_default
+    holybro_durandal-v1_default:
+      short: holybro_durandal-v1
+      buildType: MinSizeRel
+      settings:
+        CONFIG: holybro_durandal-v1_default
     intel_aerofc-v1_default:
       short: intel_aerofc-v1
       buildType: MinSizeRel
       settings:
         CONFIG: intel_aerofc-v1_default
+    modalai_fc-v1_default:
+      short: modalai_fc-v1
+      buildType: MinSizeRel
+      settings:
+        CONFIG: modalai_fc-v1_default
+    mro_ctrl-zero-f7_default:
+      short: mro_ctrl-zero-f7
+      buildType: MinSizeRel
+      settings:
+        CONFIG: mro_ctrl-zero-f7_default
+    mro_x21-777_default:
+      short: mro_x2.1-777
+      buildType: MinSizeRel
+      settings:
+        CONFIG: mro_x21-777_default
     nxp_fmuk66-v3_default:
       short: nxp_fmuk66-v3
       buildType: MinSizeRel

.vscode/extensions.json

@@ -2,17 +2,22 @@
     // See http://go.microsoft.com/fwlink/?LinkId=827846
     // for the documentation about the extensions.json format
     "recommendations": [
-        "ajshort.ros",
         "chiehyu.vscode-astyle",
         "dan-c-underwood.arm",
+        "fredericbonnet.cmake-test-adapter",
         "github.vscode-pull-request-github",
         "marus25.cortex-debug",
+        "ms-azuretools.vscode-docker",
+        "ms-iot.vscode-ros",
         "ms-python.python",
+        "ms-vscode.cmake-tools",
         "ms-vscode.cpptools",
-        "peterjausovec.vscode-docker",
+        "ms-vscode.cpptools-extension-pack",
+        "redhat.vscode-yaml",
+        "streetsidesoftware.code-spell-checker",
         "twxs.cmake",
         "uavcan.dsdl",
-        "vector-of-bool.cmake-tools",
-        "wholroyd.jinja"
+        "wholroyd.jinja",
+        "zixuanwang.linkerscript"
     ]
 }

.vscode/launch.json

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

.vscode/settings.json

@@ -3,89 +3,141 @@
         "astyle.c.enable": true,
         "astyle.cpp.enable": true,
         "breadcrumbs.enabled": true,
-        "cmake.autoRestartBuild": true,
-        "cmake.buildDirectory": "${workspaceFolder}/build/${variant:CONFIG}",
-        "cmake.buildBeforeRun": true,
-        "cmake.configureOnOpen": true,
-        "cmake.copyCompileCommands": "${workspaceFolder}/.vscode/compile_commands.json",
-        "cmake.debugConfig": {
-                "name": "SITL shell (gdb)",
-                "type": "cppdbg",
-                "request": "launch",
-                "program": "${command:cmake.launchTargetPath}",
-                "args": [
-                        "${workspaceFolder}/ROMFS/px4fmu_common",
-                        "-s",
-                        "etc/init.d-posix/rcS",
-                        "-t",
-                        "${workspaceFolder}/test_data"
-                ],
-                "stopAtEntry": false,
-                "cwd": "${workspaceFolder}/build/px4_sitl_default/tmp",
-                "environment": [
-                        {
-                                "name": "PX4_SIM_MODEL",
-                                "value": "shell"
-                        }
-                ],
-                "externalConsole": false,
-                "linux": {
-                        "MIMode": "gdb",
-                        "setupCommands": [
-                                {
-                                        "description": "Enable pretty-printing for gdb",
-                                        "text": "-enable-pretty-printing",
-                                        "ignoreFailures": true
-                                },
-                                {
-                                        "description": "PX4 ignore wq signals",
-                                        "text": "handle SIGCONT nostop noprint nopass",
-                                        "ignoreFailures": true
-                                }
-                        ]
-                },
-                "osx": {
-                        "MIMode": "lldb",
-                        "setupCommands": [
-                                {
-                                        "text": "pro hand -p true -s false -n false SIGCONT",
-                                }
-                        ]
-                }
-        },
+        "C_Cpp.autoAddFileAssociations": false,
         "C_Cpp.clang_format_fallbackStyle": "none",
-        "C_Cpp.configurationWarnings": "Disabled",
-        "C_Cpp.default.cppStandard": "c++11",
-        "C_Cpp.default.cStandard": "c99",
-        "C_Cpp.default.intelliSenseMode": "gcc-x64",
-        "C_Cpp.errorSquiggles": "Disabled",
+        "C_Cpp.default.browse.limitSymbolsToIncludedHeaders": true,
+        "C_Cpp.default.cppStandard": "c++14",
+        "C_Cpp.default.cStandard": "c11",
         "C_Cpp.formatting": "Disabled",
         "C_Cpp.intelliSenseEngine": "Default",
-        "C_Cpp.intelliSenseEngineFallback": "Disabled",
+        "C_Cpp.vcpkg.enabled": false,
+        "C_Cpp.workspaceParsingPriority": "low",
+        "cmake.buildBeforeRun": true,
+        "cmake.buildDirectory": "${workspaceFolder}/build/${variant:CONFIG}",
+        "cmake.buildTask": true,
+        "cmake.configureOnOpen": true,
+        "cmake.ctest.parallelJobs": 1,
+        "cmake.skipConfigureIfCachePresent": true,
+        "cmakeExplorer.buildDir": "${workspaceFolder}/build/px4_sitl_test",
+        "cmakeExplorer.parallelJobs": 1,
+        "cmakeExplorer.suiteDelimiter": "-",
+        "cortex-debug.enableTelemetry": false,
+        "cSpell.allowCompoundWords": true,
+        "cSpell.diagnosticLevel": "Hint",
+        "cSpell.showStatus": false,
+        "cSpell.words": [
+                "acro",
+                "rattitude",
+                "nuttx",
+                "esc"
+        ],
         "debug.toolBarLocation": "docked",
+        "editor.acceptSuggestionOnEnter": "off",
+        "editor.defaultFormatter": "chiehyu.vscode-astyle",
+        "editor.dragAndDrop": false,
         "editor.insertSpaces": false,
         "editor.minimap.maxColumn": 120,
         "editor.minimap.renderCharacters": false,
         "editor.minimap.showSlider": "always",
-        "editor.smoothScrolling": true,
         "editor.suggest.localityBonus": true,
         "editor.tabSize": 8,
         "editor.wordWrapColumn": 120,
         "explorer.openEditors.visible": 0,
         "files.insertFinalNewline": true,
         "files.trimTrailingWhitespace": true,
+        "files.watcherExclude": {
+                "**/build/**": true
+        },
         "git.detectSubmodulesLimit": 20,
+        "git.ignoreLimitWarning": true,
+        "githubPullRequests.defaultMergeMethod": "squash",
+        "githubPullRequests.telemetry.enabled": false,
         "files.associations": {
-                "*.jinja": "jinja"
+                "*.jinja": "jinja",
+                "algorithm": "cpp",
+                "array": "cpp",
+                "atomic": "cpp",
+                "bitset": "cpp",
+                "cctype": "cpp",
+                "cfenv": "cpp",
+                "chrono": "cpp",
+                "cinttypes": "cpp",
+                "clocale": "cpp",
+                "cmath": "cpp",
+                "codecvt": "cpp",
+                "complex": "cpp",
+                "condition_variable": "cpp",
+                "csignal": "cpp",
+                "cstdarg": "cpp",
+                "cstddef": "cpp",
+                "cstdint": "cpp",
+                "cstdio": "cpp",
+                "cstdlib": "cpp",
+                "cstring": "cpp",
+                "ctime": "cpp",
+                "cwchar": "cpp",
+                "cwctype": "cpp",
+                "deque": "cpp",
+                "exception": "cpp",
+                "forward_list": "cpp",
+                "fstream": "cpp",
+                "functional": "cpp",
+                "future": "cpp",
+                "hash_map": "cpp",
+                "hash_set": "cpp",
+                "initializer_list": "cpp",
+                "iomanip": "cpp",
+                "iosfwd": "cpp",
+                "iostream": "cpp",
+                "istream": "cpp",
+                "iterator": "cpp",
+                "limits": "cpp",
+                "list": "cpp",
+                "map": "cpp",
+                "memory": "cpp",
+                "memory_resource": "cpp",
+                "mutex": "cpp",
+                "new": "cpp",
+                "numeric": "cpp",
+                "optional": "cpp",
+                "ostream": "cpp",
+                "random": "cpp",
+                "ratio": "cpp",
+                "regex": "cpp",
+                "set": "cpp",
+                "sstream": "cpp",
+                "stdexcept": "cpp",
+                "streambuf": "cpp",
+                "string": "cpp",
+                "string_view": "cpp",
+                "strstream": "cpp",
+                "system_error": "cpp",
+                "thread": "cpp",
+                "tuple": "cpp",
+                "type_traits": "cpp",
+                "typeindex": "cpp",
+                "typeinfo": "cpp",
+                "unordered_map": "cpp",
+                "unordered_set": "cpp",
+                "utility": "cpp",
+                "valarray": "cpp",
+                "variant": "cpp",
+                "vector": "cpp"
         },
         "search.exclude": {
-                "build/**": true
+                "${workspaceFolder}/build": true
         },
         "search.showLineNumbers": true,
+        "search.smartCase": true,
+        "telemetry.enableTelemetry": false,
+        "terminal.integrated.copyOnSelection": true,
+        "terminal.integrated.rightClickBehavior": "paste",
+        "terminal.integrated.scrollback": 5000,
         "window.title": "${dirty} ${activeEditorMedium}${separator}${rootName}",
-        "workbench.editor.enablePreview": false,
-        "workbench.editor.enablePreviewFromQuickOpen": false,
         "workbench.editor.highlightModifiedTabs": true,
+        "workbench.enableExperiments": false,
         "workbench.settings.enableNaturalLanguageSearch": false,
-        "workbench.statusBar.feedback.visible": false
+        "yaml.schemas": {
+                "${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml"
+        }
 }

.vscode/tasks.json

@@ -4,20 +4,87 @@
     "version": "2.0.0",
     "tasks": [
         {
-            "label": "jmavsim",
+            "label": "build",
             "type": "shell",
-            "command": "Tools/jmavsim_run.sh",
-            "isBackground": true,
+            "command": "/bin/bash",
             "args": [
-                "-r",
-                "500"
+                "-c",
+                "${command:cmake.tasksBuildCommand}"
             ],
             "options": {
-                "cwd": "${workspaceRoot}"
+                "cwd": "${command:cmake.buildDirectory}"
             },
+            "group": {
+                "kind": "build",
+                "isDefault": true,
+            },
+            "problemMatcher": {
+                "base": "$gcc",
+                "fileLocation": ["relative", "${command:cmake.buildDirectory}"]
+            },
+            "presentation":{
+                "echo": false,
+                "showReuseMessage": false,
+                "clear": true,
+                "panel": "shared",
+                "group": "build"
+            }
+        },
+        {
+            "label": "test",
+            "type": "shell",
+            "command": "make tests",
+            "options": {
+                "cwd": "${workspaceFolder}"
+            },
+            "group": {
+                "kind": "test",
+                "isDefault": true,
+            },
+            "presentation":{
+                "echo": true,
+                "showReuseMessage": false,
+                "clear": false,
+                "panel": "shared",
+                "group": "test"
+            }
+        },
+        {
+            "label": "jmavsim build",
+            "type": "shell",
+            "command": "ant create_run_jar copy_res",
+            "options": {
+                "cwd": "${workspaceFolder}/Tools/jMAVSim"
+            },
+            "problemMatcher": [],
+            "presentation":{
+                "echo": true,
+                "reveal": "never",
+                "focus": false,
+                "panel": "shared",
+                "showReuseMessage": false,
+                "clear": false,
+            }
+        },
+        {
+            "label": "jmavsim",
+            "type": "shell",
+            "dependsOn": "jmavsim build",
+            "command": "java -Djava.ext.dirs= -jar jmavsim_run.jar -r 250 -lockstep -tcp localhost:4560 -qgc",
+            "options": {
+                "cwd": "${workspaceFolder}/Tools/jMAVSim/out/production",
+                "env": {
+                    "PX4_SIM_SPEED_FACTOR": "1"
+                }
+            },
+            "isBackground": true,
             "presentation": {
-                "reveal": "always",
-                "panel": "dedicated"
+                "echo": true,
+                "reveal": "never",
+                "focus": false,
+                "panel": "shared",
+                "showReuseMessage": false,
+                "clear": false
             },
             "problemMatcher": [
                 {
@@ -41,6 +108,14 @@
             "label": "jmavsim kill",
             "type": "shell",
             "command": "kill $(ps aux | grep jmavsim | grep -v 'grep' | awk '{print $2}')",
+            "presentation": {
+                "echo": false,
+                "reveal": "never",
+                "focus": false,
+                "panel": "shared",
+                "showReuseMessage": false,
+                "clear": false
+            },
             "problemMatcher": []
         },
         {
@@ -48,26 +123,119 @@
             "type": "shell",
             "command": "make px4_sitl_default sitl_gazebo",
             "options": {
-                "cwd": "${workspaceRoot}"
+                "cwd": "${workspaceFolder}"
             },
-            "problemMatcher": []
+            "problemMatcher": [],
+            "presentation":{
+                "echo": true,
+                "reveal": "always",
+                "focus": false,
+                "panel": "shared",
+                "showReuseMessage": false,
+                "clear": false,
+            }
         },
         {
-            "label": "gazebo iris",
+            "label": "gazebo start",
             "type": "shell",
             "dependsOn": "gazebo build",
             "options": {
-                "cwd": "${workspaceRoot}",
+                "cwd": "${workspaceFolder}",
                 "env": {
-                    "GAZEBO_PLUGIN_PATH": "${workspaceRoot}/build/px4_sitl_default/build_gazebo",
-                    "GAZEBO_MODEL_PATH": "${workspaceRoot}/Tools/sitl_gazebo/models"
+                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
+                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models",
+                    "PX4_SIM_SPEED_FACTOR": "1"
                 }
             },
-            "command": "gzserver --verbose ${workspaceRoot}/Tools/sitl_gazebo/worlds/iris.world",
+            "command": "gzserver --verbose ${workspaceFolder}/Tools/sitl_gazebo/worlds/${input:gazeboWorld}.world",
             "isBackground": true,
             "presentation": {
-                "reveal": "always",
-                "panel": "dedicated"
+                "echo": true,
+                "reveal": "never",
+                "focus": false,
+                "panel": "shared",
+                "showReuseMessage": false,
+                "clear": false
+            },
+            "problemMatcher": [
+                {
+                    "pattern": [
+                        {
+                            "regexp": ".",
+                            "file": 1,
+                            "location": 2,
+                            "message": 3
+                        }
+                    ],
+                    "background": {
+                        "activeOnStart": true,
+                        "beginsPattern": ".",
+                        "endsPattern": ".",
+                    }
+                }
+            ]
+        },
+        {
+            "label": "gazebo",
+            "type": "shell",
+            "dependsOn": "gazebo start",
+            "options": {
+                "cwd": "${workspaceFolder}",
+                "env": {
+                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
+                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models",
+                    "PX4_SIM_SPEED_FACTOR": "1"
+                }
+            },
+            "command": "gz model --verbose --spawn-file=${workspaceFolder}/Tools/sitl_gazebo/models/${input:vehicleModel}/${input:vehicleModel}.sdf --model-name=${input:vehicleModel} -x 1.01 -y 0.98 -z 0.83",
+            "isBackground": false,
+            "presentation": {
+                "echo": true,
+                "reveal": "never",
+                "focus": false,
+                "panel": "shared",
+                "showReuseMessage": false,
+                "clear": false
+            },
+            "problemMatcher": [
+                {
+                    "pattern": [
+                        {
+                            "regexp": ".",
+                            "file": 1,
+                            "location": 2,
+                            "message": 3
+                        }
+                    ],
+                    "background": {
+                        "activeOnStart": true,
+                        "beginsPattern": ".",
+                        "endsPattern": ".",
+                    }
+                }
+            ]
+        },
+        {
+            "label": "gazebo client",
+            "type": "shell",
+            "dependsOn": "gazebo build",
+            "options": {
+                "cwd": "${workspaceFolder}",
+                "env": {
+                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
+                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models",
+                    "PX4_SIM_SPEED_FACTOR": "1"
+                }
+            },
+            "command": "gzclient --verbose",
+            "isBackground": true,
+            "presentation": {
+                "echo": true,
+                "reveal": "never",
+                "focus": false,
+                "panel": "shared",
+                "showReuseMessage": false,
+                "clear": false
             },
             "problemMatcher": [
                 {
@@ -91,7 +259,115 @@
             "label": "gazebo kill",
             "type": "shell",
             "command": "killall gzserver",
+            "presentation": {
+                "echo": true,
+                "reveal": "silent",
+                "focus": false,
+                "panel": "shared",
+                "showReuseMessage": false,
+                "clear": false
+            },
+            "problemMatcher": [],
+            "dependsOn":["px4_sitl_cleanup"]
+        },
+        {
+            "label": "px4_sitl_cleanup",
+            "type": "shell",
+            "command": "rm -rfv /tmp/px4*",
+            "presentation": {
+                "echo": true,
+                "reveal": "silent",
+                "focus": false,
+                "panel": "shared",
+                "showReuseMessage": false,
+                "clear": false
+            },
+            "problemMatcher": [],
+            "dependsOn":["px4_kill"]
+        },
+        {
+            "label": "px4_kill",
+            "type": "shell",
+            "command": "killall px4 || true",
+            "presentation": {
+                "echo": true,
+                "reveal": "silent",
+                "focus": false,
+                "panel": "shared",
+                "showReuseMessage": false,
+                "clear": false
+            },
             "problemMatcher": []
         },
+        {
+            "label": "mavlink shell",
+            "type": "shell",
+            "command": "./Tools/mavlink_shell.py",
+            "options": {
+                "cwd": "${workspaceFolder}"
+            },
+            "presentation": {
+                "echo": true,
+                "reveal": "always",
+                "focus": true,
+                "panel": "new",
+                "showReuseMessage": false,
+                "clear": false
+            },
+            "problemMatcher": []
+        },
+        {
+            "label": "miniterm.py",
+            "type": "shell",
+            "command": "miniterm.py --raw - 57600",
+            "options": {
+                "cwd": "${workspaceFolder}"
+            },
+            "presentation": {
+                "echo": true,
+                "reveal": "always",
+                "focus": true,
+                "panel": "new",
+                "showReuseMessage": false,
+                "clear": false
+            },
+            "problemMatcher": []
+        }
+    ],
+    "inputs": [
+        {
+            "type": "pickString",
+            "id": "vehicleModel",
+            "description": "gazebo model",
+            "options": [
+              "iris",
+              "typhoon_h480",
+              "plane",
+              "plane_catapult",
+              "plane_lidar",
+              "standard_vtol",
+              "tailsitter",
+              "tiltrotor",
+              "r1_rover",
+              "boat"
+            ],
+            "default": "iris"
+        },
+        {
+            "type": "pickString",
+            "id": "gazeboWorld",
+            "description": "gazebo world",
+            "options": [
+                "baylands",
+                "empty",
+                "ksql_airport",
+                "mcmillan_airfield",
+                "sonoma_raceway",
+                "warehouse",
+                "windy",
+                "yosemite"
+            ],
+            "default": "empty"
+        }
     ]
-}
+}

.ycm_extra_conf.py

@@ -51,8 +51,8 @@ flags = [
 # headers will be compiled as C headers. You don't want that so ALWAYS specify
 # a "-std=<something>".
 # For a C project, you would set this to something like 'c99' instead of
-# 'c++11'.
-'-std=c++11',
+# 'c++14'.
+'-std=c++14',
 # ...and the same thing goes for the magic -x option which specifies the
 # language that the files to be compiled are written in. This is mostly
 # relevant for c++ headers.

CMakeLists.txt

@@ -105,6 +105,7 @@ set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
 set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}")
 
 list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake)
+include(px4_parse_function_args)
 
 #=============================================================================
 # git
@@ -117,6 +118,7 @@ execute_process(
 	OUTPUT_STRIP_TRAILING_WHITESPACE
 	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 	)
+message(STATUS "PX4 version: ${PX4_GIT_TAG}")
 
 define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES
                  BRIEF_DOCS "PX4 module libs"
@@ -136,97 +138,26 @@ set(CONFIG "px4_sitl_default" CACHE STRING "desired configuration")
 
 include(px4_add_module)
 set(config_module_list)
-set(config_df_driver_list)
 
-# find PX4 config
-#  look for in tree board config that matches CONFIG input
-if(NOT PX4_CONFIG_FILE)
-
-	file(GLOB_RECURSE board_configs
-		RELATIVE "${PX4_SOURCE_DIR}/boards"
-		"boards/*.cmake"
-		)
-
-	set(PX4_CONFIGS ${board_configs} CACHE STRING "PX4 board configs" FORCE)
-
-	foreach(filename ${board_configs})
-		# parse input CONFIG into components to match with existing in tree configs
-		#  the platform prefix (eg nuttx_) is historical, and removed if present
-		string(REPLACE ".cmake" "" filename_stripped ${filename})
-		string(REPLACE "/" ";" config ${filename_stripped})
-		list(LENGTH config config_len)
-
-		if(${config_len} EQUAL 3)
-
-
-			list(GET config 0 vendor)
-			list(GET config 1 model)
-			list(GET config 2 label)
-
-			set(board "${vendor}${model}")
-
-			# <VENDOR>_<MODEL>_<LABEL> (eg px4_fmu-v2_default)
-			# <VENDOR>_<MODEL>_default (eg px4_fmu-v2) # allow skipping label if "default"
-			if ((${CONFIG} MATCHES "${vendor}_${model}_${label}") OR # match full vendor, model, label
-			    ((${label} STREQUAL "default") AND (${CONFIG} STREQUAL "${vendor}_${model}")) # default label can be omitted
-			)
-				set(PX4_CONFIG_FILE "${PX4_SOURCE_DIR}/boards/${filename}" CACHE FILEPATH "path to PX4 CONFIG file" FORCE)
-				break()
-			endif()
-
-			# <BOARD>_<LABEL> (eg px4_fmu-v2_default)
-			# <BOARD>_default (eg px4_fmu-v2) # allow skipping label if "default"
-			if ((${CONFIG} MATCHES "${board}_${label}") OR # match full board, label
-			    ((${label} STREQUAL "default") AND (${CONFIG} STREQUAL "${board}")) # default label can be omitted
-			)
-				set(PX4_CONFIG_FILE "${PX4_SOURCE_DIR}/boards/${filename}" CACHE FILEPATH "path to PX4 CONFIG file" FORCE)
-				break()
-			endif()
-
-
-			# LEGACY form
-			# <OS>_<BOARD>_<LABEL> (eg nuttx_px4_fmu-v2_default)
-			string(REGEX REPLACE "^nuttx_|^posix_|^qurt_" "" config_no_os ${CONFIG}) # ignore OS prefix
-
-			if ((${config_no_os} MATCHES "${board}_${label}"))
-				set(PX4_CONFIG_FILE "${PX4_SOURCE_DIR}/boards/${filename}" CACHE FILEPATH "path to PX4 CONFIG file" FORCE)
-				break()
-			endif()
-
-
-			# LEGACY form special case to ease board layout transition (2018-11-18)
-			#  match board with model and label only: eg sitl_default -> px4_sitl_default
-			if ((${config_no_os} MATCHES "${model}_${label}"))
-				set(PX4_CONFIG_FILE "${PX4_SOURCE_DIR}/boards/${filename}" CACHE FILEPATH "path to PX4 CONFIG file" FORCE)
-				break()
-			endif()
-
-		endif()
-
-	endforeach()
-endif()
-
-if(NOT PX4_CONFIG_FILE)
-	message(FATAL_ERROR "PX4 config file not set, try one of ${PX4_CONFIGS}")
-endif()
-
-message(STATUS "PX4 config file: ${PX4_CONFIG_FILE}")
+include(px4_config)
 include(px4_add_board)
 include(${PX4_CONFIG_FILE})
 message(STATUS "PX4 config: ${PX4_CONFIG}")
 message(STATUS "PX4 platform: ${PX4_PLATFORM}")
 
-if (ENABLE_LOCKSTEP_SCHEDULER)
-	add_definitions(-DENABLE_LOCKSTEP_SCHEDULER)
-	message(STATUS "PX4 lockstep: enabled")
-else()
-	message(STATUS "PX4 lockstep: disabled")
+if(${PX4_PLATFORM} STREQUAL "posix")
+	if(ENABLE_LOCKSTEP_SCHEDULER)
+		add_definitions(-DENABLE_LOCKSTEP_SCHEDULER)
+		message(STATUS "PX4 lockstep: enabled")
+	else()
+		message(STATUS "PX4 lockstep: disabled")
+	endif()
 endif()
 
 # external modules
 set(EXTERNAL_MODULES_LOCATION "" CACHE STRING "External modules source location")
 
-if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
+if(NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
 	get_filename_component(EXTERNAL_MODULES_LOCATION "${EXTERNAL_MODULES_LOCATION}" ABSOLUTE)
 endif()
 
@@ -240,8 +171,8 @@ if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake/init.cmake")
 endif()
 
 # CMake build type (Debug Release RelWithDebInfo MinSizeRel Coverage)
-if (NOT CMAKE_BUILD_TYPE)
-	if (${PX4_PLATFORM} STREQUAL "nuttx")
+if(NOT CMAKE_BUILD_TYPE)
+	if(${PX4_PLATFORM} STREQUAL "nuttx")
 		set(PX4_BUILD_TYPE "MinSizeRel")
 	else()
 		set(PX4_BUILD_TYPE "RelWithDebInfo")
@@ -250,11 +181,19 @@ if (NOT CMAKE_BUILD_TYPE)
 	set(CMAKE_BUILD_TYPE ${PX4_BUILD_TYPE} CACHE STRING "Build type" FORCE)
 endif()
 
+if((CMAKE_BUILD_TYPE STREQUAL "Debug") OR (CMAKE_BUILD_TYPE STREQUAL "Coverage"))
+	set(MAX_CUSTOM_OPT_LEVEL -O0)
+elseif(CMAKE_BUILD_TYPE MATCHES "Sanitizer")
+	set(MAX_CUSTOM_OPT_LEVEL -O1)
+else()
+	if(px4_constrained_flash_build)
+		set(MAX_CUSTOM_OPT_LEVEL -Os)
+	else()
+		set(MAX_CUSTOM_OPT_LEVEL -O2)
+	endif()
+endif()
+
 set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release;RelWithDebInfo;MinSizeRel;Coverage;AddressSanitizer;UndefinedBehaviorSanitizer")
-
-#=============================================================================
-
-message(STATUS "PX4 version: ${PX4_GIT_TAG}")
 message(STATUS "cmake build type: ${CMAKE_BUILD_TYPE}")
 
 #=============================================================================
@@ -264,9 +203,9 @@ project(px4 CXX C ASM)
 
 set(package-contact "px4users@googlegroups.com")
 
-set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_CXX_STANDARD 14)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
-set(CMAKE_C_STANDARD 99)
+set(CMAKE_C_STANDARD 11)
 set(CMAKE_C_STANDARD_REQUIRED ON)
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 
@@ -282,9 +221,29 @@ endif()
 
 #=============================================================================
 
-# Setup install paths
-if (${PX4_PLATFORM} STREQUAL "posix")
+# gold linker - use if available (posix only for now)
+if(${PX4_PLATFORM} STREQUAL "posix")
+	include(CMakeDependentOption)
+	CMAKE_DEPENDENT_OPTION(USE_LD_GOLD
+			"Use GNU gold linker" ON
+			"NOT WIN32;NOT APPLE" OFF
+	)
 
+	if(USE_LD_GOLD)
+		execute_process(COMMAND ${CMAKE_C_COMPILER} -fuse-ld=gold -Wl,--version ERROR_QUIET OUTPUT_VARIABLE LD_VERSION)
+		if("${LD_VERSION}" MATCHES "GNU gold")
+			set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fuse-ld=gold")
+			set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -fuse-ld=gold")
+		else()
+			set(USE_LD_GOLD OFF)
+		endif()
+	endif()
+endif()
+
+#=============================================================================
+
+# Setup install paths
+if(${PX4_PLATFORM} STREQUAL "posix")
 	# This makes it possible to dynamically load code which depends on symbols
 	# inside the px4 executable.
 	set(CMAKE_POSITION_INDEPENDENT_CODE ON)
@@ -301,25 +260,7 @@ if (${PX4_PLATFORM} STREQUAL "posix")
 	endif()
 endif()
 
-#=============================================================================
-# ccache
-#
-option(CCACHE "Use ccache if available" ON)
-find_program(CCACHE_PROGRAM ccache)
-if (CCACHE AND CCACHE_PROGRAM AND NOT DEFINED ENV{CCACHE_DISABLE})
-
-	get_filename_component(ccache_real_path ${CCACHE_PROGRAM} REALPATH)
-	get_filename_component(cxx_real_path ${CMAKE_CXX_COMPILER} REALPATH)
-	get_filename_component(cxx_abs_path ${CMAKE_CXX_COMPILER} ABSOLUTE)
-
-	if ("${ccache_real_path}" STREQUAL "${cxx_real_path}")
-		message(STATUS "ccache enabled via symlink (${cxx_abs_path} -> ${cxx_real_path})")
-	else()
-		message(STATUS "ccache enabled (export CCACHE_DISABLE=1 to disable)")
-		set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE "${CCACHE_PROGRAM}")
-	endif()
-
-endif()
+include(ccache)
 
 #=============================================================================
 # find programs and packages
@@ -336,15 +277,36 @@ if (CATKIN_DEVEL_PREFIX)
 	endif()
 endif()
 
-find_package(PythonInterp REQUIRED)
+# Python
+# If using catkin, Python 2 is found since it points
+# to the Python libs installed with the ROS distro
+if (NOT CATKIN_DEVEL_PREFIX)
+	find_package(PythonInterp 3)
+	# We have a custom error message to tell users how to install python3.
+	if (NOT PYTHONINTERP_FOUND)
+		message(FATAL_ERROR "Python 3 not found. Please install Python 3:\n"
+			"    Ubuntu: sudo apt install python3 python3-dev python3-pip\n"
+			"    macOS: brew install python")
+	endif()
+else()
+	find_package(PythonInterp REQUIRED)
+endif()
 
 option(PYTHON_COVERAGE "Python code coverage" OFF)
 if(PYTHON_COVERAGE)
 	message(STATUS "python coverage enabled")
 	set(PYTHON_EXECUTABLE coverage run -p)
-else()
-	# run normally (broken under coveragepy)
-	px4_find_python_module(jinja2 REQUIRED)
+endif()
+
+#=============================================================================
+# get chip and chip manufacturer
+#
+px4_os_determine_build_chip()
+if(NOT PX4_CHIP_MANUFACTURER)
+	message(FATAL_ERROR "px4_os_determine_build_chip() needs to set PX4_CHIP_MANUFACTURER")
+endif()
+if(NOT PX4_CHIP)
+	message(FATAL_ERROR "px4_os_determine_build_chip() needs to set PX4_CHIP")
 endif()
 
 #=============================================================================
@@ -354,6 +316,13 @@ include(px4_add_common_flags)
 px4_add_common_flags()
 px4_os_add_flags()
 
+#=============================================================================
+# board cmake init (optional)
+#
+if(EXISTS ${PX4_BOARD_DIR}/cmake/init.cmake)
+	include(${PX4_BOARD_DIR}/cmake/init.cmake)
+endif()
+
 #=============================================================================
 # message, and airframe generation
 #
@@ -363,25 +332,6 @@ add_subdirectory(msg EXCLUDE_FROM_ALL)
 
 px4_generate_airframes_xml(BOARD ${PX4_BOARD})
 
-#=============================================================================
-# DriverFramework
-#
-px4_add_git_submodule(TARGET git_driverframework PATH "src/lib/DriverFramework")
-set(OS ${PX4_PLATFORM})
-add_subdirectory(src/lib/DriverFramework/framework)
-
-# List the DriverFramework drivers
-if (DEFINED config_df_driver_list)
-	message("DF Drivers: ${config_df_driver_list}")
-endif()
-
-set(df_driver_libs)
-foreach(driver ${config_df_driver_list})
-	add_subdirectory(src/lib/DriverFramework/drivers/${driver})
-	list(APPEND df_driver_libs df_${driver})
-	message("Adding DF driver: ${driver}")
-endforeach()
-
 #=============================================================================
 # external projects
 #
@@ -389,11 +339,13 @@ set(ep_base ${PX4_BINARY_DIR}/external)
 set_property(DIRECTORY PROPERTY EP_BASE ${ep_base})
 
 # add external project install folders to build
-link_directories(${ep_base}/Install/lib)
-include_directories(${ep_base}/Install/include)
 # add the directories so cmake won't warn
-execute_process(COMMAND cmake -E make_directory ${ep_base}/Install/lib)
-execute_process(COMMAND cmake -E make_directory ${ep_base}/Install/include)
+execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${ep_base})
+execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${ep_base}/Install)
+execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${ep_base}/Install/lib)
+link_directories(${ep_base}/Install/lib)
+execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${ep_base}/Install/include)
+include_directories(${ep_base}/Install/include)
 
 #=============================================================================
 # external modules
@@ -415,6 +367,9 @@ endif()
 
 # optionally enable cmake testing (supported only on posix)
 option(CMAKE_TESTING "Configure test targets" OFF)
+if(${PX4_CONFIG} STREQUAL "px4_sitl_test")
+	set(CMAKE_TESTING ON)
+endif()
 if(CMAKE_TESTING)
 	include(CTest) # sets BUILD_TESTING variable
 endif()
@@ -427,18 +382,19 @@ list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake/gtest/)
 include(px4_add_gtest)
 if(BUILD_TESTING)
 	include(gtest)
+
+	add_custom_target(test_results
+			COMMAND GTEST_COLOR=1 ${CMAKE_CTEST_COMMAND} --output-on-failure -T Test -R ${TESTFILTER} USES_TERMINAL
+			DEPENDS
+				px4
+				examples__dyn_hello
+				test_mixer_multirotor
+			USES_TERMINAL
+			COMMENT "Running tests"
+			WORKING_DIRECTORY ${PX4_BINARY_DIR})
+	set_target_properties(test_results PROPERTIES EXCLUDE_FROM_ALL TRUE)
 endif()
 
-add_custom_target(test_results
-		COMMAND GTEST_COLOR=1 ${CMAKE_CTEST_COMMAND} --output-on-failure -T Test -R ${TESTFILTER} USES_TERMINAL
-		DEPENDS
-			px4
-			examples__dyn_hello
-			test_mixer_multirotor
-		USES_TERMINAL
-		COMMENT "Running tests"
-		WORKING_DIRECTORY ${PX4_BINARY_DIR})
-set_target_properties(test_results PROPERTIES EXCLUDE_FROM_ALL TRUE)
 
 #=============================================================================
 # subdirectories
@@ -448,9 +404,9 @@ add_library(parameters_interface INTERFACE)
 include(px4_add_library)
 add_subdirectory(src/lib EXCLUDE_FROM_ALL)
 
-add_subdirectory(src/platforms EXCLUDE_FROM_ALL)
+add_subdirectory(platforms/${PX4_PLATFORM}/src/px4)
+add_subdirectory(platforms EXCLUDE_FROM_ALL)
 add_subdirectory(src/modules/uORB EXCLUDE_FROM_ALL) # TODO: platform layer
-add_subdirectory(src/drivers/boards EXCLUDE_FROM_ALL)
 
 if(EXISTS "${PX4_BOARD_DIR}/CMakeLists.txt")
 	add_subdirectory(${PX4_BOARD_DIR})
@@ -479,7 +435,7 @@ endforeach()
 
 add_custom_command(OUTPUT ${uorb_graph_config}
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/uorb_graph/create.py
-		${module_list}
+		${graph_module_list}
 		--exclude-path src/examples
 		--file ${PX4_SOURCE_DIR}/Tools/uorb_graph/graph_${uorb_graph_config}
 	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
@@ -487,111 +443,15 @@ add_custom_command(OUTPUT ${uorb_graph_config}
 )
 add_custom_target(uorb_graph DEPENDS ${uorb_graph_config})
 
-#=============================================================================
-# Doxygen
-#
-option(BUILD_DOXYGEN "Build doxygen documentation" OFF)
 
-if (BUILD_DOXYGEN)
-	find_package(Doxygen)
-	if (DOXYGEN_FOUND)
-	    # set input and output files
-	    set(DOXYGEN_IN ${CMAKE_SOURCE_DIR}/Documentation/Doxyfile.in)
-	    set(DOXYGEN_OUT ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile)
+include(doxygen)
+include(metadata)
+include(package)
 
-	    # 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()
-
-#=============================================================================
-# Metadata - helpers for generating documentation
-#
-
-add_custom_target(metadata_airframes
-	COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/docs
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
-		-v -a ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d
-		--markdown ${PX4_BINARY_DIR}/docs/airframes.md
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
-		-v -a ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d
-		--xml ${PX4_BINARY_DIR}/docs/airframes.xml
-	COMMENT "Generating full airframe metadata (markdown and xml)"
+# print size
+add_custom_target(size
+	COMMAND size $<TARGET_FILE:px4>
+	DEPENDS px4
+	WORKING_DIRECTORY ${PX4_BINARY_DIR}
 	USES_TERMINAL
-)
-
-file(GLOB_RECURSE yaml_config_files ${PX4_SOURCE_DIR}/src/modules/*.yaml
-	${PX4_SOURCE_DIR}/src/drivers/*.yaml ${PX4_SOURCE_DIR}/src/lib/*.yaml)
-add_custom_target(metadata_parameters
-	COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/docs
-	COMMAND ${PYTHON_EXECUTABLE}
-	${PX4_SOURCE_DIR}/Tools/serial/generate_config.py --all-ports --params-file ${PX4_SOURCE_DIR}/src/generated_serial_params.c --config-files ${yaml_config_files}
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py
-		--src-path `find ${PX4_SOURCE_DIR}/src -maxdepth 4 -type d`
-		--inject-xml ${PX4_SOURCE_DIR}/src/lib/parameters/parameters_injected.xml
-		--markdown ${PX4_BINARY_DIR}/docs/parameters.md
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py
-		--src-path `find ${PX4_SOURCE_DIR}/src -maxdepth 4 -type d`
-		--inject-xml ${PX4_SOURCE_DIR}/src/lib/parameters/parameters_injected.xml
-		--xml ${PX4_BINARY_DIR}/docs/parameters.xml
-	COMMENT "Generating full parameter metadata (markdown and xml)"
-	USES_TERMINAL
-)
-
-add_custom_target(metadata_module_documentation
-	COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/docs
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_module_doc.py -v --src-path ${PX4_SOURCE_DIR}/src
-		--markdown ${PX4_BINARY_DIR}/docs/modules
-	COMMENT "Generating module documentation"
-	USES_TERMINAL
-)
-
-add_custom_target(all_metadata
-	DEPENDS
-		metadata_airframes
-		metadata_parameters
-		metadata_module_documentation
-)
-
-#=============================================================================
-# packaging
-#
-# Important to having packaging at end of cmake file.
-#
-set(CPACK_PACKAGE_NAME ${PROJECT_NAME}-${PX4_CONFIG})
-set(CPACK_PACKAGE_VERSION ${PX4_GIT_TAG})
-set(CPACK_PACKAGE_CONTACT ${package-contact})
-set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS OFF) # TODO: review packaging for linux boards
-set(CPACK_DEBIAN_PACKAGE_SECTION "devel")
-set(CPACK_DEBIAN_PACKAGE_PRIORITY "optional")
-set(CPACK_DEBIAN_PACKAGE_DESCRIPTION "The PX4 Pro autopilot.")
-set(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME}-${PX4_CONFIG}-${PX4_GIT_TAG}")
-set(CPACK_SOURCE_PACKAGE_FILE_NAME "${PROJECT_NAME}-${PX4_GIT_TAG}")
-set(CPACK_SOURCE_GENERATOR "ZIP;TBZ2")
-set(CPACK_PACKAGING_INSTALL_PREFIX "")
-set(CPACK_SET_DESTDIR "OFF")
-
-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)
+	)

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 [Flight Review](http://logs.px4.io) and link the resulting report.

Documentation/Doxyfile.in

@@ -828,8 +828,7 @@ RECURSIVE              = YES
 # Note that relative paths are relative to the directory from which doxygen is
 # run.
 
-EXCLUDE                = @CMAKE_SOURCE_DIR@/src/lib/DriverFramework \
-                         @CMAKE_SOURCE_DIR@/src/modules/uavcan/libuavcan \
+EXCLUDE                = @CMAKE_SOURCE_DIR@/src/modules/uavcan/libuavcan \
                          @CMAKE_SOURCE_DIR@/src/modules/micrortps_bridge/micro-CDR \
                          @CMAKE_SOURCE_DIR@/src/examples \
                          @CMAKE_SOURCE_DIR@/src/templates

Jenkinsfile

@@ -5,49 +5,58 @@ pipeline {
   stages {
 
     stage('Analysis') {
-
-      parallel {
-
-        stage('Catkin build on ROS workspace') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-ros-melodic:2019-03-08'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
-            }
-          }
-          steps {
-            sh 'ls -l'
-            sh '''#!/bin/bash -l
-              echo $0;
-              mkdir -p catkin_ws/src;
-              cd catkin_ws;
-              git -C ${WORKSPACE}/catkin_ws/src/Firmware submodule update --init --recursive --force Tools/sitl_gazebo
-              git clone --recursive ${WORKSPACE}/catkin_ws/src/Firmware/Tools/sitl_gazebo src/mavlink_sitl_gazebo;
-              source /opt/ros/melodic/setup.bash;
-              catkin init;
-              catkin build -j$(nproc) -l$(nproc);
-            '''
-            // test if the binary was correctly installed and runs using 'mavros_posix_silt.launch'
-            sh '''#!/bin/bash -l
-              echo $0;
-              source catkin_ws/devel/setup.bash;
-              rostest px4 pub_test.launch;
-            '''
-          }
-          post {
-            always {
-              sh 'rm -rf catkin_ws'
-            }
-          }
-          options {
-            checkoutToSubdirectory('catkin_ws/src/Firmware')
-          }
+      when {
+        anyOf {
+          branch 'master'
+          branch 'pr-jenkins' // for testing
         }
+      }
+      parallel {
+        // stage('Catkin build on ROS workspace') {
+        //   agent {
+        //     docker {
+        //       image 'px4io/px4-dev-ros-melodic:2020-08-20'
+        //       args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
+        //     }
+        //   }
+        //   steps {
+        //     sh 'ls -l'
+        //     sh '''#!/bin/bash -l
+        //       echo $0;
+        //       mkdir -p catkin_ws/src;
+        //       cd catkin_ws;
+        //       git -C ${WORKSPACE}/catkin_ws/src/Firmware submodule update --init --recursive --force Tools/sitl_gazebo
+        //       git clone --recursive ${WORKSPACE}/catkin_ws/src/Firmware/Tools/sitl_gazebo src/mavlink_sitl_gazebo;
+        //       git -C ${WORKSPACE}/catkin_ws/src/Firmware fetch --tags;
+        //       source /opt/ros/melodic/setup.bash;
+        //       export PYTHONPATH=/opt/ros/$ROS_DISTRO/lib/python2.7/dist-packages:/usr/lib/python2.7/dist-packages:/usr/local/lib/python2.7/dist-packages;
+        //       catkin init;
+        //       catkin build -j$(nproc) -l$(nproc);
+        //     '''
+        //     // test if the binary was correctly installed and runs using 'mavros_posix_silt.launch'
+        //     sh '''#!/bin/bash -l
+        //       echo $0;
+        //       source catkin_ws/devel/setup.bash;
+        //       rostest px4 pub_test.launch;
+        //     '''
+        //   }
+        //   post {
+        //     always {
+        //       sh 'rm -rf catkin_ws'
+        //     }
+        //     failure {
+        //       archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.xml, .ros/**/*.log')
+        //     }
+        //   }
+        //   options {
+        //     checkoutToSubdirectory('catkin_ws/src/Firmware')
+        //   }
+        // }
 
         stage('Colcon build on ROS2 workspace') {
           agent {
             docker {
-              image 'px4io/px4-dev-ros2-bouncy:2019-03-08'
+              image 'px4io/px4-dev-ros2-foxy:2020-08-20'
               args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
             }
           }
@@ -60,6 +69,7 @@ pipeline {
               cd colcon_ws;
               git -C ${WORKSPACE}/colcon_ws/src/Firmware submodule update --init --recursive --force Tools/sitl_gazebo
               git clone --recursive ${WORKSPACE}/colcon_ws/src/Firmware/Tools/sitl_gazebo src/mavlink_sitl_gazebo;
+              git -C ${WORKSPACE}/colcon_ws/src/Firmware fetch --tags;
               source /opt/ros/bouncy/setup.sh;
               source /opt/ros/melodic/setup.sh;
               colcon build --event-handlers console_direct+ --symlink-install;
@@ -75,326 +85,9 @@ pipeline {
           }
         }
 
-        stage('Style check') {
-          agent {
-            docker { image 'px4io/px4-dev-base-bionic:2019-03-08' }
-          }
-          steps {
-            sh 'make check_format'
-          }
-          post {
-            always {
-              sh 'rm -rf catkin_ws'
-            }
-          }
-        }
-
-        stage('Bloaty px4_fmu-v2') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-nuttx:2019-03-08'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-            }
-          }
-          steps {
-            sh 'export'
-            sh 'make distclean'
-            sh 'ccache -z'
-            sh 'git fetch --tags'
-            sh 'make px4_fmu-v2_default'
-            sh 'make px4_fmu-v2_default bloaty_symbols'
-            sh 'make px4_fmu-v2_default bloaty_compileunits'
-            sh 'make px4_fmu-v2_default bloaty_inlines'
-            sh 'make px4_fmu-v2_default bloaty_templates'
-            sh 'make px4_fmu-v2_default bloaty_compare_master'
-            sh 'make sizes'
-            sh 'ccache -s'
-          }
-          post {
-            always {
-              sh 'make distclean'
-            }
-          }
-        }
-
-        stage('Bloaty px4_fmu-v5') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-nuttx:2019-03-08'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-            }
-          }
-          steps {
-            sh 'export'
-            sh 'make distclean'
-            sh 'ccache -z'
-            sh 'git fetch --tags'
-            sh 'make px4_fmu-v5_default'
-            sh 'make px4_fmu-v5_default bloaty_symbols'
-            sh 'make px4_fmu-v5_default bloaty_compileunits'
-            sh 'make px4_fmu-v5_default bloaty_inlines'
-            sh 'make px4_fmu-v5_default bloaty_templates'
-            sh 'make px4_fmu-v5_default bloaty_compare_master'
-            sh 'make sizes'
-            sh 'ccache -s'
-          }
-          post {
-            always {
-              sh 'make distclean'
-            }
-          }
-        }
-
-        stage('No-ninja px4_fmu-v2') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-nuttx:2019-03-08'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-            }
-          }
-          steps {
-            sh 'export'
-            sh 'make distclean'
-            sh 'ccache -z'
-            sh 'git fetch --tags'
-            sh 'NO_NINJA_BUILD=1 make px4_fmu-v2_default'
-            sh 'ccache -s'
-          }
-          post {
-            always {
-              sh 'make distclean'
-            }
-          }
-        }
-
-        stage('No-ninja px4_fmu-v5') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-nuttx:2019-03-08'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-            }
-          }
-          steps {
-            sh 'export'
-            sh 'make distclean'
-            sh 'ccache -z'
-            sh 'git fetch --tags'
-            sh 'NO_NINJA_BUILD=1 make px4_fmu-v5_default'
-            sh 'ccache -s'
-          }
-          post {
-            always {
-              sh 'make distclean'
-            }
-          }
-        }
-
-        stage('No-ninja SITL build') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-base-bionic:2019-03-08'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-            }
-          }
-          steps {
-            sh 'export'
-            sh 'make distclean'
-            sh 'ccache -z'
-            sh 'git fetch --tags'
-            sh 'NO_NINJA_BUILD=1 make px4_sitl_default'
-            sh 'ccache -s'
-          }
-          post {
-            always {
-              sh 'make distclean'
-            }
-          }
-        }
-
-        stage('SITL unit tests') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-base-bionic:2019-03-08'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-            }
-          }
-          steps {
-            sh 'export'
-            sh 'make distclean'
-            sh 'ccache -z'
-            sh 'git fetch --tags'
-            sh 'make tests'
-            sh 'ccache -s'
-          }
-          post {
-            always {
-              sh 'make distclean'
-            }
-          }
-        }
-
-        stage('Clang analyzer') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-clang:2019-03-08'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-            }
-          }
-          steps {
-            sh 'export'
-            sh 'make distclean'
-            sh 'make scan-build'
-            // publish html
-            publishHTML target: [
-              reportTitles: 'clang static analyzer',
-              allowMissing: false,
-              alwaysLinkToLastBuild: true,
-              keepAll: true,
-              reportDir: 'build/scan-build/report_latest',
-              reportFiles: '*',
-              reportName: 'Clang Static Analyzer'
-            ]
-          }
-          post {
-            always {
-              sh 'make distclean'
-            }
-          }
-          when {
-            anyOf {
-              branch 'master'
-              branch 'beta'
-              branch 'stable'
-              branch 'pr-jenkins' // for testing
-            }
-          }
-        }
-
-        // stage('Clang tidy') {
-        //   agent {
-        //     docker {
-        //       image 'px4io/px4-dev-clang:2019-03-08'
-        //       args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-        //     }
-        //   }
-        //   steps {
-        //     sh 'export'
-        //     retry (3) {
-        //       sh 'make distclean'
-        //       sh 'make clang-tidy-quiet'
-        //     }
-        //   }
-        //   post {
-        //     always {
-        //       sh 'make distclean'
-        //     }
-        //   }
-        // }
-
-        stage('Cppcheck') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-base-bionic:2019-03-08'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-            }
-          }
-          steps {
-            sh 'export'
-            sh 'make distclean'
-            sh 'make cppcheck'
-            // publish html
-            publishHTML target: [
-              reportTitles: 'Cppcheck',
-              allowMissing: false,
-              alwaysLinkToLastBuild: true,
-              keepAll: true,
-              reportDir: 'build/cppcheck/',
-              reportFiles: '*',
-              reportName: 'Cppcheck'
-            ]
-          }
-          post {
-            always {
-              sh 'make distclean'
-            }
-          }
-          when {
-            anyOf {
-              branch 'master'
-              branch 'beta'
-              branch 'stable'
-              branch 'pr-jenkins' // for testing
-            }
-          }
-        }
-
-        stage('Check stack') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-nuttx:2019-03-08'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-            }
-          }
-          steps {
-            sh 'export'
-            sh 'make distclean'
-            sh 'make px4_fmu-v2_default stack_check'
-          }
-          post {
-            always {
-              sh 'make distclean'
-            }
-          }
-        }
-
-        stage('ShellCheck') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-nuttx:2019-03-08'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-            }
-          }
-          steps {
-            sh 'export'
-            sh 'make distclean'
-            sh 'make shellcheck_all'
-          }
-          post {
-            always {
-              sh 'make distclean'
-            }
-          }
-        }
-
-        stage('Module config validation') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-base-bionic:2019-03-08'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-            }
-          }
-          steps {
-            sh 'export'
-            sh 'make distclean'
-            sh 'make validate_module_configs'
-          }
-          post {
-            always {
-              sh 'make distclean'
-            }
-          }
-        }
-
-      } // parallel
-    } // stage Analysis
-
-    stage('Generate Metadata') {
-
-      parallel {
-
         stage('Airframe') {
           agent {
-            docker { image 'px4io/px4-dev-base-bionic:2019-03-08' }
+            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
           }
           steps {
             sh 'make distclean'
@@ -413,7 +106,7 @@ pipeline {
 
         stage('Parameter') {
           agent {
-            docker { image 'px4io/px4-dev-base-bionic:2019-03-08' }
+            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
           }
           steps {
             sh 'make distclean'
@@ -432,7 +125,7 @@ pipeline {
 
         stage('Module') {
           agent {
-            docker { image 'px4io/px4-dev-base-bionic:2019-03-08' }
+            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
           }
           steps {
             sh 'make distclean'
@@ -452,7 +145,7 @@ pipeline {
         stage('uORB graphs') {
           agent {
             docker {
-              image 'px4io/px4-dev-nuttx:2019-03-08'
+              image 'px4io/px4-dev-nuttx-focal:2020-09-14'
               args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
             }
           }
@@ -481,7 +174,7 @@ pipeline {
 
         stage('Devguide') {
           agent {
-            docker { image 'px4io/px4-dev-base-bionic:2019-03-08' }
+            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
           }
           steps {
             sh('export')
@@ -511,16 +204,18 @@ pipeline {
 
         stage('Userguide') {
           agent {
-            docker { image 'px4io/px4-dev-base-bionic:2019-03-08' }
+            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
           }
           steps {
             sh('export')
             unstash 'metadata_airframes'
             unstash 'metadata_parameters'
+            unstash 'metadata_module_documentation'
             withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
               sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_user_guide.git')
               sh('cp airframes.md px4_user_guide/en/airframes/airframe_reference.md')
               sh('cp parameters.md px4_user_guide/en/advanced_config/parameter_reference.md')
+              sh('cp -R modules/*.md px4_user_guide/en/modules/')
               sh('cd px4_user_guide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
               sh('cd px4_user_guide; git push origin master || true')
               sh('rm -rf px4_user_guide')
@@ -539,7 +234,7 @@ pipeline {
 
         stage('QGroundControl') {
           agent {
-            docker { image 'px4io/px4-dev-base-bionic:2019-03-08' }
+            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
           }
           steps {
             sh('export')
@@ -565,9 +260,39 @@ pipeline {
           }
         }
 
+        stage('microRTPS agent') {
+          agent {
+            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
+          }
+          steps {
+            sh('export')
+            sh('git fetch --all --tags')
+            sh('make distclean')
+            sh('make px4_sitl_rtps')
+            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
+              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/micrortps_agent.git -b ${BRANCH_NAME}")
+              sh("rm -rf micrortps_agent/src micrortps_agent/idl")
+              sh('cp -R build/px4_sitl_rtps/src/modules/micrortps_bridge/micrortps_agent/* micrortps_agent')
+              sh('cd micrortps_agent; git status; git add src; git commit -a -m "Update microRTPS agent source code `date`" || true')
+              sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
+              sh('cd micrortps_agent; git status; git add idl; git commit -a -m "Update IDL definitions `date`" || true')
+              sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
+              sh('cd micrortps_agent; git status; git add CMakeLists.txt; git commit -a -m "Update CMakeLists.txt `date`" || true')
+              sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
+              sh('rm -rf micrortps_agent')
+            }
+          }
+          when {
+            anyOf {
+              branch 'master'
+              branch 'pr-jenkins' // for testing
+            }
+          }
+        }
+
         stage('PX4 ROS msgs') {
           agent {
-            docker { image 'px4io/px4-dev-base-bionic:2019-03-08' }
+            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
           }
           steps {
             sh('export')
@@ -575,12 +300,12 @@ pipeline {
             withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
               sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
               // 'master' branch
-              sh('python msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
+              sh('./msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
               sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
               sh('cd px4_msgs; git push origin master || true')
               // 'ros1' branch
               sh('cd px4_msgs; git checkout ros1')
-              sh('python msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
+              sh('./msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
               sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
               sh('cd px4_msgs; git push origin ros1 || true')
               sh('rm -rf px4_msgs')
@@ -596,7 +321,7 @@ pipeline {
 
         stage('PX4 ROS2 bridge') {
           agent {
-            docker { image 'px4io/px4-dev-base-bionic:2019-03-08' }
+            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
           }
           steps {
             sh('export')
@@ -604,7 +329,7 @@ pipeline {
             withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
               sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_ros_com.git -b ${BRANCH_NAME}")
               // deploy uORB RTPS ID map
-              sh('python msg/tools/uorb_to_ros_rtps_ids.py -i msg/tools/uorb_rtps_message_ids.yaml -o px4_ros_com/templates/uorb_rtps_message_ids.yaml')
+              sh('./msg/tools/uorb_to_ros_rtps_ids.py -i msg/tools/uorb_rtps_message_ids.yaml -o px4_ros_com/templates/uorb_rtps_message_ids.yaml')
               sh('cd px4_ros_com; git status; git add .; git commit -a -m "Update uORB RTPS ID map `date`" || true')
               sh('cd px4_ros_com; git push origin ${BRANCH_NAME} || true')
               // deploy uORB RTPS required tools
@@ -612,6 +337,18 @@ pipeline {
               sh('cp msg/tools/generate_microRTPS_bridge.py px4_ros_com/scripts/generate_microRTPS_bridge.py')
               sh('cp msg/tools/px_generate_uorb_topic_files.py px4_ros_com/scripts/px_generate_uorb_topic_files.py')
               sh('cp msg/tools/px_generate_uorb_topic_helper.py px4_ros_com/scripts/px_generate_uorb_topic_helper.py')
+              // deploy templates
+              sh('cp msg/templates/urtps/microRTPS_agent.cpp.em px4_ros_com/templates/microRTPS_agent.cpp.em')
+              sh('cp msg/templates/urtps/microRTPS_timesync.cpp.em px4_ros_com/templates/microRTPS_timesync.cpp.em')
+              sh('cp msg/templates/urtps/microRTPS_timesync.h.em px4_ros_com/templates/microRTPS_timesync.h.em')
+              sh('cp msg/templates/urtps/microRTPS_transport.cpp px4_ros_com/templates/microRTPS_transport.cpp')
+              sh('cp msg/templates/urtps/microRTPS_transport.h px4_ros_com/templates/microRTPS_transport.h')
+              sh('cp msg/templates/urtps/Publisher.cpp.em px4_ros_com/templates/Publisher.cpp.em')
+              sh('cp msg/templates/urtps/Publisher.h.em px4_ros_com/templates/Publisher.h.em')
+              sh('cp msg/templates/urtps/Subscriber.cpp.em px4_ros_com/templates/Subscriber.cpp.em')
+              sh('cp msg/templates/urtps/Subscriber.h.em px4_ros_com/templates/Subscriber.h.em')
+              sh('cp msg/templates/urtps/RtpsTopics.cpp.em px4_ros_com/templates/RtpsTopics.cpp.em')
+              sh('cp msg/templates/urtps/RtpsTopics.h.em px4_ros_com/templates/RtpsTopics.h.em')
               sh('cd px4_ros_com; git status; git add .; git commit -a -m "Update uORB RTPS script tools `date`" || true')
               sh('cd px4_ros_com; git push origin ${BRANCH_NAME} || true')
               sh('rm -rf px4_msgs')
@@ -627,7 +364,7 @@ pipeline {
 
         stage('S3') {
           agent {
-            docker { image 'px4io/px4-dev-base-bionic:2019-03-08' }
+            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
           }
           steps {
             sh('export')
@@ -664,7 +401,7 @@ pipeline {
     GIT_COMMITTER_NAME = "PX4BuildBot"
   }
   options {
-    buildDiscarder(logRotator(numToKeepStr: '20', artifactDaysToKeepStr: '30'))
+    buildDiscarder(logRotator(numToKeepStr: '10', artifactDaysToKeepStr: '20'))
     timeout(time: 60, unit: 'MINUTES')
   }
 }

LICENSE

@@ -1,6 +1,6 @@
 BSD 3-Clause License
 
-Copyright (c) 2012 - 2019, PX4 Development Team
+Copyright (c) 2012 - 2020, PX4 Development Team
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

Makefile

@@ -1,6 +1,6 @@
 ############################################################################
 #
-# Copyright (c) 2015 - 2019 PX4 Development Team. All rights reserved.
+# Copyright (c) 2015 - 2020 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -62,6 +62,10 @@ all: px4_sitl_default
 # define a space character to be able to explicitly find it in strings
 space := $(subst ,, )
 
+define make_list
+     $(shell cat .github/workflows/compile_${1}.yml | sed -E 's|[[:space:]]+(.*),|check_\1|g' | grep check_${2})
+endef
+
 # Parsing
 # --------------------------------------------------------------------
 # assume 1st argument passed is the main target, the
@@ -69,7 +73,14 @@ space := $(subst ,, )
 # by cmake in the subdirectory
 FIRST_ARG := $(firstword $(MAKECMDGOALS))
 ARGS := $(wordlist 2,$(words $(MAKECMDGOALS)),$(MAKECMDGOALS))
-j ?= 4
+
+# Get -j or --jobs argument as suggested in:
+# https://stackoverflow.com/a/33616144/8548472
+MAKE_PID := $(shell echo $$PPID)
+j := $(shell ps T | sed -n 's|.*$(MAKE_PID).*$(MAKE).* \(-j\|--jobs\) *\([0-9][0-9]*\).*|\2|p')
+
+# Default j for clang-tidy
+j_clang_tidy := $(or $(j),4)
 
 NINJA_BIN := ninja
 ifndef NO_NINJA_BUILD
@@ -90,6 +101,11 @@ ifdef NINJA_BUILD
 	else
 		PX4_MAKE_ARGS :=
 	endif
+
+	# Only override ninja default if -j is set.
+	ifneq ($(j),)
+		PX4_MAKE_ARGS := $(PX4_MAKE_ARGS) -j$(j)
+	endif
 else
 	ifdef SYSTEMROOT
 		# Windows
@@ -97,6 +113,9 @@ else
 	else
 		PX4_CMAKE_GENERATOR := "Unix\ Makefiles"
 	endif
+
+	# For non-ninja builds we default to -j4
+	j := $(or $(j),4)
 	PX4_MAKE = $(MAKE)
 	PX4_MAKE_ARGS = -j$(j) --no-print-directory
 endif
@@ -141,6 +160,11 @@ else
 
 endif
 
+# Pick up specific Python path if set
+ifdef PYTHON_EXECUTABLE
+	CMAKE_ARGS += -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
+endif
+
 # Functions
 # --------------------------------------------------------------------
 # describe how to build a cmake config
@@ -165,9 +189,9 @@ endef
 define cmake-cache-check
 	@# change to build folder which fails if it doesn't exist and CACHED_CMAKE_OPTIONS stays empty
 	@# fetch all previously configured and cached options from the build folder and transform them into the OPTION=VALUE format without type (e.g. :BOOL)
-	@$(eval CACHED_CMAKE_OPTIONS = $(shell cd $(BUILD_DIR) 2>/dev/null && cmake -L 2>/dev/null | sed -n 's/\([^[:blank:]]*\):[^[:blank:]]*\(=[^[:blank:]]*\)/\1\2/gp' ))
+	@$(eval CACHED_CMAKE_OPTIONS = $(shell cd $(BUILD_DIR) 2>/dev/null && cmake -L 2>/dev/null | sed -n 's|\([^[:blank:]]*\):[^[:blank:]]*\(=[^[:blank:]]*\)|\1\2|gp' ))
 	@# transform the options in CMAKE_ARGS into the OPTION=VALUE format without -D
-	@$(eval DESIRED_CMAKE_OPTIONS = $(shell echo $(CMAKE_ARGS) | sed -n 's/-D\([^[:blank:]]*=[^[:blank:]]*\)/\1/gp' ))
+	@$(eval DESIRED_CMAKE_OPTIONS = $(shell echo $(CMAKE_ARGS) | sed -n 's|-D\([^[:blank:]]*=[^[:blank:]]*\)|\1|gp' ))
 	@# find each currently desired option in the already cached ones making sure the complete configured string value is the same
 	@$(eval VERIFIED_CMAKE_OPTIONS = $(foreach option,$(DESIRED_CMAKE_OPTIONS),$(strip $(findstring $(option)$(space),$(CACHED_CMAKE_OPTIONS)))))
 	@# if the complete list of desired options is found in the list of verified options we don't need to reconfigure and CMAKE_CACHE_CHECK stays empty
@@ -182,7 +206,7 @@ define colorecho
 endef
 
 # Get a list of all config targets boards/*/*.cmake
-ALL_CONFIG_TARGETS := $(shell find boards -maxdepth 3 -mindepth 3 ! -name '*common*' ! -name '*sdflight*' -name '*.cmake' -print | sed -e 's/boards\///' | sed -e 's/\.cmake//' | sed -e 's/\//_/g' | sort)
+ALL_CONFIG_TARGETS := $(shell find boards -maxdepth 3 -mindepth 3 ! -name '*common*' ! -name '*sdflight*' -name '*.cmake' -print | sed -e 's|boards\/||' | sed -e 's|\.cmake||' | sed -e 's|\/|_|g' | sort)
 
 # ADD CONFIGS HERE
 # --------------------------------------------------------------------
@@ -204,29 +228,19 @@ $(CONFIG_TARGETS_DEFAULT):
 all_config_targets: $(ALL_CONFIG_TARGETS)
 all_default_targets: $(CONFIG_TARGETS_DEFAULT)
 
-posix: px4_sitl_default
-
 # board reorganization deprecation warnings (2018-11-22)
 define deprecation_warning
 	$(warning $(1) has been deprecated and will be removed, please use $(2)!)
 endef
 
-px4fmu-%_default:
-	$(call deprecation_warning, ${@},$(subst px4fmu,px4_fmu,$@))
-	$(MAKE) $(subst px4fmu,px4_fmu, $@)
-
-posix_sitl_default:
-	$(call deprecation_warning, ${@},px4_sitl_default)
-	$(MAKE) px4_sitl_default
-
 # All targets with just dependencies but no recipe must either be marked as phony (or have the special @: as recipe).
-.PHONY: all posix px4_sitl_default all_config_targets all_default_targets
+.PHONY: all px4_sitl_default all_config_targets all_default_targets
 
 # Multi- config targets.
-eagle_default: atlflight_eagle_default atlflight_eagle_qurt-default
+eagle_default: atlflight_eagle_default atlflight_eagle_qurt
 eagle_rtps: atlflight_eagle_rtps atlflight_eagle_qurt-rtps
 
-excelsior_default: atlflight_excelsior_default atlflight_excelsior_qurt-default
+excelsior_default: atlflight_excelsior_default atlflight_excelsior_qurt
 excelsior_rtps: atlflight_excelsior_rtps atlflight_excelsior_qurt-rtps
 
 .PHONY: eagle_default eagle_rtps
@@ -235,7 +249,7 @@ excelsior_rtps: atlflight_excelsior_rtps atlflight_excelsior_qurt-rtps
 # Other targets
 # --------------------------------------------------------------------
 
-.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware alt_firmware check_rtps
+.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware check_rtps
 
 # QGroundControl flashable NuttX firmware
 qgc_firmware: px4fmu_firmware misc_qgc_extra_firmware
@@ -248,25 +262,19 @@ px4fmu_firmware: \
 	check_px4_fmu-v4_default \
 	check_px4_fmu-v4pro_default \
 	check_px4_fmu-v5_default \
+	check_px4_fmu-v5x_default \
 	sizes
 
 misc_qgc_extra_firmware: \
 	check_nxp_fmuk66-v3_default \
+	check_nxp_fmurt1062-v1_default \
 	check_intel_aerofc-v1_default \
-	check_auav_x21_default \
+	check_mro_x21_default \
 	check_bitcraze_crazyflie_default \
 	check_airmind_mindpx-v2_default \
 	check_px4_fmu-v2_lpe \
 	sizes
 
-# Other NuttX firmware
-alt_firmware: \
-	check_px4_cannode-v1_default \
-	check_px4_esc-v1_default \
-	check_auav_esc35-v1_default \
-	check_thiemar_s2740vc-v1_default \
-	sizes
-
 # builds with RTPS
 check_rtps: \
 	check_px4_fmu-v3_rtps \
@@ -281,9 +289,9 @@ sizes:
 	@-find build -name *.elf -type f | xargs size 2> /dev/null || :
 
 # All default targets that don't require a special build environment
-check: check_px4_sitl_default px4fmu_firmware misc_qgc_extra_firmware alt_firmware tests check_format
+check: check_px4_sitl_default px4fmu_firmware misc_qgc_extra_firmware tests check_format
 
-# quick_check builds a single nuttx and posix target, runs testing, and checks the style
+# quick_check builds a single nuttx and SITL target, runs testing, and checks the style
 quick_check: check_px4_sitl_test check_px4_fmu-v5_default tests check_format
 
 check_%:
@@ -344,7 +352,6 @@ format:
 .PHONY: rostest python_coverage
 
 tests:
-	$(eval CMAKE_ARGS += -DCMAKE_TESTING=ON)
 	$(eval CMAKE_ARGS += -DCONFIG=px4_sitl_test)
 	$(eval CMAKE_ARGS += -DTESTFILTER=$(TESTFILTER))
 	$(eval ARGS += test_results)
@@ -360,6 +367,20 @@ tests_coverage:
 rostest: px4_sitl_default
 	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
 
+tests_integration: px4_sitl_default
+	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
+	@$(MAKE) --no-print-directory px4_sitl_default mavsdk_tests
+	@"$(SRC_DIR)"/test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 test/mavsdk_tests/configs/sitl.json
+
+tests_integration_coverage:
+	@$(MAKE) clean
+	@$(MAKE) --no-print-directory px4_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage
+	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
+	@$(MAKE) --no-print-directory px4_sitl_default mavsdk_tests
+	@"$(SRC_DIR)"/test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 test/mavsdk_tests/configs/sitl.json
+	@mkdir -p coverage
+	@lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
+
 tests_mission: rostest
 	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_missions.test
 
@@ -377,9 +398,11 @@ tests_mission_coverage:
 tests_offboard: rostest
 	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_attctl.test
 	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test
+	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_rpyrt_ctl.test
 
 tests_avoidance: rostest
 	@"$(SRC_DIR)"/test/rostest_avoidance_run.sh mavros_posix_test_avoidance.test
+	@"$(SRC_DIR)"/test/rostest_avoidance_run.sh mavros_posix_test_safe_landing.test
 
 python_coverage:
 	@mkdir -p "$(SRC_DIR)"/build/python_coverage
@@ -413,21 +436,21 @@ px4_sitl_default-clang:
 	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/px4_sitl_default-clang
 
 clang-tidy: px4_sitl_default-clang
-	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j) -p .
+	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -p .
 
 # to automatically fix a single check at a time, eg modernize-redundant-void-arg
 #  % run-clang-tidy-4.0.py -fix -j4 -checks=-\*,modernize-redundant-void-arg -p .
 clang-tidy-fix: px4_sitl_default-clang
-	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j) -fix -p .
+	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -fix -p .
 
 # modified version of run-clang-tidy.py to return error codes and only output relevant results
 clang-tidy-quiet: px4_sitl_default-clang
-	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j) -p .
+	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -p .
 
 # TODO: Fix cppcheck errors then try --enable=warning,performance,portability,style,unusedFunction or --enable=all
 cppcheck: px4_sitl_default
 	@mkdir -p "$(SRC_DIR)"/build/cppcheck
-	@cppcheck -i"$(SRC_DIR)"/src/examples --enable=performance --std=c++11 --std=c99 --std=posix --project="$(SRC_DIR)"/build/px4_sitl_default/compile_commands.json --xml-version=2 2> "$(SRC_DIR)"/build/cppcheck/cppcheck-result.xml > /dev/null
+	@cppcheck -i"$(SRC_DIR)"/src/examples --enable=performance --std=c++14 --std=c99 --std=posix --project="$(SRC_DIR)"/build/px4_sitl_default/compile_commands.json --xml-version=2 2> "$(SRC_DIR)"/build/cppcheck/cppcheck-result.xml > /dev/null
 	@cppcheck-htmlreport --source-encoding=ascii --file="$(SRC_DIR)"/build/cppcheck/cppcheck-result.xml --report-dir="$(SRC_DIR)"/build/cppcheck --source-dir="$(SRC_DIR)"/src/
 
 shellcheck_all:
@@ -468,7 +491,7 @@ distclean: gazeboclean
 # All other targets are handled by PX4_MAKE. Add a rule here to avoid printing an error.
 %:
 	$(if $(filter $(FIRST_ARG),$@), \
-		$(error "$@ cannot be the first argument. Use '$(MAKE) help|list_config_targets' to get a list of all possible [configuration] targets."),@#)
+		$(error "Make target $@ not found. It either does not exist or $@ cannot be the first argument. Use '$(MAKE) help|list_config_targets' to get a list of all possible [configuration] targets."),@#)
 
 # Print a list of non-config targets (based on http://stackoverflow.com/a/26339924/1487069)
 help:
@@ -484,3 +507,15 @@ help:
 # Print a list of all config targets.
 list_config_targets:
 	@for targ in $(patsubst %_default,%[_default],$(ALL_CONFIG_TARGETS)); do echo $$targ; done
+
+check_nuttx : $(call make_list,nuttx) \
+	sizes
+
+check_linux : $(call make_list,linux) \
+	sizes
+
+check_px4: $(call make_list,nuttx,"px4") \
+	sizes
+
+check_nxp: $(call make_list,nuttx,"nxp") \
+	sizes

PULL_REQUEST_TEMPLATE.md

@@ -1,16 +1,17 @@
 Please use [PX4 Discuss](http://discuss.px4.io/) or [Slack](http://slack.px4.io/) to align on pull requests if necessary. You can then open draft pull requests to get early feedback.
 
-**Describe problem solved by the proposed pull request**
-A clear and concise description of the problem this proposed change will solve. E.g. For this use case I ran into...
+**Describe problem solved by this pull request**
+A clear and concise description of the problem this proposed change will solve.
+E.g. For this use case I ran into...
 
-**Test data / coverage**
-How was it tested? What cases were covered? Logs uploaded to https://review.px4.io/ and screenshots of the important plot parts.
-
-**Describe your preferred solution**
+**Describe your solution**
 A clear and concise description of what you have implemented.
 
 **Describe possible alternatives**
 A clear and concise description of alternative solutions or features you've considered.
 
+**Test data / coverage**
+How was it tested? What cases were covered? Logs uploaded to https://review.px4.io/ and screenshots of the important plot parts.
+
 **Additional context**
 Add any other related context or media.

README.md

@@ -2,106 +2,109 @@
 
 [![Releases](https://img.shields.io/github/release/PX4/Firmware.svg)](https://github.com/PX4/Firmware/releases) [![DOI](https://zenodo.org/badge/22634/PX4/Firmware.svg)](https://zenodo.org/badge/latestdoi/22634/PX4/Firmware)
 
-[![Build Status](http://ci.px4.io:8080/buildStatus/icon?job=PX4/Firmware/master)](http://ci.px4.io:8080/blue/organizations/jenkins/PX4%2FFirmware/activity)
+[![Nuttx Targets](https://github.com/PX4/Firmware/workflows/Nuttx%20Targets/badge.svg)](https://github.com/PX4/Firmware/actions?query=workflow%3A%22Nuttx+Targets%22?branch=master) [![SITL Tests](https://github.com/PX4/Firmware/workflows/SITL%20Tests/badge.svg?branch=master)](https://github.com/PX4/Firmware/actions?query=workflow%3A%22SITL+Tests%22)
 
 [![Slack](https://px4-slack.herokuapp.com/badge.svg)](http://slack.px4.io)
 
 This repository holds the [PX4](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/Firmware/tree/master/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.
 
 * Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/Firmware/blob/master/LICENSE))
-* [Supported airframes](https://docs.px4.io/en/airframes/airframe_reference.html) ([portfolio](http://px4.io/#airframes)):
-  * [Multicopters](https://docs.px4.io/en/airframes/airframe_reference.html#copter)
-  * [Fixed wing](https://docs.px4.io/en/airframes/airframe_reference.html#plane)
-  * [VTOL](https://docs.px4.io/en/airframes/airframe_reference.html#vtol)
-  * many more experimental types (Rovers, Blimps, Boats, Submarines, etc)
+* [Supported airframes](https://docs.px4.io/master/en/airframes/airframe_reference.html) ([portfolio](http://px4.io/#airframes)):
+  * [Multicopters](https://docs.px4.io/master/en/airframes/airframe_reference.html#copter)
+  * [Fixed wing](https://docs.px4.io/master/en/airframes/airframe_reference.html#plane)
+  * [VTOL](https://docs.px4.io/master/en/airframes/airframe_reference.html#vtol)
+  * many more experimental types (Rovers, Blimps, Boats, Submarines, Autogyros, etc)
 * Releases: [Downloads](https://github.com/PX4/Firmware/releases)
 
 
 ## PX4 Users
 
-The [PX4 User Guide](https://docs.px4.io/en/) explains how to assemble [supported vehicles](https://docs.px4.io/en/airframes/airframe_reference.html) and fly drones with PX4.
-See the [forum and chat](https://docs.px4.io/en/#support) if you need help!
+The [PX4 User Guide](https://docs.px4.io/master/en/) explains how to assemble [supported vehicles](https://docs.px4.io/master/en/airframes/airframe_reference.html) and fly drones with PX4.
+See the [forum and chat](https://docs.px4.io/master/en/#support) if you need help!
 
 
 ## PX4 Developers
 
 This [Developer Guide](https://dev.px4.io/) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.
 
-Developers should read the [Guide for Contributions](https://dev.px4.io/en/contribute/).
-See the [forum and chat](https://dev.px4.io/en/#support) if you need help!
+Developers should read the [Guide for Contributions](https://dev.px4.io/master/en/contribute/).
+See the [forum and chat](https://dev.px4.io/master/en/#support) if you need help!
 
 
 ### Weekly Dev Call
 
-The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/en/contribute/#dev_call).
+The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/master/en/contribute/#dev_call).
 
 > **Note** The dev call is open to all interested developers (not just the core dev team). This is a great opportunity to meet the team and contribute to the ongoing development of the platform. It includes a QA session for newcomers. All regular calls are listed in the [Dronecode calendar](https://www.dronecode.org/calendar/).
 
 
 ## Maintenance Team
 
-  * Project: Founder - [Lorenz Meier](https://github.com/LorenzMeier), Architecture: [Daniel Agar](https://github.com/dagar)
-    * [Dev Call](https://github.com/PX4/Firmware/labels/devcall) - [Ramon Roche](https://github.com/mrpollo)
+  * Project: Founder
+    * [Lorenz Meier](https://github.com/LorenzMeier)
+  * Architecture
+    * [Daniel Agar](https://github.com/dagar)
+  * [Dev Call](https://github.com/PX4/Firmware/labels/devcall)
+    * [Ramon Roche](https://github.com/mrpollo)
   * Communication Architecture
     * [Beat Kueng](https://github.com/bkueng)
     * [Julian Oes](https://github.com/JulianOes)
-  * UI / UX
-    * [Donald Gagne](https://github.com/DonLakeFlyer)
+  * UI in QGroundControl
     * [Gus Grubba](https://github.com/dogmaphobic)
   * [Multicopter Flight Control](https://github.com/PX4/Firmware/labels/multicopter)
-    * [Dennis Mannhart](https://github.com/Stifael)
+    * [Mathieu Bresciani](https://github.com/bresch)
+  * [Multicopter Software Architecture](https://github.com/PX4/Firmware/labels/multicopter)
     * [Matthias Grob](https://github.com/MaEtUgR)
   * [VTOL Flight Control](https://github.com/PX4/Firmware/labels/vtol)
-    * [Daniel Agar](https://github.com/dagar)
-    * [Mathieu Bresciani](https://github.com/bresch)
-    * [Sander Smeets](https://github.com/sanderux)
-    * [Roman Bapst](https://github.com/tumbili)
-    * [Andreas Antener](https://github.com/AndreasAntener)
+    * [Roman Bapst](https://github.com/RomanBapst)
   * [Fixed Wing Flight Control](https://github.com/PX4/Firmware/labels/fixedwing)
+    * [Roman Bapst](https://github.com/RomanBapst)
+  * OS / NuttX
+    * [David Sidrane](https://github.com/davids5)
+  * Driver Architecture
     * [Daniel Agar](https://github.com/dagar)
+  * Commander Architecture
+    * [Julian Oes](https://github.com/julianoes)
+  * [UAVCAN](https://github.com/PX4/Firmware/labels/uavcan)
+    * [Daniel Agar](https://github.com/dagar)
+  * [State Estimation](https://github.com/PX4/Firmware/issues?q=is%3Aopen+is%3Aissue+label%3A%22state+estimation%22)
     * [Paul Riseborough](https://github.com/priseborough)
-  * Racers - [Matthias Grob](https://github.com/MaEtUgR)
-  * OS / drivers - [David Sidrane](https://github.com/davids5)
-  * [UAVCAN](https://github.com/PX4/Firmware/labels/uavcan) / Industrial - [Pavel Kirienko](https://github.com/pavel-kirienko)
-  * [State Estimation](https://github.com/PX4/Firmware/issues?q=is%3Aopen+is%3Aissue+label%3A%22state+estimation%22) - [James Goppert](https://github.com/jgoppert), [Paul Riseborough](https://github.com/priseborough)
   * Vision based navigation
-    * [Christoph Tobler](https://github.com/ChristophTobler)
-    * [Mohammed Kabir](https://github.com/mhkabir)
-  * Obstacle Avoidance - [Martina Rivizzigno](https://github.com/mrivi)
-  * [Snapdragon](https://github.com/PX4/Firmware/labels/snapdragon)
-    * [Christoph Tobler](https://github.com/ChristophTobler)
-  * [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)
-  * [Airmind MindPX / MindRacer](https://github.com/PX4/Firmware/labels/mindpx) - [Henry Zhang](https://github.com/iZhangHui)
-  * RTPS/ROS2 Interface - [Nuno Marques](https://github.com/TSC21)
+    * [Julian Kent](https://github.com/jkflying)
+  * Obstacle Avoidance
+    * [Martina Rivizzigno](https://github.com/mrivi)
+  * RTPS/ROS2 Interface
+    * [Nuno Marques](https://github.com/TSC21)
 
-See also [About Us](http://px4.io/about-us/#development_team) (px4.io) and the [contributors list](https://github.com/PX4/Firmware/graphs/contributors) (Github).
+See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/Firmware/graphs/contributors) (Github).
 
 ## Supported Hardware
 
 This repository contains code supporting these boards:
-  * [Snapdragon Flight](https://docs.px4.io/en/flight_controller/snapdragon_flight.html)
-  * [Intel Aero](https://docs.px4.io/en/flight_controller/intel_aero.html)
-  * [Raspberry PI with Navio 2](https://docs.px4.io/en/flight_controller/raspberry_pi_navio2.html)
-  * [Parrot Bebop 2](https://dev.px4.io/en/advanced/parrot_bebop.html)
-  * FMUv2.x
-    * [Pixhawk](https://docs.px4.io/en/flight_controller/pixhawk.html)
-    * [Pixhawk Mini](https://docs.px4.io/en/flight_controller/pixhawk_mini.html)
-    * [Pixfalcon](https://docs.px4.io/en/flight_controller/pixfalcon.html)
-  * FMUv3.x [Pixhawk 2](https://docs.px4.io/en/flight_controller/pixhawk-2.html)
-  * FMUv4.x
-    * [Pixracer](https://docs.px4.io/en/flight_controller/pixracer.html)
-    * [Pixhawk 3 Pro](https://docs.px4.io/en/flight_controller/pixhawk3_pro.html)
-  * FMUv5.x (ARM Cortex M7)
-    * [Pixhawk 4](https://docs.px4.io/en/flight_controller/pixhawk4.html)
-    * [Pixhawk 4 mini](https://docs.px4.io/en/flight_controller/pixhawk4_mini.html)  
+  * FMUv2
+    * [Pixhawk](https://docs.px4.io/master/en/flight_controller/pixhawk.html)
+    * [Pixfalcon](https://docs.px4.io/master/en/flight_controller/pixfalcon.html)
+  * FMUv3
+    * [Pixhawk 2](https://docs.px4.io/master/en/flight_controller/pixhawk-2.html)
+    * [Pixhawk Mini](https://docs.px4.io/master/en/flight_controller/pixhawk_mini.html)
+    * [CUAV Pixhack v3](https://docs.px4.io/master/en/flight_controller/pixhack_v3.html)
+  * FMUv4
+    * [Pixracer](https://docs.px4.io/master/en/flight_controller/pixracer.html)
+    * [Pixhawk 3 Pro](https://docs.px4.io/master/en/flight_controller/pixhawk3_pro.html)
+  * FMUv5 (ARM Cortex M7)
+    * [Pixhawk 4](https://docs.px4.io/master/en/flight_controller/pixhawk4.html)
+    * [Pixhawk 4 mini](https://docs.px4.io/master/en/flight_controller/pixhawk4_mini.html)
+    * [CUAV V5+](https://docs.px4.io/master/en/flight_controller/cuav_v5_plus.html)
+    * [CUAV V5 nano](https://docs.px4.io/master/en/flight_controller/cuav_v5_nano.html)
   * [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
   * [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
-  * [Bitcraze Crazyflie 2.0](https://docs.px4.io/en/flight_controller/crazyflie2.html)
+  * [Bitcraze Crazyflie 2.0](https://docs.px4.io/master/en/flight_controller/crazyflie2.html)
+  * [Omnibus F4 SD](https://docs.px4.io/master/en/flight_controller/omnibus_f4_sd.html)
+  * [Holybro Durandal](https://docs.px4.io/master/en/flight_controller/durandal.html)
+  * [Holybro Kakute F7](https://docs.px4.io/master/en/flight_controller/kakutef7.html)
+  * [Raspberry PI with Navio 2](https://docs.px4.io/master/en/flight_controller/raspberry_pi_navio2.html)
 
-Additional information about supported hardware can be found in [PX4 user Guide > Autopilot Hardware](https://docs.px4.io/en/flight_controller/).
+Additional information about supported hardware can be found in [PX4 user Guide > Autopilot Hardware](https://docs.px4.io/master/en/flight_controller/).
 
 ## Project Roadmap
 

ROMFS/CMakeLists.txt

@@ -34,7 +34,7 @@
 message(STATUS "ROMFS: ${config_romfs_root}")
 
 set(romfs_src_dir ${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root})
-set(romfs_gen_root_dir ${PX4_BINARY_DIR}/genromfs)
+set(romfs_gen_root_dir ${PX4_BINARY_DIR}/etc)
 
 set_property(GLOBAL PROPERTY PX4_ROMFS_FILES)
 set_property(GLOBAL PROPERTY PX4_ROMFS_CMAKE_FILES)
@@ -62,6 +62,9 @@ function(px4_add_romfs_files)
 	set_property(GLOBAL APPEND PROPERTY PX4_ROMFS_CMAKE_FILES ${CMAKE_CURRENT_LIST_FILE})
 
 	foreach(arg IN LISTS ARGN)
+		if(NOT EXISTS ${CMAKE_CURRENT_LIST_DIR}/${arg})
+			message(FATAL_ERROR "${CMAKE_CURRENT_LIST_DIR}/${arg} doesn't exist")
+		endif()
 		set_property(GLOBAL APPEND PROPERTY PX4_ROMFS_FILES ${CMAKE_CURRENT_LIST_DIR}/${arg})
 	endforeach()
 endfunction()
@@ -78,20 +81,48 @@ file(GLOB jinja_templates ${PX4_SOURCE_DIR}/Tools/serial/*.jinja)
 if (px4_constrained_flash_build)
 	set(added_arguments --constrained-flash)
 endif()
+# create list of relative romfs file names
+set(romfs_copy_files_relative)
+foreach(romfs_file IN LISTS romfs_copy_files)
+	string(REPLACE "${romfs_src_dir}/" "" romfs_file_rel ${romfs_file})
+	list(APPEND romfs_copy_files_relative ${romfs_file_rel})
+endforeach()
+# copy the ROMFS files by creating a tar and extracting it to the build
+# directory (which preserves the directory structure)
+file(MAKE_DIRECTORY ${romfs_gen_root_dir})
+set(romfs_tar_file ${PX4_BINARY_DIR}/romfs_files.tar)
+add_custom_command(
+	OUTPUT ${romfs_tar_file}
+	COMMAND ${CMAKE_COMMAND} -E tar cf ${romfs_tar_file} ${romfs_copy_files_relative}
+	WORKING_DIRECTORY ${romfs_src_dir}
+	DEPENDS
+		${romfs_copy_files}
+		${jinja_templates}
+		${module_config_files}
+		${romfs_cmake_files}
+		${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
+		${PX4_SOURCE_DIR}/Tools/px4airframes/markdownout.py
+		${PX4_SOURCE_DIR}/Tools/px4airframes/rcout.py
+		${PX4_SOURCE_DIR}/Tools/px4airframes/srcparser.py
+		${PX4_SOURCE_DIR}/Tools/px4airframes/srcscanner.py
+		${PX4_SOURCE_DIR}/Tools/px4airframes/xmlout.py
+		${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
+	)
+set(romfs_extract_stamp ${CMAKE_CURRENT_BINARY_DIR}/romfs_extract.stamp)
+add_custom_command(
+	OUTPUT ${romfs_extract_stamp}
+	COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file}
+	COMMAND ${CMAKE_COMMAND} -E touch ${romfs_extract_stamp}
+	WORKING_DIRECTORY ${romfs_gen_root_dir}
+	DEPENDS ${romfs_tar_file}
+	)
+
 add_custom_command(
 	OUTPUT
-		${romfs_gen_root_dir}/init.d/rcS
 		${romfs_gen_root_dir}/init.d/rc.serial
 		${romfs_gen_root_dir}/init.d/rc.autostart
+		${romfs_gen_root_dir}/init.d/rc.autostart.post
 		romfs_copy.stamp
-	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}
-	# TODO: we should only copy the files in ${romfs_copy_files}
-	COMMAND ${CMAKE_COMMAND} -E copy_directory ${romfs_src_dir} ${romfs_gen_root_dir}
-	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/init.d-posix
-	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/mixers-sitl
-	COMMAND ${CMAKE_COMMAND} -E remove ${romfs_gen_root_dir}/mixers/CMakeLists.txt
-	COMMAND ${CMAKE_COMMAND} -E remove ${romfs_gen_root_dir}/init.d/CMakeLists.txt
-	COMMAND ${CMAKE_COMMAND} -E remove ${romfs_gen_root_dir}/init.d/airframes/CMakeLists.txt
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
 		--airframes-path ${romfs_gen_root_dir}/init.d
 		--start-script ${romfs_gen_root_dir}/init.d/rc.autostart
@@ -102,12 +133,7 @@ add_custom_command(
 		--config-files ${module_config_files} #--verbose
 	COMMAND ${CMAKE_COMMAND} -E touch romfs_copy.stamp
 	DEPENDS
-		${jinja_templates}
-		${module_config_files}
-		${romfs_cmake_files}
-		${romfs_copy_files}
-		${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
-		${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
+		${romfs_extract_stamp}
 	COMMENT "ROMFS: copying, generating airframes"
 	)
 
@@ -119,17 +145,14 @@ if(config_io_board)
 	list(APPEND extras_dependencies
 		copy_px4io_bin
 		${fw_io_bin}
-		)
+	)
 endif()
 
-
-if(config_bl_file)
-	file(MAKE_DIRECTORY ${PX4_BINARY_DIR}/romfs_extras)
-	configure_file(${config_bl_file} ${PX4_BINARY_DIR}/romfs_extras COPYONLY)
-
+if(config_build_bootloader)
 	list(APPEND extras_dependencies
-		${config_bl_file}
-		)
+		copy_bootloader_bin
+		${bootloader_bin}
+	)
 endif()
 
 set(OPTIONAL_BOARD_RC)
@@ -137,6 +160,7 @@ list(APPEND OPTIONAL_BOARD_RC
 	rc.board_defaults
 	rc.board_sensors
 	rc.board_extras
+	rc.board_mavlink
 )
 
 foreach(board_rc_file ${OPTIONAL_BOARD_RC})
@@ -148,7 +172,7 @@ foreach(board_rc_file ${OPTIONAL_BOARD_RC})
 			OUTPUT
 				${romfs_gen_root_dir}/init.d/${board_rc_file}
 				${board_rc_file}.stamp
-			COMMAND ${CMAKE_COMMAND} -E copy ${PX4_BOARD_DIR}/init/${board_rc_file} ${romfs_gen_root_dir}/init.d/${board_rc_file}
+			COMMAND ${CMAKE_COMMAND} -E copy_if_different ${PX4_BOARD_DIR}/init/${board_rc_file} ${romfs_gen_root_dir}/init.d/${board_rc_file}
 			COMMAND ${CMAKE_COMMAND} -E touch ${board_rc_file}.stamp
 			DEPENDS
 				${PX4_BOARD_DIR}/init/${board_rc_file}
@@ -163,17 +187,35 @@ foreach(board_rc_file ${OPTIONAL_BOARD_RC})
 
 endforeach()
 
+list(APPEND extras_dependencies
+	${config_romfs_extra_dependencies}
+	)
+
+if (config_romfs_extra_files)
+	set(extras_copy_cmd COMMAND ${CMAKE_COMMAND} -E copy_if_different ${config_romfs_extra_files} ${romfs_gen_root_dir}/extras/)
+else()
+	set(extras_copy_cmd "")
+endif()
 add_custom_command(OUTPUT romfs_extras.stamp
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${romfs_gen_root_dir}/extras/
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/romfs_extras/
 	COMMAND ${CMAKE_COMMAND} -E copy_directory ${PX4_BINARY_DIR}/romfs_extras/ ${romfs_gen_root_dir}/extras/
+	${extras_copy_cmd}
 	COMMAND ${CMAKE_COMMAND} -E touch romfs_extras.stamp
 	DEPENDS
 		romfs_copy.stamp
+		${config_romfs_extra_files}
 		${extras_dependencies}
 	COMMENT "ROMFS: copying extras"
 	)
 
+add_custom_target(romfs_gen_files_target
+	DEPENDS
+		${romfs_extract_stamp}
+		${romfs_gen_root_dir}/init.d/rc.serial
+		romfs_extras.stamp
+	)
+
 add_custom_command(
 	OUTPUT romfs_pruned.stamp
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py --folder ${romfs_gen_root_dir} --board ${PX4_BOARD}
@@ -189,7 +231,7 @@ if("${CONFIG_FS_CROMFS}" STREQUAL "y")
 	add_custom_command(
 		OUTPUT ${CMAKE_BINARY_DIR}/gencromfs
 		COMMAND make --no-print-directory --silent -f Makefile.host gencromfs
-		COMMAND ${CMAKE_COMMAND} -E copy gencromfs ${CMAKE_BINARY_DIR}/gencromfs
+		COMMAND ${CMAKE_COMMAND} -E copy_if_different gencromfs ${CMAKE_BINARY_DIR}/gencromfs
 		DEPENDS ${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/nuttx/tools/gencromfs.c
 		WORKING_DIRECTORY ${NUTTX_DIR}/tools
 	)
@@ -204,7 +246,11 @@ if("${CONFIG_FS_CROMFS}" STREQUAL "y")
 		COMMENT "ROMFS: generating image"
 	)
 
-else()
+	add_library(romfs STATIC nsh_romfsimg.c)
+	add_dependencies(romfs prebuild_targets)
+	set_target_properties(romfs PROPERTIES LINKER_LANGUAGE C)
+
+elseif("${CONFIG_FS_ROMFS}" STREQUAL "y")
 	# create romfs.img
 	find_program(GENROMFS genromfs)
 	if(NOT GENROMFS)
@@ -239,13 +285,13 @@ else()
 		COMMAND ${SED} 's/unsigned/const unsigned/g' nsh_romfsimg.c > nsh_romfsimg.c.tmp && ${CMAKE_COMMAND} -E rename nsh_romfsimg.c.tmp nsh_romfsimg.c
 		DEPENDS romfs.img
 	)
+
+	add_library(romfs STATIC nsh_romfsimg.c)
+	add_dependencies(romfs prebuild_targets)
+	set_target_properties(romfs PROPERTIES LINKER_LANGUAGE C)
 endif()
 
 
-add_library(romfs STATIC nsh_romfsimg.c)
-add_dependencies(romfs prebuild_targets)
-set_target_properties(romfs PROPERTIES LINKER_LANGUAGE C)
-
 
 # shellcheck
 find_program(SHELLCHECK_PATH shellcheck)
@@ -255,11 +301,16 @@ if(SHELLCHECK_PATH)
 	# TODO: fix SC2086, SC2166
 	add_custom_target(shellcheck
 		COMMAND ${SHELLCHECK_PATH} --shell=sh
+			--exclude=SC1090 # SC1090: use of source (.) - Can't follow non-constant source. Use a directive to specify location.
+			--exclude=SC1091 # SC1091: use of source (.) - Not following: xxxx openBinaryFile: does not exist (No such file or directory)
 			--exclude=SC2121 # SC2121: To assign a variable, use just 'var=value'
 			--exclude=SC2086 # SC2086: Double quote to prevent globbing and word splitting.
 			--exclude=SC2166 # SC2166: Prefer [ p ] || [ q ] as [ p -o q ] is not well defined.
 			--exclude=SC2154 # SC2154: <var> is referenced but not assigned (NuttX uses different asssignment)
 			--exclude=SC2164 # SC2164: Use 'cd ... || exit' or 'cd ... || return' in case cd fails.
+			--exclude=SC2169 # SC2169: In dash, 'source' in place of '.' is not supported. (we alias it)
+			--exclude=SC2039 # SC2039: In POSIX sh, 'source' in place of '.' is undefined. (we alias it)
+			--exclude=SC2181 # SC2181: Check exit code directly with e.g. 'if mycmd;', not indirectly with $?.
 			`find ${romfs_gen_root_dir}/init.d -type f`
 		DEPENDS ${romfs_gen_root_dir}/init.d/rc.autostart
 		WORKING_DIRECTORY ${romfs_gen_root_dir}

ROMFS/cannode/CMakeLists.txt

@@ -0,0 +1,34 @@
+############################################################################
+#
+#   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+add_subdirectory(init.d)

ROMFS/cannode/init.d/CMakeLists.txt

@@ -0,0 +1,36 @@
+############################################################################
+#
+#   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_romfs_files(
+	rcS
+)

ROMFS/cannode/init.d/rcS

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

ROMFS/px4fmu_common/CMakeLists.txt

@@ -33,3 +33,8 @@
 
 add_subdirectory(init.d)
 add_subdirectory(mixers)
+# TODO: make this configurable from the board config, or better combine
+if("${PX4_BOARD}" MATCHES "sitl")
+	add_subdirectory(mixers-sitl)
+	add_subdirectory(init.d-posix)
+endif()

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

ROMFS/px4fmu_common/init.d-posix/CMakeLists.txt

@@ -0,0 +1,39 @@
+############################################################################
+#
+#   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+add_subdirectory(airframes)
+
+px4_add_romfs_files(
+	rc.replay
+	rcS
+)

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

@@ -7,7 +7,6 @@
 # @maintainer Julian Oes <julian@oes.ch>
 #
 
-sh /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults
 
 set MIXER quad_w
-

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

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

ROMFS/px4fmu_common/init.d-posix/airframes/10030_px4vision

@@ -0,0 +1,11 @@
+#!/bin/sh
+#
+# @name PX4Vision SITL
+# Holybro px4vision. Gazebo Only.
+#
+# @type Quadrotor
+#
+
+. ${R}etc/init.d/airframes/4016_holybro_px4vision
+
+set MIXER quad_x

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

@@ -0,0 +1,22 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (Optical Flow)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d-posix/airframes/10016_iris
+
+if [ $AUTOCNF = yes ]
+then
+	# EKF2
+	param set EKF2_AID_MASK 2
+	param set EKF2_EVP_NOISE 0.05
+	param set EKF2_EVA_NOISE 0.05
+
+	# LPE: Flow-only mode
+	param set LPE_FUSION 242
+	param set LPE_FAKE_ORIGIN 1
+
+	param set MPC_ALT_MODE 2
+fi

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

@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #
 
-sh /etc/init.d-posix/10016_iris
+. ${R}etc/init.d-posix/airframes/10016_iris
 
 if [ $AUTOCNF = yes ]
 then

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

@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #
 
-sh /etc/init.d-posix/10016_iris
+. ${R}etc/init.d-posix/airframes/10016_iris
 
 if [ $AUTOCNF = yes ]
 then

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

@@ -0,0 +1,21 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (Vision)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d-posix/airframes/10016_iris
+
+if [ $AUTOCNF = yes ]
+then
+	# EKF2: Vision position and heading
+	param set EKF2_AID_MASK 24
+	param set EKF2_EV_DELAY 5
+
+	# LPE: Vision + baro
+	param set LPE_FUSION 132
+
+	# AEQ: External heading set to use vision input
+	param set ATT_EXT_HDG_M 1
+fi

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

@@ -0,0 +1,16 @@
+#!/bin/sh
+#
+# @name Solo
+#
+# @type Quadrotor
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set MC_PITCHRATE_P 0.1
+	param set MC_ROLLRATE_P 0.1
+fi
+
+set MIXER quad_x

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

@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #
 
-sh /etc/init.d-posix/10016_iris
+. ${R}etc/init.d-posix/airframes/10016_iris
 
 if [ $AUTOCNF = yes ]
 then

ROMFS/px4fmu_common/init.d-posix/airframes/1016_iris_rtps

@@ -0,0 +1,8 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (RTPS)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d-posix/airframes/10016_iris

ROMFS/px4fmu_common/init.d-posix/airframes/1016_iris_rtps.post

@@ -0,0 +1,4 @@
+#!/bin/sh
+# shellcheck disable=SC2154
+
+micrortps_client start -t UDP -r $((2019+2*px4_instance)) -s $((2020+2*px4_instance))

ROMFS/px4fmu_common/init.d-posix/airframes/1017_iris_opt_flow_mockup

@@ -0,0 +1,21 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (Optical Flow)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d-posix/airframes/10016_iris
+
+if [ $AUTOCNF = yes ]
+then
+	# EKF2
+	param set EKF2_AID_MASK 2
+	param set SENS_FLOW_ROT 0
+
+	# LPE: Flow-only mode
+	param set LPE_FUSION 242
+	param set LPE_FAKE_ORIGIN 1
+
+	param set MPC_ALT_MODE 2
+fi

ROMFS/px4fmu_common/init.d-posix/airframes/1018_iris_vision_velocity

@@ -0,0 +1,15 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (Vision Velocity)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d-posix/airframes/10016_iris
+
+if [ $AUTOCNF = yes ]
+then
+	# EKF2: Vision velocity and heading
+	param set EKF2_AID_MASK 272
+	param set EKF2_EV_DELAY 5
+fi

ROMFS/px4fmu_common/init.d-posix/airframes/1019_iris_dual_gps

@@ -0,0 +1,14 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (Dual GPS)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d-posix/airframes/10016_iris
+
+if [ $AUTOCNF = yes ]
+then
+	# EKF2: Multi GPS blending
+	param set EKF2_GPS_MASK 7 # Uses speed, hpos and vpos accuracy
+fi

ROMFS/px4fmu_common/init.d-posix/airframes/1020_uuv_generic

@@ -0,0 +1,23 @@
+#!/bin/sh
+#
+# @name UUV
+#
+
+. ${R}etc/init.d/rc.uuv_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	#Set data link loss failsafe mode (0: disabled)
+	param set NAV_DLL_ACT 0
+
+	# disable circuit breaker for airspeed sensor
+	param set CBRK_AIRSPD_CHK 162128
+
+	#param set CBRK_GPSFAIL 240024
+fi
+
+set MAV_TYPE 12
+param set MAV_TYPE ${MAV_TYPE}
+
+set MIXER_FILE etc/mixers-sitl/uuv_x_sitl.main.mix
+set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/1021_uuv_hippocampus

@@ -0,0 +1,23 @@
+#!/bin/sh
+#
+# @name Hippocampus UUV
+#
+
+. ${R}etc/init.d/rc.uuv_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	#Set data link loss failsafe mode (0: disabled)
+	param set NAV_DLL_ACT 0
+
+	# disable circuit breaker for airspeed sensor
+	param set CBRK_AIRSPD_CHK 162128
+
+	#param set CBRK_GPSFAIL 240024
+fi
+
+set MAV_TYPE 12
+param set MAV_TYPE ${MAV_TYPE}
+
+set MIXER_FILE etc/mixers-sitl/uuv_x_sitl.main.mix
+set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/1022_uuv_bluerov2_heavy

@@ -0,0 +1,20 @@
+#!/bin/sh
+#
+# @name BlueROV2 Heavy Configuration
+#
+
+. ${R}etc/init.d/rc.uuv_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	#Set data link loss failsafe mode (0: disabled)
+	param set NAV_DLL_ACT 0
+
+	# disable circuit breaker for airspeed sensor
+	param set CBRK_AIRSPD_CHK 162128
+
+fi
+
+set PWM_OUT 12345678
+set MIXER_FILE etc/mixers-sitl/vectored6dof_sitl.main.mix
+set MIXER custom

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

@@ -3,7 +3,7 @@
 # @name Plane SITL
 #
 
-sh /etc/init.d/rc.fw_defaults
+. ${R}etc/init.d/rc.fw_defaults
 
 if [ $AUTOCNF = yes ]
 then
@@ -16,6 +16,8 @@ then
 	param set FW_LND_ANG 8
 	param set FW_THR_LND_MAX 0
 
+	param set FW_L1_PERIOD 15
+
 	param set FW_P_TC 0.5
 	param set FW_PR_FF 0.40
 	param set FW_PR_I 0.05
@@ -26,6 +28,8 @@ then
 	param set FW_RR_I 0.02
 	param set FW_RR_P 0.22
 
+	param set FW_L1_PERIOD 12
+
 	param set FW_W_EN 1
 
 	param set MIS_LTRMIN_ALT 30
@@ -37,7 +41,6 @@ then
 
 	param set RWTO_TKOFF 1
 
-	param set WEST_EN 1
 fi
 
 set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix

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

@@ -0,0 +1,14 @@
+#!/bin/sh
+#
+# @name Plane SITL with camera
+#
+
+. ${R}etc/init.d-posix/airframes/1030_plane
+
+if [ $AUTOCNF = yes ]
+then
+	# Camera trigger interface is MAVLink
+	param set TRIG_INTERFACE 3
+	# Distance trigger mode enabled
+	param set TRIG_MODE 4
+fi

ROMFS/px4fmu_common/init.d-posix/airframes/1032_plane_catapult

@@ -0,0 +1,12 @@
+#!/bin/sh
+#
+# @name Plane SITL with catapult
+#
+
+. ${R}etc/init.d-posix/airframes/1030_plane
+
+if [ $AUTOCNF = yes ]
+then
+	param set RWTO_TKOFF 0
+
+fi

ROMFS/px4fmu_common/init.d-posix/airframes/1033_plane_lidar

@@ -0,0 +1,12 @@
+#!/bin/sh
+#
+# @name Plane SITL with downward facing LIDAR.
+#
+
+. ${R}etc/init.d-posix/airframes/1030_plane
+
+if [ $AUTOCNF = yes ]
+then
+	param set FW_LND_USETER 1
+
+fi

ROMFS/px4fmu_common/init.d-posix/airframes/1033_rascal

@@ -0,0 +1,58 @@
+#!/bin/sh
+#
+# @name Plane SITL
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set EKF2_ARSP_THR 8
+	param set EKF2_FUSE_BETA 1
+	#param set EKF2_MAG_ACCLIM 0
+	#param set EKF2_MAG_YAWLIM 0
+
+	param set FW_LND_AIRSPD_SC 1.1
+	param set FW_LND_ANG 5
+	param set FW_THR_LND_MAX 0
+	param set FW_LND_HHDIST 30
+	param set FW_LND_FL_PMIN 9.5
+	param set FW_LND_FL_PMAX 20
+	param set FW_LND_FLALT 5
+	param set FW_LND_TLALT 15
+
+	param set FW_L1_PERIOD 25
+
+	param set FW_P_TC 0.4
+	param set FW_PR_FF 0.40
+	param set FW_PR_I 0.05
+	param set FW_PR_P 0.05
+
+	param set FW_R_TC 0.45
+	param set FW_RR_FF 0.40
+	param set FW_RR_I 0.132
+	param set FW_RR_P 0.085
+
+	param set FW_W_EN 1
+
+	param set MIS_LTRMIN_ALT 30
+	param set MIS_TAKEOFF_ALT 20
+	param set MIS_DIST_1WP 2500
+	param set MIS_DIST_WPS 10000
+
+	param set NAV_ACC_RAD 15
+	param set NAV_DLL_ACT 2
+	param set NAV_LOITER_RAD 50
+
+	param set RWTO_TKOFF 1
+	#param set FW_THR_SLEW_MAX 0.3 # fix takeoff failure for JSBsim in autonomous mission mode.
+	param set RWTO_MAX_PITCH 20
+	param set RWTO_MAX_ROLL 10
+	#param set RWTO_MAX_THR 0.6		# fix takeoff failure for JSBsim in autonomous mission mode.
+	param set RWTO_PSP 8
+	param set RWTO_AIRSPD_SCL 1.8
+
+fi
+
+set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
+set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/1034_rascal-electric

@@ -0,0 +1,58 @@
+#!/bin/sh
+#
+# @name Plane SITL
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set EKF2_ARSP_THR 8
+	param set EKF2_FUSE_BETA 1
+	#param set EKF2_MAG_ACCLIM 0
+	#param set EKF2_MAG_YAWLIM 0
+
+	param set FW_LND_AIRSPD_SC 1.1
+	param set FW_LND_ANG 5
+	param set FW_THR_LND_MAX 0
+	param set FW_LND_HHDIST 30
+	param set FW_LND_FL_PMIN 9.5
+	param set FW_LND_FL_PMAX 20
+	param set FW_LND_FLALT 5
+	param set FW_LND_TLALT 15
+
+	param set FW_L1_PERIOD 25
+
+	param set FW_P_TC 0.4
+	param set FW_PR_FF 0.40
+	param set FW_PR_I 0.05
+	param set FW_PR_P 0.05
+
+	param set FW_R_TC 0.45
+	param set FW_RR_FF 0.40
+	param set FW_RR_I 0.132
+	param set FW_RR_P 0.085
+
+	param set FW_W_EN 1
+
+	param set MIS_LTRMIN_ALT 30
+	param set MIS_TAKEOFF_ALT 20
+	param set MIS_DIST_1WP 2500
+	param set MIS_DIST_WPS 10000
+
+	param set NAV_ACC_RAD 15
+	param set NAV_DLL_ACT 2
+	param set NAV_LOITER_RAD 50
+
+	param set RWTO_TKOFF 1
+	#param set FW_THR_SLEW_MAX 0.3 # fix takeoff failure for JSBsim in autonomous mission mode.
+	param set RWTO_MAX_PITCH 20
+	param set RWTO_MAX_ROLL 10
+	#param set RWTO_MAX_THR 0.6		# fix takeoff failure for JSBsim in autonomous mission mode.
+	param set RWTO_PSP 8
+	param set RWTO_AIRSPD_SCL 1.8
+
+fi
+
+set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
+set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/1035_techpod

@@ -0,0 +1,47 @@
+#!/bin/sh
+#
+# @name Plane SITL
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set EKF2_ARSP_THR 8
+	param set EKF2_FUSE_BETA 1
+	param set EKF2_MAG_ACCLIM 0
+	param set EKF2_MAG_YAWLIM 0
+
+	param set FW_LND_AIRSPD_SC 1
+	param set FW_LND_ANG 8
+	param set FW_THR_LND_MAX 0
+
+	param set FW_L1_PERIOD 15
+
+	param set FW_P_TC 0.5
+	param set FW_PR_FF 0.40
+	param set FW_PR_I 0.05
+	param set FW_PR_P 0.05
+
+	param set FW_R_TC 0.7
+	param set FW_RR_FF 0.20
+	param set FW_RR_I 0.02
+	param set FW_RR_P 0.22
+
+	param set FW_L1_PERIOD 12
+
+	param set FW_W_EN 1
+
+	param set MIS_LTRMIN_ALT 30
+	param set MIS_TAKEOFF_ALT 30
+
+	param set NAV_ACC_RAD 15
+	param set NAV_DLL_ACT 2
+	param set NAV_LOITER_RAD 50
+
+	param set RWTO_TKOFF 1
+
+fi
+
+set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
+set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/1036_malolo

@@ -0,0 +1,56 @@
+#!/bin/sh
+#
+# @name Plane SITL
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set EKF2_ARSP_THR 8
+	param set EKF2_FUSE_BETA 1
+	#param set EKF2_MAG_ACCLIM 0
+	#param set EKF2_MAG_YAWLIM 0
+
+	param set FW_LND_AIRSPD_SC 1.1
+	param set FW_LND_ANG 5
+	param set FW_THR_LND_MAX 0
+	param set FW_LND_HHDIST 30
+	param set FW_LND_FL_PMIN 9.5
+	param set FW_LND_FL_PMAX 20
+	param set FW_LND_FLALT 5
+	param set FW_LND_TLALT 15
+
+	param set FW_L1_PERIOD 25
+
+	param set FW_P_TC 0.4
+	param set FW_PR_FF 0.40
+	param set FW_PR_I 0.05
+	param set FW_PR_P 0.05
+
+	param set FW_R_TC 0.45
+	param set FW_RR_FF 0.40
+	param set FW_RR_I 0.132
+	param set FW_RR_P 0.085
+
+	param set FW_W_EN 1
+
+	param set MIS_LTRMIN_ALT 30
+	param set MIS_TAKEOFF_ALT 20
+	param set MIS_DIST_1WP 2500
+	param set MIS_DIST_WPS 10000
+
+	param set NAV_ACC_RAD 15
+	param set NAV_DLL_ACT 2
+	param set NAV_LOITER_RAD 50
+
+	param set RWTO_TKOFF 1
+	param set RWTO_MAX_PITCH 20
+	param set RWTO_MAX_ROLL 10
+	param set RWTO_PSP 8
+	param set RWTO_AIRSPD_SCL 1.8
+
+fi
+
+set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
+set MIXER custom

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

@@ -0,0 +1,52 @@
+#!/bin/sh
+#
+# @name Standard VTOL
+#
+# @type Standard VTOL
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set FW_AIRSPD_MAX 25
+	param set FW_AIRSPD_MIN 14
+	param set FW_AIRSPD_TRIM 16
+	param set FW_L1_PERIOD 12
+
+	param set FW_RR_FF 0.1
+	param set FW_RR_P 0.01
+
+	param set MC_ROLLRATE_P 0.3
+
+	param set MIS_LTRMIN_ALT 10
+	param set MIS_TAKEOFF_ALT 10
+	param set MIS_YAW_TMT 10
+
+	param set MPC_ACC_HOR_MAX 2
+	param set MPC_ACC_HOR_MAX 2
+	param set MPC_THR_HOVER 0.58
+	param set MPC_TKO_SPEED 1
+	param set MPC_XY_P 0.8
+	param set MPC_XY_VEL_P_ACC 3
+	param set MPC_XY_VEL_I_ACC 4
+	param set MPC_XY_VEL_D_ACC 0.1
+	param set MPC_Z_VEL_MAX_DN 1.5
+
+	param set NAV_ACC_RAD 5
+	param set NAV_LOITER_RAD 80
+
+	param set VT_F_TRANS_DUR 5
+	param set VT_F_TRANS_THR 0.75
+	param set VT_ARSP_TRANS 16
+	param set VT_MOT_ID 1234
+	param set VT_FW_MOT_OFFID 1234
+	param set VT_TYPE 2
+	param set VT_B_TRANS_DUR 8
+
+fi
+
+set MAV_TYPE 22
+
+set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
+set MIXER custom

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

@@ -0,0 +1,44 @@
+#!/bin/sh
+#
+# @name Quadrotor + Tailsitter
+#
+# @type VTOL Quad Tailsitter
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set FW_AIRSPD_MAX 25
+	param set FW_AIRSPD_MIN 14
+	param set FW_AIRSPD_TRIM 16
+	param set FW_L1_PERIOD 12
+
+	param set MC_ROLLRATE_P 0.3
+
+	param set MIS_YAW_TMT 10
+
+	param set MPC_ACC_HOR_MAX 2
+	param set MPC_ACC_HOR_MAX 2
+	param set MPC_THR_MIN 0.3
+	param set MPC_XY_P 0.15
+	param set MPC_XY_VEL_D_ACC 0.1
+	param set MPC_XY_VEL_P_ACC 1
+	param set MPC_Z_VEL_MAX_DN 1.5
+	param set MPC_Z_VEL_P_ACC 16
+
+	param set NAV_ACC_RAD 5
+	param set NAV_LOITER_RAD 80
+
+	param set VT_F_TRANS_DUR 1.5
+	param set VT_F_TRANS_THR 0.7
+	param set VT_TYPE 0
+
+	param set WV_EN 0
+
+fi
+
+set MAV_TYPE 20
+
+set MIXER_FILE etc/mixers-sitl/quad_x_vtol.main.mix
+set MIXER custom

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

@@ -0,0 +1,52 @@
+#!/bin/sh
+#
+# @name VTOL Tiltrotor
+#
+# @type VTOL Tiltrotor
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set FW_ARSP_MODE 1
+	param set FW_AIRSPD_MAX 25
+	param set FW_AIRSPD_MIN 14
+	param set FW_AIRSPD_TRIM 16
+	param set FW_L1_PERIOD 12
+
+	param set MC_ROLLRATE_P 0.3
+
+	param set MIS_LTRMIN_ALT 10
+	param set MIS_TAKEOFF_ALT 10
+	param set MIS_YAW_TMT 10
+
+	param set MPC_ACC_HOR_MAX 2
+	param set MPC_ACC_HOR_MAX 2
+	param set MPC_THR_MIN 0.1
+	param set MPC_TKO_SPEED 1
+	param set MPC_XY_P 0.15
+	param set MPC_XY_VEL_D_ACC 0.1
+	param set MPC_XY_VEL_I_ACC 4
+	param set MPC_XY_VEL_P_ACC 1
+	param set MPC_Z_VEL_MAX_DN 1.5
+	param set MPC_Z_VEL_P_ACC 16
+
+	param set NAV_ACC_RAD 5
+	param set NAV_LOITER_RAD 80
+
+	param set VT_F_TRANS_DUR 5.0
+	param set VT_F_TRANS_THR 0.75
+	param set VT_FWD_THRUST_SC 1.1
+	param set VT_TILT_FW 1
+	param set VT_TILT_TRANS 0.6
+	param set VT_ELEV_MC_LOCK 0
+	param set VT_TYPE 1
+	param set VT_B_TRANS_DUR 8
+
+fi
+
+set MAV_TYPE 21
+
+set MIXER_FILE etc/mixers-sitl/tiltrotor_sitl.main.mix
+set MIXER custom

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

@@ -0,0 +1,37 @@
+#!/bin/sh
+#
+# @name Rover
+#
+
+. ${R}etc/init.d/rc.rover_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set GND_L1_DIST 5
+	param set GND_SP_CTRL_MODE 1
+	param set GND_SPEED_D 0.001
+	param set GND_SPEED_I 3
+	param set GND_SPEED_IMAX 0.125
+	param set GND_SPEED_P 0.25
+	param set GND_SPEED_THR_SC 1
+	param set GND_SPEED_TRIM 4
+	param set GND_THR_CRUISE 0.3
+	param set GND_THR_IDLE 0
+	param set GND_THR_MAX 0.5
+	param set GND_THR_MIN 0
+
+	param set MIS_LTRMIN_ALT 0.01
+	param set MIS_TAKEOFF_ALT 0.01
+	param set NAV_ACC_RAD 0.5
+	param set NAV_LOITER_RAD 2
+
+	param set CBRK_AIRSPD_CHK 162128
+
+	param set GND_MAX_ANG 0.6
+	param set GND_WHEEL_BASE 2.0
+
+fi
+
+set MAV_TYPE 10
+
+set MIXER_FILE etc/mixers-sitl/rover_ackermann_sitl.main.mix

ROMFS/px4fmu_common/init.d-posix/airframes/1061_r1_rover

@@ -0,0 +1,38 @@
+#!/bin/sh
+#
+# @name Aion Robotics R1 Rover
+# @type Rover
+# @class Rover
+
+. ${R}etc/init.d/rc.rover_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set GND_L1_DIST 5
+	param set GND_SP_CTRL_MODE 1
+	param set GND_SPEED_D 3
+	param set GND_SPEED_I 0.001
+	param set GND_SPEED_IMAX 0.125
+	param set GND_SPEED_P 0.25
+	param set GND_SPEED_THR_SC 1
+	param set GND_SPEED_TRIM 4
+	param set GND_THR_CRUISE 0.3
+	param set GND_THR_IDLE 0
+	param set GND_THR_MAX 0.5
+	param set GND_THR_MIN 0
+
+	param set MIS_LTRMIN_ALT 0.01
+	param set MIS_TAKEOFF_ALT 0.01
+	param set NAV_ACC_RAD 0.5
+	param set NAV_LOITER_RAD 2
+
+	param set CBRK_AIRSPD_CHK 162128
+
+	param set GND_MAX_ANG 0.6
+	param set GND_WHEEL_BASE 2.0
+
+fi
+
+set MAV_TYPE 10
+
+set MIXER_FILE etc/mixers-sitl/rover_diff_sitl.main.mix

ROMFS/px4fmu_common/init.d-posix/airframes/1062_tf-r1

@@ -0,0 +1,43 @@
+#!/bin/sh
+#
+# @name ThunderFly TF-R1 UAV Rover
+# @type Rover
+# @class Rover
+#
+# @url https://github.com/ThunderFly-aerospace/TF-R1/
+# @maintainer ThunderFly s.r.o.
+#
+
+. ${R}etc/init.d/rc.rover_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set GND_L1_DIST 5
+	param set GND_SP_CTRL_MODE 1
+	param set GND_SPEED_D 3
+	param set GND_SPEED_I 0.001
+	param set GND_SPEED_IMAX 0.125
+	param set GND_SPEED_P 0.25
+	param set GND_SPEED_THR_SC 1
+	param set GND_SPEED_TRIM 15
+	param set GND_SPEED_MAX 25
+	param set GND_THR_CRUISE 0.3
+	param set GND_THR_IDLE 0
+	param set GND_THR_MAX 0.5
+	param set GND_THR_MIN 0
+
+	param set MIS_LTRMIN_ALT 0.01
+	param set MIS_TAKEOFF_ALT 0.01
+	param set NAV_ACC_RAD 0.5
+	param set NAV_LOITER_RAD 2
+
+	param set CBRK_AIRSPD_CHK 162128
+
+	param set GND_MAX_ANG 0.6
+	param set GND_WHEEL_BASE 3.0
+
+fi
+
+set MAV_TYPE 10
+
+set MIXER_FILE etc/mixers-sitl/rover_ackermann_sitl.main.mix

ROMFS/px4fmu_common/init.d-posix/airframes/1070_boat

@@ -0,0 +1,37 @@
+#!/bin/sh
+#
+# @name Boat
+#
+
+. ${R}etc/init.d/rc.boat_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set GND_L1_DIST 5
+	param set GND_SP_CTRL_MODE 1
+	param set GND_SPEED_D 0.001
+	param set GND_SPEED_I 3
+	param set GND_SPEED_IMAX 0.125
+	param set GND_SPEED_P 0.25
+	param set GND_SPEED_THR_SC 1
+	param set GND_SPEED_TRIM 4
+	param set GND_THR_CRUISE 0.3
+	param set GND_THR_IDLE 0
+	param set GND_THR_MAX 0.5
+	param set GND_THR_MIN 0
+
+	param set MIS_LTRMIN_ALT 0.01
+	param set MIS_TAKEOFF_ALT 0.01
+	param set NAV_ACC_RAD 0.5
+	param set NAV_LOITER_RAD 2
+
+	param set CBRK_AIRSPD_CHK 162128
+
+	param set GND_MAX_ANG 0.6
+	param set GND_WHEEL_BASE 2.0
+
+fi
+
+set MAV_TYPE 11
+
+set MIXER_FILE etc/mixers-sitl/boat_sitl.main.mix

ROMFS/px4fmu_common/init.d-posix/airframes/17001_tf-g1

@@ -0,0 +1,64 @@
+#!/bin/sh
+#
+# @name ThunderFly TF-G1
+# ThunderFly TF-G1 autogyro airframe. Only for FlightGear simulator
+#
+# @type Autogyro
+# @class Autogyro
+#
+# @url https://github.com/ThunderFly-aerospace/TF-G1/
+#
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set EKF2_ARSP_THR 8
+	param set EKF2_FUSE_BETA 1
+	param set ASPD_STALL 10.0
+
+	param set FW_P_RMAX_NEG 20.0
+	param set FW_P_RMAX_POS 60.0
+	param set FW_W_RMAX 10
+	param set FW_W_EN 1
+
+	param set FW_PR_IMAX 0.4
+	param set FW_R_TC 0.4
+	param set FW_RR_FF 0.5
+	param set FW_RR_I 0.1
+	param set FW_RR_IMAX 0.2
+	param set FW_RR_P 0.08
+
+	param set MIS_LTRMIN_ALT 50
+	param set MIS_TAKEOFF_ALT 3
+
+	param set NAV_ACC_RAD 20
+	param set NAV_DLL_ACT 2
+	param set NAV_LOITER_RAD 100
+
+	param set RWTO_TKOFF 1
+	param set MAV_BROADCAST 1
+
+	param set FW_ARSP_SCALE_EN 0
+
+	param set FW_AIRSPD_MAX 35
+	param set FW_AIRSPD_MIN 7
+	param set FW_AIRSPD_TRIM 15
+
+	param set FW_P_LIM_MAX 25
+	param set FW_P_LIM_MIN -5
+	param set FW_R_LIM 30
+
+	param set FW_MAN_P_MAX 30.0
+	param set FW_MAN_R_MAX 30.0
+
+	param set FW_THR_CRUISE 0.8
+	param set FW_THR_IDLE 0
+	param set COM_DISARM_PRFLT 0
+
+fi
+
+
+set MIXER_FILE etc/mixers-sitl/autogyro_sitl.main.mix
+set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/2507_cloudship

@@ -0,0 +1,15 @@
+#!/bin/sh
+#
+# @name Cloudship
+# @type Airship
+# @class Airship
+#
+# @output MAIN1 thrust tilt
+# @output MAIN2 starboard thruster
+# @output MAIN3 port thruster
+# @output MAIN4 tail thruster
+
+. ${R}etc/init.d/rc.airship_defaults
+
+set MIXER cloudship
+set PWM_OUT 1234

ROMFS/px4fmu_common/init.d-posix/airframes/3010_quadrotor_x

@@ -0,0 +1,12 @@
+#!/bin/sh
+#
+# @name Quadrotor SITL model for JSBSim
+#
+# @type Quadrotor Wide
+#
+# @maintainer Jaeyoung Lim <jaeyoung@auterion.com>
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+set MIXER quad_w

ROMFS/px4fmu_common/init.d-posix/airframes/3011_hexarotor_x

@@ -0,0 +1,35 @@
+#!/bin/sh
+#
+# @name Hexacopter SITL model for JSBSim
+#
+# @type Hexarotor x
+#
+# @maintainer Jaeyoung Lim <jaeyoung@auterion.com>
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set MC_PITCHRATE_P 0.1
+	param set MC_PITCHRATE_I 0.05
+	param set MC_PITCH_P 6.0
+	param set MC_ROLLRATE_P 0.15
+	param set MC_ROLLRATE_I 0.1
+	param set MC_ROLL_P 6.0
+	param set MPC_XY_VEL_I_ACC 4
+	param set MPC_XY_VEL_P_ACC 3
+
+	param set RTL_DESCEND_ALT 10
+	param set RTL_LAND_DELAY 0
+
+	param set TRIG_INTERFACE 3
+	param set TRIG_MODE 4
+	param set MNT_MODE_IN 4
+	param set MNT_DO_STAB 2
+	param set MAV_PROTO_VER 2
+fi
+
+set MAV_TYPE 13
+
+set MIXER hexa_x

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

@@ -0,0 +1,32 @@
+#!/bin/sh
+#
+# @name Typhoon H480 SITL
+#
+# @type Hexarotor x
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set MC_PITCHRATE_P 0.1
+	param set MC_PITCHRATE_I 0.05
+	param set MC_PITCH_P 6.0
+	param set MC_ROLLRATE_P 0.15
+	param set MC_ROLLRATE_I 0.1
+	param set MC_ROLL_P 6.0
+	param set MPC_XY_VEL_I_ACC 4
+	param set MPC_XY_VEL_P_ACC 3
+
+	param set RTL_DESCEND_ALT 10
+	param set RTL_LAND_DELAY 0
+
+	param set TRIG_INTERFACE 3
+	param set TRIG_MODE 4
+	param set MNT_MODE_IN 0
+	param set MAV_PROTO_VER 2
+fi
+
+set MAV_TYPE 13
+
+set MIXER hexa_x