mc_att_control: copy sensor_correction topic once initially

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

.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

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

.ci/Jenkinsfile-compile_mac

@@ -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')
-  }
-}

.ci/Jenkinsfile-hardware

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

.clang-tidy

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

.github/ISSUE_TEMPLATE/3_Support_question.md

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

.github/ISSUE_TEMPLATE/4_Documentation_issue.md

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

.github/ISSUE_TEMPLATE/feature_request.md

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

.github/stale.yml

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

.gitignore

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

.gitmodules

@@ -2,18 +2,18 @@
 	path = mavlink/include/mavlink/v2.0
 	url = https://github.com/mavlink/c_library_v2.git
 	branch = master
-[submodule "src/drivers/uavcan/libuavcan"]
-	path = src/drivers/uavcan/libuavcan
-	url = https://github.com/PX4/uavcan.git
-	branch = px4
+[submodule "src/modules/uavcan/libuavcan"]
+	path = src/modules/uavcan/libuavcan
+	url = https://github.com/UAVCAN/libuavcan.git
+	branch = master
 [submodule "msg/tools/genmsg"]
 	path = msg/tools/genmsg
-	url = https://github.com/PX4/genmsg.git
-	branch = px4
+	url = https://github.com/ros/genmsg.git
+	branch = indigo-devel
 [submodule "msg/tools/gencpp"]
 	path = msg/tools/gencpp
-	url = https://github.com/PX4/gencpp.git
-	branch = px4
+	url = https://github.com/ros/gencpp.git
+	branch = indigo-devel
 [submodule "Tools/jMAVSim"]
 	path = Tools/jMAVSim
 	url = https://github.com/PX4/jMAVSim.git
@@ -34,26 +34,26 @@
 	path = src/lib/ecl
 	url = https://github.com/PX4/ecl.git
 	branch = master
-[submodule "boards/atlflight/cmake_hexagon"]
-	path = boards/atlflight/cmake_hexagon
-	url = https://github.com/PX4/cmake_hexagon.git
-	branch = px4
+[submodule "cmake/cmake_hexagon"]
+	path = cmake/cmake_hexagon
+	url = https://github.com/ATLFlight/cmake_hexagon.git
+	branch = master
 [submodule "src/drivers/gps/devices"]
 	path = src/drivers/gps/devices
 	url = https://github.com/PX4/GpsDrivers.git
 	branch = master
 [submodule "src/modules/micrortps_bridge/micro-CDR"]
 	path = src/modules/micrortps_bridge/micro-CDR
-	url = https://github.com/PX4/micro-CDR.git
-	branch = px4
+	url = https://github.com/eProsima/micro-CDR.git
+	branch = master
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
-	url = https://github.com/PX4/NuttX.git
-	branch = px4_firmware_nuttx-7.28+
+	url = https://github.com/PX4-NuttX/nuttx.git
+	branch = px4_firmware_nuttx-7.22+
 [submodule "platforms/nuttx/NuttX/apps"]
 	path = platforms/nuttx/NuttX/apps
-	url = https://github.com/PX4/NuttX-apps.git
-	branch = px4_firmware_nuttx-7.28+
+	url = https://github.com/PX4-NuttX/apps.git
+	branch = px4_firmware_nuttx-7.22+
 [submodule "cmake/configs/uavcan_board_ident"]
 	path = cmake/configs/uavcan_board_ident
 	url = https://github.com/PX4/uavcan_board_ident.git

.travis.yml

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

.vscode/.gitignore

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

.vscode/c_cpp_properties.json

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

.vscode/cmake-kits.json

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

.vscode/cmake-variants.yaml

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

.vscode/extensions.json

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

.vscode/launch.json

@@ -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

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

.vscode/tasks.json

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

.ycm_extra_conf.py

@@ -61,7 +61,7 @@ flags = [
 'c++',
 '-undef', # get rid of standard definitions to allow us to include arm math header
 '-I', os.path.join(os.path.expanduser("~"),'gcc-arm-none-eabi-4_7-2013q3/arm-none-eabi/include'),
-'-I', 'Build/px4_io-v2_default.build/nuttx-export/include/',
+'-I', 'Build/px4io-v2_default.build/nuttx-export/include/',
 '-I', './NuttX/nuttx/arch/arm/include',
 '-include', './src/include/visibility.h',
 '-I', './src',

CMakeLists.txt

@@ -1,6 +1,6 @@
 ############################################################################
 #
-# Copyright (c) 2017 - 2019 PX4 Development Team. All rights reserved.
+# Copyright (c) 2017 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -40,7 +40,7 @@
 # * Common functions should be included in px_base.cmake.
 #
 # * OS/ board specific fucntions should be include in
-#	px_impl_${PX4_PLATFORM}.cmake or px4_impl_${PX4_PLATFORM}_${PX4_BOARD}.cmake.
+#	px_impl_${OS}.cmake or px4_impl_${OS}_${BOARD}.cmake.
 #
 # Formatting
 # ---------------------------------------------------------------------------
@@ -92,9 +92,9 @@
 # ---------------------------------------------------------------------------
 #
 # * If referencing a string variable, don't put it in quotes.
-#	Don't do "${PX4_PLATFORM}" STREQUAL "posix",
-#	instead type ${PX4_PLATFORM} STREQUAL "posix". This will throw an
-#	error when ${PX4_PLATFORM} is not defined instead of silently
+#	Don't do "${OS}" STREQUAL "posix",
+#	instead type ${OS} STREQUAL "posix". This will throw an
+#	error when ${OS} is not defined instead of silently
 #	evaluating to false.
 #
 #=============================================================================
@@ -104,16 +104,16 @@ cmake_minimum_required(VERSION 3.2 FATAL_ERROR)
 set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
 set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}")
 
-list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake)
+list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/cmake")
 
 #=============================================================================
 # git
 #
-include(px4_git)
+include(common/px4_git)
 
 execute_process(
 	COMMAND git describe --always --tags
-	OUTPUT_VARIABLE PX4_GIT_TAG
+	OUTPUT_VARIABLE git_tag
 	OUTPUT_STRIP_TRAILING_WHITESPACE
 	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 	)
@@ -132,116 +132,28 @@ define_property(GLOBAL PROPERTY PX4_MODULE_PATHS
 # configuration
 #
 
-set(CONFIG "px4_sitl_default" CACHE STRING "desired configuration")
+set(CONFIG "posix_sitl_default" CACHE STRING "desired configuration")
 
-include(px4_add_module)
-set(config_module_list)
-set(config_df_driver_list)
+string(REPLACE "_" ";" config_args ${CONFIG})
+list(GET config_args 0 OS)
+list(GET config_args 1 BOARD)
+list(GET config_args 2 LABEL)
 
-# find PX4 config
-#  look for in tree board config that matches CONFIG input
-if(NOT PX4_CONFIG_FILE)
-
-	file(GLOB_RECURSE board_configs
-		RELATIVE "${PX4_SOURCE_DIR}/boards"
-		"boards/*.cmake"
-		)
-
-	set(PX4_CONFIGS ${board_configs} CACHE STRING "PX4 board configs" FORCE)
-
-	foreach(filename ${board_configs})
-		# parse input CONFIG into components to match with existing in tree configs
-		#  the platform prefix (eg nuttx_) is historical, and removed if present
-		string(REPLACE ".cmake" "" filename_stripped ${filename})
-		string(REPLACE "/" ";" config ${filename_stripped})
-		list(LENGTH config config_len)
-
-		if(${config_len} EQUAL 3)
-
-
-			list(GET config 0 vendor)
-			list(GET config 1 model)
-			list(GET config 2 label)
-
-			set(board "${vendor}${model}")
-
-			# <VENDOR>_<MODEL>_<LABEL> (eg px4_fmu-v2_default)
-			# <VENDOR>_<MODEL>_default (eg px4_fmu-v2) # allow skipping label if "default"
-			if ((${CONFIG} MATCHES "${vendor}_${model}_${label}") OR # match full vendor, model, label
-			    ((${label} STREQUAL "default") AND (${CONFIG} STREQUAL "${vendor}_${model}")) # default label can be omitted
-			)
-				set(PX4_CONFIG_FILE "${PX4_SOURCE_DIR}/boards/${filename}" CACHE FILEPATH "path to PX4 CONFIG file" FORCE)
-				break()
-			endif()
-
-			# <BOARD>_<LABEL> (eg px4_fmu-v2_default)
-			# <BOARD>_default (eg px4_fmu-v2) # allow skipping label if "default"
-			if ((${CONFIG} MATCHES "${board}_${label}") OR # match full board, label
-			    ((${label} STREQUAL "default") AND (${CONFIG} STREQUAL "${board}")) # default label can be omitted
-			)
-				set(PX4_CONFIG_FILE "${PX4_SOURCE_DIR}/boards/${filename}" CACHE FILEPATH "path to PX4 CONFIG file" FORCE)
-				break()
-			endif()
-
-
-			# LEGACY form
-			# <OS>_<BOARD>_<LABEL> (eg nuttx_px4_fmu-v2_default)
-			string(REGEX REPLACE "^nuttx_|^posix_|^qurt_" "" config_no_os ${CONFIG}) # ignore OS prefix
-
-			if ((${config_no_os} MATCHES "${board}_${label}"))
-				set(PX4_CONFIG_FILE "${PX4_SOURCE_DIR}/boards/${filename}" CACHE FILEPATH "path to PX4 CONFIG file" FORCE)
-				break()
-			endif()
-
-
-			# LEGACY form special case to ease board layout transition (2018-11-18)
-			#  match board with model and label only: eg sitl_default -> px4_sitl_default
-			if ((${config_no_os} MATCHES "${model}_${label}"))
-				set(PX4_CONFIG_FILE "${PX4_SOURCE_DIR}/boards/${filename}" CACHE FILEPATH "path to PX4 CONFIG file" FORCE)
-				break()
-			endif()
-
-		endif()
-
-	endforeach()
-endif()
-
-if(NOT PX4_CONFIG_FILE)
-	message(FATAL_ERROR "PX4 config file not set, try one of ${PX4_CONFIGS}")
-endif()
-
-message(STATUS "PX4 config file: ${PX4_CONFIG_FILE}")
-include(px4_add_board)
-include(${PX4_CONFIG_FILE})
-message(STATUS "PX4 config: ${PX4_CONFIG}")
-message(STATUS "PX4 platform: ${PX4_PLATFORM}")
-
-if (ENABLE_LOCKSTEP_SCHEDULER)
-	add_definitions(-DENABLE_LOCKSTEP_SCHEDULER)
-	message(STATUS "PX4 lockstep: enabled")
-else()
-	message(STATUS "PX4 lockstep: disabled")
-endif()
-
-# external modules
+set(THREADS "4" CACHE STRING "number of threads to use for external build processes")
+set(DEBUG_PORT "/dev/ttyACM0" CACHE STRING "debugging port")
 set(EXTERNAL_MODULES_LOCATION "" CACHE STRING "External modules source location")
 
 if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
 	get_filename_component(EXTERNAL_MODULES_LOCATION "${EXTERNAL_MODULES_LOCATION}" ABSOLUTE)
 endif()
 
-set_property(GLOBAL PROPERTY PX4_MODULE_CONFIG_FILES)
-
-include(platforms/${PX4_PLATFORM}/cmake/px4_impl_os.cmake)
-list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake)
-
-if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake/init.cmake")
-	include(init)
-endif()
+include(platforms/${OS}/cmake/px4_impl_os.cmake)
+include(configs/${CONFIG})
+list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/platforms/${OS}/cmake)
 
 # CMake build type (Debug Release RelWithDebInfo MinSizeRel Coverage)
 if (NOT CMAKE_BUILD_TYPE)
-	if (${PX4_PLATFORM} STREQUAL "nuttx")
+	if (${OS} STREQUAL "nuttx")
 		set(PX4_BUILD_TYPE "MinSizeRel")
 	else()
 		set(PX4_BUILD_TYPE "RelWithDebInfo")
@@ -250,12 +162,13 @@ if (NOT CMAKE_BUILD_TYPE)
 	set(CMAKE_BUILD_TYPE ${PX4_BUILD_TYPE} CACHE STRING "Build type" FORCE)
 endif()
 
-set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release;RelWithDebInfo;MinSizeRel;Coverage;AddressSanitizer;UndefinedBehaviorSanitizer")
+set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release;RelWithDebInfo;MinSizeRel;Coverage")
 
 #=============================================================================
 
-message(STATUS "PX4 version: ${PX4_GIT_TAG}")
-message(STATUS "cmake build type: ${CMAKE_BUILD_TYPE}")
+message(STATUS "PX4 VERSION: ${git_tag}")
+message(STATUS "CONFIG: ${CONFIG}")
+message(STATUS "Build Type: ${CMAKE_BUILD_TYPE}")
 
 #=============================================================================
 # project definition
@@ -269,29 +182,17 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_C_STANDARD 99)
 set(CMAKE_C_STANDARD_REQUIRED ON)
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
-
-# For the catkin build process, unset build of dynamically-linked binaries
-# and do not change CMAKE_RUNTIME_OUTPUT_DIRECTORY
-if (NOT CATKIN_DEVEL_PREFIX)
-	set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PX4_BINARY_DIR})
-	set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${PX4_BINARY_DIR})
-	set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${PX4_BINARY_DIR})
-else()
-	SET(BUILD_SHARED_LIBS OFF)
-endif()
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PX4_BINARY_DIR})
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${PX4_BINARY_DIR})
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${PX4_BINARY_DIR})
 
 #=============================================================================
 
 # Setup install paths
-if (${PX4_PLATFORM} STREQUAL "posix")
+if (${OS} STREQUAL "posix")
 
-	# This makes it possible to dynamically load code which depends on symbols
-	# inside the px4 executable.
-	set(CMAKE_POSITION_INDEPENDENT_CODE ON)
-	set(CMAKE_ENABLE_EXPORTS ON)
-
-	include(coverage)
-	include(sanitizers)
+	include(common/coverage)
+	include(common/sanitizers)
 
 	# Define GNU standard installation directories
 	include(GNUInstallDirs)
@@ -299,26 +200,38 @@ if (${PX4_PLATFORM} STREQUAL "posix")
 	if (NOT CMAKE_INSTALL_PREFIX)
 		set(CMAKE_INSTALL_PREFIX "/usr" CACHE PATH "Install path prefix" FORCE)
 	endif()
+
+	# cmake testing only on posix
+	enable_testing()
+	include(CTest)
 endif()
 
+#=============================================================================
+# require px4 module interface
+set(px4_required_interface
+	px4_os_prebuild_targets
+	px4_os_add_flags
+	)
+foreach(cmd ${px4_required_interface})
+	if (NOT COMMAND ${cmd})
+		message(FATAL_ERROR "${CONFIG} must implement ${cmd}")
+	endif()
+endforeach()
+
+set(px4_required_config config_module_list)
+foreach(conf ${px4_required_config})
+	if (NOT DEFINED ${conf})
+		message(FATAL_ERROR "cmake/${CONFIG} must define ${conf}")
+	endif()
+endforeach()
+
 #=============================================================================
 # ccache
 #
 option(CCACHE "Use ccache if available" ON)
 find_program(CCACHE_PROGRAM ccache)
 if (CCACHE AND CCACHE_PROGRAM AND NOT DEFINED ENV{CCACHE_DISABLE})
-
-	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()
-
+	set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE "${CCACHE_PROGRAM}")
 endif()
 
 #=============================================================================
@@ -337,37 +250,72 @@ if (CATKIN_DEVEL_PREFIX)
 endif()
 
 find_package(PythonInterp REQUIRED)
+px4_find_python_module(jinja2 REQUIRED)
 
-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()
+#=============================================================================
+# check required toolchain variables
+#
+
+set(required_variables CMAKE_C_COMPILER_ID CMAKE_CXX_COMPILER_ID)
+foreach(var ${required_variables})
+	if (NOT ${var})
+		message(FATAL_ERROR "Toolchain/config must define ${var}")
+	endif()
+endforeach()
+
+# print full c compiler version
+execute_process(COMMAND ${CMAKE_C_COMPILER} --version
+		OUTPUT_VARIABLE c_compiler_version
+		OUTPUT_STRIP_TRAILING_WHITESPACE
+		)
+STRING(REGEX MATCH "[^\n]*" c_compiler_version_short ${c_compiler_version})
+message(STATUS "C compiler: ${c_compiler_version_short}")
+
+# print full c++ compiler version
+execute_process(COMMAND ${CMAKE_CXX_COMPILER} --version
+		OUTPUT_VARIABLE cxx_compiler_version
+		OUTPUT_STRIP_TRAILING_WHITESPACE
+		)
+STRING(REGEX MATCH "[^\n]*" cxx_compiler_version_short ${cxx_compiler_version})
+message(STATUS "C++ compiler: ${cxx_compiler_version_short}")
+
+#=============================================================================
+# external libraries
+#
+px4_os_prebuild_targets(OUT prebuild_targets
+	BOARD ${BOARD}
+	THREADS ${THREADS})
 
 #=============================================================================
 # build flags
 #
-include(px4_add_common_flags)
-px4_add_common_flags()
-px4_os_add_flags()
+px4_os_add_flags(
+	BOARD ${BOARD}
+	C_FLAGS c_flags
+	CXX_FLAGS cxx_flags
+	OPTIMIZATION_FLAGS optimization_flags
+	EXE_LINKER_FLAGS exe_linker_flags
+	INCLUDE_DIRS include_dirs
+	LINK_DIRS link_dirs
+	DEFINITIONS definitions)
+
+px4_join(OUT CMAKE_EXE_LINKER_FLAGS LIST "${CMAKE_EXE_LINKER_FLAGS};${exe_linker_flags}" GLUE " ")
+px4_join(OUT CMAKE_C_FLAGS LIST "${CMAKE_C_FLAGS};${c_flags};${optimization_flags}" GLUE " ")
+px4_join(OUT CMAKE_CXX_FLAGS LIST "${CMAKE_CXX_FLAGS};${cxx_flags};${optimization_flags}" GLUE " ")
 
 #=============================================================================
 # message, and airframe generation
 #
-include(px4_metadata)
+include(common/px4_metadata)
 
 add_subdirectory(msg EXCLUDE_FROM_ALL)
 
-px4_generate_airframes_xml(BOARD ${PX4_BOARD})
+px4_generate_airframes_xml(BOARD ${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
@@ -409,56 +357,16 @@ if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
 	endforeach()
 endif()
 
-#=============================================================================
-# Testing - Automatic unit and integration testing with CTest
-#
-
-# optionally enable cmake testing (supported only on posix)
-option(CMAKE_TESTING "Configure test targets" OFF)
-if (${PX4_CONFIG} STREQUAL "px4_sitl_test")
-	set(CMAKE_TESTING ON)
-endif()
-if(CMAKE_TESTING)
-	include(CTest) # sets BUILD_TESTING variable
-endif()
-
-# enable test filtering to run only specific tests with the ctest -R regex functionality
-set(TESTFILTER "" CACHE STRING "Filter string for ctest to selectively only run specific tests (ctest -R)")
-
-# if testing is enabled download and configure gtest
-list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake/gtest/)
-include(px4_add_gtest)
-if(BUILD_TESTING)
-	include(gtest)
-endif()
-
-add_custom_target(test_results
-		COMMAND GTEST_COLOR=1 ${CMAKE_CTEST_COMMAND} --output-on-failure -T Test -R ${TESTFILTER} USES_TERMINAL
-		DEPENDS
-			px4
-			examples__dyn_hello
-			test_mixer_multirotor
-		USES_TERMINAL
-		COMMENT "Running tests"
-		WORKING_DIRECTORY ${PX4_BINARY_DIR})
-set_target_properties(test_results PROPERTIES EXCLUDE_FROM_ALL TRUE)
-
 #=============================================================================
 # subdirectories
 #
 add_library(parameters_interface INTERFACE)
-
-include(px4_add_library)
 add_subdirectory(src/lib EXCLUDE_FROM_ALL)
-
-add_subdirectory(src/platforms EXCLUDE_FROM_ALL)
+add_subdirectory(src/platforms/common EXCLUDE_FROM_ALL)
+add_subdirectory(src/modules/systemlib EXCLUDE_FROM_ALL) # TODO: split into libraries in platform layer
 add_subdirectory(src/modules/uORB EXCLUDE_FROM_ALL) # TODO: platform layer
 add_subdirectory(src/drivers/boards EXCLUDE_FROM_ALL)
 
-if(EXISTS "${PX4_BOARD_DIR}/CMakeLists.txt")
-	add_subdirectory(${PX4_BOARD_DIR})
-endif()
-
 foreach(module ${config_module_list})
 	add_subdirectory(src/${module})
 endforeach()
@@ -468,12 +376,26 @@ add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL)
 target_link_libraries(parameters_interface INTERFACE parameters)
 
 # firmware added last to generate the builtin for included modules
-add_subdirectory(platforms/${PX4_PLATFORM})
+add_subdirectory(platforms/${OS})
+
+#=============================================================================
+# generate custom target to print for all executable and module cmake targets
+#
+if (all_posix_cmake_targets)
+	list(SORT all_posix_cmake_targets)
+	px4_join(OUT posix_cmake_target_list LIST ${all_posix_cmake_targets} GLUE "\\n")
+	add_custom_target(list_cmake_targets
+		COMMAND sh -c "printf \"${posix_cmake_target_list}\\n\""
+		COMMENT "List of cmake targets that can be matched by PX4_NO_OPTIMIZATION:"
+		VERBATIM
+		)
+endif()
+
 
 #=============================================================================
 # uORB graph generation: add a custom target 'uorb_graph'
 #
-set(uorb_graph_config ${PX4_BOARD})
+set(uorb_graph_config ${BOARD})
 
 set(graph_module_list "")
 foreach(module ${config_module_list})
@@ -520,69 +442,20 @@ if (BUILD_DOXYGEN)
 	endif()
 endif()
 
-#=============================================================================
-# Metadata - helpers for generating documentation
-#
-
-add_custom_target(metadata_airframes
-	COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/docs
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
-		-v -a ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d
-		--markdown ${PX4_BINARY_DIR}/docs/airframes.md
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
-		-v -a ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d
-		--xml ${PX4_BINARY_DIR}/docs/airframes.xml
-	COMMENT "Generating full airframe metadata (markdown and xml)"
-	USES_TERMINAL
-)
-
-file(GLOB_RECURSE yaml_config_files ${PX4_SOURCE_DIR}/src/modules/*.yaml
-	${PX4_SOURCE_DIR}/src/drivers/*.yaml ${PX4_SOURCE_DIR}/src/lib/*.yaml)
-add_custom_target(metadata_parameters
-	COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/docs
-	COMMAND ${PYTHON_EXECUTABLE}
-	${PX4_SOURCE_DIR}/Tools/serial/generate_config.py --all-ports --params-file ${PX4_SOURCE_DIR}/src/generated_serial_params.c --config-files ${yaml_config_files}
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py
-		--src-path `find ${PX4_SOURCE_DIR}/src -maxdepth 4 -type d`
-		--inject-xml ${PX4_SOURCE_DIR}/src/lib/parameters/parameters_injected.xml
-		--markdown ${PX4_BINARY_DIR}/docs/parameters.md
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py
-		--src-path `find ${PX4_SOURCE_DIR}/src -maxdepth 4 -type d`
-		--inject-xml ${PX4_SOURCE_DIR}/src/lib/parameters/parameters_injected.xml
-		--xml ${PX4_BINARY_DIR}/docs/parameters.xml
-	COMMENT "Generating full parameter metadata (markdown and xml)"
-	USES_TERMINAL
-)
-
-add_custom_target(metadata_module_documentation
-	COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/docs
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_module_doc.py -v --src-path ${PX4_SOURCE_DIR}/src
-		--markdown ${PX4_BINARY_DIR}/docs/modules
-	COMMENT "Generating module documentation"
-	USES_TERMINAL
-)
-
-add_custom_target(all_metadata
-	DEPENDS
-		metadata_airframes
-		metadata_parameters
-		metadata_module_documentation
-)
-
 #=============================================================================
 # packaging
 #
 # Important to having packaging at end of cmake file.
 #
-set(CPACK_PACKAGE_NAME ${PROJECT_NAME}-${PX4_CONFIG})
-set(CPACK_PACKAGE_VERSION ${PX4_GIT_TAG})
+set(CPACK_PACKAGE_NAME ${PROJECT_NAME}-${CONFIG})
+set(CPACK_PACKAGE_VERSION ${git_version})
 set(CPACK_PACKAGE_CONTACT ${package-contact})
-set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS OFF) # TODO: review packaging for linux boards
+set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS ON)
 set(CPACK_DEBIAN_PACKAGE_SECTION "devel")
 set(CPACK_DEBIAN_PACKAGE_PRIORITY "optional")
 set(CPACK_DEBIAN_PACKAGE_DESCRIPTION "The PX4 Pro autopilot.")
-set(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME}-${PX4_CONFIG}-${PX4_GIT_TAG}")
-set(CPACK_SOURCE_PACKAGE_FILE_NAME "${PROJECT_NAME}-${PX4_GIT_TAG}")
+set(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME}-${CONFIG}-${git_tag}")
+set(CPACK_SOURCE_PACKAGE_FILE_NAME "${PROJECT_NAME}-${git_version}")
 set(CPACK_SOURCE_GENERATOR "ZIP;TBZ2")
 set(CPACK_PACKAGING_INSTALL_PREFIX "")
 set(CPACK_SET_DESTDIR "OFF")
@@ -597,4 +470,4 @@ else()
 	set(CPACK_GENERATOR "ZIP")
 endif()
 
-include(CPack)
+include(CPack)

CONTRIBUTING.md

@@ -16,7 +16,7 @@ git checkout -b mydescriptivebranchname
 
 ### Edit and build the code
 
-The [developer guide](http://dev.px4.io/) explains how to set up the development environment on Mac OS, Linux or Windows. Please take note of our [coding style](https://dev.px4.io/master/en/contribute/code.html) when editing files.
+The [developer guide](http://dev.px4.io/) explains how to set up the development environment on Mac OS, Linux or Windows. Please take note of our [coding style](http://px4.io/dev/code_style) when editing files.
 
 ### Commit your changes
 

Firmware.sublime-project

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

LICENSE

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

Makefile

@@ -1,6 +1,6 @@
 ############################################################################
 #
-# Copyright (c) 2015 - 2019 PX4 Development Team. All rights reserved.
+# Copyright (c) 2015 - 2017 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -48,19 +48,16 @@ endif
 #
 # Example usage:
 #
-# make px4_fmu-v2_default 			(builds)
-# make px4_fmu-v2_default upload 	(builds and uploads)
-# make px4_fmu-v2_default test 		(builds and tests)
+# make px4fmu-v2_default 			(builds)
+# make px4fmu-v2_default upload 	(builds and uploads)
+# make px4fmu-v2_default test 		(builds and tests)
 #
-# This tells cmake to build the nuttx px4_fmu-v2 default config in the
-# directory build/px4_fmu-v2_default and then call make
+# This tells cmake to build the nuttx px4fmu-v2 default config in the
+# directory build/nuttx_px4fmu-v2_default and then call make
 # in that directory with the target upload.
 
-# explicity set default build target
-all: px4_sitl_default
-
-# define a space character to be able to explicitly find it in strings
-space := $(subst ,, )
+#  explicity set default build target
+all: posix_sitl_default
 
 # Parsing
 # --------------------------------------------------------------------
@@ -101,7 +98,7 @@ else
 	PX4_MAKE_ARGS = -j$(j) --no-print-directory
 endif
 
-SRC_DIR := $(shell dirname "$(realpath $(lastword $(MAKEFILE_LIST)))")
+SRC_DIR := $(shell dirname $(realpath $(lastword $(MAKEFILE_LIST))))
 
 # check if replay env variable is set & set build dir accordingly
 ifdef replay
@@ -117,61 +114,17 @@ endif
 
 ifdef PX4_CMAKE_BUILD_TYPE
 	CMAKE_ARGS += -DCMAKE_BUILD_TYPE=${PX4_CMAKE_BUILD_TYPE}
-else
-
-	# Address Sanitizer
-	ifdef PX4_ASAN
-		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=AddressSanitizer
-	endif
-
-	# Memory Sanitizer
-	ifdef PX4_MSAN
-		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=MemorySanitizer
-	endif
-
-	# Thread Sanitizer
-	ifdef PX4_TSAN
-		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=ThreadSanitizer
-	endif
-
-	# Undefined Behavior Sanitizer
-	ifdef PX4_UBSAN
-		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=UndefinedBehaviorSanitizer
-	endif
-
 endif
 
 # Functions
 # --------------------------------------------------------------------
 # describe how to build a cmake config
 define cmake-build
-	@$(eval BUILD_DIR = "$(SRC_DIR)/build/$(1)")
-	@# check if the desired cmake configuration matches the cache then CMAKE_CACHE_CHECK stays empty
-	@$(call cmake-cache-check)
-	@# make sure to start from scratch when switching from GNU Make to Ninja
-	@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(BUILD_DIR)/Makefile ]; then rm -rf $(BUILD_DIR); fi
-	@# only excplicitly configure the first build, if cache file already exists the makefile will rerun cmake automatically if necessary
-	@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ] || [ $(CMAKE_CACHE_CHECK) ]; then \
-		mkdir -p $(BUILD_DIR) \
-		&& cd $(BUILD_DIR) \
-		&& cmake "$(SRC_DIR)" -G"$(PX4_CMAKE_GENERATOR)" $(CMAKE_ARGS) \
-		|| (rm -rf $(BUILD_DIR)); \
-	fi
-	@# run the build for the specified target
-	@cmake --build $(BUILD_DIR) -- $(PX4_MAKE_ARGS) $(ARGS)
-endef
-
-# check if the options we want to build with in CMAKE_ARGS match the ones which are already configured in the cache inside BUILD_DIR
-define cmake-cache-check
-	@# change to build folder which fails if it doesn't exist and CACHED_CMAKE_OPTIONS stays empty
-	@# fetch all previously configured and cached options from the build folder and transform them into the OPTION=VALUE format without type (e.g. :BOOL)
-	@$(eval CACHED_CMAKE_OPTIONS = $(shell cd $(BUILD_DIR) 2>/dev/null && cmake -L 2>/dev/null | sed -n 's/\([^[:blank:]]*\):[^[:blank:]]*\(=[^[:blank:]]*\)/\1\2/gp' ))
-	@# transform the options in CMAKE_ARGS into the OPTION=VALUE format without -D
-	@$(eval DESIRED_CMAKE_OPTIONS = $(shell echo $(CMAKE_ARGS) | sed -n 's/-D\([^[:blank:]]*=[^[:blank:]]*\)/\1/gp' ))
-	@# find each currently desired option in the already cached ones making sure the complete configured string value is the same
-	@$(eval VERIFIED_CMAKE_OPTIONS = $(foreach option,$(DESIRED_CMAKE_OPTIONS),$(strip $(findstring $(option)$(space),$(CACHED_CMAKE_OPTIONS)))))
-	@# if the complete list of desired options is found in the list of verified options we don't need to reconfigure and CMAKE_CACHE_CHECK stays empty
-	@$(eval CMAKE_CACHE_CHECK = $(if $(findstring $(DESIRED_CMAKE_OPTIONS),$(VERIFIED_CMAKE_OPTIONS)),,y))
++@$(eval PX4_CONFIG = $(1))
++@$(eval BUILD_DIR = $(SRC_DIR)/build/$(PX4_CONFIG)$(BUILD_DIR_SUFFIX))
++@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(BUILD_DIR)/Makefile ]; then rm -rf $(BUILD_DIR); fi
++@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ]; then mkdir -p $(BUILD_DIR) && cd $(BUILD_DIR) && cmake $(SRC_DIR) -G"$(PX4_CMAKE_GENERATOR)" $(CMAKE_ARGS) -DCONFIG=$(PX4_CONFIG) || (rm -rf $(BUILD_DIR)); fi
++@$(PX4_MAKE) -C $(BUILD_DIR) $(PX4_MAKE_ARGS) $(ARGS)
 endef
 
 COLOR_BLUE = \033[0;94m
@@ -181,8 +134,10 @@ define colorecho
 +@echo -e '${COLOR_BLUE}${1} ${NO_COLOR}'
 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)
+# Get a list of all config targets cmake/configs/*.cmake
+ALL_CONFIG_TARGETS := $(basename $(shell find "$(SRC_DIR)/cmake/configs" -maxdepth 1 ! -name '*_common*' ! -name '*_sdflight_*' -name '*.cmake' -print | sed  -e 's:^.*/::' | sort))
+# Strip off leading nuttx_
+NUTTX_CONFIG_TARGETS := $(patsubst nuttx_%,%,$(filter nuttx_%,$(ALL_CONFIG_TARGETS)))
 
 # ADD CONFIGS HERE
 # --------------------------------------------------------------------
@@ -190,47 +145,32 @@ ALL_CONFIG_TARGETS := $(shell find boards -maxdepth 3 -mindepth 3 ! -name '*comm
 
 # All targets.
 $(ALL_CONFIG_TARGETS):
-	@$(eval PX4_CONFIG = $@)
-	@$(eval CMAKE_ARGS += -DCONFIG=$(PX4_CONFIG))
-	@$(call cmake-build,$(PX4_CONFIG)$(BUILD_DIR_SUFFIX))
+	$(call cmake-build,$@)
 
-# Filter for only default targets to allow omiting the "_default" postfix
-CONFIG_TARGETS_DEFAULT := $(patsubst %_default,%,$(filter %_default,$(ALL_CONFIG_TARGETS)))
-$(CONFIG_TARGETS_DEFAULT):
-	@$(eval PX4_CONFIG = $@_default)
-	@$(eval CMAKE_ARGS += -DCONFIG=$(PX4_CONFIG))
-	@$(call cmake-build,$(PX4_CONFIG)$(BUILD_DIR_SUFFIX))
+# Abbreviated config targets.
 
-all_config_targets: $(ALL_CONFIG_TARGETS)
-all_default_targets: $(CONFIG_TARGETS_DEFAULT)
+# nuttx_ is left off by default; provide a rule to allow that.
+$(NUTTX_CONFIG_TARGETS):
+	$(call cmake-build,nuttx_$@)
 
-posix: px4_sitl_default
+all_nuttx_targets: $(NUTTX_CONFIG_TARGETS)
 
-# 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
+posix: posix_sitl_default
+broadcast: posix_sitl_broadcast
 
 # All targets with just dependencies but no recipe must either be marked as phony (or have the special @: as recipe).
-.PHONY: all posix px4_sitl_default all_config_targets all_default_targets
+.PHONY: all posix broadcast all_nuttx_targets
 
 # Multi- config targets.
-eagle_default: atlflight_eagle_default atlflight_eagle_qurt-default
-eagle_rtps: atlflight_eagle_rtps atlflight_eagle_qurt-rtps
+eagle_default: posix_eagle_default qurt_eagle_default
+eagle_rtps: posix_eagle_rtps qurt_eagle_default
+eagle_legacy_default: posix_eagle_legacy qurt_eagle_legacy
+excelsior_default: posix_excelsior_default qurt_excelsior_default
+excelsior_rtps: posix_excelsior_rtps qurt_excelsior_default
+excelsior_legacy_default: posix_excelsior_legacy qurt_excelsior_legacy
 
-excelsior_default: atlflight_excelsior_default atlflight_excelsior_qurt-default
-excelsior_rtps: atlflight_excelsior_rtps atlflight_excelsior_qurt-rtps
-
-.PHONY: eagle_default eagle_rtps
-.PHONY: excelsior_default excelsior_rtps
+.PHONY: eagle_default eagle_rtps eagle_legacy_default
+.PHONY: excelsior_default excelsior_rtps excelsior_legacy_default
 
 # Other targets
 # --------------------------------------------------------------------
@@ -242,37 +182,41 @@ qgc_firmware: px4fmu_firmware misc_qgc_extra_firmware
 
 # px4fmu NuttX firmware
 px4fmu_firmware: \
-	check_px4_io-v2_default \
-	check_px4_fmu-v2_default \
-	check_px4_fmu-v3_default \
-	check_px4_fmu-v4_default \
-	check_px4_fmu-v4pro_default \
-	check_px4_fmu-v5_default \
+	check_px4io-v2_default \
+	check_px4fmu-v2_default \
+	check_px4fmu-v3_default \
+	check_px4fmu-v4_default \
+	check_px4fmu-v4pro_default \
+	check_px4fmu-v5_default \
 	sizes
 
 misc_qgc_extra_firmware: \
-	check_nxp_fmuk66-v3_default \
-	check_intel_aerofc-v1_default \
-	check_auav_x21_default \
-	check_bitcraze_crazyflie_default \
-	check_airmind_mindpx-v2_default \
-	check_px4_fmu-v2_lpe \
+	check_aerocore2_default \
+	check_aerofc-v1_default \
+	check_auav-x21_default \
+	check_crazyflie_default \
+	check_mindpx-v2_default \
+	check_px4fmu-v2_lpe \
+	check_tap-v1_default \
 	sizes
 
 # Other NuttX firmware
 alt_firmware: \
-	check_px4_cannode-v1_default \
-	check_px4_esc-v1_default \
-	check_auav_esc35-v1_default \
-	check_thiemar_s2740vc-v1_default \
+	check_nxphlite-v3_default \
+	check_px4-same70xplained-v1_default \
+	check_px4-stm32f4discovery_default \
+	check_px4cannode-v1_default \
+	check_px4esc-v1_default \
+	check_px4nucleoF767ZI-v1_default \
+	check_s2740vc-v1_default \
 	sizes
 
 # builds with RTPS
 check_rtps: \
-	check_px4_fmu-v3_rtps \
-	check_px4_fmu-v4_rtps \
-	check_px4_fmu-v4pro_rtps \
-	check_px4_sitl_rtps \
+	check_px4fmu-v3_rtps \
+	check_px4fmu-v4_rtps \
+	check_px4fmu-v4pro_rtps \
+	check_posix_sitl_rtps \
 	sizes
 
 .PHONY: sizes check quick_check check_rtps uorb_graphs
@@ -281,10 +225,10 @@ sizes:
 	@-find build -name *.elf -type f | xargs size 2> /dev/null || :
 
 # All default targets that don't require a special build environment
-check: check_px4_sitl_default px4fmu_firmware misc_qgc_extra_firmware alt_firmware tests check_format
+check: check_posix_sitl_default px4fmu_firmware misc_qgc_extra_firmware alt_firmware tests check_format
 
 # quick_check builds a single nuttx and posix target, runs testing, and checks the style
-quick_check: check_px4_sitl_test check_px4_fmu-v5_default tests check_format
+quick_check: check_posix_sitl_default check_px4fmu-v4pro_default tests check_format
 
 check_%:
 	@echo
@@ -295,153 +239,119 @@ check_%:
 uorb_graphs:
 	@./Tools/uorb_graph/create_from_startupscript.sh
 	@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --file Tools/uorb_graph/graph_full
-	@$(MAKE) --no-print-directory px4_fmu-v2_default uorb_graph
-	@$(MAKE) --no-print-directory px4_fmu-v4_default uorb_graph
-	@$(MAKE) --no-print-directory px4_sitl_default uorb_graph
+	@$(MAKE) --no-print-directory px4fmu-v2_default uorb_graph
+	@$(MAKE) --no-print-directory px4fmu-v4_default uorb_graph
+	@$(MAKE) --no-print-directory posix_sitl_default uorb_graph
 
 
 .PHONY: coverity_scan
 
-coverity_scan: px4_sitl_default
+coverity_scan: posix_sitl_default
 
 # Documentation
 # --------------------------------------------------------------------
-.PHONY: parameters_metadata airframe_metadata module_documentation px4_metadata doxygen
+.PHONY: parameters_metadata airframe_metadata module_documentation px4_metadata
 
 parameters_metadata:
-	@$(MAKE) --no-print-directory px4_sitl_default metadata_parameters
+	@python $(SRC_DIR)/src/lib/parameters/px_process_params.py -s `find $(SRC_DIR)/src -maxdepth 4 -type d` --inject-xml $(SRC_DIR)/src/lib/parameters/parameters_injected.xml --markdown
+	@python $(SRC_DIR)/src/lib/parameters/px_process_params.py -s `find $(SRC_DIR)/src -maxdepth 4 -type d` --inject-xml $(SRC_DIR)/src/lib/parameters/parameters_injected.xml --xml
 
 airframe_metadata:
-	@$(MAKE) --no-print-directory px4_sitl_default metadata_airframes
+	@python $(SRC_DIR)/Tools/px_process_airframes.py -v -a $(SRC_DIR)/ROMFS/px4fmu_common/init.d --markdown
+	@python $(SRC_DIR)/Tools/px_process_airframes.py -v -a $(SRC_DIR)/ROMFS/px4fmu_common/init.d --xml
 
 module_documentation:
-	@$(MAKE) --no-print-directory px4_sitl_default metadata_module_documentation
+	@python $(SRC_DIR)/Tools/px_process_module_doc.py -v --markdown $(SRC_DIR)/modules --src-path $(SRC_DIR)/src
 
 px4_metadata: parameters_metadata airframe_metadata module_documentation
 
-doxygen:
-	@mkdir -p "$(SRC_DIR)"/build/doxygen
-	@cd "$(SRC_DIR)"/build/doxygen && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DBUILD_DOXYGEN=ON
-	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/doxygen
-	@touch "$(SRC_DIR)"/build/doxygen/Documentation/.nojekyll
-
 # Astyle
 # --------------------------------------------------------------------
 .PHONY: check_format format
 
 check_format:
 	$(call colorecho,'Checking formatting with astyle')
-	@"$(SRC_DIR)"/Tools/astyle/check_code_style_all.sh
-	@cd "$(SRC_DIR)" && git diff --check
+	@$(SRC_DIR)/Tools/astyle/check_code_style_all.sh
+	@cd $(SRC_DIR) && git diff --check
 
 format:
 	$(call colorecho,'Formatting with astyle')
-	@"$(SRC_DIR)"/Tools/astyle/check_code_style_all.sh --fix
+	@$(SRC_DIR)/Tools/astyle/check_code_style_all.sh --fix
 
 # Testing
 # --------------------------------------------------------------------
-.PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard tests_avoidance
-.PHONY: rostest python_coverage
+.PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard rostest
 
 tests:
-	$(eval CMAKE_ARGS += -DCONFIG=px4_sitl_test)
-	$(eval CMAKE_ARGS += -DTESTFILTER=$(TESTFILTER))
-	$(eval ARGS += test_results)
-	$(eval ASAN_OPTIONS += color=always:check_initialization_order=1:detect_stack_use_after_return=1)
-	$(eval UBSAN_OPTIONS += color=always)
-	$(call cmake-build,px4_sitl_test)
+	@$(MAKE) --no-print-directory posix_sitl_default test_results \
+	ASAN_OPTIONS="color=always:check_initialization_order=1:detect_stack_use_after_return=1" \
+	UBSAN_OPTIONS="color=always"
 
 tests_coverage:
 	@$(MAKE) clean
-	@$(MAKE) --no-print-directory px4_sitl_default test_coverage_genhtml PX4_CMAKE_BUILD_TYPE=Coverage
-	@echo "Open "$(SRC_DIR)"/build/px4_sitl_default/coverage-html/index.html to see coverage"
+	@$(MAKE) --no-print-directory posix_sitl_default test_coverage_genhtml PX4_CMAKE_BUILD_TYPE=Coverage
+	@echo "Open $(SRC_DIR)/build/posix_sitl_default/coverage-html/index.html to see coverage"
 
-rostest: px4_sitl_default
-	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
+rostest: posix_sitl_default
+	@$(MAKE) --no-print-directory posix_sitl_default sitl_gazebo
 
 tests_mission: rostest
-	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_missions.test
-
-rostest_run: px4_sitl_default
-	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
-	@"$(SRC_DIR)"/test/rostest_px4_run.sh $(TEST_FILE) mission:=$(TEST_MISSION) vehicle:=$(TEST_VEHICLE)
+	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_missions.test
 
 tests_mission_coverage:
 	@$(MAKE) clean
-	@$(MAKE) --no-print-directory px4_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage
-	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo PX4_CMAKE_BUILD_TYPE=Coverage
-	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=VTOL_mission_1 vehicle:=standard_vtol
-	@$(MAKE) --no-print-directory px4_sitl_default generate_coverage
+	@$(MAKE) --no-print-directory posix_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage
+	@$(MAKE) --no-print-directory posix_sitl_default sitl_gazebo PX4_CMAKE_BUILD_TYPE=Coverage
+	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_new_1 vehicle:=standard_vtol
+	@$(MAKE) --no-print-directory posix_sitl_default generate_coverage
 
 tests_offboard: rostest
-	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_attctl.test
-	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test
-
-tests_avoidance: rostest
-	@"$(SRC_DIR)"/test/rostest_avoidance_run.sh mavros_posix_test_avoidance.test
-
-python_coverage:
-	@mkdir -p "$(SRC_DIR)"/build/python_coverage
-	@cd "$(SRC_DIR)"/build/python_coverage && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DPYTHON_COVERAGE=ON
-	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/python_coverage
-	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/python_coverage metadata_airframes
-	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/python_coverage metadata_parameters
-	#@$(PX4_MAKE) -C "$(SRC_DIR)"/build/python_coverage module_documentation # TODO: fix within coverage.py
-	@coverage combine `find . -name .coverage\*`
-	@coverage report -m
-
+	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_offboard_attctl.test
+	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test
 
 # static analyzers (scan-build, clang-tidy, cppcheck)
 # --------------------------------------------------------------------
-.PHONY: scan-build px4_sitl_default-clang clang-tidy clang-tidy-fix clang-tidy-quiet
-.PHONY: cppcheck shellcheck_all validate_module_configs
+.PHONY: scan-build posix_sitl_default-clang clang-tidy clang-tidy-fix clang-tidy-quiet cppcheck
 
 scan-build:
 	@export CCC_CC=clang
 	@export CCC_CXX=clang++
-	@rm -rf "$(SRC_DIR)"/build/px4_sitl_default-scan-build
-	@rm -rf "$(SRC_DIR)"/build/scan-build/report_latest
-	@mkdir -p "$(SRC_DIR)"/build/px4_sitl_default-scan-build
-	@cd "$(SRC_DIR)"/build/px4_sitl_default-scan-build && scan-build cmake "$(SRC_DIR)" -GNinja -DCONFIG=px4_sitl_default
-	@scan-build -o "$(SRC_DIR)"/build/scan-build cmake --build "$(SRC_DIR)"/build/px4_sitl_default-scan-build
-	@find "$(SRC_DIR)"/build/scan-build -maxdepth 1 -mindepth 1 -type d -exec cp -r "{}" "$(SRC_DIR)"/build/scan-build/report_latest \;
+	@rm -rf $(SRC_DIR)/build/posix_sitl_default-scan-build
+	@rm -rf $(SRC_DIR)/build/scan-build/report_latest
+	@mkdir -p $(SRC_DIR)/build/posix_sitl_default-scan-build
+	@cd $(SRC_DIR)/build/posix_sitl_default-scan-build && scan-build cmake $(SRC_DIR) -GNinja -DCONFIG=posix_sitl_default
+	@scan-build -o $(SRC_DIR)/build/scan-build cmake --build $(SRC_DIR)/build/posix_sitl_default-scan-build
+	@find $(SRC_DIR)/build/scan-build -maxdepth 1 -mindepth 1 -type d -exec cp -r "{}" $(SRC_DIR)/build/scan-build/report_latest \;
 
-px4_sitl_default-clang:
-	@mkdir -p "$(SRC_DIR)"/build/px4_sitl_default-clang
-	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++
-	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/px4_sitl_default-clang
+posix_sitl_default-clang:
+	@mkdir -p $(SRC_DIR)/build/posix_sitl_default-clang
+	@cd $(SRC_DIR)/build/posix_sitl_default-clang && cmake $(SRC_DIR) $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=posix_sitl_default -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++
+	@$(PX4_MAKE) -C $(SRC_DIR)/build/posix_sitl_default-clang
 
-clang-tidy: 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 .
+clang-tidy: posix_sitl_default-clang
+	@cd $(SRC_DIR)/build/posix_sitl_default-clang && $(SRC_DIR)/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j) -p .
 
 # 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 .
+clang-tidy-fix: posix_sitl_default-clang
+	@cd $(SRC_DIR)/build/posix_sitl_default-clang && $(SRC_DIR)/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j) -fix -p .
 
 # 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 .
+clang-tidy-quiet: posix_sitl_default-clang
+	@cd $(SRC_DIR)/build/posix_sitl_default-clang && $(SRC_DIR)/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j) -p .
 
 # TODO: Fix cppcheck errors then try --enable=warning,performance,portability,style,unusedFunction or --enable=all
-cppcheck: px4_sitl_default
-	@mkdir -p "$(SRC_DIR)"/build/cppcheck
-	@cppcheck -i"$(SRC_DIR)"/src/examples --enable=performance --std=c++11 --std=c99 --std=posix --project="$(SRC_DIR)"/build/px4_sitl_default/compile_commands.json --xml-version=2 2> "$(SRC_DIR)"/build/cppcheck/cppcheck-result.xml > /dev/null
-	@cppcheck-htmlreport --source-encoding=ascii --file="$(SRC_DIR)"/build/cppcheck/cppcheck-result.xml --report-dir="$(SRC_DIR)"/build/cppcheck --source-dir="$(SRC_DIR)"/src/
-
-shellcheck_all:
-	@"$(SRC_DIR)"/Tools/run-shellcheck.sh "$(SRC_DIR)"/ROMFS/px4fmu_common/
-	@make px4_fmu-v5_default shellcheck
-
-validate_module_configs:
-	@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f -print0 | xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
+cppcheck: posix_sitl_default
+	@mkdir -p $(SRC_DIR)/build/cppcheck
+	@cppcheck -i$(SRC_DIR)/src/examples --enable=performance --std=c++11 --std=c99 --std=posix --project=$(SRC_DIR)/build/posix_sitl_default/compile_commands.json --xml-version=2 2> $(SRC_DIR)/build/cppcheck/cppcheck-result.xml > /dev/null
+	@cppcheck-htmlreport --source-encoding=ascii --file=$(SRC_DIR)/build/cppcheck/cppcheck-result.xml --report-dir=$(SRC_DIR)/build/cppcheck --source-dir=$(SRC_DIR)/src/
 
 # Cleanup
 # --------------------------------------------------------------------
 .PHONY: clean submodulesclean submodulesupdate gazeboclean distclean
 
 clean:
-	@rm -rf "$(SRC_DIR)"/build
+	@rm -rf $(SRC_DIR)/build
 
 submodulesclean:
 	@git submodule foreach --quiet --recursive git clean -ff -x -d
@@ -461,7 +371,6 @@ distclean: gazeboclean
 	@git submodule deinit -f .
 	@git clean -ff -x -d -e ".project" -e ".cproject" -e ".idea" -e ".settings" -e ".vscode"
 
-# Help / Error
 # --------------------------------------------------------------------
 
 # All other targets are handled by PX4_MAKE. Add a rule here to avoid printing an error.
@@ -469,17 +378,26 @@ distclean: gazeboclean
 	$(if $(filter $(FIRST_ARG),$@), \
 		$(error "$@ cannot be the first argument. Use '$(MAKE) help|list_config_targets' to get a list of all possible [configuration] targets."),@#)
 
+#help:
+#	@echo
+#	@echo "Type 'make ' and hit the tab key twice to see a list of the available"
+#	@echo "build configurations."
+#	@echo
+
+empty :=
+space := $(empty) $(empty)
+
 # Print a list of non-config targets (based on http://stackoverflow.com/a/26339924/1487069)
 help:
 	@echo "Usage: $(MAKE) <target>"
 	@echo "Where <target> is one of:"
 	@$(MAKE) -pRrq -f $(lastword $(MAKEFILE_LIST)) : 2>/dev/null | \
 		awk -v RS= -F: '/^# File/,/^# Finished Make data base/ {if ($$1 !~ "^[#.]") {print $$1}}' | sort | \
-		egrep -v -e '^[^[:alnum:]]' -e '^($(subst $(space),|,$(ALL_CONFIG_TARGETS)))$$' -e '_default$$' -e '^(posix|eagle|Makefile)'
+		egrep -v -e '^[^[:alnum:]]' -e '^($(subst $(space),|,$(ALL_CONFIG_TARGETS) $(NUTTX_CONFIG_TARGETS)))$$' -e '_default$$' -e '^(posix|eagle|Makefile)'
 	@echo
 	@echo "Or, $(MAKE) <config_target> [<make_target(s)>]"
 	@echo "Use '$(MAKE) list_config_targets' for a list of configuration targets."
 
 # Print a list of all config targets.
 list_config_targets:
-	@for targ in $(patsubst %_default,%[_default],$(ALL_CONFIG_TARGETS)); do echo $$targ; done
+	@for targ in $(patsubst nuttx_%,[nuttx_]%,$(ALL_CONFIG_TARGETS)); do echo $$targ; done

PULL_REQUEST_TEMPLATE.md

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

README.md

@@ -1,12 +1,12 @@
-# PX4 Drone Autopilot
+# PX4 Pro Drone Autopilot
 
 [![Releases](https://img.shields.io/github/release/PX4/Firmware.svg)](https://github.com/PX4/Firmware/releases) [![DOI](https://zenodo.org/badge/22634/PX4/Firmware.svg)](https://zenodo.org/badge/latestdoi/22634/PX4/Firmware)
 
-[![Build Status](http://ci.px4.io:8080/buildStatus/icon?job=PX4/Firmware/master)](http://ci.px4.io:8080/blue/organizations/jenkins/PX4%2FFirmware/activity)
+[![Build Status](http://ci.px4.io:8080/buildStatus/icon?job=Firmware/master)](http://ci.px4.io:8080/blue/organizations/jenkins/Firmware/activity) [![Coverity Scan](https://scan.coverity.com/projects/3966/badge.svg?flat=1)](https://scan.coverity.com/projects/3966?tab=overview)
 
 [![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.
+This repository holds the [PX4 Pro](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/Firmware/tree/master/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.
 
 * Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/Firmware/blob/master/LICENSE))
 * [Supported airframes](https://docs.px4.io/en/airframes/airframe_reference.html) ([portfolio](http://px4.io/#airframes)):
@@ -19,7 +19,7 @@ This repository holds the [PX4](http://px4.io) flight control solution for drone
 
 ## PX4 Users
 
-The [PX4 User Guide](https://docs.px4.io/en/) explains how to assemble [supported vehicles](https://docs.px4.io/en/airframes/airframe_reference.html) and fly drones with PX4.
+The [PX4 User Guide](https://docs.px4.io/en/) explains how to assemble [supported vehicles](https://docs.px4.io/en/airframes/airframe_reference.html) and fly drones with PX4. 
 See the [forum and chat](https://docs.px4.io/en/#support) if you need help!
 
 
@@ -75,7 +75,7 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/en/contribut
     * [José Roberto de Souza](https://github.com/zehortigoza)
   * [Raspberry Pi / Navio](https://github.com/PX4/Firmware/labels/raspberry_pi) - [Beat Kueng](https://github.com/bkueng)
   * [Airmind MindPX / MindRacer](https://github.com/PX4/Firmware/labels/mindpx) - [Henry Zhang](https://github.com/iZhangHui)
-  * RTPS/ROS2 Interface - [Nuno Marques](https://github.com/TSC21)
+  * RTPS/ROS2 Interface - [Vicente Monge](https://github.com/vicenteeprosima)
 
 See also [About Us](http://px4.io/about-us/#development_team) (px4.io) and the [contributors list](https://github.com/PX4/Firmware/graphs/contributors) (Github).
 
@@ -90,13 +90,13 @@ This repository contains code supporting these boards:
     * [Pixhawk](https://docs.px4.io/en/flight_controller/pixhawk.html)
     * [Pixhawk Mini](https://docs.px4.io/en/flight_controller/pixhawk_mini.html)
     * [Pixfalcon](https://docs.px4.io/en/flight_controller/pixfalcon.html)
-  * FMUv3.x [Pixhawk 2](https://docs.px4.io/en/flight_controller/pixhawk-2.html)
+  * FMUv3.x [Pixhawk 2](https://pixhawk.org/modules/pixhawk2)
   * FMUv4.x
     * [Pixracer](https://docs.px4.io/en/flight_controller/pixracer.html)
     * [Pixhawk 3 Pro](https://docs.px4.io/en/flight_controller/pixhawk3_pro.html)
-  * FMUv5.x (ARM Cortex M7)
-    * [Pixhawk 4](https://docs.px4.io/en/flight_controller/pixhawk4.html)
-    * [Pixhawk 4 mini](https://docs.px4.io/en/flight_controller/pixhawk4_mini.html)  
+  * FMUv5.x (ARM Cortex M7, future Pixhawk)
+  * [STM32F4Discovery](http://www.st.com/en/evaluation-tools/stm32f4discovery.html) (basic support) [Tutorial](https://pixhawk.org/modules/stm32f4discovery)
+  * [Gumstix AeroCore](https://www.gumstix.com/aerocore-2/) (only v2)
   * [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
   * [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
   * [Bitcraze Crazyflie 2.0](https://docs.px4.io/en/flight_controller/crazyflie2.html)

ROMFS/CMakeLists.txt

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

ROMFS/px4fmu_common/extras/README.txt

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

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

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

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

@@ -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/1010_iris_opt_flow.post

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

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

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

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

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

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

@@ -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/1013_iris_vision.post

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

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/1015_iris_obs_avoid

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

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

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

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

@@ -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/1030_plane

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

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

@@ -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/6011_typhoon_h480.post

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

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

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

ROMFS/px4fmu_common/init.d-posix/rcS

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

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

@@ -1,4 +1,4 @@
-#!/bin/sh
+#!nsh
 #
 # @name HILStar (XPlane)
 #
@@ -17,10 +17,9 @@
 
 sh /etc/init.d/rc.fw_defaults
 
-if [ $AUTOCNF = yes ]
+if [ $AUTOCNF == yes ]
 then
 	param set BAT_N_CELLS 3
-
 	param set FW_AIRSPD_MAX 20
 	param set FW_AIRSPD_MIN 12
 	param set FW_AIRSPD_TRIM 14
@@ -42,10 +41,8 @@ then
 	param set FW_RR_I 0.1
 	param set FW_RR_IMAX 0.2
 	param set FW_RR_P 0.3
-
 	param set RWTO_TKOFF 1
 fi
 
 param set SYS_HITL 1
-
 set MIXER AERT

ROMFS/px4fmu_common/init.d/10015_tbs_discovery

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

ROMFS/px4fmu_common/init.d/10016_3dr_iris

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

ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d

@@ -1,4 +1,4 @@
-#!/bin/sh
+#!nsh
 #
 # @name Steadidrone QU4D
 #
@@ -22,22 +22,23 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-if [ $AUTOCNF = yes ]
+if [ $AUTOCNF == yes ]
 then
-	param set BAT_N_CELLS 4
-
-	param set MC_ROLL_P 7
+	param set MC_ROLL_P 7.0
 	param set MC_ROLLRATE_P 0.13
 	param set MC_ROLLRATE_I 0.05
 	param set MC_ROLLRATE_D 0.004
-	param set MC_PITCH_P 7
+	param set MC_PITCH_P 7.0
 	param set MC_PITCHRATE_P 0.19
 	param set MC_PITCHRATE_I 0.05
 	param set MC_PITCHRATE_D 0.004
-	param set MC_YAW_P 4
+	param set MC_YAW_P 4.0
 	param set MC_YAWRATE_P 0.2
 	param set MC_YAWRATE_I 0.1
-	param set MC_YAWRATE_D 0
+	param set MC_YAWRATE_D 0.0
+	param set MC_YAW_FF 0.5
+
+	param set BAT_N_CELLS 4
 fi
 
 set MIXER quad_w

ROMFS/px4fmu_common/init.d/10018_tbs_endurance

@@ -1,4 +1,4 @@
-#!/bin/sh
+#!nsh
 #
 # @name Team Blacksheep Discovery Endurance
 #
@@ -22,26 +22,25 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-if [ $AUTOCNF = yes ]
+if [ $AUTOCNF == yes ]
 then
 	param set BAT_N_CELLS 6
 	param set BAT_V_EMPTY 3.5
 
-	param set MC_ROLL_P 7
+	param set MC_ROLL_P 7.0
 	param set MC_ROLLRATE_P 0.08
 	param set MC_ROLLRATE_I 0.02
 	param set MC_ROLLRATE_D 0.003
-	param set MC_PITCH_P 7
+	param set MC_PITCH_P 7.0
 	param set MC_PITCHRATE_P 0.13
 	param set MC_PITCHRATE_I 0.02
 	param set MC_PITCHRATE_D 0.005
 	param set MC_YAW_P 2.8
 	param set MC_YAWRATE_P 0.2
 	param set MC_YAWRATE_I 0.1
-	param set MC_YAWRATE_D 0
+	param set MC_YAWRATE_D 0.0
 
 	param set MPC_XY_VEL_MAX 2
-
 	param set PWM_MIN 1080
 fi
 

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

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

ROMFS/px4fmu_common/init.d/11001_hexa_cox

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

ROMFS/px4fmu_common/init.d/12001_octo_cox

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

ROMFS/px4fmu_common/init.d/12002_steadidrone_mavrik

@@ -1,4 +1,4 @@
-#!/bin/sh
+#!nsh
 #
 # @name Steadidrone MAVRIK
 #
@@ -19,28 +19,29 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-if [ $AUTOCNF = yes ]
+if [ $AUTOCNF == yes ]
 then
-	param set MC_PITCH_P 4
+	param set MC_PITCH_P 4.0
 	param set MC_PITCHRATE_P 0.24
 	param set MC_PITCHRATE_I 0.09
 	param set MC_PITCHRATE_D 0.013
-	param set MC_PITCHRATE_MAX 180
+	param set MC_PITCHRATE_MAX 180.0
 
-	param set MC_ROLL_P 4
+	param set MC_ROLL_P 4.0
 	param set MC_ROLLRATE_P 0.16
 	param set MC_ROLLRATE_I 0.07
 	param set MC_ROLLRATE_D 0.009
-	param set MC_ROLLRATE_MAX 180
+	param set MC_ROLLRATE_MAX 180.0
 
-	param set MC_YAW_P 3
+	param set MC_YAW_P 3.0
 	param set MC_YAWRATE_P 0.2
 	param set MC_YAWRATE_I 0.1
-	param set MC_YAWRATE_D 0
+	param set MC_YAWRATE_D 0.0
+	param set MC_YAW_FF 0.5
 
 	param set MPC_HOLD_MAX_XY 0.25
 	param set MPC_THR_MIN 0.15
-	param set MPC_Z_VEL_MAX_DN 2
+	param set MPC_Z_VEL_MAX_DN 2.0
 
 	param set BAT_N_CELLS 4
 fi

ROMFS/px4fmu_common/init.d/13000_generic_vtol_standard

@@ -1,4 +1,4 @@
-#!/bin/sh
+#!nsh
 #
 # @name Generic Quadplane VTOL
 #
@@ -20,21 +20,18 @@
 
 sh /etc/init.d/rc.vtol_defaults
 
-if [ $AUTOCNF = yes ]
+if [ $AUTOCNF == yes ]
 then
-	param set PWM_AUX_DIS5 950
-	param set PWM_RATE 400
-
 	param set VT_TYPE 2
 	param set VT_MOT_COUNT 4
-
-	# Indicate that FW roll direction was fixed in mixer, to be removed in v1.10
-	param set V19_VT_ROLLDIR 0
 fi
 
-set MAV_TYPE 22
-
 set MIXER quad_x
-set MIXER_AUX vtol_AAERT
-
 set PWM_OUT 1234
+set PWM_RATE 400
+
+set MIXER_AUX vtol_AAERT
+set PWM_ACHDIS 5
+set PWM_AUX_DISARMED 950
+
+set MAV_TYPE 22

ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol

@@ -1,4 +1,4 @@
-#!/bin/sh
+#!nsh
 #
 # @name Caipiroshka Duo Tailsitter
 #
@@ -15,35 +15,32 @@
 
 sh /etc/init.d/rc.vtol_defaults
 
-if [ $AUTOCNF = yes ]
+if [ $AUTOCNF == yes ]
 then
-	param set MC_ROLL_P 6
+	param set MC_ROLL_P 6.0
 	param set MC_ROLLRATE_P 0.12
 	param set MC_ROLLRATE_I 0.002
 	param set MC_ROLLRATE_D 0.003
-	param set MC_ROLLRATE_FF 0
+	param set MC_ROLLRATE_FF 0.0
 	param set MC_PITCH_P 4.5
 	param set MC_PITCHRATE_P 0.3
 	param set MC_PITCHRATE_I 0.002
 	param set MC_PITCHRATE_D 0.003
-	param set MC_PITCHRATE_FF 0
+	param set MC_PITCHRATE_FF 0.0
 	param set MC_YAW_P 3.8
+	param set MC_YAW_FF 0.5
 	param set MC_YAWRATE_P 0.22
 	param set MC_YAWRATE_I 0.02
-	param set MC_YAWRATE_D 0
-	param set MC_YAWRATE_FF 0
+	param set MC_YAWRATE_D 0.0
+	param set MC_YAWRATE_FF 0.0
 
-	param set VT_IDLE_PWM_MC  1080
-	param set VT_ELEV_MC_LOCK 0
 	param set VT_MOT_COUNT 2
+	param set VT_IDLE_PWM_MC  1080
 	param set VT_TYPE 0
-
-	# Indicate that FW roll direction was fixed in mixer, to be removed in v1.10
-	param set V19_VT_ROLLDIR 0
+	param set MAV_TYPE 19
+	param set VT_ELEV_MC_LOCK 0
 fi
 
-set MAV_TYPE 19
-
 set MIXER caipirinha_vtol
 
 set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/13002_firefly6

@@ -1,4 +1,4 @@
-#!/bin/sh
+#!nsh
 #
 # @name BirdsEyeView Aerobotics FireFly6
 # @type VTOL Tiltrotor
@@ -20,42 +20,39 @@
 
 sh /etc/init.d/rc.vtol_defaults
 
-if [ $AUTOCNF = yes ]
+if [ $AUTOCNF == yes ]
 then
-	param set MC_ROLL_P 7
+	param set MC_ROLL_P 7.0
 	param set MC_ROLLRATE_P 0.19
 	param set MC_ROLLRATE_I 0.002
 	param set MC_ROLLRATE_D 0.005
-	param set MC_ROLLRATE_FF 0
-	param set MC_PITCH_P 7
+	param set MC_ROLLRATE_FF 0.0
+	param set MC_PITCH_P 7.0
 	param set MC_PITCHRATE_P 0.14
 	param set MC_PITCHRATE_I 0.002
 	param set MC_PITCHRATE_D 0.004
-	param set MC_PITCHRATE_FF 0
-	param set MC_YAW_P 4
+	param set MC_PITCHRATE_FF 0.0
+	param set MC_YAW_P 4.0
+	param set MC_YAW_FF 0.5
 	param set MC_YAWRATE_P 0.22
 	param set MC_YAWRATE_I 0.02
-	param set MC_YAWRATE_D 0
-	param set MC_YAWRATE_FF 0
+	param set MC_YAWRATE_D 0.0
+	param set MC_YAWRATE_FF 0.0
 
-	param set PWM_RATE 400
-
-	param set VT_FW_MOT_OFFID 34
-	param set VT_IDLE_PWM_MC 1080
-	param set VT_MOT_COUNT 6
 	param set VT_TILT_MC 0.08
 	param set VT_TILT_TRANS 0.5
 	param set VT_TILT_FW 0.9
-	param set VT_ELEV_MC_LOCK 0
-	param set VT_TYPE 1
 
-	# Indicate that FW roll direction was fixed in mixer, to be removed in v1.10
-	param set V19_VT_ROLLDIR 0
+	param set VT_MOT_COUNT 6
+	param set VT_FW_MOT_OFFID 34
+	param set VT_IDLE_PWM_MC 1080
+	param set VT_TYPE 1
 fi
 
-set MAV_TYPE 21
-
 set MIXER firefly6
+set PWM_OUT 12345678
+set PWM_RATE 400
+
 set MIXER_AUX firefly6
 
-set PWM_OUT 12345678
+set MAV_TYPE 21

ROMFS/px4fmu_common/init.d/13003_quad_tailsitter

@@ -0,0 +1,26 @@
+#!nsh
+#
+# @name Quadrotor X Tailsitter
+#
+# @type VTOL Quad Tailsitter
+# @class VTOL
+#
+# @maintainer Roman Bapst <roman@px4.io>
+#
+
+sh /etc/init.d/rc.vtol_defaults
+
+if [ $AUTOCNF == yes ]
+then
+    param set VT_MOT_COUNT 4
+    param set VT_IDLE_PWM_MC  1080
+    param set VT_TYPE 0
+    param set VT_ELEV_MC_LOCK 1
+fi
+
+set MIXER quad_x_vtol
+
+set PWM_OUT 1234
+set PWM_MAX 2000
+set PWM_RATE 400
+set MAV_TYPE 20

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

@@ -1,4 +1,4 @@
-#!/bin/sh
+#!nsh
 #
 # @name Quadrotor + Tailsitter
 #
@@ -16,27 +16,22 @@
 #
 # @maintainer Roman Bapst <roman@px4.io>
 #
-# @board px4_fmu-v2 exclude
+# @board px4fmu-v2 exclude
 #
 
 sh /etc/init.d/rc.vtol_defaults
 
-if [ $AUTOCNF = yes ]
+if [ $AUTOCNF == yes ]
 then
-	param set PWM_MAX 2000
-	param set PWM_RATE 400
-
-	param set VT_MOT_COUNT 4
-	param set VT_IDLE_PWM_MC  1080
-	param set VT_TYPE 0
-	param set VT_ELEV_MC_LOCK 1
-
-	# Indicate that FW roll direction was fixed in mixer, to be removed in v1.10
-	param set V19_VT_ROLLDIR 0
+    param set VT_MOT_COUNT 4
+    param set VT_IDLE_PWM_MC  1080
+    param set VT_TYPE 0
+    param set VT_ELEV_MC_LOCK 1
 fi
 
-set MAV_TYPE 20
-
 set MIXER quad_+_vtol
 
 set PWM_OUT 1234
+set PWM_MAX 2000
+set PWM_RATE 400
+set MAV_TYPE 20

ROMFS/px4fmu_common/init.d/13005_vtol_AAERT_quad

@@ -1,4 +1,4 @@
-#!/bin/sh
+#!nsh
 #
 # @name Fun Cub Quad VTOL
 #
@@ -20,30 +20,32 @@
 
 sh /etc/init.d/rc.vtol_defaults
 
-if [ $AUTOCNF = yes ]
+if [ $AUTOCNF == yes ]
 then
-	param set PWM_AUX_DIS5 950
+	param set VT_TYPE 2
+	param set VT_MOT_COUNT 4
+	param set VT_F_TRANS_THR 0.75
+	param set VT_ARSP_TRANS 12
+	param set VT_ARSP_BLEND 6
 
-	param set PWM_RATE 400
-
-	param set MC_ROLL_P 6
+	param set MC_ROLL_P 6.0
 	param set MC_ROLLRATE_P 0.17
 	param set MC_ROLLRATE_I 0.002
 	param set MC_ROLLRATE_D 0.004
-	param set MC_ROLLRATE_FF 0
-	param set MC_PITCH_P 6
+	param set MC_ROLLRATE_FF 0.0
+	param set MC_PITCH_P 6.0
 	param set MC_PITCHRATE_P 0.19
 	param set MC_PITCHRATE_I 0.002
 	param set MC_PITCHRATE_D 0.004
-	param set MC_PITCHRATE_FF 0
+	param set MC_PITCHRATE_FF 0.0
 	param set MC_YAW_P 2.8
+	param set MC_YAW_FF 0.5
 	param set MC_YAWRATE_P 0.22
 	param set MC_YAWRATE_I 0.02
-	param set MC_YAWRATE_D 0
-	param set MC_YAWRATE_FF 0
+	param set MC_YAWRATE_D 0.0
+	param set MC_YAWRATE_FF 0.0
 	param set MC_YAWRATE_MAX 40
-
-	param set MPC_YAWRAUTO_MAX 40
+	param set MC_YAWRAUTO_MAX 40
 
 	param set FW_PR_FF 0.5
 	param set FW_PR_I 0.02
@@ -55,20 +57,17 @@ then
 	param set FW_RR_P 0.05
 	param set FW_THR_CRUISE 0.75
 
-	param set VT_ARSP_BLEND 6
-	param set VT_ARSP_TRANS 12
-	param set VT_F_TRANS_THR 0.75
 	param set VT_MOT_COUNT 4
 	param set VT_IDLE_PWM_MC 1080
 	param set VT_TYPE 2
-
-	# Indicate that FW roll direction was fixed in mixer, to be removed in v1.10
-	param set V19_VT_ROLLDIR 0
 fi
 
-set MAV_TYPE 22
-
 set MIXER quad_x
-set MIXER_AUX vtol_AAERT
-
 set PWM_OUT 1234
+set PWM_RATE 400
+
+set MIXER_AUX vtol_AAERT
+set PWM_ACHDIS 5
+set PWM_AUX_DISARMED 950
+
+set MAV_TYPE 22

ROMFS/px4fmu_common/init.d/13006_vtol_standard_delta

@@ -1,4 +1,4 @@
-#!/bin/sh
+#!nsh
 #
 # @name Generic quad delta VTOL
 #
@@ -18,45 +18,46 @@
 
 sh /etc/init.d/rc.vtol_defaults
 
-if [ $AUTOCNF = yes ]
+if [ $AUTOCNF == yes ]
 then
+	param set VT_TYPE 2
+	param set VT_MOT_COUNT 4
+	param set VT_F_TRANS_THR 0.75
+
 	param set MC_ROLL_P 6.5
 	param set MC_ROLLRATE_P 0.15
 	param set MC_ROLLRATE_I 0.01
 	param set MC_ROLLRATE_D 0.003
-	param set MC_ROLLRATE_FF 0
+	param set MC_ROLLRATE_FF 0.0
 	param set MC_PITCH_P 6.5
 	param set MC_PITCHRATE_P 0.15
 	param set MC_PITCHRATE_I 0.01
 	param set MC_PITCHRATE_D 0.003
-	param set MC_PITCHRATE_FF 0
+	param set MC_PITCHRATE_FF 0.0
 	param set MC_YAW_P 3.5
+	param set MC_YAW_FF 0.5
 	param set MC_YAWRATE_P 0.2
 	param set MC_YAWRATE_I 0.1
-	param set MC_YAWRATE_D 0
-	param set MC_YAWRATE_FF 0
+	param set MC_YAWRATE_D 0.0
+	param set MC_YAWRATE_FF 0.0
 	param set MC_YAWRATE_MAX 50
+	param set MC_YAWRAUTO_MAX 20
 
 	param set MPC_XY_P 0.8
 	param set MPC_XY_VEL_P 0.1
-	param set MPC_ACC_HOR_MAX 2
-	param set MPC_YAWRAUTO_MAX 20
-
-	param set PWM_AUX_DIS3 950
-	param set PWM_RATE 400
+	param set MPC_ACC_HOR_MAX 2.0
 
 	param set VT_MOT_COUNT 4
-	param set VT_F_TRANS_THR 0.75
 	param set VT_IDLE_PWM_MC 1080
 	param set VT_TYPE 2
-
-	# Indicate that FW roll direction was fixed in mixer, to be removed in v1.10
-	param set V19_VT_ROLLDIR 0
 fi
 
-set MAV_TYPE 22
-
 set MIXER quad_x
-set MIXER_AUX vtol_delta
-
 set PWM_OUT 1234
+set PWM_RATE 400
+
+set MIXER_AUX vtol_delta
+set PWM_ACHDIS 3
+set PWM_AUX_DISARMED 950
+
+set MAV_TYPE 22

ROMFS/px4fmu_common/init.d/13007_vtol_AAVVT_quad

@@ -1,4 +1,4 @@
-#!/bin/sh
+#!nsh
 #
 # @name Generic AAVVT v-tail plane airframe with Quad VTOL.
 #
@@ -10,42 +10,42 @@
 
 sh /etc/init.d/rc.vtol_defaults
 
-if [ $AUTOCNF = yes ]
+if [ $AUTOCNF == yes ]
 then
-	param set MC_ROLL_P 7
+	param set VT_TYPE 2
+	param set VT_MOT_COUNT 4
+	param set VT_F_TRANS_THR 0.75
+
+	param set MC_ROLL_P 7.0
 	param set MC_ROLLRATE_P 0.15
 	param set MC_ROLLRATE_I 0.002
 	param set MC_ROLLRATE_D 0.003
-	param set MC_ROLLRATE_FF 0
-	param set MC_PITCH_P 7
+	param set MC_ROLLRATE_FF 0.0
+	param set MC_PITCH_P 7.0
 	param set MC_PITCHRATE_P 0.12
 	param set MC_PITCHRATE_I 0.002
 	param set MC_PITCHRATE_D 0.003
-	param set MC_PITCHRATE_FF 0
+	param set MC_PITCHRATE_FF 0.0
 	param set MC_YAW_P 2.8
+	param set MC_YAW_FF 0.5
 	param set MC_YAWRATE_P 0.22
 	param set MC_YAWRATE_I 0.02
-	param set MC_YAWRATE_D 0
-	param set MC_YAWRATE_FF 0
+	param set MC_YAWRATE_D 0.0
+	param set MC_YAWRATE_FF 0.0
 	param set MC_YAWRATE_MAX 40
+	param set MC_YAWRAUTO_MAX 40
 
-	param set MPC_YAWRAUTO_MAX 40
-
-	param set PWM_AUX_DIS5 950
-	param set PWM_RATE 400
-
-	param set VT_F_TRANS_THR 0.75
 	param set VT_MOT_COUNT 4
 	param set VT_IDLE_PWM_MC 1080
 	param set VT_TYPE 2
-
-	# Indicate that FW roll direction was fixed in mixer, to be removed in v1.10
-	param set V19_VT_ROLLDIR 0
 fi
 
-set MAV_TYPE 22
-
 set MIXER quad_x
-set MIXER_AUX vtol_AAVVT
-
 set PWM_OUT 1234
+set PWM_RATE 400
+
+set MIXER_AUX vtol_AAVVT
+set PWM_ACHDIS 5
+set PWM_AUX_DISARMED 950
+
+set MAV_TYPE 22

ROMFS/px4fmu_common/init.d/13008_QuadRanger

@@ -1,4 +1,4 @@
-#!/bin/sh
+#!nsh
 #
 # @name QuadRanger
 #
@@ -10,9 +10,40 @@
 
 sh /etc/init.d/rc.vtol_defaults
 
-if [ $AUTOCNF = yes ]
+if [ $AUTOCNF == yes ]
 then
-	param set FW_THR_CRUISE 65
+	param set VT_TYPE 2
+	param set VT_MOT_COUNT 4
+	param set VT_F_TRANS_THR 0.75
+
+	param set PWM_AUX_REV1 1
+	param set PWM_AUX_REV2 1
+
+	param set MC_ROLL_P 7.0
+	param set MC_ROLLRATE_P 0.15
+	param set MC_ROLLRATE_I 0.1
+	param set MC_ROLLRATE_D 0.004
+	param set MC_ROLLRATE_FF 0.0
+	param set MC_PITCH_P 7.0
+	param set MC_PITCHRATE_P 0.15
+	param set MC_PITCHRATE_I 0.1
+	param set MC_PITCHRATE_D 0.004
+	param set MC_PITCHRATE_FF 0.0
+	param set MC_YAW_P 3.5
+	param set MC_YAW_FF 0.7
+	param set MC_YAWRATE_P 0.6
+	param set MC_YAWRATE_I 0.04
+	param set MC_YAWRATE_D 0.0
+	param set MC_YAWRATE_FF 0.0
+	param set MC_YAWRATE_MAX 40.0
+	param set MC_YAWRAUTO_MAX 40.0
+
+	param set MPC_ACC_HOR_MAX 2.0
+	param set MPC_Z_VEL_MAX_DN 1.5
+	param set MPC_TKO_SPEED 1.5
+	param set MPC_LAND_SPEED 0.8
+
+	param set FW_THR_CRUISE 65.0
 	param set FW_PR_P 0.08
 	param set FW_PR_FF 0.5
 	param set FW_RR_P 0.05
@@ -20,49 +51,21 @@ then
 
 	param set MIS_YAW_TMT 10
 
-	param set MC_ROLL_P 7
-	param set MC_ROLLRATE_P 0.15
-	param set MC_ROLLRATE_I 0.1
-	param set MC_ROLLRATE_D 0.004
-	param set MC_ROLLRATE_FF 0
-	param set MC_PITCH_P 7
-	param set MC_PITCHRATE_P 0.15
-	param set MC_PITCHRATE_I 0.1
-	param set MC_PITCHRATE_D 0.004
-	param set MC_PITCHRATE_FF 0
-	param set MC_YAW_P 3.5
-	param set MC_YAWRATE_P 0.6
-	param set MC_YAWRATE_I 0.04
-	param set MC_YAWRATE_D 0
-	param set MC_YAWRATE_FF 0
-	param set MC_YAWRATE_MAX 40
+	param set VT_ARSP_TRANS 15.0
+	param set VT_ARSP_BLEND 8.0
+	param set VT_B_TRANS_DUR 4.0
 
-	param set MPC_ACC_HOR_MAX 2
-	param set MPC_Z_VEL_MAX_DN 1.5
-	param set MPC_TKO_SPEED 1.5
-	param set MPC_LAND_SPEED 0.8
-	param set MPC_YAWRAUTO_MAX 40
-
-	param set PWM_AUX_DIS5 950
-	param set PWM_AUX_REV1 1
-	param set PWM_AUX_REV2 1
-	param set PWM_RATE 400
-
-	param set VT_ARSP_TRANS 15
-	param set VT_ARSP_BLEND 8
-	param set VT_B_TRANS_DUR 4
-	param set VT_F_TRANS_THR 0.75
-	param set VT_IDLE_PWM_MC 1080
 	param set VT_MOT_COUNT 4
+	param set VT_IDLE_PWM_MC 1080
 	param set VT_TYPE 2
-
-	# Indicate that FW roll direction was fixed in mixer, to be removed in v1.10
-	param set V19_VT_ROLLDIR 0
 fi
 
-set MAV_TYPE 22
-
 set MIXER quad_x
-set MIXER_AUX vtol_AAERT
-
 set PWM_OUT 1234
+set PWM_RATE 400
+
+set MIXER_AUX vtol_AAERT
+set PWM_ACHDIS 5
+set PWM_AUX_DISARMED 950
+
+set MAV_TYPE 22

ROMFS/px4fmu_common/init.d/13009_vtol_spt_ranger

@@ -0,0 +1,87 @@
+#!nsh
+#
+# @name Sparkle Tech Ranger VTOL
+#
+# @type Standard VTOL
+# @class VTOL
+#
+# @maintainer Andreas Antener <andreas@uaventure.com>
+#
+
+sh /etc/init.d/rc.vtol_defaults
+
+if [ $AUTOCNF == yes ]
+then
+    param set VT_TYPE 2
+    param set VT_MOT_COUNT 4
+    param set VT_IDLE_PWM_MC 1180
+    param set MAV_TYPE    22
+    param set VT_ARSP_TRANS   15.0
+    param set VT_B_TRANS_DUR  4.0
+    param set VT_TRANS_MIN_TM 5.0
+    param set VT_F_TRANS_THR    0.6
+    param set VT_TRANS_TIMEOUT    30.0
+
+    param set FW_AIRSPD_MAX   22.0
+    param set FW_AIRSPD_MIN   14.0
+    param set FW_AIRSPD_TRIM  16.0
+    param set FW_L1_PERIOD    25.0
+    param set FW_PR_P 0.060
+    param set FW_P_RMAX_NEG   40.0
+    param set FW_P_RMAX_POS   40.0
+    param set FW_RR_FF    0.4
+    param set FW_RR_P 0.04
+    param set FW_R_RMAX   40.0
+
+    param set MC_PITCHRATE_D  0.004
+    param set MC_PITCHRATE_I  0.0
+    param set MC_PITCHRATE_MAX    60.0
+    param set MC_PITCHRATE_P  0.21
+    param set MC_PITCH_P  4.0
+    param set MC_ROLLRATE_D   0.004
+    param set MC_ROLLRATE_I   0.002
+    param set MC_ROLLRATE_MAX 60.0
+    param set MC_ROLLRATE_P   0.24
+    param set MC_ROLL_P   4.0
+    param set MC_YAWRATE_I    0.02
+    param set MC_YAWRATE_MAX  40.0
+    param set MC_YAWRATE_P    0.18
+    param set MC_YAWRATE_MAX  40.0
+    param set MC_YAWRAUTO_MAX 40.0
+
+    param set MIS_TAKEOFF_ALT 2.5
+    param set MIS_YAW_TMT 20.0
+
+    param set MPC_ACC_HOR_MAX 1.0
+    param set MPC_HOLD_MAX_XY 0.5
+    param set MPC_HOLD_MAX_Z  0.5
+    param set MPC_LAND_SPEED  1.0
+    param set MPC_MANTHR_MIN  0.05
+    param set MPC_MAN_Y_MAX   120.0
+    param set MPC_THR_MIN 0.07
+    param set MPC_TILTMAX_AIR 35.0
+    param set MPC_TILTMAX_LND 20.0
+    param set MPC_TKO_SPEED   1.0
+    param set MPC_XY_P    0.3
+    param set MPC_XY_VEL_MAX  3.0
+    param set MPC_XY_VEL_P    0.05
+    param set MPC_Z_P 0.5
+    param set MPC_Z_VEL_P 0.1
+
+    param set NAV_ACC_RAD 3.0
+
+    param set PWM_AUX_REV1    1
+    param set PWM_AUX_REV2    1
+    param set PWM_AUX_REV3    1
+    param set PWM_AUX_REV4    1
+fi
+
+set MIXER quad_x
+set PWM_OUT 1234
+set PWM_RATE 400
+
+set MIXER_AUX vtol_AAERT
+set PWM_ACHDIS 5
+set PWM_AUX_DISARMED 950
+
+set MAV_TYPE 22

ROMFS/px4fmu_common/init.d/13010_claire

@@ -0,0 +1,40 @@
+#!nsh
+#
+# @name CruiseAder Claire
+#
+# @type VTOL Tiltrotor
+# @class VTOL
+#
+# @maintainer Samay Siga <samay_s@icloud.com>
+#
+# @board px4fmu-v2 exclude
+#
+
+sh /etc/init.d/rc.vtol_defaults
+
+if [ $AUTOCNF == yes ]
+then
+param set VT_TYPE 1
+param set VT_TILT_MC 0.08
+param set VT_TILT_TRANS 0.5
+param set VT_TILT_FW 0.9
+
+param set VT_MOT_COUNT 4
+param set VT_FW_MOT_OFFID 13
+param set VT_IDLE_PWM_MC 1080
+param set VT_TYPE 1
+fi
+
+set MIXER claire
+set PWM_OUT 1234
+set PWM_RATE 400
+set PWM_MAX 2000
+
+set MIXER_AUX claire
+set PWM_AUX_RATE 50
+set PWM_AUX_RATE 123
+set PWM_AUX_MIN 1000
+set PWM_AUX_MAX 2000
+set PWM_AUX_DISARMED 1000
+
+set MAV_TYPE 21

ROMFS/px4fmu_common/init.d/13012_convergence

@@ -0,0 +1,83 @@
+#!nsh
+#
+# @name E-flite Convergence
+#
+# @type VTOL Tiltrotor
+# @class VTOL
+#
+# @maintainer Andreas Antener <andreas@uaventure.com>
+#
+# @output MAIN1 Motor right
+# @output MAIN2 Motor left
+# @output MAIN3 Motor back
+# @output MAIN4 empty
+# @output MAIN5 Tilt servo right
+# @output MAIN6 Tilt servo left
+# @output MAIN7 Elevon right
+# @output MAIN8 Elevon left
+#
+
+sh /etc/init.d/rc.vtol_defaults
+
+if [ $AUTOCNF == yes ]
+then
+    param set VT_MOT_COUNT 3
+    param set VT_FW_MOT_OFFID 3
+    param set VT_IDLE_PWM_MC 1200
+    param set VT_TYPE 1
+
+    param set VT_B_TRANS_DUR  1.0
+    param set VT_FW_DIFTHR_EN 1
+    param set VT_FW_DIFTHR_SC 0.17
+    param set VT_FW_PERM_STAB 0
+    param set VT_F_TRANS_DUR  1.2
+    param set VT_F_TR_OL_TM   4.0
+    param set VT_TILT_FW  1.0
+    param set VT_TILT_MC  0.0
+    param set VT_TILT_TRANS   0.45
+    param set VT_TRANS_MIN_TM 1.2
+    param set VT_TRANS_P2_DUR 1.3
+
+    param set FW_L1_PERIOD 17
+    param set FW_MAN_R_MAX 50.0
+    param set FW_ACRO_X_MAX   270
+    param set FW_ACRO_Y_MAX   270
+    param set FW_ACRO_Z_MAX   180
+    param set FW_PR_FF    0.5
+    param set FW_PR_P 0.08
+    param set FW_PSP_OFF  5.0
+    param set FW_P_LIM_MAX    30
+    param set FW_P_LIM_MIN    -30
+    param set FW_P_RMAX_NEG   60
+    param set FW_P_RMAX_POS   60
+    param set FW_RR_FF    0.33
+    param set FW_RR_P 0.11
+    param set FW_YR_FF    0.3
+    param set FW_YR_P 0.05
+    param set MC_PITCHRATE_D  0.003
+    param set MC_PITCHRATE_P  0.15
+    param set MC_PITCH_P  6.0
+    param set MC_ROLLRATE_D   0.003
+    param set MC_ROLLRATE_P   0.15
+    param set MC_ROLL_P   6.0
+    param set MC_YAWRATE_MAX  120
+    param set MC_YAWRATE_P    0.27
+    param set MC_YAW_FF   0.35
+    param set MC_YAW_P    2.5
+
+    param set MC_YAWRATE_P 0.3
+    param set MPC_LAND_SPEED 1.2
+    param set MPC_TKO_SPEED 2.5
+    param set MPC_Z_VEL_MAX_UP 3.0
+
+    param set CBRK_AIRSPD_CHK 162128
+    param set FW_ARSP_MODE 2
+
+    param set SENS_BOARD_ROT 8
+fi
+
+set MIXER vtol_convergence
+set PWM_OUT 1234
+set PWM_RATE 400
+
+set MAV_TYPE 21

ROMFS/px4fmu_common/init.d/13013_deltaquad

@@ -1,6 +1,6 @@
-#!/bin/sh
+#!nsh
 #
-# @name Vertical Technologies DeltaQuad
+# @name DeltaQuad
 #
 # @type Standard VTOL
 # @class VTOL
@@ -19,22 +19,21 @@
 
 sh /etc/init.d/rc.vtol_defaults
 
-if [ $AUTOCNF = yes ]
+if [ $AUTOCNF == yes ]
 then
-	param set BAT_CAPACITY 23000
-	param set BAT_N_CELLS 4
-	param set BAT_R_INTERNAL 0.0025
-
-	param set COM_DISARM_LAND 5
-
-	param set CBRK_AIRSPD_CHK 162128
-	param set CBRK_IO_SAFETY 22027
-
-	param set EKF2_GPS_POS_X -0.12
-	param set EKF2_IMU_POS_X -0.12
-	param set EKF2_TAU_VEL 0.5
-	param set EKF2_GPS_P_GATE 10
-	param set EKF2_GPS_V_GATE 10
+	param set VT_TYPE 2
+	param set VT_MOT_COUNT 4
+	param set VT_F_TRANS_THR 1
+	param set VT_DWN_PITCH_MAX 8
+	param set VT_FW_QC_P 55
+	param set VT_FW_QC_R 55
+	param set VT_TRANS_MIN_TM 8
+	param set VT_B_TRANS_DUR 5
+	param set VT_WV_LND_EN 1
+	param set VT_WV_LTR_EN 1
+	param set VT_FWD_THRUST_SC 2
+	param set VT_F_TRANS_DUR 1
+	param set VT_IDLE_PWM_MC 1025
 
 	param set FW_ARSP_MODE 2
 	param set FW_L1_PERIOD 25
@@ -52,19 +51,14 @@ then
 	param set FW_T_SINK_MAX 3
 	param set FW_T_SINK_MIN 1
 	param set FW_T_VERT_ACC 6
-	param set FW_T_HRATE_P 0.1
-	param set FW_THR_CRUISE 0.70
+	param set FW_THR_CRUISE 0.68
 	param set FW_THR_SLEW_MAX 1
 	param set FW_MAN_P_MAX 30
-	param set FW_P_LIM_MAX 15
+	param set FW_P_LIM_MAX 20
 	param set FW_P_LIM_MIN -25
 	param set FW_P_RMAX_NEG 45
 	param set FW_P_RMAX_POS 45
 	param set FW_R_RMAX 50
-	param set FW_THR_MIN 0.55
-	param set FW_BAT_SCALE_EN 1
-	param set FW_THR_ALT_SCL 2.7
-	param set FW_T_RLL2THR 20
 
 	param set LNDMC_ALT_MAX 9999
 	param set LNDMC_XY_VEL_MAX 1
@@ -74,31 +68,28 @@ then
 	param set MC_ROLLRATE_P 0.16
 	param set MC_ROLLRATE_I 0.01
 	param set MC_ROLLRATE_D 0.003
-	param set MC_ROLLRATE_FF 0
+	param set MC_ROLLRATE_FF 0.0
 	param set MC_ROLLRATE_MAX 80
 	param set MC_PITCH_P 6.5
 	param set MC_PITCHRATE_P 0.15
 	param set MC_PITCHRATE_I 0.05
 	param set MC_PITCHRATE_D 0.003
-	param set MC_PITCHRATE_FF 0
+	param set MC_PITCHRATE_FF 0.0
 	param set MC_PITCHRATE_MAX 80
 	param set MC_YAW_P 3.5
+	param set MC_YAW_FF 0.5
 	param set MC_YAWRATE_P 0.2
 	param set MC_YAWRATE_I 0.1
-	param set MC_YAWRATE_D 0
-	param set MC_YAWRATE_FF 0
+	param set MC_YAWRATE_D 0.0
+	param set MC_YAWRATE_FF 0.0
 	param set MC_YAWRATE_MAX 20
-	param set MC_AIRMODE 1
-
-	param set MIS_DIST_1WP 100
-	param set MIS_DIST_WPS 100000
-	param set MIS_TAKEOFF_ALT 15
+	param set MC_YAWRAUTO_MAX 20
 
 	param set MPC_XY_P 0.8
 	param set MPC_XY_VEL_P 0.1
-	param set MPC_XY_VEL_MAX 5
-	param set MPC_ACC_HOR_MAX 2
-	param set MPC_LAND_SPEED 1.2
+	param set MPC_XY_VEL_MAX 4
+	param set MPC_ACC_HOR_MAX 2.0
+	param set MPC_LAND_SPEED 1.5
 	param set MPC_MAN_R_MAX 30
 	param set MPC_TILTMAX_LND 35
 	param set MPC_Z_VEL_MAX 1.5
@@ -106,59 +97,28 @@ then
 	param set MPC_Z_VEL_MAX_DN 1.5
 	param set MPC_HOLD_MAX_XY 0.5
 	param set MPC_HOLD_MAX_Z 0.5
-	param set MPC_TKO_RAMP_T 0.8
-	param set MPC_XY_CRUISE 5
-	param set MPC_TILTMAX_AIR 25
-	param set MPC_TILTMAX_LND 25
-	param set MPC_YAWRAUTO_MAX 20
 
-	param set NAV_DLL_ACT 0
-	param set NAV_LOITER_RAD 100
+	param set CBRK_AIRSPD_CHK 162128
+	param set CBRK_IO_SAFETY 22027
 
-	param set PWM_AUX_DISARMED 950
+	param set EKF2_GPS_POS_X -0.12
+	param set EKF2_IMU_POS_X -0.12
+	param set EKF2_TAU_VEL 0.5
 
-	param set PWM_MAIN_DIS5 1500
-	param set PWM_MAIN_DIS6 1500
-	param set PWM_MAIN_DIS7 900
-	param set PWM_MAIN_DIS8 900
-
-	param set PWM_RATE 400
-
-	param set SENS_BOARD_ROT 18
-
-	# TELEM2 config
-	param set MAV_1_CONFIG 102
-	param set MAV_1_RATE 5000
-	param set MAV_1_FORWARD 1
-	param set SER_TEL2_BAUD 57600
-
-	param set VT_TYPE 2
-	param set VT_MOT_COUNT 4
-	param set VT_F_TRANS_THR 1
-	param set VT_DWN_PITCH_MAX 8
-	param set VT_FW_QC_P 55
-	param set VT_FW_QC_R 55
-	param set VT_TRANS_MIN_TM 15
-	param set VT_B_TRANS_DUR 8
-	param set VT_WV_LND_EN 1
-	param set VT_WV_LTR_EN 1
-	param set VT_FWD_THRUST_SC 4
-	param set VT_F_TRANS_DUR 1
-	param set VT_IDLE_PWM_MC 1025
-	param set VT_B_REV_OUT 0.5
-	param set VT_B_TRANS_THR 0.7
-	param set VT_FW_PERM_STAB 1
-	param set VT_TRANS_TIMEOUT 22
-	param set VT_F_TRANS_RAMP 4
-
-	# Indicate that FW roll direction was fixed in mixer, to be removed in v1.10
-	param set V19_VT_ROLLDIR 0
+	param set SYS_COMPANION 57600
 fi
 
-set MAV_TYPE 22
-
 set MIXER deltaquad
-set MIXER_AUX pass
-
 set PWM_OUT 1234
+set PWM_RATE 400
+
+param set PWM_MAIN_DIS5 1500
+param set PWM_MAIN_DIS6 1500
+param set PWM_MAIN_DIS7 900
+param set PWM_MAIN_DIS8 900
+
+set MIXER_AUX pass
 set PWM_AUX_OUT 12345
+set PWM_AUX_DISARMED 950
+
+set MAV_TYPE 22

ROMFS/px4fmu_common/init.d/14001_tri_y_yaw+

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

ROMFS/px4fmu_common/init.d/14002_tri_y_yaw-

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

ROMFS/px4fmu_common/init.d/15001_coax_heli

@@ -1,4 +1,4 @@
-#!/bin/sh
+#!nsh
 #
 # @name Esky (Big) Lama v4
 #
@@ -16,8 +16,16 @@
 sh /etc/init.d/rc.mc_defaults
 set MIXER coax
 
-if [ $AUTOCNF = yes ]
+if [ $AUTOCNF == yes ]
 then
+	param set NAV_ACC_RAD 2.0
+	param set RTL_RETURN_ALT 30.0
+	param set RTL_DESCEND_ALT 10.0
+
+	param set PWM_DISARMED 900
+	param set PWM_MIN 1075
+	param set PWM_MAX 1950
+
 	param set MC_ROLL_P 6.5
 	param set MC_ROLLRATE_P 0.17
 	param set MC_ROLLRATE_I 0.05
@@ -29,26 +37,18 @@ then
 	param set MC_PITCHRATE_D 0.005
 	param set MC_PITCHRATE_FF 0
 	param set MC_YAW_P 2
+	param set MC_YAW_FF 0.5
 	param set MC_YAWRATE_P 0.1
 	param set MC_YAWRATE_I 0.1
-	param set MC_YAWRATE_D 0
+	param set MC_YAWRATE_D 0.0
 	param set MC_YAWRATE_FF 0
-
-	param set NAV_ACC_RAD 2
-
-	param set PWM_AUX_RATE 50
-	param set PWM_DISARMED 900
-	param set PWM_MIN 1075
-	param set PWM_MAX 1950
-	param set PWM_RATE 400
-
-	param set RTL_RETURN_ALT 30
-	param set RTL_DESCEND_ALT 10
 fi
 
+# use PWM parameters for throttle channel
+set PWM_OUT 34
+set PWM_RATE 400
+
 # This is the gimbal pass mixer
 set MIXER_AUX pass
-
-# use PWM parameters for throttle channel
+set PWM_AUX_RATE 50
 set PWM_AUX_OUT 1234
-set PWM_OUT 34

ROMFS/px4fmu_common/init.d/16001_helicopter

@@ -1,4 +1,4 @@
-#!/bin/sh
+#!nsh
 #
 # @name Blade 130X
 #
@@ -23,34 +23,35 @@ set MIXER blade130
 
 #set PWM_OUT 1234
 
-if [ $AUTOCNF = yes ]
+if [ $AUTOCNF == yes ]
 then
-	param set ATT_BIAS_MAX 0
-
-	param set CBRK_IO_SAFETY 22027
-
-	param set MC_ROLL_P 5
-	param set MC_ROLLRATE_P 0
-	param set MC_ROLLRATE_I 0
-	param set MC_ROLLRATE_D 0
+	param set MC_ROLL_P 5.0
+	param set MC_ROLLRATE_P 0.0
+	param set MC_ROLLRATE_I 0.0
+	param set MC_ROLLRATE_D 0.0
 	param set MC_ROLLRATE_FF 0.15
 	param set MC_PITCH_P 6.5
-	param set MC_PITCHRATE_P 0
-	param set MC_PITCHRATE_I 0
-	param set MC_PITCHRATE_D 0
+	param set MC_PITCHRATE_P 0.0
+	param set MC_PITCHRATE_I 0.0
+	param set MC_PITCHRATE_D 0.0
 	param set MC_PITCHRATE_FF 0.15
-	param set MC_YAW_P 3
+	param set MC_YAW_P 3.0
 	param set MC_YAWRATE_P 0.1
-	param set MC_YAWRATE_I 0
-	param set MC_YAWRATE_D 0
-	param set MC_ROLLRATE_MAX 720
-	param set MC_PITCHRATE_MAX 720
-	param set MC_YAWRATE_MAX 400
-	param set MC_ACRO_R_MAX 360
-	param set MC_ACRO_P_MAX 360
+	param set MC_YAWRATE_I 0.0
+	param set MC_YAWRATE_D 0.0
+	param set MC_YAW_FF 0.0
+	param set MC_ROLLRATE_MAX 720.0
+	param set MC_PITCHRATE_MAX 720.0
+	param set MC_YAWRATE_MAX 400.0
+	param set MC_ACRO_R_MAX 360.0
+	param set MC_ACRO_P_MAX 360.0
+
+	param set PWM_MIN 1075
 
 	param set MPC_THR_MIN 0.06
 	param set MPC_MANTHR_MIN 0.06
 
-	param set PWM_MIN 1075
+	param set ATT_BIAS_MAX 0.0
+
+	param set CBRK_IO_SAFETY 22027
 fi

ROMFS/px4fmu_common/init.d/2100_standard_plane

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

ROMFS/px4fmu_common/init.d/2105_maja

@@ -1,4 +1,4 @@
-#!/bin/sh
+#!nsh
 #
 # @name Bormatec Maja
 #
@@ -22,24 +22,24 @@
 
 sh /etc/init.d/rc.fw_defaults
 
-if [ $AUTOCNF = yes ]
+if [ $AUTOCNF == yes ]
 then
-	param set FW_AIRSPD_MIN 10
-	param set FW_AIRSPD_TRIM 15
-	param set FW_AIRSPD_MAX 20
+    param set FW_AIRSPD_MIN 10
+    param set FW_AIRSPD_TRIM 15
+    param set FW_AIRSPD_MAX 20
 
-	param set FW_MAN_P_MAX 55
-	param set FW_MAN_R_MAX 55
-	param set FW_R_LIM 55
+    param set FW_MAN_P_MAX 55
+    param set FW_MAN_R_MAX 55
+    param set FW_R_LIM 55
 
-	param set FW_WR_FF 0.2
-	param set FW_WR_I 0.2
-	param set FW_WR_IMAX 0.8
-	param set FW_WR_P 1
-	param set FW_W_RMAX 0
+    param set FW_WR_FF 0.2
+    param set FW_WR_I 0.2
+    param set FW_WR_IMAX 0.8
+    param set FW_WR_P 1
+    param set FW_W_RMAX 0
 
-	# set disarmed value for the ESC
-	param set PWM_DISARMED 1000
+    # set disarmed value for the ESC
+    param set PWM_DISARMED 1000
 fi
 
 set MIXER AAERTWF

ROMFS/px4fmu_common/init.d/2106_albatross

@@ -1,4 +1,4 @@
-#!/bin/sh
+#!nsh
 #
 # @name Applied Aeronautics Albatross
 #
@@ -23,24 +23,24 @@
 
 sh /etc/init.d/rc.fw_defaults
 
-if [ $AUTOCNF = yes ]
+if [ $AUTOCNF == yes ]
 then
-	param set FW_AIRSPD_MIN 10
-	param set FW_AIRSPD_TRIM 15
-	param set FW_AIRSPD_MAX 20
+    param set FW_AIRSPD_MIN 10
+    param set FW_AIRSPD_TRIM 15
+    param set FW_AIRSPD_MAX 20
 
-	param set FW_MAN_P_MAX 55
-	param set FW_MAN_R_MAX 55
-	param set FW_R_LIM 55
+    param set FW_MAN_P_MAX 55
+    param set FW_MAN_R_MAX 55
+    param set FW_R_LIM 55
 
-	param set FW_WR_FF 0.2
-	param set FW_WR_I 0.2
-	param set FW_WR_IMAX 0.8
-	param set FW_WR_P 1
-	param set FW_W_RMAX 0
+    param set FW_WR_FF 0.2
+    param set FW_WR_I 0.2
+    param set FW_WR_IMAX 0.8
+    param set FW_WR_P 1
+    param set FW_W_RMAX 0
 
-	# set disarmed value for the ESC
-	param set PWM_DISARMED 1000
+    # set disarmed value for the ESC
+    param set PWM_DISARMED 1000
 fi
 
 set MIXER AAVVTWFF

ROMFS/px4fmu_common/init.d/24001_dodeca_cox

@@ -1,4 +1,4 @@
-#!/bin/sh
+#!nsh
 #
 # @name Generic Dodecarotor cox geometry
 #
@@ -25,24 +25,24 @@
 
 set VEHICLE_TYPE mc
 
-if [ $AUTOCNF = yes ]
+if [ $AUTOCNF == yes ]
 then
-	param set NAV_ACC_RAD 2
-
-	param set PWM_AUX_RATE 400
-	param set PWM_AUX_DISARMED 900
-	param set PWM_AUX_MIN 1075
-	param set PWM_AUX_MAX 1950
-
+	param set NAV_ACC_RAD 2.0
+	param set RTL_RETURN_ALT 30.0
+	param set RTL_DESCEND_ALT 10.0
 	param set PWM_MIN 1075
 	param set PWM_MAX 1950
 	param set PWM_RATE 400
 
-	param set RTL_DESCEND_ALT 10
 	param set RTL_LAND_DELAY 0
-	param set RTL_RETURN_ALT 30
 fi
 
+set PWM_AUX_RATE 400
+# Note: May Have to set these parameters manually. They don't appear to save.
+set PWM_AUX_DISARMED 900
+param set PWM_AUX_MIN 1075
+param set PWM_AUX_MAX 1950
+
 set MIXER dodeca_top_cox
 set MIXER_AUX dodeca_bottom_cox
 

ROMFS/px4fmu_common/init.d/3000_generic_wing

@@ -0,0 +1,18 @@
+#!nsh
+#
+# @name Generic Flying Wing
+#
+# @type Flying Wing
+# @class Plane
+#
+# @maintainer
+#
+
+sh /etc/init.d/rc.fw_defaults
+
+if [ $AUTOCNF == yes ]
+then
+
+fi
+
+set MIXER fw_generic_wing

ROMFS/px4fmu_common/init.d/3030_io_camflyer

@@ -1,7 +1,9 @@
-#!/bin/sh
+#!nsh
 #
 # @name IO Camflyer
 #
+# @url https://pixhawk.org/platforms/planes/bormatec_camflyer_q
+#
 # @type Flying Wing
 # @class Plane
 #
@@ -18,7 +20,7 @@
 
 sh /etc/init.d/rc.fw_defaults
 
-if [ $AUTOCNF = yes ]
+if [ $AUTOCNF == yes ]
 then
 	param set FW_AIRSPD_MAX 15
 	param set FW_AIRSPD_MIN 10
@@ -39,11 +41,10 @@ then
 	param set FW_RR_FF 0.6
 	param set FW_RR_IMAX 0.2
 	param set FW_RR_P 0.04
-
-	param set PWM_DISARMED 1000
 fi
 
 set MIXER fw_generic_wing
 
 # Provide ESC a constant 1000 us pulse while disarmed
 set PWM_OUT 4
+set PWM_DISARMED 1000

ROMFS/px4fmu_common/init.d/3031_phantom

@@ -1,8 +1,8 @@
-#!/bin/sh
+#!nsh
 #
 # @name Phantom FPV Flying Wing
 #
-# @url https://docs.px4.io/en/frames_plane/wing_wing_z84.html
+# @url https://pixhawk.org/platforms/planes/z-84_wing_wing
 #
 # @type Flying Wing
 # @class Plane
@@ -20,7 +20,7 @@
 
 sh /etc/init.d/rc.fw_defaults
 
-if [ $AUTOCNF = yes ]
+if [ $AUTOCNF == yes ]
 then
 	param set FW_AIRSPD_MIN 13
 	param set FW_AIRSPD_TRIM 15
@@ -40,15 +40,13 @@ then
 	param set FW_RR_P 0.08
 	param set FW_R_LIM 50
 	param set FW_R_RMAX 50
-
-	param set PWM_DISARMED 1000
-
 	# Bottom of bay and nominal zero-pitch attitude differ
 	# the payload bay is pitched up about 7 degrees
-	param set SENS_BOARD_Y_OFF 7
+	param set SENS_BOARD_Y_OFF 7.0
 fi
 
 set MIXER phantom
 
 # Provide ESC a constant 1000 us pulse
 set PWM_OUT 4
+set PWM_DISARMED 1000

ROMFS/px4fmu_common/init.d/3032_skywalker_x5

@@ -1,7 +1,9 @@
-#!/bin/sh
+#!nsh
 #
 # @name Skywalker X5 Flying Wing
 #
+# @url https://pixhawk.org/platforms/planes/skywalker_x5
+#
 # @type Flying Wing
 # @class Plane
 #
@@ -18,7 +20,7 @@
 
 sh /etc/init.d/rc.fw_defaults
 
-if [ $AUTOCNF = yes ]
+if [ $AUTOCNF == yes ]
 then
 	param set FW_AIRSPD_MIN 15
 	param set FW_AIRSPD_TRIM 20

ROMFS/px4fmu_common/init.d/3033_wingwing

@@ -1,4 +1,4 @@
-#!/bin/sh
+#!nsh
 #
 # @name Wing Wing (aka Z-84) Flying Wing
 #
@@ -20,7 +20,7 @@
 
 sh /etc/init.d/rc.fw_defaults
 
-if [ $AUTOCNF = yes ]
+if [ $AUTOCNF == yes ]
 then
 	param set BAT_N_CELLS 2
 	param set FW_AIRSPD_MAX 15
@@ -39,15 +39,12 @@ then
 	param set FW_PR_FF 0.35
 	param set FW_RR_FF 0.6
 	param set FW_RR_P 0.04
-
-	param set PWM_DISARMED 1000
 fi
 
-# Configure this as plane.
+# Configure this as plane
 set MAV_TYPE 1
-
-# Set mixer.
+# Set mixer
 set MIXER wingwing
-
-# Provide ESC a constant 1000 us pulse.
+# Provide ESC a constant 1000 us pulse
 set PWM_OUT 4
+set PWM_DISARMED 1000

ROMFS/px4fmu_common/init.d/3034_fx79

@@ -1,30 +1,21 @@
-#!/bin/sh
+#!nsh
 #
 # @name FX-79 Buffalo Flying Wing
 #
 # @type Flying Wing
 # @class Plane
 #
-# @output MAIN1 right aileron
-# @output MAIN2 left aileron
-# @output MAIN4 throttle
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-#
 # @maintainer Simon Wilks <simon@uaventure.com>
 #
 
 sh /etc/init.d/rc.fw_defaults
 
-if [ $AUTOCNF = yes ]
+if [ $AUTOCNF == yes ]
 then
+	param set NAV_LOITER_RAD 150
 	param set FW_AIRSPD_MAX 30
 	param set FW_AIRSPD_MIN 13
 	param set FW_AIRSPD_TRIM 15
-
-	param set NAV_LOITER_RAD 150
 fi
 
 set MIXER FX79

ROMFS/px4fmu_common/init.d/3035_viper

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

ROMFS/px4fmu_common/init.d/3036_pigeon

@@ -1,4 +1,4 @@
-#!/bin/sh
+#!nsh
 #
 # @name Sparkle Tech Pigeon
 #
@@ -20,14 +20,14 @@
 
 sh /etc/init.d/rc.fw_defaults
 
-if [ $AUTOCNF = yes ]
+if [ $AUTOCNF == yes ]
 then
 	param set FW_AIRSPD_MIN 15
 	param set FW_AIRSPD_TRIM 20
 	param set FW_AIRSPD_MAX 27
 	param set FW_ATT_TC 0.3
 	param set FW_L1_DAMPING 0.75
-	param set FW_L1_PERIOD 20
+	param set FW_L1_PERIOD 15
 	param set FW_PR_FF 0.35
 	param set FW_PR_IMAX 0.2
 	param set FW_PR_P 0.05
@@ -42,14 +42,15 @@ then
 	param set FW_R_RMAX 50
 	param set FW_R_TC 0.3
 
-	param set PWM_DISARMED 1000
-
 	# Bottom of bay and nominal zero-pitch attitude differ
 	# the payload bay is pitched up about 7 degrees
 	param set SENS_BOARD_Y_OFF 11.9
+
+	param set FW_L1_PERIOD 20.0
 fi
 
 set MIXER phantom
 
 # Provide ESC a constant 1000 us pulse
 set PWM_OUT 4
+set PWM_DISARMED 1000

ROMFS/px4fmu_common/init.d/3037_parrot_disco_mod

@@ -1,4 +1,4 @@
-#!/bin/sh
+#!nsh
 #
 # @name Modified Parrot Disco
 #
@@ -20,7 +20,7 @@
 
 sh /etc/init.d/rc.fw_defaults
 
-if [ $AUTOCNF = yes ]
+if [ $AUTOCNF == yes ]
 then
 	
 	####################################
@@ -37,7 +37,7 @@ then
 
 	param set FW_L1_PERIOD 20 #units of meters
 	
-	# Damping factor for L1 control (def = 0.75)
+	#Damping factor for L1 control (def = 0.75)
 	param set FW_L1_DAMPING 0.75
 
 	####################################
@@ -48,32 +48,32 @@ then
 	param set FW_P_LIM_MAX  45
 	param set FW_P_LIM_MIN -45
 	
-	# Time Constant (def = 0.4s)
+	# Time Constant (def = 0.4s)	
 	param set FW_P_TC 0.4
 
 	# Pitch rate feed forward (def = 0.5 %/rad/sec)
 	param set FW_PR_FF 0.35
-
+	
 	# Pitch rate integrator limit (def = 0.4)
 	param set FW_PR_IMAX 0.4
-
+	
 	# Pitch rate proportional gain (def = 0.08 %/rad/sec)
 	param set FW_PR_P 0.08
-
+	
 	####################################
 	# Roll
 	####################################
 
-	# Basic limits (def = 50 deg)
+	# Basic limits (def = 50 deg)	
 	param set FW_R_LIM 40
-
+	
 	# Roll rate upper limit (def = 70 deg/s)
 	param set FW_R_RMAX 50
 
 	# Roll Time Constant (def = 0.4 s)
-	param set FW_R_TC 0.4
+	param set FW_R_TC 0.4	
 	
-	# Roll rate feed forward (def = 0.5 %/rad/sec)
+	# Roll rate feed forward (def = 0.5 %/rad/sec)	
 	param set FW_RR_FF 0.5
 
 	# Roll rate proportional Gain (def = 0.05 %/rad/sec)
@@ -81,11 +81,11 @@ then
 
 	# Roll Integrator Anti-Windup
 	param set FW_RR_IMAX 0.2
-
-	param set PWM_DISARMED 1000
+	
 fi
 
 set MIXER fw_generic_wing.main.mix
 
 # Provide ESC a constant 1000 us pulse
 set PWM_OUT 4
+set PWM_DISARMED 1000

ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha

@@ -1,28 +1,27 @@
-#!/bin/sh
+#!nsh
 #
 # @name TBS Caipirinha
 #
 # @type Flying Wing
 # @class Plane
 #
-# @output MAIN1 left aileron
-# @output MAIN2 right aileron
-# @output MAIN4 throttle
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-#
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 
 sh /etc/init.d/rc.fw_defaults
 
-if [ $AUTOCNF = yes ]
+if [ $AUTOCNF == yes ]
 then
 	param set FW_AIRSPD_MAX 25
 	param set FW_AIRSPD_MIN 12.5
 	param set FW_AIRSPD_TRIM 16.5
+	param set LNDFW_AIRSPD_MAX 6
+	param set LNDFW_VELI_MAX 4
+	param set LNDFW_VEL_XY_MAX 3
+	param set LNDFW_VEL_Z_MAX 5
+	param set FW_R_TC 0.4
+	param set FW_P_TC 0.4
+	param set FW_THR_CRUISE 0.55
 	param set FW_L1_DAMPING 0.75
 	param set FW_L1_PERIOD 15
 	param set FW_LND_ANG 15
@@ -34,8 +33,6 @@ then
 	param set FW_P_LIM_MAX 20
 	param set FW_P_LIM_MIN -30
 	param set FW_R_LIM 45
-	param set FW_R_TC 0.4
-	param set FW_P_TC 0.4
 	param set FW_PR_FF 0.45
 	param set FW_PR_IMAX 0.4
 	param set FW_PR_P 0.005
@@ -45,21 +42,14 @@ then
 	param set FW_P_RMAX_NEG 70
 	param set FW_P_RMAX_POS 70
 	param set FW_R_RMAX 70
-	param set FW_THR_CRUISE 0.55
-
-	param set LNDFW_AIRSPD_MAX 6
-	param set LNDFW_XYACC_MAX 4
-	param set LNDFW_VEL_XY_MAX 3
-	param set LNDFW_VEL_Z_MAX 5
-
-	param set MIS_TAKEOFF_ALT 50
-
-	param set NAV_LOITER_RAD 30
-
+	param set SYS_COMPANION 157600
 	param set PWM_MAIN_REV1 1
 	param set PWM_MAIN_REV2 1
+	param set PWM_DISARMED 0
 	param set PWM_MIN 900
 	param set PWM_MAX 2100
+	param set MIS_TAKEOFF_ALT 50
+	param set NAV_LOITER_RAD 30
 fi
 
 set MIXER caipi

ROMFS/px4fmu_common/init.d/4001_quad_x

@@ -1,4 +1,4 @@
-#!/bin/sh
+#!nsh
 #
 # @name Generic Quadrotor x
 #

ROMFS/px4fmu_common/init.d/4002_quad_x_mount

@@ -1,4 +1,4 @@
-#!/bin/sh
+#!nsh
 #
 # @name Generic Quadrotor x with mount (e.g. gimbal)
 #
@@ -22,13 +22,10 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set PWM_AUX_RATE 50
-fi
-
 set MIXER quad_x
 set PWM_OUT 1234
 
 set MIXER_AUX mount
 set PWM_AUX_OUT 123456
+set PWM_AUX_RATE 50
+