kill of sensor_range_finder abstraction completely

.github/ISSUE_TEMPLATE/bug_report.yml

@@ -3,45 +3,92 @@ description: Create a report to help us improve
 title: "[Bug] "
 labels: ["bug-report"]
 body:
-  - type: markdown
-    attributes:
-      value: |
-        **Tips for a great bug report:**
-        - Describe what went wrong and what you expected
-        - Include a flight log link from [logs.px4.io](http://logs.px4.io/) if possible
-        - Mention your PX4 version, flight controller, and vehicle type if relevant
-
   - type: textarea
     attributes:
       label: Describe the bug
-      description: A clear description of the bug and what you expected to happen.
-      placeholder: |
-        What happened and what did you expect instead?
-
-        Steps to reproduce (if applicable):
-        1.
-        2.
-        3.
+      description: A clear and concise description of the bug.
     validations:
       required: true
 
   - type: textarea
     attributes:
-      label: Flight Log / Additional Information
+      label: To Reproduce
       description: |
-        **Flight log** (highly recommended for flight-related issues):
-        - Upload to [PX4 Flight Review](http://logs.px4.io/) and paste the link
-
-        **Additional details** (if relevant):
-        - PX4 version (output of `ver all` in MAVLink Shell)
-        - Flight controller model
-        - Vehicle type (multicopter, fixed-wing, VTOL, etc.)
-        - Screenshots or media
-      placeholder: |
-        Flight log link:
-
-        Version:
-
-        Hardware:
+          Steps to reproduce the behavior.
+          1. Drone switched on '...'
+          2. Uploaded mission '....' (attach QGC mission file)
+          3. Took off '....'
+          4. See error
     validations:
       required: false
+
+  - type: textarea
+    attributes:
+      label: Expected behavior
+      description: A clear and concise description of what you expected to happen.
+    validations:
+      required: false
+
+  - type: textarea
+    attributes:
+      label: Screenshot / Media
+      description: Add screenshot / media if you have them
+
+  - type: textarea
+    attributes:
+      label: Flight Log
+      description: |
+          *Always* provide a link to the flight log file:
+          - Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/main/en/getting_started/flight_reporting.html)).
+          - Upload the log to the [PX4 Flight Review](http://logs.px4.io/)
+          - Share the link to the log (Copy and paste the URL of the log)
+      placeholder: |
+          # PASTE HERE THE LINK TO THE LOG
+    validations:
+      required: false
+
+  - type: markdown
+    attributes:
+      value: |
+        ## Setup
+
+  - type: textarea
+    attributes:
+      label: Software Version
+      description: |
+          Which version of PX4 are you using?
+      placeholder: |
+          # If you don't know the version, paste the output of `ver all` in the MAVLink Shell of QGC
+    validations:
+      required: false
+
+  - type: input
+    attributes:
+      label: Flight controller
+      description: Specify your flight controller model (what type is it, where was it bought from, ...).
+    validations:
+      required: false
+
+  - type: dropdown
+    attributes:
+      label: Vehicle type
+      options:
+        - Multicopter
+        - Helicopter
+        - Fixed Wing
+        - Hybrid VTOL
+        - Airship/Balloon
+        - Rover
+        - Boat
+        - Submarine
+        - Other
+
+  - type: textarea
+    attributes:
+      label: How are the different components wired up (including port information)
+      description: Details about how all is wired.
+
+  - type: textarea
+    attributes:
+      label: Additional context
+      description: Add any other context about the problem here.

.github/ISSUE_TEMPLATE/config.yml

@@ -1,4 +1,4 @@
-blank_issues_enabled: true
+blank_issues_enabled: false
 contact_links:
   - name: Support Question
     url: https://docs.px4.io/main/en/contribute/support.html#forums-and-chat

.github/PULL_REQUEST_TEMPLATE.md

@@ -1,9 +1,22 @@
 <!--
 
+Thank you for your contribution!
+
+Get early feedback through
+- Dronecode Discord: https://discord.gg/dronecode
+- PX4 Discuss: http://discuss.px4.io/
+- opening a draft pr and sharing the link
+
+-->
+
 ### Solved Problem
+When ... I found that ...
+
 Fixes #{Github issue ID}
 
 ### Solution
+- Add ... for ...
+- Refactor ...
 
 ### Changelog Entry
 For release notes:
@@ -14,10 +27,11 @@ Documentation: Need to clarify page ... / done, read docs.px4.io/...
 ```
 
 ### Alternatives
+We could also ...
 
 ### Test coverage
+- Unit/integration test: ...
+- Simulation/hardware testing logs: https://review.px4.io/
 
 ### Context
 Related links, screenshot before/after, video
-
--->

.github/instructions/docs.en.instructions.md

@@ -1,48 +0,0 @@
----
-applyTo: "docs/en/**"
----
-
-# Review Guidelines docs/en Tree
-
-## File System & Structure
-
-- **Naming:** Use `lowercase_with_underscores` for all filenames. No spaces.
-- **Hierarchy:** Markdown files must reside exactly in a first-level category folder. 
-  - Valid: `docs/en/category/file.md`
-  - Invalid: `docs/en/category/subcategory/file.md`
-- **Text Files:** Any `.txt` or `.text` files must start with an underscore (e.g., `_notes.txt`).
-- **Assets:** All images/non-docs must be in `/docs/assets/`. Deep nesting is permitted here.
-- **Formats:** Prefer **SVG** for diagrams and **PNG** for screenshots. Flag JPG files.
-
-## Markdown & Style
-
-- **Headings:** Use Title Case ("First Letter Capitalisation"). 
-  - The Page Title must be the only H1 (`#`). All others must be `##` or lower.
-  - Do not apply bold or italic styling inside a heading.
-- **Formatting:** 
-  - **Bold:** Only for UI elements (buttons, menu items).
-  - **Italics (Emphasis):** For tool names (e.g., *QGroundControl*).
-  - **Inline Code:** Use backticks for file paths, parameters, and CLI commands (e.g., `prettier`).
-- **Structure:** End every line at the end of a sentence (Semantic Line Breaks).
-
-## Linking & Navigation
-
-- **Standard Links:** Use standard inline syntax: `[link text](../category/filename.md)`.
-  Note relative link. 
-- **Table Links:** To keep tables readable, use reference-style links.
-  - Definition: `[Link Name]: https://example.com` (placed below the table).
-  - Usage: `[Link Name]` within the table cell.
-- **Images:** All image links must include a descriptive, accessible alt-text in the brackets: `![Detailed description of the image content](../../assets/path/to/image.png)`.
-  Note that all images should be relative references to images stored in the assets folder, which should be two folders below the any markdown file (as they are stored in a "category" subfolder) 
-
-- **Standard Links:** Use standard inline syntax: `[link text](../category/filename.md)`. Note the use of relative links.
-- **Table Links:** To keep tables easier to edit, prefer reference-style links.
-  - Definition: `[Link Name]: https://example.com` (placed below the table).
-  - Usage: `[Link Name]` within the table cell.
-- **Images:** All image links must include a descriptive, accessible alt-text: `![Detailed description of the image content](../../assets/path/to/image.png)`.
-  - **Note:** All images must be relative references to the `/docs/assets/` folder. Since documents are nested in a category folder, this is usually two levels up (`../../assets/`).
-
-## Quality Control
-
-- **Prettier Check:** Ensure Prettier rules have been applied. If there is evidence of inconsistent indentation or spacing, request the author run `npx prettier --write .` before merging.
-- **Language:** Enforce **UK English** spelling and grammar.

.github/instructions/src.drivers.instructions.md

@@ -1,212 +0,0 @@
----
-applyTo: "src/drivers/**"
----
-
-# PX4 Driver Review Instructions
-
-This file provides guidelines for reviewing driver files in the `src/drivers/` directory.
-
-## Copyright Statements
-
-### Required Files
-
-All source files (`.cpp`, `.c`, `.hpp`, `.h`, `CMakeLists.txt`) MUST include a copyright statement at the top.
-
-**Exceptions:** 
-- `Kconfig` files
-- `module.yaml` files
-
-### Copyright Format
-
-**For new files (created in 2026):**
-```cpp
-/****************************************************************************
- *
- *   Copyright (c) 2026 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-```
-
-**For updated files (originally created in 2015, updated in 2026):**
-```cpp
-/****************************************************************************
- *
- *   Copyright (c) 2015-2026 PX4 Development Team. All rights reserved.
- *
- * [... rest of copyright text ...]
- *
- ****************************************************************************/
-```
-
-### Key Points
-- First year should be the original creation year
-- When updating an existing file, update the year range: `YYYY-2026`
-- Use the current year (2026 in this case) for new files
-- Maintain consistent formatting with other PX4 driver files
-
----
-
-## Driver Self-Documentation
-
-All drivers MUST be self-documenting through the `print_usage()` method.
-
-### Required Implementation
-
-Every driver `.cpp` file must implement a `print_usage()` method that includes:
-
-1. **PRINT_MODULE_DESCRIPTION macro** - Contains markdown documentation
-2. **Module identification** - Using PRINT_MODULE_USAGE_NAME and optionally PRINT_MODULE_USAGE_SUBCATEGORY
-3. **Parameter documentation** - Relevant parameters, especially enablement parameters
-
-### PRINT_MODULE_DESCRIPTION Structure
-
-The description should follow this markdown format:
-
-```cpp
-PRINT_MODULE_DESCRIPTION(
-    R"DESCR_STR(
-### Description
-[Clear description of what the driver does and its primary functionality]
-
-### Implementation
-[Optional: High-level overview of how the driver works]
-
-### Examples
-[Optional: CLI usage examples if non-trivial]
-$ module_name start -d /dev/ttyS1
-$ module_name stop
-
-)DESCR_STR");
-```
-
-### Required Sections
-
-#### 1. Description Section
-- Brief explanation of the driver's purpose
-- Key features/capabilities
-- Important parameters (especially enable parameters like `SENS_XX_CFG`)
-
-#### 2. Documentation Links
-When applicable, include links to user documentation:
-```cpp
-Setup/usage information: https://docs.px4.io/main/en/sensor/[sensor-name].html
-```
-
-#### 3. Examples Section (when relevant)
-Provide CLI usage examples for non-trivial commands:
-```cpp
-### Examples
-Attempt to start driver on a specified serial device.
-$ vectornav start -d /dev/ttyS1
-Stop driver
-$ vectornav stop
-```
-
-### Complete Example
-
-```cpp
-int MyDriver::print_usage(const char *reason)
-{
-    if (reason) {
-        PX4_WARN("%s\n", reason);
-    }
-
-    PRINT_MODULE_DESCRIPTION(
-        R"DESCR_STR(
-### Description
-This driver interfaces with the XYZ sensor via I2C/SPI. It provides
-distance measurements and is automatically started when SENS_XYZ_CFG
-is set to the appropriate value.
-
-Key features:
-- Distance range: 0.2m to 50m
-- Update rate: up to 100Hz
-- I2C and SPI support
-
-Setup/usage information: https://docs.px4.io/main/en/sensor/xyz_sensor.html
-
-### Examples
-Start driver on I2C bus 1 with address 0x29:
-$ xyz_sensor start -X -b 1 -a 0x29
-)DESCR_STR");
-
-    PRINT_MODULE_USAGE_NAME("xyz_sensor", "driver");
-    PRINT_MODULE_USAGE_SUBCATEGORY("distance_sensor");
-    PRINT_MODULE_USAGE_COMMAND("start");
-    PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, true);
-    PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x29);
-    PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
-
-    return 0;
-}
-```
-
-### Common Patterns by Driver Type
-
-**For UART/Serial Drivers:**
-```cpp
-PRINT_MODULE_USAGE_PARAM_STRING('d', "/dev/ttyS3", "<file:dev>", "Serial device", true);
-```
-
-**For I2C/SPI Drivers:**
-```cpp
-PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, true);
-PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x76);
-```
-
-**For Sensor Drivers:**
-```cpp
-PRINT_MODULE_USAGE_SUBCATEGORY("distance_sensor");  // or imu, magnetometer, etc.
-```
-
----
-
-## Review Checklist
-
-When reviewing driver files, verify:
-
-- [ ] Copyright header is present (except Kconfig and module.yaml)
-- [ ] Copyright year is correct (current year for new files, year range for updates)
-- [ ] `print_usage()` method exists
-- [ ] `PRINT_MODULE_DESCRIPTION` macro is present with markdown content
-- [ ] Description section explains driver purpose clearly
-- [ ] Relevant parameters are documented (especially enable parameters)
-- [ ] Documentation links are included when available
-- [ ] Examples are provided for complex CLI usage
-- [ ] Module name and category are correctly specified
-- [ ] Standard commands (start, stop, status) are documented
-
----
-
-## Additional Resources
-
-- Driver template examples: `src/drivers/*/` (various sensor types)
-- Module macros: `platforms/common/include/px4_platform_common/module.h`
-- Similar drivers for reference patterns (DShot, VectorNav, CrsfRc, etc.)

.github/runs-on.yml

@@ -1,24 +0,0 @@
-runners:
-  x86-small-runner:
-    cpu: [1, 2]
-    ram: [1, 4]
-    disk: default
-    spot: price-capacity-optimized
-    image: ubuntu24-full-x64
-    extras: s3-cache
-  x86-firmware-builder:
-    cpu: [4, 8]
-    ram: [8, 16]
-    disk: default
-    family: ["c7i", "m7i", "r7i"]
-    spot: price-capacity-optimized
-    image: ubuntu24-full-x64
-    extras: s3-cache
-  arm64-firmware-builder:
-    cpu: [4, 8]
-    ram: [8, 16]
-    disk: default
-    family: ["c7g", "m7g", "r7g"]
-    spot: price-capacity-optimized
-    image: ubuntu24-full-arm64
-    extras: s3-cache

.github/workflows/build_all_targets.yml

@@ -26,15 +26,11 @@ concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}
   cancel-in-progress: true
 
-permissions:
-  contents: write
-  actions: read
-
 jobs:
   group_targets:
     name: Scan for Board Targets
     # runs-on: ubuntu-latest
-    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
     outputs:
       matrix: ${{ steps.set-matrix.outputs.matrix }}
       timestamp: ${{ steps.set-timestamp.outputs.timestamp }}
@@ -42,14 +38,6 @@ jobs:
     steps:
       - uses: actions/checkout@v4
 
-      - name: Cache Python pip
-        uses: actions/cache@v4
-        with:
-          path: ~/.cache/pip
-          key: ${{ runner.os }}-pip-${{ hashFiles('**./Tools/setup/requirements.txt') }}
-          restore-keys: |
-            ${{ runner.os }}-pip-
-
       - name: Update python packaging to avoid canonicalize_version() error
         run: |
             pip3 install -U packaging
@@ -60,15 +48,12 @@ jobs:
           path: "./Tools/setup/requirements.txt"
 
       - id: set-matrix
-        name: Generate Build Matrix
-        run: echo "matrix=$(./Tools/ci/generate_board_targets_json.py --group)" >> $GITHUB_OUTPUT
+        run: echo "::set-output name=matrix::$(./Tools/ci/generate_board_targets_json.py --group)"
 
       - id: set-timestamp
-        name: Save Current Timestamp
-        run: echo "timestamp=$(date +"%Y%m%d%H%M%S")" >> $GITHUB_OUTPUT
+        run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")"
 
       - id: set-branch
-        name: Save Current Branch Name
         run: |
           echo "branchname=${{
             github.event_name == 'pull_request' &&
@@ -85,7 +70,7 @@ jobs:
           echo "$(./Tools/ci/generate_board_targets_json.py --group --verbose)"
 
   setup:
-    name: Build [${{ matrix.runner }}][${{ matrix.group }}]
+    name: Build Group [${{ matrix.group }}][${{ matrix.arch == 'nuttx' && 'x86' || 'arm64' }}]
     # runs-on: ubuntu-latest
     runs-on: [runs-on,"runner=8cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",spot=false]
     needs: group_targets
@@ -95,7 +80,6 @@ jobs:
     container:
       image: ${{ matrix.container }}
     steps:
-      - uses: runs-on/action@v2
       - uses: actions/checkout@v4
         with:
           fetch-depth: 0
@@ -103,24 +87,14 @@ jobs:
       - name: Git ownership workaround
         run: git config --system --add safe.directory '*'
 
-      # ccache key breakdown:
-      # ccache-<system os>-<system arch>-<builder group>-
-      # ccache-<linux>-<arm64>-<aarch64-0>-
-      # ccache-<linux>-<x64>-<nuttx-0>-
-      - name: Cache Restore from Key
-        id: cc_restore
-        uses: actions/cache/restore@v4
+      - name: Setup ccache
+        uses: actions/cache@v4
         with:
           path: ~/.ccache
-          key: ${{ format('ccache-{0}-{1}-{2}', runner.os, matrix.runner, matrix.group) }}
-          restore-keys: |
-            ccache-${{ runner.os }}-${{ matrix.runner }}-${{ matrix.group }}-
-            ccache-${{ runner.os }}-${{ matrix.runner }}-
-            ccache-${{ runner.os }}-${{ matrix.runner }}-
-            ccache-${{ runner.os }}-
-            ccache-
+          key: ${{ matrix.group }}-ccache-${{ needs.group_targets.outputs.timestamp }}
+          restore-keys: ${{ matrix.group }}-ccache-${{ needs.group_targets.outputs.timestamp }}
 
-      - name: Cache Config and Stats
+      - name: Configure ccache
         run: |
             mkdir -p ~/.ccache
             echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
@@ -128,11 +102,10 @@ jobs:
             echo "compression_level = 6" >> ~/.ccache/ccache.conf
             echo "max_size = 120M" >> ~/.ccache/ccache.conf
             echo "hash_dir = false" >> ~/.ccache/ccache.conf
-            echo "compiler_check = content" >> ~/.ccache/ccache.conf
             ccache -s
             ccache -z
 
-      - name: Building Artifacts for [${{ matrix.targets }}]
+      - name: Building [${{ matrix.group }}]
         run: |
             ./Tools/ci/build_all_runner.sh ${{matrix.targets}} ${{matrix.arch}}
 
@@ -146,27 +119,15 @@ jobs:
           name: px4_${{matrix.group}}_build_artifacts
           path: artifacts/
 
-      - name: Cache Post Build Stats
-        if: always()
-        run: |
-            ccache -s
-            ccache -z
-
       - name: Cache Save
-        if: always()
-        uses: actions/cache/save@v4
-        with:
-          path: ~/.ccache
-          key: ${{ steps.cc_restore.outputs.cache-primary-key }}
+        run: ccache -s
 
   artifacts:
-    name: Upload Artifacts
+    name: Upload Artifacts to S3
     # runs-on: ubuntu-latest
     runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
     needs: [setup, group_targets]
-    if: startsWith(github.ref, 'refs/tags/v') || contains(fromJSON('["main","stable","beta"]'), needs.group_targets.outputs.branchname)
-    outputs:
-      uploadlocation: ${{ steps.upload-location.outputs.uploadlocation }}
+    if: contains(fromJSON('["main", "stable", "beta"]'), needs.group_targets.outputs.branchname)
     steps:
       - name: Download Artifacts
         uses: actions/download-artifact@v4
@@ -174,36 +135,11 @@ jobs:
           path: artifacts/
           merge-multiple: true
 
-      - name: Choose Upload Location
-        id: upload-location
+      - name: Branch Name
         run: |
-          # Determine upload location based on branch or tag with the following considerations:
-          # Destination: AWS S3 bucket px4-travis in folder Firmware/
-          # - If branch is main -> upload to master/
-          #   - Older versions of QGC are hardocded to look for master/
-          # - If branch is stable or beta -> upload to stable/ or beta/
-          # - If a tag vX.Y.Z -> upload to vX.Y.Z/
-          #   - Also update stable/ to point to the same version
-          #.  - Older versions of QGC are hardocded to look for stable/
-          # - If a pull request -> do not upload
-          set -euo pipefail
+          echo "${{ needs.group_targets.outputs.branchname }}"
 
-          ref="${GITHUB_REF}"
-          branch=${{ needs.group_targets.outputs.branchname  }}
-          location="$branch"
-
-          if [[ "$branch" == "main" ]]; then
-            location="master"
-          fi
-
-          if [[ "$ref" == refs/tags/v[0-9]* ]]; then
-            tag="${ref#refs/tags/}"
-            location="$tag"
-          fi
-
-          echo "uploadlocation=$location" >> $GITHUB_OUTPUT
-
-      - name: Uploading Artifacts to S3 [${{ steps.upload-location.outputs.uploadlocation }}]
+      - name: Uploading Artifacts to S3 [${{ needs.group_targets.outputs.branchname == 'main' && 'master' || needs.group_targets.outputs.branchname }}]
         uses: jakejarvis/s3-sync-action@master
         with:
           args: --acl public-read
@@ -213,30 +149,25 @@ jobs:
           AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
           AWS_REGION: 'us-west-1'
           SOURCE_DIR: artifacts/
-          DEST_DIR: Firmware/${{ steps.upload-location.outputs.uploadlocation }}/
+          DEST_DIR: Firmware/${{ needs.group_targets.outputs.branchname == 'main' && 'master' || needs.group_targets.outputs.branchname }}/
 
-      # if we are uploading artifacts to a versioned folder
-      # we should also update the stable folder in the s3 bucket
-      - name: Uploading Artifacts to S3 [stable]
-        uses: jakejarvis/s3-sync-action@master
-        if: startsWith(github.ref, 'refs/tags/v')
+  release:
+    name: Create Release and Upload Artifacts
+    permissions:
+      contents: write
+    # runs-on: ubuntu-latest
+    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    needs: [setup, group_targets]
+    if: startsWith(github.ref, 'refs/tags/')
+    steps:
+      - name: Download Artifacts
+        uses: actions/download-artifact@v4
         with:
-          args: --acl public-read
-        env:
-          AWS_S3_BUCKET: 'px4-travis'
-          AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
-          AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
-          AWS_REGION: 'us-west-1'
-          SOURCE_DIR: artifacts/
-          DEST_DIR: Firmware/stable/
+          path: artifacts/
+          merge-multiple: true
 
-      # if build is a release triggered by a versioned tag then create a github release
-      # and upload the build artifacts. A draft release is created so that the release
-      # can be reviewed before publishing
-      - name: Upload Artifacts to GitHub Release
+      - name: Upload Binaries to Release
         uses: softprops/action-gh-release@v2
-        if: startsWith(github.ref, 'refs/tags/v')
         with:
           draft: true
           files: artifacts/*.px4
-          name: ${{ steps.upload-location.outputs.uploadlocation }}

.github/workflows/compile_ubuntu.yml

@@ -29,7 +29,7 @@ jobs:
       fail-fast: false
       matrix:
         version: ['ubuntu:22.04', 'ubuntu:24.04']
-    runs-on: [runs-on,runner=4cpu-linux-x64,"image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=8cpu-linux-x64,"image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false]
     container:
       image: ${{ matrix.version }}
       volumes:

.github/workflows/dev_container.yml

@@ -39,7 +39,7 @@ jobs:
     name: Set Tags and Variables
     permissions:
       contents: read
-    runs-on: [runs-on,"runner=1cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
+    runs-on: [runs-on,"runner=1cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
     outputs:
       px4_version: ${{ steps.px4_version.outputs.px4_version }}
       meta_tags: ${{ steps.meta.outputs.tags }}
@@ -87,7 +87,7 @@ jobs:
           - platform: linux/amd64
             arch: amd64
             runner: x64
-    runs-on: [runs-on,"runner=4cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
+    runs-on: [runs-on,"runner=8cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
     steps:
       - uses: runs-on/action@v1
       - uses: actions/checkout@v4
@@ -130,15 +130,15 @@ jobs:
           load: false
           push: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
           provenance: false
-          cache-from: type=gha,version=1,scope=${{ matrix.arch }}
-          cache-to: type=gha,version=1,mode=max,scope=${{ matrix.arch }}
+          cache-from: type=gha,version=1
+          cache-to: type=gha,version=1,mode=max
 
   deploy:
     name: Deploy To Registry
     permissions:
       contents: read
       packages: write
-    runs-on: [runs-on,"runner=4cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
+    runs-on: [runs-on,"runner=8cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
     needs: [build, setup]
     if: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
     steps:

.github/workflows/docs_deploy.yml

@@ -1,6 +1,19 @@
-name: Docs - Deploy PX4 User Guide to Github pages (Manual)
+name: Docs - Deploy PX4 User Guide
 
 on:
+  push:
+    branches:
+      - 'main'
+      - 'release/**'
+    paths:
+      - 'docs/en/**'
+  pull_request:
+    branches:
+      - '**'
+    paths:
+      - 'docs/en/**'
+
+  # Allows you to run this workflow manually from the Actions tab
   workflow_dispatch:
 
 # Sets permissions of the GITHUB_TOKEN to allow deployment to GitHub Pages
@@ -20,7 +33,7 @@ env:
 
 jobs:
   build:
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
     steps:
       - uses: runs-on/action@v1
       - name: Checkout
@@ -55,7 +68,7 @@ jobs:
   deploy:
     if: ${{ github.event_name == 'push' || (github.event_name == 'pull_request' && github.event.pull_request.merged) || github.event_name == 'workflow_dispatch' }}
     needs: build
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
 
     steps:
       - name: Download Artifact

.github/workflows/docs_deploy2.yml

@@ -7,52 +7,42 @@ on:
       - "release/**"
     paths:
       - "docs/en/**"
-      - "docs/zh/**"
-      - "docs/uk/**"
-      - "docs/ko/**"
   pull_request:
+    branches:
+      - "**"
     paths:
       - "docs/en/**"
-      - "docs/zh/**"
-      - "docs/uk/**"
-      - "docs/ko/**"
 
   workflow_dispatch:
 
 permissions:
   contents: read
-  actions: read
   id-token: write # for AWS OIDC
 
 concurrency:
   group: docs-deploy
   cancel-in-progress: false
 
+env:
+  BRANCH_NAME: ${{ github.head_ref || github.ref_name }}
+
 jobs:
   build:
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
-    outputs:
-      branchname: ${{ steps.set-branch.outputs.branchname }}
-      releaseversion: ${{ steps.set-version.outputs.releaseversion }}
+    runs-on:
+      [
+        runs-on,
+        runner=8cpu-linux-x64,
+        image=ubuntu24-full-x64,
+        "run-id=${{ github.run_id }}",
+        spot=false,
+        extras=s3-cache,
+      ]
     steps:
       - uses: runs-on/action@v1
 
       - name: Checkout
         uses: actions/checkout@v4
 
-      - id: set-branch
-        run: echo "branchname=${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}}" >> $GITHUB_OUTPUT
-
-      - id: set-version
-        run: |
-          branch="${{ steps.set-branch.outputs.branchname }}"
-          if [[ "$branch" == "main" ]]; then
-            version="main"
-          else
-            version="v${branch#release/}"
-          fi
-          echo "releaseversion=$version" >> $GITHUB_OUTPUT
-
       - name: Setup Node
         uses: actions/setup-node@v4
         with:
@@ -65,8 +55,6 @@ jobs:
 
       - name: Build with VitePress
         working-directory: ./docs
-        env:
-          BRANCH_NAME: ${{ steps.set-version.outputs.releaseversion }}
         run: |
           npm run docs:build_ubuntu
           touch .vitepress/dist/.nojekyll
@@ -103,14 +91,14 @@ jobs:
 
       - name: Upload HTML with short cache
         run: |
-          aws s3 sync ~/_book/ s3://px4-docs/${{ needs.build.outputs.releaseversion }}/ \
+          aws s3 sync ~/_book/ s3://px4-docs/${{ env.BRANCH_NAME }}/ \
             --delete \
             --exclude "*" --include "*.html" \
             --cache-control "public, max-age=60"
 
       - name: Upload assets with long cache
         run: |
-          aws s3 sync ~/_book/ s3://px4-docs/${{ needs.build.outputs.releaseversion }}/ \
+          aws s3 sync ~/_book/ s3://px4-docs/${{ env.BRANCH_NAME }}/ \
             --delete \
             --exclude "*.html" \
             --cache-control "public, max-age=86400, immutable"

.github/workflows/failsafe_sim.yml

@@ -48,7 +48,6 @@ jobs:
         run: |
           git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk
           cd _emscripten_sdk
-          git checkout 4.0.15
           ./emsdk install latest
           ./emsdk activate latest
 

.github/workflows/flash_analysis.yml

@@ -24,7 +24,7 @@ env:
 jobs:
   analyze_flash:
     name: Analyzing ${{ matrix.target }}
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
     container:
       image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
     strategy:
@@ -54,7 +54,6 @@ jobs:
         run: |
           make clean
           make distclean
-          make submodulesclean
 
       - name: If it's a PR checkout the base branch
         if: ${{ github.event.pull_request }}
@@ -98,7 +97,7 @@ jobs:
   # Track this issue https://github.com/PX4/PX4-Autopilot/issues/24408
   post_pr_comment:
     name: Publish Results
-    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}"]
+    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
     needs: [analyze_flash]
     env:
       V5X-SUMMARY-MAP-ABS: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-summary-map).vm-absolute) }}

.github/workflows/itcm_check.yml

@@ -22,7 +22,7 @@ concurrency:
 jobs:
   check_itcm:
     name: Checking ${{ matrix.target }}
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
     container:
       image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
     strategy:
@@ -41,10 +41,6 @@ jobs:
             scripts: >
               boards/nxp/tropic-community/nuttx-config/scripts/itcm_functions_includes.ld
               boards/nxp/tropic-community/nuttx-config/scripts/itcm_static_functions.ld
-          - target: nxp_mr-tropic
-            scripts: >
-              boards/nxp/mr-tropic/nuttx-config/scripts/itcm_functions_includes.ld
-              boards/nxp/mr-tropic/nuttx-config/scripts/itcm_static_functions.ld
     steps:
       - uses: actions/checkout@v4
         with:

.github/workflows/ros_integration_tests.yml

@@ -23,7 +23,7 @@ concurrency:
 
 jobs:
   build:
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=16cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
     container:
       image: px4io/px4-dev-ros2-galactic:2021-09-08
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
@@ -90,9 +90,6 @@ jobs:
         mkdir -p /opt/px4_ws/src
         cd /opt/px4_ws/src
         git clone --recursive https://github.com/Auterion/px4-ros2-interface-lib.git
-        # Ignore python packages due to compilation issue (can be enabled when updating ROS)
-        touch px4-ros2-interface-lib/px4_ros2_py/COLCON_IGNORE || true
-        touch px4-ros2-interface-lib/examples/python/COLCON_IGNORE || true
         cd ..
         # Copy messages to ROS workspace
         "${PX4_DIR}/Tools/copy_to_ros_ws.sh" "$(pwd)"

.github/workflows/ros_translation_node.yml

@@ -21,7 +21,7 @@ concurrency:
 jobs:
   build_and_test:
     name: Build and test
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
     strategy:
       fail-fast: false
       matrix:

.github/workflows/sitl_tests.yml

@@ -24,7 +24,7 @@ concurrency:
 jobs:
   build:
     name: Testing PX4 ${{ matrix.config.model }}
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=16cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
     container:
       image: px4io/px4-dev-simulation-focal:2021-09-08
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
@@ -118,7 +118,7 @@ jobs:
           PX4_HOME_LON: ${{matrix.config.longitude}}
           PX4_HOME_ALT: ${{matrix.config.altitude}}
           PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-        run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 10 --abort-early --model ${{matrix.config.model}} test/mavsdk_tests/configs/sitl.json --verbose --force-color
+        run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 10 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose --force-color
         timeout-minutes: 45
 
       - name: Upload failed logs

.github/workflows/stale.yml

@@ -7,15 +7,10 @@ jobs:
   stale:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/stale@v10
+      - uses: actions/stale@v8
         with:
-          operations-per-run: 250
-          days-before-stale: 90
-          days-before-close: 30
+          days-before-stale: 30
+          days-before-close: -1
           stale-issue-label: 'stale'
           stale-pr-label: 'stale'
           remove-stale-when-updated: true
-          stale-issue-message: ''
-          close-issue-message: 'This issue has been automatically closed due to 120 days of inactivity. If you believe this is still relevant, please feel free to reopen it or create a new issue.'
-          stale-pr-message: ''
-          close-pr-message: 'This pull request has been automatically closed due to 120 days of inactivity. If you would like to continue, please feel free to reopen it or submit a new PR.'

.github/workflows/sync_to_px4_msgs.yml

@@ -1,62 +0,0 @@
-name: Sync ROS 2 messages to px4_msgs
-on:
-  push:
-    branches:
-      - 'main'
-      - 'stable'
-      - 'beta'
-      - 'release/**'
-    paths:
-      - 'msg/**'
-      - 'srv/**'
-  workflow_dispatch:
-
-permissions:
-  contents: read
-
-jobs:
-  sync_to_px4_msgs:
-    if: github.repository == 'PX4/PX4-Autopilot'
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
-    steps:
-      - name: Checkout PX4 repo
-        uses: actions/checkout@v4
-
-      - name: Setup git credentials
-        run: |
-          git config --global user.name "${{ secrets.PX4BUILDBOT_USER }}"
-          git config --global user.email "${{ secrets.PX4BUILDBOT_EMAIL }}"
-
-      - name: Clone PX4_msgs repo
-        run: |
-          git clone https://${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}@github.com/PX4/px4_msgs.git
-
-      - name: Check out the same branch as the PX4 repo
-        run: |
-          cd px4_msgs
-          if git checkout ${{ github.ref_name }}; then
-            echo "Checked out existing branch"
-          else
-            git checkout -b ${{ github.ref_name }}
-          fi
-
-      - name: Copy ROS 2 messages
-        run: |
-          rm -f px4_msgs/msg/*.msg
-          rm -f px4_msgs/msg/versioned/*.msg
-          rm -f px4_msgs/srv/*.srv
-          rm -f px4_msgs/srv/versioned/*.srv
-          cp msg/*.msg px4_msgs/msg/
-          cp msg/versioned/*.msg px4_msgs/msg/ || true
-          cp srv/*.srv px4_msgs/srv/
-          cp srv/versioned/*.srv px4_msgs/srv/ || true
-
-      - name: Commit and push changes
-        run: |
-          cd px4_msgs
-          git status
-          git add .
-          git commit -a -m "Update to PX4 ${{ github.sha }}" || true
-          git push origin ${{ github.ref_name }} || true
-          cd ..
-          rm -rf px4_msgs

.gitmodules

@@ -103,9 +103,3 @@
 [submodule "src/drivers/ins/sbgecom/sbgECom"]
 	path = src/drivers/ins/sbgecom/sbgECom
 	url = https://github.com/PX4/sbgECom.git
-[submodule "src/modules/mc_raptor/blob"]
-	path = src/modules/mc_raptor/blob
-	url = https://github.com/rl-tools/px4-blob
-[submodule "src/lib/rl_tools/rl_tools"]
-	path = src/lib/rl_tools/rl_tools
-	url = https://github.com/rl-tools/rl-tools.git

.vscode/cmake-variants.yaml

@@ -6,16 +6,6 @@ CONFIG:
       buildType: RelWithDebInfo
       settings:
         CONFIG: px4_sitl_default
-    px4_sitl_raptor:
-      short: px4_sitl_raptor
-      buildType: RelWithDebInfo
-      settings:
-        CONFIG: px4_sitl_raptor
-    px4_sitl_raptor_debug:
-      short: px4_sitl_raptor_debug
-      buildType: Debug
-      settings:
-        CONFIG: px4_sitl_raptor
     px4_sitl_spacecraft:
       short: px4_sitl_spacecraft
       buildType: RelWithDebInfo
@@ -151,11 +141,6 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: ark_can-flow_canbootloader
-    ark_can-flow-mr_default:
-      short: ark_can-flow-mr_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_can-flow-mr_default
     ark_can-flow-mr_canbootloader:
       short: ark_can-flow-mr_canbootloader
       buildType: MinSizeRel
@@ -251,16 +236,6 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: ark_fpv_default
-    ark_mag_canbootloader:
-      short: ark_mag_canbootloader
-      buildType: MiniSizeRel
-      settings:
-        CONFIG: ark_mag_canbootloader
-    ark_mag_default:
-      short: ark_mag_default
-      buildType: MiniSizeRel
-      settings:
-        CONFIG: ark_mag_default
     ark_pi6x_bootloader:
       short: ark_pi6x_bootloader
       buildType: MinSizeRel
@@ -431,16 +406,6 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: micoair_h743-v2_default
-    micoair_h743-lite_bootloader:
-      short: micoair_h743-lite_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: micoair_h743-lite_bootloader
-    micoair_h743-lite_default:
-      short: micoair_h743-lite
-      buildType: MinSizeRel
-      settings:
-        CONFIG: micoair_h743-lite_default
     modalai_fc-v1_default:
       short: modalai_fc-v1
       buildType: MinSizeRel
@@ -491,16 +456,6 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: nxp_mr-canhubk3_fmu
-    nxp_mr-tropic_default:
-      short: nxp_mr-tropic_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: nxp_mr-tropic_default
-    nxp_mr-tropic_bootloader:
-      short: nxp_mr-tropic_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: nxp_mr-tropic_bootloader
     nxp_tropic-community_default:
       short: nxp_tropic-community_default
       buildType: MinSizeRel
@@ -531,23 +486,3 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: x-mav_ap-h743v2_default
-    svehicle_e2_bootloader:
-      short: svehicle_e2_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: svehicle_e2_bootloader
-    svehicle_e2_default:
-      short: svehicle_e2
-      buildType: MinSizeRel
-      settings:
-        CONFIG: svehicle_e2_default
-    x-mav_ap-h743r1_bootloader:
-      short: x-mav_ap-h743r1-boot
-      buildType: MinSizeRel
-      settings:
-        CONFIG: x-mav_ap-h743r1_bootloader
-    x-mav_ap-h743r1_default:
-      short: x-mav_ap-h743r1
-      buildType: MinSizeRel
-      settings:
-        CONFIG: x-mav_ap-h743r1_default

CMakeLists.txt

@@ -267,7 +267,7 @@ endif()
 
 set(package-contact "px4users@googlegroups.com")
 
-set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD 14)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_C_STANDARD 11)
 set(CMAKE_C_STANDARD_REQUIRED ON)

CTestConfig.cmake

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

Jenkinsfile

@@ -101,7 +101,6 @@ pipeline {
             echo $0;
             git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk;
             cd _emscripten_sdk;
-            git checkout 4.0.15;
             ./emsdk install latest;
             ./emsdk activate latest;
             cd ..;
@@ -221,6 +220,36 @@ pipeline {
           }
         }
 
+        stage('PX4 ROS msgs') {
+          agent {
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
+          }
+          steps {
+            sh('export')
+            sh('make distclean; git clean -ff -x -d .')
+            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
+              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
+              // 'main' branch
+              sh('rm -f px4_msgs/msg/*.msg')
+              sh('rm -f px4_msgs/msg/versioned/*.msg')
+              sh('rm -f px4_msgs/srv/*.srv')
+              sh('rm -f px4_msgs/srv/versioned/*.srv')
+              sh('cp msg/*.msg px4_msgs/msg/')
+              sh('cp msg/versioned/*.msg px4_msgs/msg/ || true')
+              sh('cp srv/*.srv px4_msgs/srv/')
+              sh('cp srv/versioned/*.srv px4_msgs/srv/ || true')
+              sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
+              sh('cd px4_msgs; git push origin main || true')
+              sh('rm -rf px4_msgs')
+            }
+          }
+          when {
+            anyOf {
+              branch 'main'
+            }
+          }
+        }
+
         stage('S3') {
           agent {
             docker { image 'px4io/px4-dev-base-focal:2021-08-18' }

LICENSE

@@ -1,6 +1,6 @@
 BSD 3-Clause License
 
-Copyright (c) 2012 - 2025, PX4 Development Team
+Copyright (c) 2012 - 2023, PX4 Development Team
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

Makefile

@@ -325,8 +325,6 @@ bootloaders_update: \
 	ark_fmu-v6x_bootloader \
 	ark_fpv_bootloader \
 	ark_pi6x_bootloader \
-	auterion_fmu-v6s_bootloader \
-	auterion_fmu-v6x_bootloader \
 	cuav_nora_bootloader \
 	cuav_x7pro_bootloader \
 	cuav_7-nano_bootloader \
@@ -346,7 +344,6 @@ bootloaders_update: \
         micoair_h743_bootloader \
         micoair_h743-aio_bootloader \
 	micoair_h743-v2_bootloader \
-	micoair_h743-lite_bootloader \
 	modalai_fc-v2_bootloader \
 	mro_ctrl-zero-classic_bootloader \
 	mro_ctrl-zero-h7_bootloader \

ROMFS/CMakeLists.txt

@@ -85,32 +85,10 @@ endif()
 if(PX4_ETHERNET)
 	set(added_arguments ${added_arguments} --ethernet)
 endif()
-# Check if board has an rc.board_airframes file to filter airframes
-set(board_airframes_file "${PX4_BOARD_DIR}/init/rc.board_airframes")
-set(airframes_whitelist "")
-if(EXISTS "${board_airframes_file}")
-	message(STATUS "ROMFS: Using board-specific airframes list: ${board_airframes_file}")
-	file(STRINGS "${board_airframes_file}" airframes_whitelist)
-	# Remove comments and empty lines
-	list(FILTER airframes_whitelist EXCLUDE REGEX "^[ \t]*#")
-	list(FILTER airframes_whitelist EXCLUDE REGEX "^[ \t]*$")
-endif()
-
 # create list of relative romfs file names
 set(romfs_copy_files_relative)
 foreach(romfs_file IN LISTS romfs_copy_files)
 	string(REPLACE "${romfs_src_dir}/" "" romfs_file_rel ${romfs_file})
-
-	# If we have an airframes whitelist, filter airframe files
-	if(airframes_whitelist AND romfs_file_rel MATCHES "^init.d/airframes/")
-		# Extract just the filename
-		get_filename_component(airframe_name "${romfs_file_rel}" NAME)
-		# Check if it's in the whitelist
-		if(NOT "${airframe_name}" IN_LIST airframes_whitelist)
-			continue()
-		endif()
-	endif()
-
 	list(APPEND romfs_copy_files_relative ${romfs_file_rel})
 endforeach()
 # copy the ROMFS files by creating a tar and extracting it to the build

ROMFS/px4fmu_common/init.d-posix/airframes/10041_sihsim_airplane

@@ -27,6 +27,7 @@ param set-default SIH_KDV 0.2
 param set-default SIH_VEHICLE_TYPE 1 	# sih as fixed wing
 param set-default RWTO_TKOFF 1  # enable takeoff from runway (as opposed to launched)
 
+param set-default CA_AIRFRAME 1
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d-posix/airframes/1030_gazebo-classic_plane

@@ -44,6 +44,8 @@ param set-default NAV_DLL_ACT 2
 
 param set-default RWTO_TKOFF 1
 
+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d-posix/airframes/1031_gazebo-classic_plane_cam

@@ -46,6 +46,8 @@ param set-default NAV_DLL_ACT 2
 
 param set-default RWTO_TKOFF 1
 
+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d-posix/airframes/1032_gazebo-classic_plane_catapult

@@ -46,6 +46,8 @@ param set-default MIS_TAKEOFF_ALT 30
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
 
+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

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

@@ -31,6 +31,8 @@ param set-default NAV_DLL_ACT 2
 param set-default RWTO_TKOFF 1
 param set-default RWTO_PSP 8
 
+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

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

@@ -31,6 +31,8 @@ param set-default NAV_DLL_ACT 2
 param set-default RWTO_TKOFF 1
 param set-default RWTO_PSP 8
 
+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d-posix/airframes/1035_gazebo-classic_techpod

@@ -30,6 +30,8 @@ param set-default NAV_DLL_ACT 2
 
 param set-default RWTO_TKOFF 1
 
+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

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

@@ -31,6 +31,8 @@ param set-default NAV_DLL_ACT 2
 param set-default RWTO_TKOFF 1
 param set-default RWTO_PSP 8
 
+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d-posix/airframes/1037_gazebo-classic_believer

@@ -38,6 +38,8 @@ param set-default NAV_DLL_ACT 2
 
 param set-default RWTO_TKOFF 1
 
+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d-posix/airframes/1038_gazebo-classic_glider

@@ -44,6 +44,8 @@ param set-default MIS_TAKEOFF_ALT 30
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
 
+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d-posix/airframes/1039_flightgear_rascal

@@ -35,6 +35,8 @@ param set-default RWTO_MAX_PITCH 20
 param set-default RWTO_PSP 8
 param set-default RWTO_AIRSPD_SCL 1.8
 
+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d-posix/airframes/1039_gazebo-classic_advanced_plane

@@ -35,6 +35,8 @@ param set-default NAV_DLL_ACT 2
 
 param set-default RWTO_TKOFF 1
 
+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d-posix/airframes/1044_gazebo-classic_plane_lidar

@@ -46,6 +46,8 @@ param set-default NAV_DLL_ACT 2
 
 param set-default RWTO_TKOFF 1
 
+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

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

@@ -43,6 +43,8 @@ param set-default FW_THR_TRIM 0.8
 param set-default FW_THR_IDLE 0
 param set-default COM_DISARM_PRFLT 0
 
+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d-posix/airframes/17002_flightgear_tf-g2

@@ -48,6 +48,8 @@ param set-default FW_THR_TRIM 0.8
 param set-default FW_THR_IDLE 0
 param set-default COM_DISARM_PRFLT 0
 
+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d-posix/airframes/4001_gz_x500

@@ -49,3 +49,9 @@ param set-default SIM_GZ_EC_MAX4 1000
 
 param set-default MPC_THR_HOVER 0.60
 param set-default NAV_DLL_ACT 2
+
+# DEBUGGING: ekf range fusion
+# default, ekf replay, cv+avoid, high rate sensors
+param set-default SDLOG_PROFILE 2179
+# sim distance on ground
+param set-default EKF2_MIN_RNG 0.177

ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_rc_cessna

@@ -53,6 +53,8 @@ param set-default NAV_DLL_ACT 2
 
 param set-default RWTO_TKOFF 1
 
+param set-default CA_AIRFRAME 1
+
 param set-default COM_PREARM_MODE 2
 
 param set-default CA_ROTOR_COUNT 1

ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol

@@ -101,6 +101,6 @@ param set-default NAV_ACC_RAD 5
 param set-default NAV_DLL_ACT 2
 
 param set-default VT_FWD_THRUST_EN 4
-param set-default VT_F_TRANS_THR 1
+param set-default VT_F_TRANS_THR 0.3
 param set-default VT_TYPE 2
 param set-default FD_ESCS_EN 0

ROMFS/px4fmu_common/init.d-posix/airframes/4008_gz_advanced_plane

@@ -11,6 +11,8 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=advanced_plane}
 
 param set-default SIM_GZ_EN 1
 
+param set-default SENS_EN_ARSPDSIM 1
+
 param set-default FW_LND_ANG 8
 
 param set-default FW_PR_FF 0.08
@@ -46,6 +48,8 @@ param set-default NAV_DLL_ACT 2
 
 param set-default RWTO_TKOFF 1
 
+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 
 param set-default CA_SV_CS_COUNT 6

ROMFS/px4fmu_common/init.d-posix/airframes/4012_gz_rover_ackermann

@@ -1,5 +1,5 @@
 #!/bin/sh
-# @name Generic Ackermann Rover
+# @name Rover Ackermann
 # @type Rover
 # @class Rover
 
@@ -14,32 +14,30 @@ param set-default SIM_GZ_EN 1 # Gazebo bridge
 param set-default NAV_ACC_RAD 0.5
 
 # Ackermann Parameters
-param set-default RA_WHEEL_BASE 0.5
+param set-default RA_WHEEL_BASE 0.321
 param set-default RA_ACC_RAD_GAIN 2
-param set-default RA_ACC_RAD_MAX 1.5
+param set-default RA_ACC_RAD_MAX 3
 param set-default RA_MAX_STR_ANG 0.5236
 param set-default RA_STR_RATE_LIM 360
 
-# Rate Control Parameters
-param set-default RO_YAW_RATE_I 0.01
-param set-default RO_YAW_RATE_P 0.25
-param set-default RO_YAW_RATE_LIM 130
-param set-default RO_YAW_ACCEL_LIM 800
-param set-default RO_YAW_DECEL_LIM 800
-param set-default RO_YAW_RATE_CORR 1
-param set-default RO_YAW_EXPO 0.85
-param set-default RO_YAW_SUPEXPO 0.3
+# Rover Control Parameters
+param set-default RO_ACCEL_LIM 3
+param set-default RO_DECEL_LIM 6
+param set-default RO_JERK_LIM 15
+param set-default RO_MAX_THR_SPEED 3.1
 
-# Attitude Control Parameters
+# Rover Rate Control Parameters
+param set-default RO_YAW_RATE_I 0.1
+param set-default RO_YAW_RATE_P 1
+param set-default RO_YAW_RATE_LIM 180
+param set-default RO_YAW_RATE_CORR 1
+
+# Rover Attitude Control Parameters
 param set-default RO_YAW_P 3
 
-# Velocity Control Parameters
-param set-default RO_ACCEL_LIM 4
-param set-default RO_DECEL_LIM 6
-param set-default RO_JERK_LIM 10
-param set-default RO_MAX_THR_SPEED 3.1
-param set-default RO_SPEED_LIM 2.5
-param set-default RO_SPEED_I 0.01
+# Rover Velocity Control Parameters
+param set-default RO_SPEED_LIM 3
+param set-default RO_SPEED_I 0.1
 param set-default RO_SPEED_P 1
 param set-default RO_SPEED_RED 1
 
@@ -50,8 +48,8 @@ param set-default PP_LOOKAHD_MIN 1
 
 # Wheels
 param set-default SIM_GZ_WH_FUNC1 101
-param set-default SIM_GZ_WH_MIN1 70
-param set-default SIM_GZ_WH_MAX1 130
+param set-default SIM_GZ_WH_MIN1 0
+param set-default SIM_GZ_WH_MAX1 200
 param set-default SIM_GZ_WH_DIS1 100
 
 # Steering

ROMFS/px4fmu_common/init.d-posix/airframes/4015_gz_r1_rover_mecanum

@@ -1,5 +1,5 @@
 #!/bin/sh
-# @name Generic Mecanum Rover
+# @name Aion Robotics R1 Rover
 # @type Rover
 # @class Rover
 
@@ -7,15 +7,14 @@
 
 PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
 PX4_GZ_WORLD=${PX4_GZ_WORLD:=rover}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover_mecanum}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=r1_rover_mecanum}
 
 param set-default SIM_GZ_EN 1 # Gazebo bridge
 
 param set-default NAV_ACC_RAD 0.5
 
 # Mecanum Parameters
-param set-default RM_WHEEL_TRACK 0.6
-param set-default RM_YAW_STK_GAIN 0.6
+param set-default RM_WHEEL_TRACK 0.3
 
 # Rover Control Parameters
 param set-default RO_ACCEL_LIM 3
@@ -30,21 +29,15 @@ param set-default RO_YAW_RATE_LIM 120
 param set-default RO_YAW_ACCEL_LIM 240
 param set-default RO_YAW_DECEL_LIM 1000
 param set-default RO_YAW_RATE_CORR 1.75
-param set-default RO_YAW_EXPO 0.85
-param set-default RO_YAW_SUPEXPO 0.3
 
 # Rover Attitude Control Parameters
 param set-default RO_YAW_P 5
 
-# Velocity Control Parameters
-param set-default RO_ACCEL_LIM 4
-param set-default RO_DECEL_LIM 6
-param set-default RO_JERK_LIM 10
-param set-default RO_MAX_THR_SPEED 3.1
-param set-default RO_SPEED_LIM 2.5
-param set-default RO_SPEED_I 0.01
-param set-default RO_SPEED_P 0.1
-param set-default RO_SPEED_RED 0.5
+# Rover Velocity Control Parameters
+param set-default RO_SPEED_LIM 2
+param set-default RO_SPEED_I 0.5
+param set-default RO_SPEED_P 1
+param set-default RO_SPEED_RED 1
 
 # Pure Pursuit parameters
 param set-default PP_LOOKAHD_GAIN 0.5
@@ -55,24 +48,24 @@ param set-default PP_LOOKAHD_MIN 1
 param set-default SENS_EN_MAGSIM 1
 
 # Actuator mapping
-param set-default SIM_GZ_WH_FUNC1 104 # left wheel back
+param set-default SIM_GZ_WH_FUNC1 102 # right wheel front
 param set-default SIM_GZ_WH_MIN1 70
 param set-default SIM_GZ_WH_MAX1 130
 param set-default SIM_GZ_WH_DIS1 100
 
-param set-default SIM_GZ_WH_FUNC2 103 # right wheel back
+param set-default SIM_GZ_WH_FUNC2 101 # left wheel front
 param set-default SIM_GZ_WH_MIN2 70
 param set-default SIM_GZ_WH_MAX2 130
 param set-default SIM_GZ_WH_DIS2 100
 
-param set-default SIM_GZ_WH_FUNC3 102 # left wheel front
+param set-default SIM_GZ_WH_FUNC3 104 # right wheel back
 param set-default SIM_GZ_WH_MIN3 70
 param set-default SIM_GZ_WH_MAX3 130
 param set-default SIM_GZ_WH_DIS3 100
 
-param set-default SIM_GZ_WH_FUNC4 101 # right wheel front
+param set-default SIM_GZ_WH_FUNC4 103 # left wheel back
 param set-default SIM_GZ_WH_MIN4 70
 param set-default SIM_GZ_WH_MAX4 130
 param set-default SIM_GZ_WH_DIS4 100
 
-param set-default SIM_GZ_WH_REV 0
+param set-default SIM_GZ_WH_REV 10

ROMFS/px4fmu_common/init.d-posix/airframes/4019_gz_x500_gimbal

@@ -19,6 +19,5 @@ param set-default MNT_MAN_PITCH 2
 param set-default MNT_MAN_YAW 3
 
 param set-default MNT_RANGE_ROLL 180
-param set-default MNT_MAX_PITCH 45
-param set-default MNT_MIN_PITCH -135
+param set-default MNT_RANGE_PITCH 180
 param set-default MNT_RANGE_YAW 720

ROMFS/px4fmu_common/init.d-posix/airframes/50000_gz_rover_differential

@@ -17,7 +17,6 @@ param set-default NAV_ACC_RAD 0.5
 param set-default RD_WHEEL_TRACK 0.6
 param set-default RD_TRANS_DRV_TRN 0.785398
 param set-default RD_TRANS_TRN_DRV 0.174533
-param set-default RD_YAW_STK_GAIN 0.6
 
 # Rate Control Parameters
 param set-default RO_YAW_RATE_I 0.01
@@ -26,8 +25,6 @@ param set-default RO_YAW_RATE_LIM 250
 param set-default RO_YAW_ACCEL_LIM 400
 param set-default RO_YAW_DECEL_LIM 800
 param set-default RO_YAW_RATE_CORR 1
-param set-default RO_YAW_EXPO 0.85
-param set-default RO_YAW_SUPEXPO 0.3
 
 # Attitude Control Parameters
 param set-default RO_YAW_P 5

ROMFS/px4fmu_common/init.d-posix/airframes/6011_gazebo-classic_typhoon_h480

@@ -26,6 +26,7 @@ param set-default TRIG_INTERFACE 3
 param set-default TRIG_MODE 4
 param set-default MNT_MODE_IN 4
 param set-default MNT_MODE_OUT 2
+param set-default MAV_PROTO_VER 2
 
 param set-default CA_AIRFRAME 0
 param set-default CA_ROTOR_COUNT 6

ROMFS/px4fmu_common/init.d-posix/airframes/70001_gz_atmos_dual

@@ -1,167 +0,0 @@
-#!/bin/sh
-#
-# @name KTH-ATMOS
-#
-# @type Free-Flyer
-# @class Spacecraft
-#
-# @output Motor1 back left thruster, +x thrust
-# @output Motor2 front left thruster, -x thrust
-# @output Motor3 back right thruster, +x thrust
-# @output Motor4 front right thruster, -x thrust
-# @output Motor5 front left thruster, +y thrust
-# @output Motor6 front right thruster, -y thrust
-# @output Motor7 back left thruster, +y thrust
-# @output Motor8 back right thruster, -y thrust
-#
-# @maintainer discower-io
-# @url https://atmos.discower.io
-#
-
-. ${R}etc/init.d/rc.sc_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=atmos_dual}
-
-param set-default SIM_GZ_EN 1
-
-param set-default SENS_EN_MAGSIM 1
-param set-default COM_ARM_CHK_ESCS 0  # We don't have ESCs
-param set-default FD_ESCS_EN 0
-
-param set-default CA_AIRFRAME 14
-param set-default MAV_TYPE 45
-
-param set-default CA_ROTOR_COUNT 8
-param set-default CA_R_REV 0
-
-# Auto to be provided by Custom Airframe
-param set-default CA_METHOD 0
-
-# Set proper failsafes
-param set-default COM_ACT_FAIL_ACT 0
-param set-default COM_LOW_BAT_ACT 0
-param set-default NAV_DLL_ACT 0
-param set-default GF_ACTION 1
-param set-default NAV_RCL_ACT 1
-
-# disable attitude failure detection
-param set-default FD_FAIL_P 0
-param set-default FD_FAIL_R 0
-
-param set-default CA_ROTOR0_PX -0.12
-param set-default CA_ROTOR0_PY -0.12
-param set-default CA_ROTOR0_PZ 0.0
-param set-default CA_ROTOR0_CT 1.4
-param set-default CA_ROTOR0_AX 1.0
-param set-default CA_ROTOR0_AY 0.0
-param set-default CA_ROTOR0_AZ 0.0
-
-param set-default CA_ROTOR1_PX 0.12
-param set-default CA_ROTOR1_PY -0.12
-param set-default CA_ROTOR1_PZ 0.0
-param set-default CA_ROTOR1_CT 1.4
-param set-default CA_ROTOR1_AX -1.0
-param set-default CA_ROTOR1_AY 0.0
-param set-default CA_ROTOR1_AZ 0.0
-
-param set-default CA_ROTOR2_PX -0.12
-param set-default CA_ROTOR2_PY 0.12
-param set-default CA_ROTOR2_PZ 0.0
-param set-default CA_ROTOR2_CT 1.4
-param set-default CA_ROTOR2_AX 1.0
-param set-default CA_ROTOR2_AY 0.0
-param set-default CA_ROTOR2_AZ 0.0
-
-param set-default CA_ROTOR3_PX 0.12
-param set-default CA_ROTOR3_PY 0.12
-param set-default CA_ROTOR3_PZ 0.0
-param set-default CA_ROTOR3_CT 1.4
-param set-default CA_ROTOR3_AX -1.0
-param set-default CA_ROTOR3_AY 0.0
-param set-default CA_ROTOR3_AZ 0.0
-
-param set-default CA_ROTOR4_PX 0.12
-param set-default CA_ROTOR4_PY -0.12
-param set-default CA_ROTOR4_PZ 0.0
-param set-default CA_ROTOR4_CT 1.4
-param set-default CA_ROTOR4_AX 0.0
-param set-default CA_ROTOR4_AY 1.0
-param set-default CA_ROTOR4_AZ 0.0
-
-param set-default CA_ROTOR5_PX 0.12
-param set-default CA_ROTOR5_PY 0.12
-param set-default CA_ROTOR5_PZ 0.0
-param set-default CA_ROTOR5_CT 1.4
-param set-default CA_ROTOR5_AX 0.0
-param set-default CA_ROTOR5_AY -1.0
-param set-default CA_ROTOR5_AZ 0.0
-
-param set-default CA_ROTOR6_PX -0.12
-param set-default CA_ROTOR6_PY -0.12
-param set-default CA_ROTOR6_PZ 0.0
-param set-default CA_ROTOR6_CT 1.4
-param set-default CA_ROTOR6_AX 0.0
-param set-default CA_ROTOR6_AY 1.0
-param set-default CA_ROTOR6_AZ 0.0
-
-param set-default CA_ROTOR7_PX -0.12
-param set-default CA_ROTOR7_PY 0.12
-param set-default CA_ROTOR7_PZ 0.0
-param set-default CA_ROTOR7_CT 1.4
-param set-default CA_ROTOR7_AX 0.0
-param set-default CA_ROTOR7_AY -1.0
-param set-default CA_ROTOR7_AZ 0.0
-
-param set-default SIM_GZ_EC_FUNC1 101
-param set-default SIM_GZ_EC_FUNC2 102
-param set-default SIM_GZ_EC_FUNC3 103
-param set-default SIM_GZ_EC_FUNC4 104
-param set-default SIM_GZ_EC_FUNC5 105
-param set-default SIM_GZ_EC_FUNC6 106
-param set-default SIM_GZ_EC_FUNC7 107
-param set-default SIM_GZ_EC_FUNC8 108
-param set-default SIM_GZ_EC_FUNC9 301
-param set-default SIM_GZ_EC_FUNC10 302
-param set-default SIM_GZ_EC_FUNC11 303
-param set-default SIM_GZ_EC_FUNC12 304
-
-param set-default SIM_GZ_EC_MIN1 0
-param set-default SIM_GZ_EC_MIN2 0
-param set-default SIM_GZ_EC_MIN3 0
-param set-default SIM_GZ_EC_MIN4 0
-param set-default SIM_GZ_EC_MIN5 0
-param set-default SIM_GZ_EC_MIN6 0
-param set-default SIM_GZ_EC_MIN7 0
-param set-default SIM_GZ_EC_MIN8 0
-param set-default SIM_GZ_EC_MIN9 1100
-param set-default SIM_GZ_EC_MIN10 1100
-param set-default SIM_GZ_EC_MIN11 1100
-param set-default SIM_GZ_EC_MIN12 1100
-
-param set-default SIM_GZ_EC_MAX1 10000
-param set-default SIM_GZ_EC_MAX2 10000
-param set-default SIM_GZ_EC_MAX3 10000
-param set-default SIM_GZ_EC_MAX4 10000
-param set-default SIM_GZ_EC_MAX5 10000
-param set-default SIM_GZ_EC_MAX6 10000
-param set-default SIM_GZ_EC_MAX7 10000
-param set-default SIM_GZ_EC_MAX8 10000
-param set-default SIM_GZ_EC_MAX9 1900
-param set-default SIM_GZ_EC_MAX10 1900
-param set-default SIM_GZ_EC_MAX11 1900
-param set-default SIM_GZ_EC_MAX12 1900
-
-# Controller Tunings
-param set SC_YAWRATE_P 3.335
-param set SC_YAWRATE_I 0.87
-param set SC_YAWRATE_D 0.15
-param set SC_YR_INT_LIM 0.2
-param set SC_YAW_P 3.0
-
-param set SPC_POS_P 0.20
-param set SPC_VEL_P 6.55
-param set SPC_VEL_I 0.0
-param set SPC_VEL_D 0.0
-param set SPC_VEL_MAX 12.0

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

@@ -80,8 +80,10 @@ px4_add_romfs_files(
 	4009_gz_r1_rover
 	4010_gz_x500_mono_cam
 	4011_gz_lawnmower
+	4012_gz_rover_ackermann
 	4013_gz_x500_lidar_2d
 	4014_gz_x500_mono_cam_down
+	4015_gz_r1_rover_mecanum
 	4016_gz_x500_lidar_down
 	4017_gz_x500_lidar_front
 	4018_gz_quadtailsitter
@@ -112,13 +114,10 @@ px4_add_romfs_files(
 	17002_flightgear_tf-g2
 
 	50000_gz_rover_differential
-	51000_gz_rover_ackermann
-	52000_gz_rover_mecanum
 
 	60002_gz_uuv_bluerov2_heavy
 
 	70000_gz_atmos
-	70001_gz_atmos_dual
 
 	# [22000, 22999] Reserve for custom models
 )

ROMFS/px4fmu_common/init.d-posix/px4-rc.gzsim

@@ -159,19 +159,24 @@ if [ -n "${PX4_SIM_MODEL#*gz_}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ]; then
 	fi
 
 	# Set up camera to follow the model if requested
-	if [ -z "${PX4_GZ_NO_FOLLOW}" ]; then
+	if [ -n "${PX4_GZ_FOLLOW}" ]; then
 
 		echo "INFO  [init] Setting camera to follow ${MODEL_NAME_INSTANCE}"
 
+		# Set camera to follow the model
+		${gz_command} service -s "/gui/follow" --reqtype gz.msgs.StringMsg \
+				--reptype gz.msgs.Boolean --timeout 5000 \
+				--req "data: \"${MODEL_NAME_INSTANCE}\"" > /dev/null 2>&1
+
 		# Set default camera offset if not specified
 		follow_x=${PX4_GZ_FOLLOW_OFFSET_X:--2.0}
 		follow_y=${PX4_GZ_FOLLOW_OFFSET_Y:--2.0}
 		follow_z=${PX4_GZ_FOLLOW_OFFSET_Z:-2.0}
 
 		# Set camera offset
-		${gz_command} topic -t /gui/track -m gz.msgs.CameraTrack \
-				-p "track_mode: FOLLOW, follow_target: {name: '${MODEL_NAME_INSTANCE}'},\
-				 follow_offset: {x: ${follow_x}, y: ${follow_y}, z: ${follow_z}}, follow_pgain: 1.0, track_pgain: 1.0"
+		${gz_command} service -s "/gui/follow/offset" --reqtype gz.msgs.Vector3d \
+				--reptype gz.msgs.Boolean --timeout 5000 \
+				--req "x: ${follow_x}, y: ${follow_y}, z: ${follow_z}" > /dev/null 2>&1
 
 		echo "INFO  [init] Camera follow offset set to ${follow_x}, ${follow_y}, ${follow_z}"
 	fi

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -126,6 +126,15 @@ then
 	set AUTOCNF yes
 fi
 
+# Allow overriding parameters via env variables: export PX4_PARAM_{name}={value}
+env | while IFS='=' read -r line; do
+  value=${line#*=}
+  name=${line%%=*}
+  case $name in
+    "PX4_PARAM_"*) param set "${name#PX4_PARAM_}" "$value" ;;
+  esac
+done
+
 # multi-instance setup
 # shellcheck disable=SC2154
 param set MAV_SYS_ID $((px4_instance+1))
@@ -164,6 +173,7 @@ param set-default COM_RC_IN_MODE 1
 param set-default EKF2_REQ_GPS_H 0.5
 
 param set-default IMU_GYRO_FFT_EN 1
+param set-default MAV_PROTO_VER 2 # Ensures QGC does not drop the first few packets after a SITL restart due to MAVLINK 1 packets
 
 param set-default -s MC_AT_EN 1
 
@@ -229,15 +239,6 @@ then
 	exit 1
 fi
 
-# Allow overriding parameters via env variables: export PX4_PARAM_{name}={value}
-env | while IFS='=' read -r line; do
-  value=${line#*=}
-  name=${line%%=*}
-  case $name in
-    "PX4_PARAM_"*) param set "${name#PX4_PARAM_}" "$value" ;;
-  esac
-done
-
 dataman start
 
 # only start the simulator if not in replay mode, as both control the lockstep time

ROMFS/px4fmu_common/init.d/CMakeLists.txt

@@ -123,9 +123,3 @@ if(CONFIG_MODULES_TEMPERATURE_COMPENSATION)
 		rc.thermal_cal
 	)
 endif()
-
-if(CONFIG_DRIVERS_VTXTABLE)
-	px4_add_romfs_files(
-		rc.vtxtable
-	)
-endif()

ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil

@@ -14,6 +14,7 @@
 
 param set UAVCAN_ENABLE 0
 
+param set-default CA_AIRFRAME 1
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2

@@ -18,8 +18,6 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
-# @board px4_fmu-v6x exclude
-# @board ark_fmu-v6x exclude
 #
 
 . ${R}etc/init.d/rc.fw_defaults
@@ -42,6 +40,8 @@ param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
 param set-default FW_P_RMAX_NEG 20
 
+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2

@@ -16,8 +16,6 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
-# @board px4_fmu-v6x exclude
-# @board ark_fmu-v6x exclude
 #
 
 . ${R}etc/init.d/rc.fw_defaults
@@ -39,6 +37,8 @@ param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
 param set-default FW_P_RMAX_NEG 20
 
+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

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

@@ -10,6 +10,7 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
+param set-default CA_AIRFRAME 1
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 param set-default CA_SV_CS_COUNT 4

ROMFS/px4fmu_common/init.d/airframes/2106_albatross

@@ -32,6 +32,7 @@ param set-default FW_WR_IMAX 0.8
 param set-default FW_WR_P 1
 param set-default FW_W_RMAX 0
 
+param set-default CA_AIRFRAME 1
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_SV_CS_COUNT 7
 param set-default CA_SV_CS0_TRQ_R -0.5

ROMFS/px4fmu_common/init.d/airframes/3000_generic_wing

@@ -10,6 +10,8 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.15
 param set-default CA_SV_CS_COUNT 2

ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision

@@ -7,8 +7,6 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
-# @board px4_fmu-v6x exclude
-# @board ark_fmu-v6x exclude
 #
 
 . ${R}etc/init.d/rc.mc_defaults
@@ -77,6 +75,9 @@ param set-default NAV_ACC_RAD 2
 param set-default RTL_DESCEND_ALT 5
 param set-default RTL_RETURN_ALT 5
 
+# Logging Parameters
+param set-default SDLOG_PROFILE 131
+
 # Sensors Parameters
 param set-default SENS_CM8JL65_CFG 104
 param set-default SENS_FLOW_MAXHGT 25

ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames

@@ -7,10 +7,6 @@
 #
 # @board px4_fmu-v2 exclude
 # @board px4_fmu-v5x exclude
-# @board auterion_fmu-v6s exclude
-# @board ark_fmu-v6x exclude
-# @board auterion_fmu-v6x exclude
-# @board px4_fmu-v6x exclude
 # @board bitcraze_crazyflie exclude
 #
 # @maintainer Iain Galloway <iain.galloway@nxp.com>

ROMFS/px4fmu_common/init.d/airframes/4020_holybro_px4vision_v1_5

@@ -7,7 +7,6 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
-# @board auterion_fmu-v6x exclude
 # @board px4_fmu-v6x exclude
 #
 
@@ -78,6 +77,9 @@ param set-default NAV_ACC_RAD 2
 param set-default RTL_DESCEND_ALT 5
 param set-default RTL_RETURN_ALT 5
 
+# Logging Parameters
+param set-default SDLOG_PROFILE 131
+
 # Sensors Parameters
 param set-default SENS_CM8JL65_CFG 202
 param set-default SENS_FLOW_MAXHGT 25

ROMFS/px4fmu_common/init.d/airframes/4041_beta75x

@@ -13,11 +13,6 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
-# @board auterion_fmu-v6s exclude
-# @board ark_fmu-v6x exclude
-# @board auterion_fmu-v6x exclude
-# @board px4_fmu-v6x exclude
-# @board px4_fmu-v6xrt exclude
 # @board bitcraze_crazyflie exclude
 #
 

ROMFS/px4fmu_common/init.d/airframes/4050_generic_250

@@ -29,6 +29,9 @@ param set-default MPC_MAN_TILT_MAX 60
 
 param set-default THR_MDL_FAC 0.3
 
+# enable high-rate logging profile (helps with tuning)
+param set-default SDLOG_PROFILE 19
+
 param set-default IMU_DGYRO_CUTOFF 50
 param set-default IMU_GYRO_CUTOFF 90
 

ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250

@@ -11,8 +11,6 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
-# @board px4_fmu-v6x exclude
-# @board ark_fmu-v6x exclude
 #
 
 . ${R}etc/init.d/rc.mc_defaults

ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2

@@ -9,8 +9,6 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
-# @board px4_fmu-v6x exclude
-# @board ark_fmu-v6x exclude
 #
 
 . ${R}etc/init.d/rc.mc_defaults

ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu

@@ -10,7 +10,6 @@
 # @board cuav_x7pro exclude
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5x exclude
-# @board auterion_fmu-v6x exclude
 # @board px4_fmu-v6x exclude
 #
 

ROMFS/px4fmu_common/init.d/airframes/4071_ifo

@@ -12,7 +12,6 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
-# @board auterion_fmu-v6x exclude
 # @board px4_fmu-v6x exclude
 # @board bitcraze_crazyflie exclude
 # @board cuav_x7pro exclude

ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s

@@ -10,7 +10,6 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
-# @board auterion_fmu-v6x exclude
 # @board px4_fmu-v6x exclude
 # @board bitcraze_crazyflie exclude
 # @board cuav_x7pro exclude

ROMFS/px4fmu_common/init.d/airframes/4601_droneblocks_dexi_5

@@ -14,7 +14,6 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
-# @board auterion_fmu-v6x exclude
 # @board px4_fmu-v6x exclude
 # @board bitcraze_crazyflie exclude
 # @board diatone_mamba-f405-mk2 exclude

ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21

@@ -13,7 +13,6 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
-# @board auterion_fmu-v6x exclude
 # @board px4_fmu-v6x exclude
 # @board diatone_mamba-f405-mk2 exclude
 #

ROMFS/px4fmu_common/init.d/airframes/51002_nxp_b3rb

@@ -1,31 +0,0 @@
-#!/bin/sh
-#
-# @name NXP B3RB Rover Ackermann
-#
-# @type Rover
-# @class Rover
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.rover_ackermann_defaults
-
-param set-default BAT1_N_CELLS 3
-
-# Set geometry & output configration
-param set-default PWM_MAIN_FUNC1 201
-param set-default PWM_MAIN_FUNC2 101
-param set-default PWM_MAIN_FUNC3 101
-param set-default PWM_MAIN_DIS1 1500
-param set-default PWM_MAIN_DIS2 0
-param set-default PWM_MAIN_DIS3 1500
-param set-default PWM_MAIN_MIN1 1000
-param set-default PWM_MAIN_MIN2 2500
-param set-default PWM_MAIN_MIN3 0
-param set-default PWM_MAIN_MAX1 2000
-param set-default PWM_MAIN_MAX2 2500
-param set-default PWM_MAIN_MAX3 50
-param set-default PWM_MAIN_TIM0 400
-param set-default PWM_MAIN_TIM1 400
-param set-default PWM_MAIN_TIM2 20000

ROMFS/px4fmu_common/init.d/airframes/6002_draco_r

@@ -12,9 +12,7 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
-# @board px4_fmu-v6x exclude
 # @board bitcraze_crazyflie exclude
-# @board ark_fmu-v6x exclude
 #
 
 . ${R}etc/init.d/rc.mc_defaults

ROMFS/px4fmu_common/init.d/airframes/70000_atmos

@@ -20,9 +20,6 @@
 
 . ${R}etc/init.d/rc.sc_defaults
 
-# Overwrite DDS AG IP to `192.168.0.1`
-param set-default UXRCE_DDS_AG_IP -1062731775
-
 param set-default CA_AIRFRAME 14
 param set-default MAV_TYPE 45
 

ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt

@@ -153,7 +153,6 @@ if(CONFIG_MODULES_ROVER_ACKERMANN)
 		# [51000, 51999] Ackermann rovers
 		51000_generic_rover_ackermann
 		51001_axial_scx10_2_trail_honcho
-		51002_nxp_b3rb
 	)
 endif()
 

ROMFS/px4fmu_common/init.d/rc.fw_defaults

@@ -10,8 +10,6 @@ set VEHICLE_TYPE fw
 # MAV_TYPE_FIXED_WING 1
 param set-default MAV_TYPE 1
 
-param set-default CA_AIRFRAME 1
-
 #
 # Default parameters for fixed wing UAVs.
 #
@@ -28,7 +26,6 @@ param set-default EKF2_MAG_ACCLIM 0
 param set-default EKF2_REQ_EPH 10
 param set-default EKF2_REQ_EPV 10
 param set-default EKF2_REQ_HDRIFT 0.5
-param set-default EKF2_REQ_PDOP 4
 param set-default EKF2_REQ_SACC 1
 param set-default EKF2_REQ_VDRIFT 1
 param set-default EKF2_RNG_QLTY_T 3

ROMFS/px4fmu_common/init.d/rc.mc_apps

@@ -41,9 +41,3 @@ if param compare -s MC_NN_EN 1
 then
 	mc_nn_control start
 fi
-
-
-if param compare -s MC_RAPTOR_ENABLE 1
-then
-	mc_raptor start
-fi

ROMFS/px4fmu_common/init.d/rc.sc_defaults

@@ -8,6 +8,9 @@ set VEHICLE_TYPE spacecraft
 # MAV_TYPE_SPACECRAFT_ORBITTER
 param set-default MAV_TYPE 45
 
+# Set micro-dds-client to use ethernet and IP-address 192.168.0.1
+param set-default UXRCE_DDS_AG_IP -1062731775
+
 # Disable preflight disarm to not interfere with external launching
 param set-default COM_DISARM_PRFLT -1
 param set-default CBRK_SUPPLY_CHK 894281

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -154,12 +154,6 @@ then
 	fi
 fi
 
-# Microchip MCP9808 temperature sensor external I2C
-if param compare -s SENS_EN_MCP9808 1
-then
-	mcp9808 start -X
-fi
-
 # TE MS4515 differential pressure sensor external I2C
 if param compare -s SENS_EN_MS4515 1
 then
@@ -225,24 +219,6 @@ then
 	pcf8583 start -X -a 0x51
 fi
 
-# ADC sensor ADS7953 external SPI
-if param compare -s ADC_ADS7953_EN 1
-then
-	ads7953 start -S
-fi
-
-# ADC sensor tla2528 external I2C
-if param compare -s ADC_TLA2528_EN 1
-then
-	tla2528 start -X
-fi
-
-# Start TMP102 temperature sensor
-if param compare SENS_EN_TMP102 1
-then
-	tmp102 start -X
-fi
-
 # probe for optional external I2C devices
 if param compare SENS_EXT_I2C_PRB 1
 then

ROMFS/px4fmu_common/init.d/rc.vtxtable

@@ -1,8 +0,0 @@
-#!/bin/sh
-#
-# VTX table loading script.
-#
-# NOTE: Script variables are declared/initialized/unset in the rcS script.
-#
-
-vtxtable load

ROMFS/px4fmu_common/init.d/rcS

@@ -228,26 +228,30 @@ else
 	fi
 	unset BOARD_RC_ADDITIONAL_INIT
 
-	# Load airframe configuration based on SYS_AUTOSTART parameter if successful VEHICLE_TYPE gets set
-	# Run autogenerated ROMFS airframe script
-	. ${R}etc/init.d/rc.autostart
-
-	if [ ${VEHICLE_TYPE} = none ]
+	# Load airframe configuration based on SYS_AUTOSTART parameter
+	if ! param compare SYS_AUTOSTART 0
 	then
-		# Run external airframe script on SD card
-		if [ $STORAGE_AVAILABLE = yes ]
+		# rc.autostart directly run the right airframe script which sets the VEHICLE_TYPE
+		# Look for airframe in ROMFS
+		. ${R}etc/init.d/rc.autostart
+
+		if [ ${VEHICLE_TYPE} = none ]
 		then
-			. ${R}etc/init.d/rc.autostart_ext
-		else
-			echo "ERROR [init] SD not mounted, skipping external airframe"
+			# Use external startup file
+			if [ $STORAGE_AVAILABLE = yes ]
+			then
+				. ${R}etc/init.d/rc.autostart_ext
+			else
+				echo "ERROR [init] SD card not mounted - can't load external airframe"
+			fi
 		fi
-	fi
 
-	if [ ${VEHICLE_TYPE} = none ]
-	then
-		echo "ERROR [init] No airframe file found for SYS_AUTOSTART value"
-		param set SYS_AUTOSTART 0
-		tune_control play error
+		if [ ${VEHICLE_TYPE} = none ]
+		then
+			echo "ERROR [init] No airframe file found for SYS_AUTOSTART value"
+			param set SYS_AUTOSTART 0
+			tune_control play error
+		fi
 	fi
 
 	# Check parameter version and reset upon airframe configuration version mismatch.
@@ -479,19 +483,6 @@ else
 		pwm_out start
 	fi
 
-	#
-	# Optional UAVCAN/DroneCAN or Cyphal
-	#
-	if param greater -s UAVCAN_ENABLE 0
-	then
-		uavcan start
-	else
-		if param greater -s CYPHAL_ENABLE 0
-		then
-			cyphal start
-		fi
-	fi
-
 	#
 	# Configure vehicle type specific parameters.
 	# Note: rc.vehicle_setup is the entry point for all vehicle type specific setup.
@@ -520,11 +511,6 @@ else
 	#
 	. ${R}etc/init.d/rc.serial
 
-	if param greater -s ZENOH_ENABLE 0
-	then
-		zenoh start
-	fi
-
 	# Must be started after the serial config is read
 	rc_input start $RC_INPUT_ARGS
 
@@ -630,16 +616,6 @@ else
 	fi
 	unset RC_LOGGING
 
-	#
-	# Start the VTX services.
-	#
-	set RC_VTXTABLE ${R}etc/init.d/rc.vtxtable
-	if [ -f ${RC_VTXTABLE} ]
-	then
-		. ${RC_VTXTABLE}
-	fi
-	unset RC_VTXTABLE
-
 	#
 	# Set additional parameters and env variables for selected AUTOSTART.
 	#
@@ -656,6 +632,27 @@ else
 	fi
 	unset BOARD_BOOTLOADER_UPGRADE
 
+	#
+	# Check if UAVCAN is enabled, default to it for ESCs.
+	#
+	if param greater -s UAVCAN_ENABLE 0
+	then
+		# Start core UAVCAN module.
+		if ! uavcan start
+		then
+			tune_control play error
+		fi
+	else
+		if param greater -s CYPHAL_ENABLE 0
+		then
+			cyphal start
+		fi
+	fi
+	if param greater -s ZENOH_ENABLE 0
+	then
+		zenoh start
+	fi
+
 #
 # End of autostart.
 #

Tools/astyle/astylerc

@@ -15,4 +15,4 @@ ignore-exclude-errors-x
 lineend=linux
 exclude=EASTL
 add-brackets
-max-code-length=140
+max-code-length=120

Tools/astyle/files_to_check_code_style.sh

@@ -21,13 +21,11 @@ exec find boards msg src platforms test \
     -path src/lib/crypto/monocypher -prune -o \
     -path src/lib/events/libevents -prune -o \
     -path src/lib/parameters/uthash -prune -o \
-    -path src/lib/rl_tools/rl_tools -prune -o \
     -path src/lib/wind_estimator/python/generated -prune -o \
     -path src/modules/ekf2/EKF/python/ekf_derivation/generated -prune -o \
     -path src/modules/ekf2/EKF/yaw_estimator/derivation/generated -prune -o \
     -path src/modules/gyro_fft/CMSIS_5 -prune -o \
     -path src/modules/mavlink/mavlink -prune -o \
-    -path src/modules/mc_raptor/blob -prune -o \
     -path test/fuzztest -prune -o \
     -path test/mavsdk_tests/catch2 -prune -o \
     -path src/lib/crypto/monocypher -prune -o \

Tools/auterion/remote_update_fmu.sh

@@ -7,7 +7,6 @@ fi
 
 ssh_port=22
 ssh_user=root
-ssh_opts="-o UserKnownHostsFile=/dev/null -o StrictHostKeyChecking=no"
 
 while getopts ":f:c:d:p:u:r" opt; do
 	case ${opt} in
@@ -68,7 +67,7 @@ target_file_name="update-dev.tar"
 if [ "$revert" == true ]; then
 	# revert to the release version which was originally deployed
 	cmd="cp $target_dir/update.tar $target_dir/$target_file_name"
-	ssh $ssh_opts -t -p $ssh_port $ssh_user@$device "$cmd"
+	ssh -t -p $ssh_port $ssh_user@$device "$cmd"
 else
 	# create custom update-dev.tar
 	tmp_dir="$(mktemp -d)"
@@ -106,11 +105,11 @@ else
 	$tar_name -C "$tmp_dir" --sort=name --owner=root:0 --group=root:0 --mtime='2019-01-01 00:00:00' -cvf $target_file_name $firmware_path $config_path
 
 	# send it to the target to start flashing
-	scp $ssh_opts -P $ssh_port "$target_file_name" $ssh_user@"$device":$target_dir
+	scp -P $ssh_port "$target_file_name" $ssh_user@"$device":$target_dir
 	popd &>/dev/null
 	rm -rf "$tmp_dir"
 fi
 
 # grab status output for flashing progress
 cmd="tail --follow=name $target_dir/update_status 2>/dev/null || true"
-ssh $ssh_opts -t -p $ssh_port $ssh_user@$device "$cmd"
+ssh -t -p $ssh_port $ssh_user@$device "$cmd"

Tools/check_submodules.sh

@@ -17,12 +17,37 @@ if [[ -f $1"/.git" || -d $1"/.git" ]]; then
 	SUBMODULE_STATUS=$(git submodule summary "$1")
 	STATUSRETVAL=$(echo $SUBMODULE_STATUS | grep -A20 -i "$1")
 	if ! [[ -z "$STATUSRETVAL" ]]; then
-		echo -e "\033[33mWarning: $1 submodule has uncommitted changes:\033[0m"
+		echo -e "\033[31mChecked $1 submodule, ACTION REQUIRED:\033[0m"
+		echo ""
+		echo -e "Different commits:"
 		echo -e "$SUBMODULE_STATUS"
 		echo ""
-		echo -e "To update submodules to the expected version, run:"
-		echo -e "   \033[94mgit submodule sync --recursive && git submodule update --init --recursive\033[0m"
 		echo ""
+		echo -e " *******************************************************************************"
+		echo -e " *   \033[31mIF YOU DID NOT CHANGE THIS FILE (OR YOU DON'T KNOW WHAT A SUBMODULE IS):\033[0m  *"
+		echo -e " *   \033[31mHit 'u' and <ENTER> to update ALL submodules and resolve this.\033[0m            *"
+		echo -e " *   (performs \033[94mgit submodule sync --recursive\033[0m                                  *"
+		echo -e " *    and \033[94mgit submodule update --init --recursive\033[0m )                            *"
+		echo -e " *******************************************************************************"
+		echo ""
+		echo ""
+		echo -e "   Only for EXPERTS:"
+		echo -e "   $1 submodule is not in the recommended version."
+		echo -e "   Hit 'y' and <ENTER> to continue the build with this version. Hit <ENTER> to resolve manually."
+		echo -e "   Use \033[94mgit add $1 && git commit -m 'Updated $1'\033[0m to choose this version (careful!)"
+		echo ""
+		read user_cmd
+		if [ "$user_cmd" == "y" ]; then
+			echo "Continuing build with manually overridden submodule.."
+		elif [ "$user_cmd" == "u" ]; then
+			git submodule sync --recursive -- $1
+			git submodule update --init --recursive -- $1 || true
+			git submodule update --init --recursive --force -- $1
+			echo "Submodule fixed, continuing build.."
+		else
+			echo "Build aborted."
+			exit 1
+		fi
 	fi
 else
 	git submodule --quiet sync --recursive --quiet -- $1

Tools/ci/generate_board_targets_json.py

@@ -25,15 +25,15 @@ parser.add_argument('-p', '--pretty', dest='pretty', action='store_true',
                     help='Pretty output instead of a single line')
 parser.add_argument('-g', '--groups', dest='group', action='store_true',
                     help='Groups targets')
-parser.add_argument('-f', '--filter', dest='filter', help='comma separated list of build target name prefixes to include instead of all e.g. "px4_fmu-v5_"')
+parser.add_argument('-f', '--filter', dest='filter', help='comma separated list of board names to use instead of all')
 
 args = parser.parse_args()
 verbose = args.verbose
 
-target_filter = []
+board_filter = []
 if args.filter:
-    for target in args.filter.split(','):
-        target_filter.append(target)
+    for board in args.filter.split(','):
+        board_filter.append(board)
 
 default_container = 'ghcr.io/px4/px4-dev:v1.16.0-rc1-258-g0369abd556'
 build_configs = []
@@ -144,7 +144,7 @@ for manufacturer in os.scandir(os.path.join(source_dir, '../boards')):
                 label = files.name[:-9]
                 target_name = manufacturer.name + '_' + board.name + '_' + label
 
-                if target_filter and not any(target_name.startswith(f) for f in target_filter):
+                if board_filter and not board_name in board_filter:
                     if verbose: print(f'excluding board {board_name} ({target_name})')
                     continue
 

Tools/mavlink_shell.py

@@ -191,7 +191,7 @@ def main():
                         cur_history_index = len(command_history)
                     mav_serialport.write(cur_line+'\n')
                     cur_line = ''
-                elif ord(ch) == 8: # backspace
+                elif ord(ch) == 127: # backslash
                     if len(cur_line) > 0:
                         erase_last_n_chars(1)
                         cur_line = cur_line[:-1]

Tools/module_config/generate_actuators_metadata.py

@@ -238,7 +238,6 @@ def get_actuator_output(yaml_config, output_functions, timer_config_file, verbos
             ( 'disarmed', 'Disarmed', 'DIS', False ),
             ( 'min', 'Minimum', 'MIN', False ),
             ( 'max', 'Maximum', 'MAX', False ),
-            ( 'center', 'Center\n(for Servos)', 'CENT', False ),
             ( 'failsafe', 'Failsafe', 'FAIL', True ),
             ]
         for key, label, param_suffix, advanced in standard_params_array:

Tools/module_config/generate_params.py

@@ -284,9 +284,6 @@ Note that non-motor outputs might already be active in prearm state if COM_PREAR
 '''
         minimum_description = \
 '''Minimum output value (when not disarmed).
-'''
-        center_description = \
-'''Servo Center output value (when not disarmed).
 '''
         maximum_description = \
 '''Maxmimum output value (when not disarmed).
@@ -299,7 +296,6 @@ When set to -1 (default), the value depends on the function (see {:}).
         standard_params_array = [
             ( 'disarmed', 'Disarmed', 'DIS', disarmed_description ),
             ( 'min', 'Minimum', 'MIN', minimum_description ),
-            ( 'center', 'Center', 'CENT', center_description ),
             ( 'max', 'Maximum', 'MAX', maximum_description ),
             ( 'failsafe', 'Failsafe', 'FAIL', failsafe_description ),
             ]
@@ -316,10 +312,6 @@ When set to -1 (default), the value depends on the function (see {:}).
                     standard_params[key]['default'] = -1
                     standard_params[key]['min'] = -1
 
-                if key == 'center':
-                    standard_params[key]['default'] = -1
-                    standard_params[key]['min'] = -1
-
                 param = {
                     'description': {
                         'short': channel_label+' ${i} '+label+' Value',

Tools/msg/generate_msg_docs.py

@@ -8,803 +8,6 @@ Also generates docs/en/middleware/dds_topics.md from dds_topics.yaml
 import os
 import argparse
 import sys
-import re
-
-VALID_FIELDS = { #Note, also have to add the message types as those can be fields
-    'uint64',
-    'uint16',
-    'uint8',
-    'uint32'
-}
-
-ALLOWED_UNITS = set(["m", "m/s", "m/s^2", "(m/s)^2", "deg", "deg/s", "rad", "rad/s", "rad^2", "rpm" ,"V", "A", "mA", "mAh", "W", "dBm", "h", "s", "ms", "us", "Ohm", "MB", "Kb/s", "degC","Pa","%","-"])
-invalid_units = set()
-ALLOWED_FRAMES = set(["NED","Body"])
-ALLOWED_INVALID_VALUES = set(["NaN", "0"])
-ALLOWED_CONSTANTS_NOT_IN_ENUM = set(["ORB_QUEUE_LENGTH","MESSAGE_VERSION"])
-
-class Error:
-    def __init__(self, type, message, linenumber=None, issueString = None, field = None):
-        self.type = type
-        self.message = message
-        self.linenumber = linenumber
-        self.issueString = issueString
-        self.field = field
-
-    def display_error(self):
-        #print(f"Debug: Error: display_error")
-
-
-        if 'trailing_whitespace' == self.type:
-            if self.issueString.strip():    
-                print(f"NOTE: Line has trailing whitespace ({self.message}: {self.linenumber}): {self.issueString}")
-            else:
-                print(f"NOTE: Line has trailing whitespace ({self.message}: {self.linenumber})")
-        elif 'leading_whitespace_field_or_constant' == self.type:
-            print(f"NOTE: Whitespace before field or constant ({self.message}: {self.linenumber}): {self.issueString}")             
-        elif 'field_or_constant_has_multiple_whitepsace' == self.type:
-            print(f"NOTE: Field/constant has more than one sequential whitespace character ({self.message}: {self.linenumber}): {self.issueString}") 
-        elif 'empty_start_line' == self.type:
-            print(f"NOTE: Empty line at start of file ({self.message}: {self.linenumber})")
-        elif 'internal_comment' == self.type:
-            print(f"NOTE: Internal Comment ({self.message}: {self.linenumber})\n {self.issueString}")
-        elif 'internal_comment_empty' == self.type:
-            print(f"NOTE: Empty Internal Comment ({self.message}: {self.linenumber})")
-        elif 'summary_missing' == self.type:
-            print(f"WARNING: No message description ({self.message})")
-        elif 'topic_error' == self.type:
-            print(f"NOTE: TOPIC ISSUE: {self.issueString}")
-        elif 'unknown_unit' == self.type:
-            print(f"WARNING: Unknown Unit: [{self.issueString}] on `{self.field}` ({self.message}: {self.linenumber})")
-        elif 'constant_not_in_assigned_enum' == self.type:
-            print(f"WARNING: `{self.issueString}` constant: Prefix not in `@enum` field metadata ({self.message}: {self.linenumber})")
-        elif 'unknown_invalid_value' == self.type:
-            print(f"WARNING: Unknown @invalid value: [{self.issueString}] on `{self.field}` ({self.message}: {self.linenumber})")
-        elif 'unknown_frame' == self.type:
-            print(f"WARNING: Unknown @frame: [{self.issueString}] on `{self.field}` ({self.message}: {self.linenumber})")
-        elif 'command_no_params_pipes' == self.type:
-            print(f"WARNING: `{self.field}` command has no parameters (pipes): [{self.issueString}] ({self.message}: {self.linenumber})")
-        elif 'command_missing_params' == self.type:
-            print(f"WARNING: `{self.field}` command missing params - should be 7 params surrounded by 8 pipes: [{self.issueString}] ({self.message}: {self.linenumber})")
-        elif 'command_too_many_params' == self.type:
-            print(f"WARNING: `{self.field}` command too many params (should be 7). Extras: [{self.issueString}] ({self.message}: {self.linenumber})")
-
-
-        else:
-            self.display_info()
-
-    def display_info(self):
-        """
-        Display info about an error.
-        Used as a fallback if error does not have specific printout in display_error()
-        """
-        #print(f"Debug: Error: display_info")
-        print(f" type: {self.type}, message: {self.message}, linenumber: {self.linenumber}, issueString: {self.issueString}, field: {self.field}")
-
-class Enum:
-    def __init__(self, name, parentMessage):
-        self.name = name
-        self.parent = parentMessage
-        self.enumValues = dict()
-
-    def display_info(self):
-        """
-        Display info about an enum
-        """
-        print(f"Debug: Enum: display_info")
-        print(f" name: {self.name}")
-        for key, value in self.enumValues.items():
-            value.display_info()
-
-class ConstantValue:
-    def __init__(self, name, type, value, comment, line_number):
-        self.name = name.strip()
-        self.type = type.strip()
-        self.value = value.strip()
-        self.comment = comment
-        self.line_number = line_number
-
-        if not self.value:
-            print(f"Debug WARNING: NO VALUE in ConstantValue: {self.name}")  ## TODO make into ERROR
-            exit()
-
-        # TODO if value or name are empty, error
-
-    def display_info(self):
-        print(f"Debug: ConstantValue: display_info")
-        print(f" name: {self.name}, type: {self.type}, value: {self.value}, comment: {self.comment}, line: {self.line_number}")
-
-
-class CommandParam:
-    """
-    Represents an individual param in a command constant
-    Encapsulates parsing of the param to extract units etc.
-    """
-
-    def __init__(self, num, paramText, line_number, parentCommand):
-        self.paramNum = num
-        self.paramText = paramText.strip()
-        self.enum = None
-        self.range = None
-        #self.type = type
-        self.units = []
-        self.enums = []
-        self.minValue = None
-        self.maxValue = None
-        self.invalidValue = None
-        self.frameValue = None
-        self.lineNumber = line_number
-        self.parent = parentCommand
-        self.parentMessage = self.parent.parent
-
-        match = None
-        if self.paramText:
-            match = re.match(r'^((?:\[[^\]]*\]\s*)+)(.*)$', paramText)
-        self.description = paramText
-        bracketed_part = None
-        if match:
-            bracketed_part = match.group(1).strip() # .strip() removes trailing whitespace from the bracketed part
-            self.description = match.group(2).strip()
-        if bracketed_part:
-          # get units
-            bracket_content_matches = re.findall(r'\[(.*?)\]', bracketed_part)
-            #print(f"DEBUG: bracket_content_matches: {bracket_content_matches}")
-            for item in bracket_content_matches:
-                item = item.strip()
-                if item.startswith('@'): # Not a unit:
-                    if item.startswith('@enum'):
-                        item = item.split(" ")
-                        enum = item[1].strip()
-                        if enum and enum not in self.enums:
-                            self.enums.append(enum)
-
-                        # Create parent enum objects for any enums created in this step
-                        for enumName in self.enums:
-                            if not enumName in self.parentMessage.enums:
-                                self.parentMessage.enums[enumName]=Enum(enumName,self.parentMessage)
-
-                    elif item.startswith('@range'):
-                        item = item[6:].strip().split(",")
-                        self.range = item
-                        self.minValue = item[0].strip()
-                        self.maxValue = item[1].strip()
-                    elif item.startswith('@invalid'):
-                        self.invalidValue = item[8:].strip()
-                        #TODO: Do we require a description? (not currently)
-                        if self.invalidValue.split(" ")[0] not in ALLOWED_INVALID_VALUES:
-                            print(f"TODO: Command param do not support @invalid: {self.invalidValue}")
-                            """
-                            error = Error("unknown_invalid_value", self.parent.filename, self.lineNumber, self.invalidValue, self.name)
-                            #error.display_error()
-                            if not "unknown_invalid_value" in self.parent.errors:
-                                self.parent.errors["unknown_invalid_value"] = []
-                            self.parent.errors["unknown_invalid_value"].append(error)
-                            """
-
-                    elif item.startswith('@frame'):
-                        self.frameValue = item[6:].strip()
-                        print(f"TODO: Command param do not support @frame: {self.frameValue}")
-                        """
-                        if self.frameValue not in ALLOWED_FRAMES:
-                            error = Error("unknown_frame", self.parent.filename, self.lineNumber, self.frameValue, self.name)
-                            #error.display_error()
-                            if not "unknown_frame" in self.parent.errors:
-                                self.parent.errors["unknown_frame"] = []
-                            self.parent.errors["unknown_frame"].append(error)
-                        """    
-                    else:
-                        print(f"WARNING: Unhandled metadata in message comment: {item}")
-                        # TODO - report errors for different kinds of metadata
-                        exit()
-
-                else: # bracket is a unit
-                    unit = item.strip()
-
-                    if item == "-":
-                        unit = ""
-                    
-                    if unit and unit not in self.units:
-                        self.units.append(unit) 
-
-                    if unit not in ALLOWED_UNITS:
-                        invalid_units.add(unit)
-                        error = Error("unknown_unit", self.parentMessage.filename, self.lineNumber, unit, self.parent.name)
-                        #error.display_error()
-                        if not "unknown_unit" in self.parentMessage.errors:
-                            self.parentMessage.errors["unknown_unit"] = []
-                        self.parentMessage.errors["unknown_unit"].append(error)
-
-
-    def display_info(self):
-        print(f"Debug: CommandParam: display_info")
-        print(f" id: {self.paramNum}")
-        print(f"   paramText: {self.paramText}\n  unit:  {self.units}\n  enums: {self.enums}\n  lineNumber: {self.lineNumber}\n  range: {self.range}\n  minValue: {self.minValue}\n  maxValue: {self.maxValue}\n  invalidValue: {self.invalidValue}\n  frameValue: {self.frameValue}\n  parent: {self.parent}\n  ")
-
-
-        
-class CommandConstant:
-    """
-    Represents a constant that is a command definition.
-    Encapsulates parsing of the command format.
-    The individual params are further parsed in CommandParam
-    """
-    def __init__(self, name, type, value, comment, line_number, parentMessage):
-        self.name = name.strip()
-        self.type = type.strip()
-        self.value = value.strip()
-        self.comment = comment
-        self.line_number = line_number
-        self.parent = parentMessage
-
-        self.description = self.comment
-        self.param1 = None
-        self.param2 = None
-        self.param3 = None
-        self.param4 = None
-        self.param5 = None
-        self.param6 = None
-        self.param7 = None
-
-        if not self.value:
-            print(f"Debug WARNING: NO VALUE in CommandConstant: {self.name}")  ## TODO make into ERROR
-            exit()
-
-        if not self.comment: # This is an bug for a command
-            #print(f"Debug WARNING: NO COMMENT in CommandConstant: {self.name}")  ## TODO make into ERROR
-            return
-            
-        # Parse command comment to get the description and parameters.
-        # print(f"Debug CommandConstant: {self.comment}") 
-        if not "|" in self.comment:
-            # This is an error for a command constant
-            error = Error("command_no_params_pipes", self.parent.filename, self.line_number, self.comment, self.name)
-            #error.display_error()
-            if not "command_no_params_pipes" in self.parent.errors:
-                self.parent.errors["command_no_params_pipes"] = []
-            self.parent.errors["command_no_params_pipes"].append(error)
-            return
-        
-        # Split on pipes
-        commandSplit = self.comment.split("|")
-        if len(commandSplit) < 9:
-            # Should 7 pipes, so each command is fully surrounded
-            error = Error("command_missing_params", self.parent.filename, self.line_number, self.comment, self.name)
-            #error.display_error()
-            if not "command_missing_params" in self.parent.errors:
-                self.parent.errors["command_missing_params"] = []
-            self.parent.errors["command_missing_params"].append(error)
-
-        self.description = commandSplit[0].strip()
-        self.description = self.description if self.description else None
-
-        params_to_update = commandSplit[1:8]
-
-        for i, value in enumerate(params_to_update, start=1):
-            if value.strip():
-                # parse the param
-                param = CommandParam(i, value, self.line_number, self)
-                #param.display_info() # DEBUG CODE XXX
-                setattr(self, f"param{i}", param)
-                # parse the param
-
-        if len(commandSplit) > 8:
-            extras = commandSplit[8:]
-            error = Error("command_too_many_params", self.parent.filename, self.line_number, extras, self.name)
-            if not "command_too_many_params" in self.parent.errors:
-                self.parent.errors["command_too_many_params"] = []
-            self.parent.errors["command_too_many_params"].append(error)
-
-
-        # TODO if value or name are empty, error
-
-    def markdown_out(self):
-        #print("DEBUG: CommandConstant.markdown_out")
-        output = f"""### {self.name} ({self.value})
-
-{self.description}
-
-Param | Units | Range/Enum | Description
---- | --- | --- | ---
-"""
-        for i in range(1, 8):
-            attr_name = f"param{i}"
-            # getattr returns None if the attribute doesn't exist
-            val = getattr(self, attr_name, None)
-
-            if val is not None:
-                rangeVal = ""
-                if val.minValue or val.maxValue:
-                    rangeVal = f"[{val.minValue if val.minValue else '-'} : {val.maxValue if val.maxValue else '-' }]"
-
-                output+=f"{i} | {", ".join(val.units)}|{', '.join(f"[{e}](#{e})" for e in val.enums)}{rangeVal} | {val.description}\n"
-            else:
-                output+=f"{i} | | | ?\n"                
-
-        output+=f"\n"
-        return output
-
-
-    def display_info(self):
-        print(f"Debug: CommandConstant: display_info")
-        print(f" name: {self.name}, type: {self.type}, value: {self.value}, comment: {self.comment}, line: {self.line_number}")
-        print(f"   description: {self.description}\n  param1: {self.param1}\n  param2: {self.param2}\n  param3: {self.param3}\n  param4: {self.param4}\n  param5: {self.param5}\n  param6: {self.param6}\n  param7: {self.param7}")
-
-class MessageField:
-    """
-    Represents a field.
-    Encapsulates parsing of the field information.
-    """
-    def __init__(self, name, type, comment, line_number, parentMessage):
-        self.name = name
-        self.type = type
-        self.comment = comment
-        self.unit = None
-        self.enums = None
-        self.minValue = None
-        self.maxValue = None
-        self.invalidValue = None
-        self.frameValue = None
-        self.lineNumber = line_number
-        self.parent = parentMessage
-
-        #print(f"MessageComment: {comment}")
-        match = None
-        if self.comment:
-            match = re.match(r'^((?:\[[^\]]*\]\s*)+)(.*)$', comment)
-        self.description = comment
-        bracketed_part = None
-        if match:
-            bracketed_part = match.group(1).strip() # .strip() removes trailing whitespace from the bracketed part
-            self.description = match.group(2).strip()
-        if bracketed_part:
-          # get units
-            bracket_content_matches = re.findall(r'\[(.*?)\]', bracketed_part)
-            #print(f"bracket_content_matches: {bracket_content_matches}")
-            for item in bracket_content_matches:
-                item = item.strip()
-                if item.startswith('@'): # Not a unit:
-                    if item.startswith('@enum'):
-                        item = item.split(" ")
-                        self.enums = item[1:]
-                        # Create parent enum objects
-                        for enumName in self.enums:
-                            if not enumName in parentMessage.enums:
-                                parentMessage.enums[enumName]=Enum(enumName,parentMessage)
-                    elif item.startswith('@range'):
-                        item = item[6:].strip().split(",")
-                        self.minValue = item[0].strip()
-                        self.maxValue = item[1].strip()
-                    elif item.startswith('@invalid'):
-                        self.invalidValue = item[8:].strip()
-                        #TODO: Do we require a description? (not currently)
-                        if self.invalidValue.split(" ")[0] not in ALLOWED_INVALID_VALUES:
-                            error = Error("unknown_invalid_value", self.parent.filename, self.lineNumber, self.invalidValue, self.name)
-                            #error.display_error()
-                            if not "unknown_invalid_value" in self.parent.errors:
-                                self.parent.errors["unknown_invalid_value"] = []
-                            self.parent.errors["unknown_invalid_value"].append(error)
-                    elif item.startswith('@frame'):
-                        self.frameValue = item[6:].strip()
-                        if self.frameValue not in ALLOWED_FRAMES:
-                            error = Error("unknown_frame", self.parent.filename, self.lineNumber, self.frameValue, self.name)
-                            #error.display_error()
-                            if not "unknown_frame" in self.parent.errors:
-                                self.parent.errors["unknown_frame"] = []
-                            self.parent.errors["unknown_frame"].append(error)
-                    else:
-                        print(f"WARNING: Unhandled metadata in message comment: {item}")
-                        # TODO - report errors for different kinds of metadata
-                        exit()
-
-                else: # bracket is a unit
-                    self.unit = item
-
-                    if self.unit not in ALLOWED_UNITS:
-                        invalid_units.add(self.unit)
-                        error = Error("unknown_unit", self.parent.filename, self.lineNumber, self.unit, self.name)
-                        #error.display_error()
-                        if not "unknown_unit" in self.parent.errors:
-                            self.parent.errors["unknown_unit"] = []
-                        self.parent.errors["unknown_unit"].append(error)
-
-                    if item == "-":
-                        self.unit = ""
-
-
-    def display_info(self):
-        print(f"Debug: MessageField: display_info")
-        print(f" name: {self.name}, type: {self.type}, description: {self.description}, enums: {self.enums}, minValue: {self.minValue}, maxValue: {self.maxValue}, invalidValue: {self.invalidValue}, frameValue: {self.frameValue}")
-
-
-class UORBMessage:
-    """
-    Represents a whole message, including fields, enums, commands, constants.
-    The parser function delegates the parsing of each part of the message to 
-    more appropriate classes, once the specific type of line has been identified.
-    """
-
-    def __init__(self, filename):
-
-        self.filename = filename
-        msg_path = os.path.join(os.path.dirname(os.path.realpath(__file__)),"../../msg")
-        self.msg_filename = os.path.join(msg_path, self.filename)
-        self.name = os.path.splitext(os.path.basename(msg_file))[0]
-        self.shortDescription = ""
-        self.longDescription = ""
-        self.fields = []
-        self.constantFields = dict()
-        self.commandConstants = dict()
-        self.enums = dict()
-        self.output_file = os.path.join(output_dir, f"{self.name}.md")
-        self.topics = []
-        self.errors = dict()
-
-        self.parseFile()
-
-        if args.errors:
-            #print(f"DEBUG: args.errors: {args.errors}")
-            if args.error_messages:
-                messages = args.error_messages.split(" ")
-                #print(f"DEBUG: args.errors: {messages},self.name: {self.name}")
-                if self.name in messages:
-                    self.reportErrors()
-                    #print(f"Debug: {self.name} in {messages}")
-            else:
-              self.reportErrors()
-
-    def reportErrors(self):
-        #print(f"Debug: UORBMessage: reportErrors()")
-        for errorType, errors in self.errors.items():
-            for error in errors:
-               error.display_error()
-
-    def markdown_out(self):
-        #print(f"Debug: UORBMessage: markdown_out()")
-
-        # Add page header (forces wide pages)
-        markdown = f"""---
-pageClass: is-wide-page
----
-
-# {self.name} (UORB message)
-
-"""
-        ## Append description info if present
-        markdown += f"{self.shortDescription}\n\n" if self.shortDescription else ""
-        markdown += f"{self.longDescription}\n\n" if self.longDescription else ""
-
-        topicList = " ".join(self.topics)
-        markdown += f"**TOPICS:** {topicList}\n\n"
-
-        # Generate field docs
-        markdown += f"## Fields\n\n"
-        markdown += "Name | Type | Unit [Frame] | Range/Enum | Description\n"
-        markdown += "--- | --- | --- | --- | ---\n"
-        for field in self.fields:
-            unit = f"{field.unit}" if field.unit else ""
-            frame = f"[{field.frameValue}]" if field.frameValue else ""
-            unit = f"{unit} {frame}"
-            unit.strip()
-            unit = f" {unit}"
-
-            value = " "
-            if field.enums:
-                value = ""
-                for enum in field.enums:
-                    value += f"[{enum}](#{enum})"
-                value = value.strip()
-                value = f"{value}"
-            elif field.minValue or field.maxValue:
-                value = f"[{field.minValue if field.minValue else '-'} : {field.maxValue if field.maxValue else '-' }]"
-
-            description = f" {field.description}" if field.description else ""
-            invalid = f" (Invalid: {field.invalidValue}) " if field.invalidValue else ""
-            markdown += f"{field.name} | `{field.type}` |{unit}|{value}|{description}{invalid}\n"
-
-        # Generate table for command docs
-        if len(self.commandConstants) > 0:
-            #print("DEBUGCOMMAND")
-            markdown += f"\n## Commands\n\n"
-
-            """
-            markdown += "Name | Type | Value | Description\n"
-            markdown += "--- | --- | --- |---\n"
-            for name, command in self.commandConstants.items():
-                description = f" {command.comment} " if enum.comment else " "
-                markdown += f'<a href="#{name}"></a> {name} | `{command.type}` | {command.value} |{description}\n'            
-            """
-            for commandConstant in self.commandConstants.values():
-                #print(commandConstant)
-                markdown += commandConstant.markdown_out()     
-
-        # Generate enum docs
-        if len(self.enums) > 0:
-            markdown += f"\n## Enums\n"
-
-            for name, enum in self.enums.items():
-                markdown += f"\n### {name} {{#{name}}}\n\n"
-
-                markdown += "Name | Type | Value | Description\n"
-                markdown += "--- | --- | --- | ---\n"
-
-                for enumValueName, enumValue in enum.enumValues.items():
-                    description = f" {enumValue.comment} " if enumValue.comment else " "
-                    markdown += f'<a href="#{enumValueName}"></a> {enumValueName} | `{enumValue.type}` | {enumValue.value} |{description}\n'
-
-        # Generate table for constants docs
-        if len(self.constantFields) > 0:
-            markdown += f"\n## Constants\n\n"
-            markdown += "Name | Type | Value | Description\n"
-            markdown += "--- | --- | --- |---\n"
-            for name, enum in self.constantFields.items():
-                description = f" {enum.comment} " if enum.comment else " "
-                markdown += f'<a href="#{name}"></a> {name} | `{enum.type}` | {enum.value} |{description}\n'
-
-
-
-        # Append msg contents to the end
-        with open(self.msg_filename, 'r') as source_file:
-            msg_contents = source_file.read()
-            msg_contents = msg_contents.strip()
-
-        #Format markdown using msg name, comment, url, contents.
-        markdown += f"""
-
-## Source Message
-
-[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/{self.filename})
-
-::: details Click here to see original file
-
-```c
-{msg_contents}
-```
-
-:::
-"""
-
-        with open(self.output_file, 'w') as content_file:
-            content_file.write(markdown)
-
-        #exit()
-
-
-    def display_info(self):
-        print(f"UORBMessage: display_info")
-        print(f" name: {self.name}")
-        print(f" filename: {self.filename}, ")
-        print(f" msg_filename: {self.msg_filename}, ")
-        print(f"self.shortDescription: {self.shortDescription}")
-        print(f"self.longDescription: {self.longDescription}")
-        print(f"self.enums: {self.enums}")
-
-        for enum, enumObject in self.enums.items():
-            enumObject.display_info()
-
-        # Output our data so far
-        for field in self.fields:
-            field.display_info()
-
-        for enumvalue in self.constantFields:
-            print(enumvalue)
-            self.constantFields[enumvalue].display_info()
-
-    def handleField(self, line, line_number, parentMessage):
-        #print(f"debug: handleField: (line): \n {line}")
-        # Note, here we know we don't have a comment or a topic.
-        # We expect it to be a field.
-
-        # Check field doesn't have leading whitespace (trailing spaces already checked)
-        if line[:1].isspace(): # Returns True for ' ', '\t', '\n', '\r', etc.
-            #print("First character is whitespace")
-            error = Error("leading_whitespace_field_or_constant", self.filename, line_number, line)
-            if not "leading_whitespace_field_or_constant" in self.errors:
-                self.errors["leading_whitespace_field_or_constant"] = []
-                self.errors["leading_whitespace_field_or_constant"].append(error)
-
-        # Now we can parse the stripped line
-        fieldOrConstant = line.strip()
-
-        # Check that the field or constant has only single whitespace separators
-        stripped_fieldOrConstant = re.sub(r'\s+', ' ', fieldOrConstant) # Collapse all spaces to a single space (LHS already stripped).
-        if stripped_fieldOrConstant != fieldOrConstant:
-            #print("Field/Constant has multiple whitespace characters") # Since the collapsed version shows them.
-            error = Error("field_or_constant_has_multiple_whitepsace", self.filename, line_number, line)
-            if not "field_or_constant_has_multiple_whitepsace" in self.errors:
-                self.errors["field_or_constant_has_multiple_whitepsace"] = []
-                self.errors["field_or_constant_has_multiple_whitepsace"].append(error)
-
-        fieldOrConstant = stripped_fieldOrConstant
-
-
-
-        comment = None
-        if "#" in line:
-            commentExtract = line.split("#", 1) # Split once on left-most '#'
-            fieldOrConstant = commentExtract[0].strip()
-            comment = commentExtract[-1].strip()
-
-        if "=" not in fieldOrConstant:
-            # Is a field:
-            field = fieldOrConstant.split(" ")
-            type = field[0].strip()
-            name = field[1].strip()
-            field = MessageField(name, type, comment, line_number, parentMessage)
-            self.fields.append(field)
-        else:
-            temp = fieldOrConstant.split("=")
-            value = temp[-1]
-            typeAndName = temp[0].split(" ")
-            type = typeAndName[0]
-            name = typeAndName[1]
-            if name.startswith("VEHICLE_CMD_") and parentMessage.name == 'VehicleCommand': #it's a command.
-                #print(f"DEBUG: startswith VEHICLE_CMD_ {name}")
-                commandConstant = CommandConstant(name, type, value, comment, line_number, parentMessage)
-                #commandConstant.display_info()
-                self.commandConstants[name]=commandConstant
-            else: #it's a constant (or part of an enum)
-                constantField = ConstantValue(name, type, value, comment, line_number)
-                self.constantFields[name]=constantField
-
-
-    def parseFile(self):
-        initial_block_lines = []
-        #stopping_token = None
-        found_first_relevant_content = False
-        gettingInitialComments = False
-        gettingFields = False
-
-        with open(self.msg_filename, 'r', encoding='utf-8') as uorbfile:
-            lines = uorbfile.read().splitlines()
-            for line_number, line in enumerate(lines, 1):
-
-                if line != line.rstrip():
-                    #print(f"[{self.filename}] Trailing whitespace on line {line_number}: XX{line}YY")
-                    error = Error("trailing_whitespace", self.filename, line_number, line)
-                    if not "trailing_whitespace" in self.errors:
-                        self.errors["trailing_whitespace"] = []
-                    self.errors["trailing_whitespace"].append(error)
-
-                #print(f"line: {line}")
-                stripped_line = re.sub(r'\s+', ' ', line).strip() # Collapse all spaces to a single space and strip stuff off end.
-                #print(f"stripped_line: {stripped_line}")
-                # TODO? Perhaps report whitespace if the size of those two is different and it is empty
-                # Or perhaps we just fix it on request
-
-                isEmptyLine = False if line.strip() else True
-                if not found_first_relevant_content and isEmptyLine: #Empty line
-                    #print(f"{self.filename}: Empty line at start of file: [{line_number}]\n {line}")
-                    error = Error("empty_start_line", self.filename, line_number, line)
-                    if not "empty_start_line" in self.errors:
-                        self.errors["empty_start_line"] = []
-                    self.errors["empty_start_line"].append(error)
-                    #error.display_error()
-                    continue
-                if not found_first_relevant_content and not isEmptyLine:
-                    found_first_relevant_content = True
-
-                    if stripped_line.startswith("#"):
-                        gettingInitialComments = True
-                    else:
-                        gettingInitialComments = False
-                        gettingFields = True
-
-                if gettingInitialComments and stripped_line.startswith("#"):
-                    stripped_line=stripped_line[1:].strip()
-                    #print(f"DEBUG: gettingInitialComments: comment line: {stripped_line}")
-                    initial_block_lines.append(stripped_line)
-                else:
-                    gettingInitialComments = False
-                    gettingFields = True #Getting fields and constants
-                if gettingFields:
-                    if isEmptyLine:
-                        continue # empty line
-                    if stripped_line.startswith("# TOPICS "):
-                        stripped_line = stripped_line[9:]
-                        stripped_line = stripped_line.split(" ")
-                        self.topics+= stripped_line
-                        # Note, default topic and topic errors handled after all lines parsed
-                        continue
-                    if stripped_line.startswith("#"):
-                        # Its an internal comment
-                        stripped_line=stripped_line[1:].strip()
-                        
-                        if stripped_line:
-                            #print(f"{self.filename}: Internal comment: [{line_number}]\n {line}")
-                            error = Error("internal_comment", self.filename, line_number, line)
-                            if not "internal_comment" in self.errors:
-                                self.errors["internal_comment"] = []
-                            self.errors["internal_comment"].append(error)
-                        else:
-                            #print(f"{self.filename}: Empty internal comment: [{line_number}]\n {line}")
-                            error = Error("internal_comment_empty", self.filename, line_number, line)
-                            if not "internal_comment_empty" in self.errors:
-                                self.errors["internal_comment_empty"] = []
-                            self.errors["internal_comment_empty"].append(error)
-                            #pass # Empty comment
-                        continue
-                    
-                    # Must be a field or a comment.
-                    self.handleField(line, line_number, parentMessage=self)
-
-            # Fix up topics if the topic is empty
-            def camel_to_snake(name):
-                # Match upper case not at start of string
-                s1 = re.sub('(.)([A-Z][a-z]+)', r'\1_\2', name)
-                # Handle cases with multiple capital first letter
-                return re.sub('([A-Z]+)([A-Z][a-z]*)', r'\1_\2', s1).lower()
-
-            defaultTopic = camel_to_snake(self.name)
-            if len(self.topics) == 0:
-                # We have no topic declared, so set the default topic
-                self.topics.append(defaultTopic)
-            elif len(self.topics) == 1:
-                # We have 1 topic declared - either it is default or there is some issue.
-                if defaultTopic in self.topics:
-                    # Declared topic is default topic
-                    error = Error("topic_error", self.filename, "", f"WARNING: TOPIC {defaultTopic} unnecessarily declared for {self.name}")
-                else:
-                    # Declared topic is not default topic
-                    error = Error("topic_error", self.filename, "", f"NOTE: TOPIC {self.topics[1]}: Only Declared topic is not default topic {defaultTopic} for {self.name}")
-                if not "topic_error" in self.errors:
-                    self.errors["topic_error"] = []
-                    self.errors["topic_error"].append(error)
-            elif len(self.topics) > 1:
-                if defaultTopic not in self.topics:
-                    error = Error("topic_error", self.filename, "", f"NOTE: TOPIC - Default topic {defaultTopic} for {self.name} not in {self.topics}")
-
-            # Parse our short and long description
-            #print(f"DEBUG: initial_block_lines: {initial_block_lines}")
-            doingLongDescription = False
-            for summaryline in initial_block_lines:
-                if not self.shortDescription and summaryline.strip() == '':
-                    continue
-                if not doingLongDescription and not summaryline.strip() == '':
-                   self.shortDescription += f" {summaryline}"
-                   self.shortDescription = self.shortDescription.strip()
-                   if not self.shortDescription[-1:] == ".": # Add terminating fullstop if not present.
-                       self.shortDescription += "."
-                if not doingLongDescription and summaryline.strip() == '':
-                   doingLongDescription = True
-                   continue
-                if doingLongDescription:
-                    self.longDescription += f"{summaryline}\n"
-
-            if self.longDescription:
-                self.longDescription.strip()
-
-            if not self.shortDescription:
-                # Summary has not been defined
-                error = Error("summary_missing", self.filename)
-                if not "summary_missing" in self.errors:
-                    self.errors["summary_missing"] = []
-                self.errors["summary_missing"].append(error)
-
-
-            # TODO Parse our constantValues into enums, leaving only constants
-            constantValuesToRemove = []
-            #print(f"DEBUG: Self.enums: {self.enums}")
-            for enumName, enumObject in self.enums.items():
-                for enumValueName, enumValueObject in self.constantFields.items():
-                    if enumValueName.startswith(enumName):
-                        # Copy this value into the object (cant be duplicate because parent is dict)
-                        enumObject.enumValues[enumValueName]=enumValueObject
-                        constantValuesToRemove.append(enumValueName)
-            # Now delete the original enumvalues
-            for enumValName in constantValuesToRemove:
-                del self.constantFields[enumValName]
-            constantsNotAssignedToEnums = len(self.constantFields)
-            if constantsNotAssignedToEnums > 0:
-                #print(f"Debug: WARNING constantsNotAssignedToEnums: {constantsNotAssignedToEnums}")
-                for enumValueName, enumValue in self.constantFields.items():
-                    if enumValueName in ALLOWED_CONSTANTS_NOT_IN_ENUM: # Ignore constants
-                        pass
-                    else:
-                        error = Error("constant_not_in_assigned_enum", self.filename, enumValue.line_number, enumValueName)
-                        if not "constant_not_in_assigned_enum" in self.errors:
-                            self.errors["constant_not_in_assigned_enum"] = []
-                        self.errors["constant_not_in_assigned_enum"].append(error)
-                # TODO Maybe present as list of possible enums.
 
 
 import yaml
@@ -924,50 +127,83 @@ if __name__ == "__main__":
 
     parser = argparse.ArgumentParser(description='Generate docs from .msg files')
     parser.add_argument('-d', dest='dir', help='output directory', required=True)
-    parser.add_argument('-e', dest='errors', action='store_true', help='Report errors')
-    parser.add_argument('-m', dest='error_messages', help='Message to report errors against (by default all)')
     args = parser.parse_args()
 
     output_dir = args.dir
     if not os.path.isdir(output_dir):
-        print(f"making output_dir {output_dir}")
         os.mkdir(output_dir)
 
     msg_path = os.path.join(os.path.dirname(os.path.realpath(__file__)),"../../msg")
     msg_files = get_msgs_list(msg_path)
-
     msg_files.sort()
 
     versioned_msgs_list = ''
     unversioned_msgs_list = ''
-    msgTypes = set()
 
     for msg_file in msg_files:
-        # Add messages to set of allowed types (compound types)
-        #msg_type = msg_file.rsplit('/')[-1]
-        #msg_type = msg_type.rsplit('\\')[-1]
-        #msg_type = msg_type.rsplit('.')[0]
         msg_name = os.path.splitext(os.path.basename(msg_file))[0]
-        msgTypes.add(msg_name)
+        output_file = os.path.join(output_dir, msg_name+'.md')
+        msg_filename = os.path.join(msg_path, msg_file)
+        print("{:} -> {:}".format(msg_filename, output_file))
 
-    for msg_file in msg_files:
-        message = UORBMessage(msg_file)
-        # Any additional tests that can't be in UORBMessage parser go here.
-        message.markdown_out()
+        #Format msg url
+        msg_url="[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/%s)" % msg_file
+
+        msg_description = ""
+        summary_description = ""
+
+        #Get msg description (first non-empty comment line from top of msg)
+        with open(msg_filename, 'r') as lineparser:
+            line = lineparser.readline()
+            while line.startswith('#') or (line.strip() == ''):
+                print('DEBUG: line: %s' % line)
+                line=line[1:].strip()+'\n'
+                stripped_line=line.strip()
+                if msg_description and not summary_description and stripped_line=='':
+                    summary_description = msg_description.strip()
+
+                msg_description+=line
+                line = lineparser.readline()
+            msg_description=msg_description.strip()
+            if not summary_description and msg_description:
+                summary_description = msg_description
+            print('msg_description: Z%sZ' % msg_description)
+            print('summary_description: Z%sZ' % summary_description)
+            summary_description
+        msg_contents = ""
+        #Get msg contents (read the file)
+        with open(msg_filename, 'r') as source_file:
+            msg_contents = source_file.read()
+
+        #Format markdown using msg name, comment, url, contents.
+        markdown_output="""# %s (UORB message)
+
+%s
+
+%s
+
+```c
+%s
+```
+""" % (msg_name, msg_description, msg_url, msg_contents)
+
+        with open(output_file, 'w') as content_file:
+            content_file.write(markdown_output)
 
         # Categorize as versioned or unversioned
         if "versioned" in msg_file:
-            versioned_msgs_list += f"- [{message.name}]({message.name}.md)"
-            if message.shortDescription:
-                versioned_msgs_list += f" — {message.shortDescription}"
+            versioned_msgs_list += '- [%s](%s.md)' % (msg_name, msg_name)
+            if summary_description:
+                versioned_msgs_list += " — %s" % summary_description
             versioned_msgs_list += "\n"
         else:
-            unversioned_msgs_list += f"- [{message.name}]({message.name}.md)"
-            if message.shortDescription:
-                unversioned_msgs_list += f" — {message.shortDescription}"
+            unversioned_msgs_list += '- [%s](%s.md)' % (msg_name, msg_name)
+            if summary_description:
+                unversioned_msgs_list += " — %s" % summary_description
             unversioned_msgs_list += "\n"
+
     # Write out the index.md file
-    index_text=f"""# uORB Message Reference
+    index_text="""# uORB Message Reference
 
 ::: info
 This list is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/msg/generate_msg_docs.py) from the source code.
@@ -982,14 +218,14 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
 
 ## Versioned Messages
 
-{versioned_msgs_list}
+%s
 
 ## Unversioned Messages
 
-{unversioned_msgs_list}
-    """
+%s
+    """ % (versioned_msgs_list, unversioned_msgs_list)
     index_file = os.path.join(output_dir, 'index.md')
-    with open(index_file, 'w', encoding='utf-8') as content_file:
+    with open(index_file, 'w') as content_file:
             content_file.write(index_text)
 
     generate_dds_yaml_doc(msg_files)

Tools/process_sensor_caldata.py

@@ -1138,8 +1138,6 @@ if num_mags >= 1:
 
     if not math.isnan(sensor_mag_0['temperature'][0]):
 
-        mag_0_params['TC_M0_ID'] = int(np.median(sensor_mag_0['device_id']))
-
         # find the min, max and reference temperature
         mag_0_params['TC_M0_TMIN'] = np.amin(sensor_mag_0['temperature'])
         mag_0_params['TC_M0_TMAX'] = np.amax(sensor_mag_0['temperature'])
@@ -1658,9 +1656,9 @@ sensor_baro_0['pressure'] = median_filter(sensor_baro_0['pressure'])
 # fit data
 median_pressure = np.median(sensor_baro_0['pressure'])
 if noResample:
-    coef_baro_0_x = np.polyfit(temp_rel,(sensor_baro_0['pressure']-median_pressure),5) # pressure in Pascal
+    coef_baro_0_x = np.polyfit(temp_rel,100*(sensor_baro_0['pressure']-median_pressure),5) # convert from hPa to Pa
 else:
-    temperature, baro = resampleWithDeltaX(temp_rel,(sensor_baro_0['pressure']-median_pressure)) # pressure in Pascal
+    temperature, baro = resampleWithDeltaX(temp_rel,100*(sensor_baro_0['pressure']-median_pressure)) # convert from hPa to Pa
     coef_baro_0_x = np.polyfit(temperature,baro,5)
 
 baro_0_params['TC_B0_X5'] = coef_baro_0_x[0]
@@ -1677,7 +1675,7 @@ baro_0_x_resample = fit_coef_baro_0_x(temp_rel_resample)
 plt.figure(13,figsize=(20,13))
 
 # draw plots
-plt.plot(sensor_baro_0['temperature'],sensor_baro_0['pressure']-median_pressure,'b')
+plt.plot(sensor_baro_0['temperature'],100*sensor_baro_0['pressure']-100*median_pressure,'b')
 plt.plot(temp_resample,baro_0_x_resample,'r')
 plt.title('Baro 0 ({}) Bias vs Temperature'.format(baro_0_params['TC_B0_ID']))
 plt.ylabel('Z bias (Pa)')
@@ -1719,9 +1717,9 @@ if num_baros >= 2:
     # fit data
     median_pressure = np.median(sensor_baro_1['pressure'])
     if noResample:
-        coef_baro_1_x = np.polyfit(temp_rel,(sensor_baro_1['pressure']-median_pressure),5) # pressure in Pascal
+        coef_baro_1_x = np.polyfit(temp_rel,100*(sensor_baro_1['pressure']-median_pressure),5) # convert from hPa to Pa
     else:
-        temperature, baro = resampleWithDeltaX(temp_rel,(sensor_baro_1['pressure']-median_pressure)) # pressure in Pascal
+        temperature, baro = resampleWithDeltaX(temp_rel,100*(sensor_baro_1['pressure']-median_pressure)) # convert from hPa to Pa
         coef_baro_1_x = np.polyfit(temperature,baro,5)
 
     baro_1_params['TC_B1_X5'] = coef_baro_1_x[0]
@@ -1738,7 +1736,7 @@ if num_baros >= 2:
     plt.figure(14,figsize=(20,13))
 
     # draw plots
-    plt.plot(sensor_baro_1['temperature'],sensor_baro_1['pressure']-median_pressure,'b')
+    plt.plot(sensor_baro_1['temperature'],100*sensor_baro_1['pressure']-100*median_pressure,'b')
     plt.plot(temp_resample,baro_1_x_resample,'r')
     plt.title('Baro 1 ({}) Bias vs Temperature'.format(baro_1_params['TC_B1_ID']))
     plt.ylabel('Z bias (Pa)')
@@ -1780,9 +1778,9 @@ if num_baros >= 3:
     # fit data
     median_pressure = np.median(sensor_baro_2['pressure'])
     if noResample:
-        coef_baro_2_x = np.polyfit(temp_rel,(sensor_baro_2['pressure']-median_pressure),5) # pressure in Pascal
+        coef_baro_2_x = np.polyfit(temp_rel,100*(sensor_baro_2['pressure']-median_pressure),5) # convert from hPa to Pa
     else:
-        temperature, baro = resampleWithDeltaX(temp_rel,(sensor_baro_2['pressure']-median_pressure)) # pressure in Pascal
+        temperature, baro = resampleWithDeltaX(temp_rel,100*(sensor_baro_2['pressure']-median_pressure)) # convert from hPa to Pa
         coef_baro_2_x = np.polyfit(temperature,baro,5)
 
     baro_2_params['TC_B2_X5'] = coef_baro_2_x[0]
@@ -1799,7 +1797,7 @@ if num_baros >= 3:
     plt.figure(15,figsize=(20,13))
 
     # draw plots
-    plt.plot(sensor_baro_2['temperature'],sensor_baro_2['pressure']-median_pressure,'b')
+    plt.plot(sensor_baro_2['temperature'],100*sensor_baro_2['pressure']-100*median_pressure,'b')
     plt.plot(temp_resample,baro_2_x_resample,'r')
     plt.title('Baro 2 ({}) Bias vs Temperature'.format(baro_2_params['TC_B2_ID']))
     plt.ylabel('Z bias (Pa)')
@@ -1840,7 +1838,7 @@ if num_baros >= 4:
 
     # fit data
     median_pressure = np.median(sensor_baro_3['pressure'])
-    coef_baro_3_x = np.polyfit(temp_rel,(sensor_baro_3['pressure']-median_pressure),5) # pressure in Pascal
+    coef_baro_3_x = np.polyfit(temp_rel,100*(sensor_baro_3['pressure']-median_pressure),5) # convert from hPa to Pa
     baro_3_params['TC_B3_X5'] = coef_baro_3_x[0]
     baro_3_params['TC_B3_X4'] = coef_baro_3_x[1]
     baro_3_params['TC_B3_X3'] = coef_baro_3_x[2]
@@ -1855,7 +1853,7 @@ if num_baros >= 4:
     plt.figure(16,figsize=(20,13))
 
     # draw plots
-    plt.plot(sensor_baro_3['temperature'],sensor_baro_3['pressure']-median_pressure,'b')
+    plt.plot(sensor_baro_3['temperature'],100*sensor_baro_3['pressure']-100*median_pressure,'b')
     plt.plot(temp_resample,baro_3_x_resample,'r')
     plt.title('Baro 3 ({}) Bias vs Temperature'.format(baro_3_params['TC_B3_ID']))
     plt.ylabel('Z bias (Pa)')

Tools/px4moduledoc/srcparser.py

@@ -15,7 +15,7 @@ class ModuleDocumentation(object):
     # TOC in https://github.com/PX4/PX4-Autopilot/blob/main/docs/en/SUMMARY.md
     valid_categories = ['driver', 'estimator', 'controller', 'system',
                         'communication', 'command', 'template', 'simulation', 'autotune']
-    valid_subcategories = ['', 'adc', 'camera', 'distance_sensor', 'imu', 'ins', 'airspeed_sensor',
+    valid_subcategories = ['', 'camera', 'distance_sensor', 'imu', 'ins', 'airspeed_sensor',
                            'magnetometer', 'baro', 'optical_flow', 'radio_control','rpm_sensor', 'transponder']
 
     max_line_length = 80 # wrap lines that are longer than this

Tools/px_uploader.py

@@ -0,0 +1,983 @@
+#!/usr/bin/env python3
+############################################################################
+#
+#   Copyright (c) 2012-2024 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# Serial firmware uploader for the PX4FMU bootloader
+#
+# The PX4 firmware file is a JSON-encoded Python object, containing
+# metadata fields and a zlib-compressed base64-encoded firmware image.
+#
+# The uploader uses the following fields from the firmware file:
+#
+# image
+#       The firmware that will be uploaded.
+# image_size
+#       The size of the firmware in bytes.
+# board_id
+#       The board for which the firmware is intended.
+# board_revision
+#       Currently only used for informational purposes.
+#
+
+import sys
+import argparse
+import binascii
+import socket
+import struct
+import json
+import zlib
+import base64
+import time
+import array
+import os
+
+from sys import platform as _platform
+
+try:
+    import serial
+except ImportError as e:
+    print(f"Failed to import serial: {e}")
+    print("")
+    print("You may need to install it using:")
+    print("    python -m pip install pyserial")
+    print("")
+    sys.exit(1)
+
+
+# Detect python version
+if sys.version_info[0] < 3:
+    raise RuntimeError("Python 2 is not supported. Please try again using Python 3.")
+    sys.exit(1)
+
+
+# Use monotonic time where available
+def _time():
+    try:
+        return time.monotonic()
+    except Exception:
+        return time.time()
+
+class FirmwareNotSuitableException(Exception):
+    def __init__(self, message):
+        super(FirmwareNotSuitableException, self).__init__(message)
+
+
+class firmware(object):
+    '''Loads a firmware file'''
+
+    desc = {}
+    image = bytes()
+    crctab = array.array('I', [
+        0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3,
+        0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988, 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91,
+        0x1db71064, 0x6ab020f2, 0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7,
+        0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, 0x14015c4f, 0x63066cd9, 0xfa0f3d63, 0x8d080df5,
+        0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172, 0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b,
+        0x35b5a8fa, 0x42b2986c, 0xdbbbc9d6, 0xacbcf940, 0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59,
+        0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423, 0xcfba9599, 0xb8bda50f,
+        0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924, 0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d,
+        0x76dc4190, 0x01db7106, 0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433,
+        0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, 0x7f6a0dbb, 0x086d3d2d, 0x91646c97, 0xe6635c01,
+        0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e, 0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457,
+        0x65b0d9c6, 0x12b7e950, 0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65,
+        0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, 0x4adfa541, 0x3dd895d7, 0xa4d1c46d, 0xd3d6f4fb,
+        0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0, 0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9,
+        0x5005713c, 0x270241aa, 0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f,
+        0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17, 0x2eb40d81, 0xb7bd5c3b, 0xc0ba6cad,
+        0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a, 0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683,
+        0xe3630b12, 0x94643b84, 0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1,
+        0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb, 0x196c3671, 0x6e6b06e7,
+        0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc, 0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5,
+        0xd6d6a3e8, 0xa1d1937e, 0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b,
+        0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, 0xdf60efc3, 0xa867df55, 0x316e8eef, 0x4669be79,
+        0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236, 0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f,
+        0xc5ba3bbe, 0xb2bd0b28, 0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d,
+        0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, 0x9c0906a9, 0xeb0e363f, 0x72076785, 0x05005713,
+        0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38, 0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21,
+        0x86d3d2d4, 0xf1d4e242, 0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777,
+        0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, 0x8f659eff, 0xf862ae69, 0x616bffd3, 0x166ccf45,
+        0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2, 0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db,
+        0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9,
+        0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf,
+        0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d])
+    crcpad = bytearray(b'\xff\xff\xff\xff')
+
+    def __init__(self, path):
+
+        # read the file
+        f = open(path, "r")
+        self.desc = json.load(f)
+        f.close()
+
+        self.image = bytearray(zlib.decompress(base64.b64decode(self.desc['image'])))
+
+        # pad image to 4-byte length
+        while ((len(self.image) % 4) != 0):
+            self.image.extend(b'\xff')
+
+    def property(self, propname):
+        return self.desc[propname]
+
+    def __crc32(self, bytes, state):
+        for byte in bytes:
+            index = (state ^ byte) & 0xff
+            state = self.crctab[index] ^ (state >> 8)
+        return state
+
+    def crc(self, padlen):
+        state = self.__crc32(self.image, int(0))
+        for _ in range(len(self.image), (padlen - 1), 4):
+            state = self.__crc32(self.crcpad, state)
+        return state
+
+
+class uploader:
+    '''Uploads a firmware file to the PX4 bootloader'''
+
+    # protocol bytes
+    INSYNC          = b'\x12'
+    EOC             = b'\x20'
+
+    # reply bytes
+    OK              = b'\x10'
+    FAILED          = b'\x11'
+    INVALID         = b'\x13'     # rev3+
+    BAD_SILICON_REV = b'\x14'     # rev5+
+
+    # command bytes
+    NOP             = b'\x00'     # guaranteed to be discarded by the bootloader
+    GET_SYNC        = b'\x21'
+    GET_DEVICE      = b'\x22'
+    CHIP_ERASE      = b'\x23'
+    CHIP_VERIFY     = b'\x24'     # rev2 only
+    PROG_MULTI      = b'\x27'
+    READ_MULTI      = b'\x28'     # rev2 only
+    GET_CRC         = b'\x29'     # rev3+
+    GET_OTP         = b'\x2a'     # rev4+  , get a word from OTP area
+    GET_SN          = b'\x2b'     # rev4+  , get a word from SN area
+    GET_CHIP        = b'\x2c'     # rev5+  , get chip version
+    SET_BOOT_DELAY  = b'\x2d'     # rev5+  , set boot delay
+    GET_CHIP_DES    = b'\x2e'     # rev5+  , get chip description in ASCII
+    GET_VERSION     = b'\x2f'     # rev5+  , get bootloader version in ASCII
+    CHIP_FULL_ERASE = b'\x40'     # full erase of flash, rev6+
+    MAX_DES_LENGTH  = 20
+
+    REBOOT          = b'\x30'
+
+    INFO_BL_REV     = b'\x01'        # bootloader protocol revision
+    BL_REV_MIN      = 2              # minimum supported bootloader protocol
+    BL_REV_MAX      = 5              # maximum supported bootloader protocol
+    INFO_BOARD_ID   = b'\x02'        # board type
+    INFO_BOARD_REV  = b'\x03'        # board revision
+    INFO_FLASH_SIZE = b'\x04'        # max firmware size in bytes
+
+    PROG_MULTI_MAX  = 252            # protocol max is 255, must be multiple of 4
+    READ_MULTI_MAX  = 252            # protocol max is 255
+
+    NSH_INIT        = bytearray(b'\x0d\x0d\x0d')
+    NSH_REBOOT_BL   = b"reboot -b\n"
+    NSH_REBOOT      = b"reboot\n"
+    MAVLINK_REBOOT_ID1 = bytearray(b'\xfe\x21\x72\xff\x00\x4c\x00\x00\x40\x40\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf6\x00\x01\x00\x00\x53\x6b')
+    MAVLINK_REBOOT_ID0 = bytearray(b'\xfe\x21\x45\xff\x00\x4c\x00\x00\x40\x40\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf6\x00\x00\x00\x00\xcc\x37')
+
+    MAX_FLASH_PRGRAM_TIME  = 0.001  # Time on an F7 to send SYNC, RESULT from last data in multi RXed
+
+    def __init__(self, portname, baudrate_bootloader, baudrate_flightstack):
+        # Open the port, keep the default timeout short so we can poll quickly.
+        # On some systems writes can suddenly get stuck without having a
+        # write_timeout > 0 set.
+        # chartime 8n1 * bit rate is us
+        self.chartime = 10 * (1.0 / baudrate_bootloader)
+
+        # we use a window approche to SYNC,<result> gathring
+        self.window = 0
+        self.window_max = 256
+        self.window_per = 2  # Sync,<result>
+        self.ackWindowedMode = False  # Assume Non Widowed mode for all USB CDC
+        self.port = serial.Serial(portname, baudrate_bootloader, timeout=0.5, write_timeout=0)
+        self.otp = b''
+        self.sn = b''
+        self.baudrate_bootloader = baudrate_bootloader
+        self.baudrate_flightstack = baudrate_flightstack
+        self.baudrate_flightstack_idx = -1
+        self.force_erase = False
+
+    def close(self):
+        if self.port is not None:
+            self.port.close()
+
+    def open(self):
+        # upload timeout
+        timeout = _time() + 0.2
+
+        # attempt to open the port while it exists and until timeout occurs
+        while self.port is not None:
+            portopen = True
+            try:
+                portopen = self.port.is_open
+            except AttributeError:
+                portopen = self.port.isOpen()
+
+            if not portopen and _time() < timeout:
+                try:
+                    self.port.open()
+                except OSError:
+                    # wait for the port to be ready
+                    time.sleep(0.04)
+                except serial.SerialException:
+                    # if open fails, try again later
+                    time.sleep(0.04)
+            else:
+                break
+
+    # debugging code
+    def __probe(self, state):
+        # self.port.setRTS(state)
+        return
+
+    def __send(self, c):
+        # print("send " + binascii.hexlify(c))
+        self.port.write(c)
+
+    def __recv(self, count=1):
+        c = self.port.read(count)
+        if len(c) < 1:
+            raise RuntimeError("timeout waiting for data (%u bytes)" % count)
+        # print("recv " + binascii.hexlify(c))
+        return c
+
+    def __recv_int(self):
+        raw = self.__recv(4)
+        val = struct.unpack("<I", raw)
+        return val[0]
+
+    def __getSync(self, doFlush=True):
+        if (doFlush):
+            self.port.flush()
+        c = bytes(self.__recv())
+        if c != self.INSYNC:
+            raise RuntimeError("unexpected %s instead of INSYNC" % c)
+        c = self.__recv()
+        if c == self.INVALID:
+            raise RuntimeError("bootloader reports INVALID OPERATION")
+        if c == self.FAILED:
+            raise RuntimeError("bootloader reports OPERATION FAILED")
+        if c != self.OK:
+            raise RuntimeError("unexpected response 0x%x instead of OK" % ord(c))
+
+    # The control flow for receiving Sync is on the order of 16 Ms per Sync
+    # This will validate all the SYNC,<results> for a window of programing
+    # in about 13.81 Ms for 256 blocks written
+    def __ackSyncWindow(self, count):
+        if (count > 0):
+            data =  bytearray(bytes(self.__recv(count)))
+            if (len(data) != count):
+                raise RuntimeError("Ack Window %i not %i " % (len(data), count))
+            for i in range(0, len(data), 2):
+                if bytes([data[i]]) != self.INSYNC:
+                    raise RuntimeError("unexpected %s instead of INSYNC" % data[i])
+                if bytes([data[i+1]]) == self.INVALID:
+                    raise RuntimeError("bootloader reports INVALID OPERATION")
+                if bytes([data[i+1]]) == self.FAILED:
+                    raise RuntimeError("bootloader reports OPERATION FAILED")
+                if bytes([data[i+1]]) != self.OK:
+                    raise RuntimeError("unexpected response 0x%x instead of OK" % ord(data[i+1]))
+
+    # attempt to get back into sync with the bootloader
+    def __sync(self):
+        # send a stream of ignored bytes longer than the longest possible conversation
+        # that we might still have in progress
+        # self.__send(uploader.NOP * (uploader.PROG_MULTI_MAX + 2))
+        self.port.flushInput()
+        self.__send(uploader.GET_SYNC +
+                    uploader.EOC)
+        self.__getSync()
+
+    def __trySync(self):
+        try:
+            self.port.flush()
+            if (self.__recv() != self.INSYNC):
+                # print("unexpected 0x%x instead of INSYNC" % ord(c))
+                return False
+            c = self.__recv()
+            if (c == self.BAD_SILICON_REV):
+                raise NotImplementedError()
+            if (c != self.OK):
+                # print("unexpected 0x%x instead of OK" % ord(c))
+                return False
+            return True
+
+        except NotImplementedError:
+            raise RuntimeError("Programing not supported for this version of silicon!\n"
+                               "See https://docs.px4.io/main/en/flight_controller/silicon_errata.html")
+        except RuntimeError:
+            # timeout, no response yet
+            return False
+
+    # attempt to determins if the device is CDCACM or A FTDI
+    def __determineInterface(self):
+        self.port.flushInput()
+        # Set a baudrate that can not work on a real serial port
+        # in that it is 233% off.
+        try:
+            self.port.baudrate = self.baudrate_bootloader * 2.33
+        except NotImplementedError as e:
+            # This error can occur because pySerial on Windows does not support odd baudrates
+            print(f"{e} -> could not check for FTDI device, assuming USB connection")
+            return
+
+        self.__send(uploader.GET_SYNC +
+                    uploader.EOC)
+        try:
+            self.__getSync(False)
+        except RuntimeError:
+            # if it fails we are on a real serial port - only leave this enabled on Windows
+            if sys.platform.startswith('win'):
+                self.ackWindowedMode = True
+        finally:
+            try:
+                self.port.baudrate = self.baudrate_bootloader
+            except Exception:
+                pass
+
+    # send the GET_DEVICE command and wait for an info parameter
+    def __getInfo(self, param):
+        self.__send(uploader.GET_DEVICE + param + uploader.EOC)
+        value = self.__recv_int()
+        self.__getSync()
+        return value
+
+    # send the GET_OTP command and wait for an info parameter
+    def __getOTP(self, param):
+        t = struct.pack("I", param)  # int param as 32bit ( 4 byte ) char array.
+        self.__send(uploader.GET_OTP + t + uploader.EOC)
+        value = self.__recv(4)
+        self.__getSync()
+        return value
+
+    # send the GET_SN command and wait for an info parameter
+    def __getSN(self, param):
+        t = struct.pack("I", param)  # int param as 32bit ( 4 byte ) char array.
+        self.__send(uploader.GET_SN + t + uploader.EOC)
+        value = self.__recv(4)
+        self.__getSync()
+        return value
+
+    # send the GET_CHIP command
+    def __getCHIP(self):
+        self.__send(uploader.GET_CHIP + uploader.EOC)
+        value = self.__recv_int()
+        self.__getSync()
+        return value
+
+    # send the GET_CHIP command
+    def __getCHIPDes(self):
+        self.__send(uploader.GET_CHIP_DES + uploader.EOC)
+        length = self.__recv_int()
+        value = self.__recv(length)
+        self.__getSync()
+        pieces = value.split(b",")
+        return pieces
+
+    def __getVersion(self):
+        self.__send(uploader.GET_VERSION + uploader.EOC)
+        try:
+            length = self.__recv_int()
+            value = self.__recv(length)
+            self.__getSync()
+        except RuntimeError:
+            # Bootloader doesn't support version call
+            return "unknown"
+        return value.decode()
+
+    def __drawProgressBar(self, label, progress, maxVal):
+        if maxVal < progress:
+            progress = maxVal
+
+        percent = (float(progress) / float(maxVal)) * 100.0
+
+        redraw = "\r" if sys.stdout.isatty() else "\n"
+        sys.stdout.write("%s%s: [%-20s] %.1f%%" % (redraw, label, '='*int(percent/5.0), percent))
+        sys.stdout.flush()
+
+    # send the CHIP_ERASE command and wait for the bootloader to become ready
+    def __erase(self, label):
+        print(f"Windowed mode: {self.ackWindowedMode}")
+        print("\n", end='')
+
+        if self.force_erase:
+            print("Trying force erase of full chip...\n")
+            self.__send(uploader.CHIP_FULL_ERASE +
+                        uploader.EOC)
+        else:
+            self.__send(uploader.CHIP_ERASE +
+                        uploader.EOC)
+
+        # erase is very slow, give it 30s
+        deadline = _time() + 30.0
+        while _time() < deadline:
+
+            usualEraseDuration = 15.0
+            estimatedTimeRemaining = deadline-_time()
+            if estimatedTimeRemaining >= usualEraseDuration:
+                self.__drawProgressBar(label, 30.0-estimatedTimeRemaining, usualEraseDuration)
+            else:
+                self.__drawProgressBar(label, 10.0, 10.0)
+                sys.stdout.write(" (timeout: %d seconds) " % int(deadline-_time()))
+                sys.stdout.flush()
+
+            if self.__trySync():
+                self.__drawProgressBar(label, 10.0, 10.0)
+                if self.force_erase:
+                    print("\nForce erase done.\n")
+                return
+
+        if self.force_erase:
+            raise RuntimeError("timed out waiting for erase, force erase is likely not supported by bootloader!")
+        else:
+            raise RuntimeError("timed out waiting for erase")
+
+    # send a PROG_MULTI command to write a collection of bytes
+    def __program_multi(self, data, windowMode):
+
+        length = len(data).to_bytes(1, byteorder='big')
+
+        self.__send(uploader.PROG_MULTI)
+        self.__send(length)
+        self.__send(data)
+        self.__send(uploader.EOC)
+        if (not windowMode):
+            self.__getSync(False)
+        else:
+            # The following is done to have minimum delay on the transmission
+            # of the ne fw. The per block cost of __getSync was about 16 mS per.
+            # Passively wait on Sync and Result using board rates and
+            # N.B. attempts to activly wait on InWating still carried 8 mS of overhead
+            self.__probe(False)
+            self.__probe(True)
+            time.sleep((ord(length) * self.chartime) + uploader.MAX_FLASH_PRGRAM_TIME)
+            self.__probe(False)
+
+    # verify multiple bytes in flash
+    def __verify_multi(self, data):
+
+        length = len(data).to_bytes(1, byteorder='big')
+
+        self.__send(uploader.READ_MULTI)
+        self.__send(length)
+        self.__send(uploader.EOC)
+        self.port.flush()
+        programmed = self.__recv(len(data))
+        if programmed != data:
+            print("got    " + binascii.hexlify(programmed))
+            print("expect " + binascii.hexlify(data))
+            return False
+        self.__getSync()
+        return True
+
+    # send the reboot command
+    def __reboot(self):
+        self.__send(uploader.REBOOT +
+                    uploader.EOC)
+        self.port.flush()
+
+        # v3+ can report failure if the first word flash fails
+        if self.bl_rev >= 3:
+            self.__getSync()
+
+    # split a sequence into a list of size-constrained pieces
+    def __split_len(self, seq, length):
+        return [seq[i:i+length] for i in range(0, len(seq), length)]
+
+    # upload code
+    def __program(self, label, fw):
+        self.__probe(False)
+        print("\n", end='')
+        code = fw.image
+        groups = self.__split_len(code, uploader.PROG_MULTI_MAX)
+        # Give imedate feedback
+        self.__drawProgressBar(label, 0, len(groups))
+        uploadProgress = 0
+        for bytes in groups:
+            self.__program_multi(bytes, self.ackWindowedMode)
+            # If in Window mode, extend the window size for the __ackSyncWindow
+            if self.ackWindowedMode:
+                self.window += self.window_per
+
+            # Print upload progress (throttled, so it does not delay upload progress)
+            uploadProgress += 1
+            if uploadProgress % 256 == 0:
+                self.__probe(True)
+                self.__probe(False)
+                self.__probe(True)
+                self.__ackSyncWindow(self.window)
+                self.__probe(False)
+                self.window = 0
+                self.__drawProgressBar(label, uploadProgress, len(groups))
+
+        # Do any remaining fragment
+        self.__ackSyncWindow(self.window)
+        self.window = 0
+        self.__drawProgressBar(label, 100, 100)
+
+    # verify code
+    def __verify_v2(self, label, fw):
+        print("\n", end='')
+        self.__send(uploader.CHIP_VERIFY +
+                    uploader.EOC)
+        self.__getSync()
+        code = fw.image
+        groups = self.__split_len(code, uploader.READ_MULTI_MAX)
+        verifyProgress = 0
+        for bytes in groups:
+            verifyProgress += 1
+            if verifyProgress % 256 == 0:
+                self.__drawProgressBar(label, verifyProgress, len(groups))
+            if (not self.__verify_multi(bytes)):
+                raise RuntimeError("Verification failed")
+        self.__drawProgressBar(label, 100, 100)
+
+    def __verify_v3(self, label, fw):
+        print("\n", end='')
+        self.__drawProgressBar(label, 1, 100)
+        expect_crc = fw.crc(self.fw_maxsize)
+        self.__send(uploader.GET_CRC + uploader.EOC)
+        time.sleep(0.5)
+        report_crc = self.__recv_int()
+        self.__getSync()
+        if report_crc != expect_crc:
+            print("Expected 0x%x" % expect_crc)
+            print("Got      0x%x" % report_crc)
+            raise RuntimeError("Program CRC failed")
+        self.__drawProgressBar(label, 100, 100)
+
+    def __set_boot_delay(self, boot_delay):
+        self.__send(uploader.SET_BOOT_DELAY +
+                    struct.pack("b", boot_delay) +
+                    uploader.EOC)
+        self.__getSync()
+
+    # get basic data about the board
+    def identify(self):
+        self.__determineInterface()
+        # make sure we are in sync before starting
+        self.__sync()
+
+        # get the bootloader protocol ID first
+        self.bl_rev = self.__getInfo(uploader.INFO_BL_REV)
+        if (self.bl_rev < uploader.BL_REV_MIN) or (self.bl_rev > uploader.BL_REV_MAX):
+            print("Unsupported bootloader protocol %d" % uploader.INFO_BL_REV)
+            raise RuntimeError("Bootloader protocol mismatch")
+
+        self.board_type = self.__getInfo(uploader.INFO_BOARD_ID)
+        self.board_rev = self.__getInfo(uploader.INFO_BOARD_REV)
+        self.fw_maxsize = self.__getInfo(uploader.INFO_FLASH_SIZE)
+
+        self.version = self.__getVersion()
+
+    # upload the firmware
+    def upload(self, fw_list, force=False, boot_delay=None, boot_check=False, force_erase=False):
+        self.force_erase = force_erase
+        # select correct binary
+        found_suitable_firmware = False
+        for file in fw_list:
+            fw = firmware(file)
+            if self.board_type == fw.property('board_id'):
+                if len(fw_list) > 1: print("using firmware binary {}".format(file))
+                found_suitable_firmware = True
+                break
+
+        if not found_suitable_firmware:
+            msg = "Firmware not suitable for this board (Firmware board_type=%u board_id=%u)" % (
+                self.board_type, fw.property('board_id'))
+            print("WARNING: %s" % msg)
+            if force:
+                if len(fw_list) > 1:
+                    raise FirmwareNotSuitableException("force flashing failed, more than one file provided, none suitable")
+                print("FORCED WRITE, FLASHING ANYWAY!")
+            else:
+                raise FirmwareNotSuitableException(msg)
+
+        percent = fw.property('image_size') / fw.property('image_maxsize')
+        binary_size = float(fw.property('image_size'))
+        binary_max_size = float(fw.property('image_maxsize'))
+        percent = (binary_size / binary_max_size) * 100
+
+        print("Loaded firmware for board id: %s,%s size: %d bytes (%.2f%%) " % (fw.property('board_id'), fw.property('board_revision'), fw.property('image_size'), percent))
+        print()
+
+        print(f"Bootloader version: {self.version}")
+
+        # Make sure we are doing the right thing
+        start = _time()
+        if self.board_type != fw.property('board_id'):
+            msg = "Firmware not suitable for this board (Firmware board_type=%u board_id=%u)" % (
+                self.board_type, fw.property('board_id'))
+            print("WARNING: %s" % msg)
+            if force:
+                print("FORCED WRITE, FLASHING ANYWAY!")
+            else:
+                raise FirmwareNotSuitableException(msg)
+
+        # Prevent uploads where the image would overflow the flash
+        if self.fw_maxsize < fw.property('image_size'):
+            raise RuntimeError("Firmware image is too large for this board")
+
+        # OTP added in v4:
+        if self.bl_rev >= 4:
+            for byte in range(0, 32*6, 4):
+                x = self.__getOTP(byte)
+                self.otp = self.otp + x
+                # print(binascii.hexlify(x).decode('Latin-1') + ' ', end='')
+            # see src/modules/systemlib/otp.h in px4 code:
+            self.otp_id = self.otp[0:4]
+            self.otp_idtype = self.otp[4:5]
+            self.otp_vid = self.otp[8:4:-1]
+            self.otp_pid = self.otp[12:8:-1]
+            self.otp_coa = self.otp[32:160]
+            # show user:
+            try:
+                print("Sn: ", end='')
+                for byte in range(0, 12, 4):
+                    x = self.__getSN(byte)
+                    x = x[::-1]  # reverse the bytes
+                    self.sn = self.sn + x
+                    print(binascii.hexlify(x).decode('Latin-1'), end='')  # show user
+                print('')
+                print("Chip: %08x" % self.__getCHIP())
+
+                otp_id = self.otp_id.decode('Latin-1')
+                if ("PX4" in otp_id):
+                    print("OTP id: " + otp_id)
+                    print("OTP idtype: " + binascii.b2a_qp(self.otp_idtype).decode('Latin-1'))
+                    print("OTP vid: " + binascii.hexlify(self.otp_vid).decode('Latin-1'))
+                    print("OTP pid: " + binascii.hexlify(self.otp_pid).decode('Latin-1'))
+                    print("OTP coa: " + binascii.b2a_base64(self.otp_coa).decode('Latin-1'))
+
+            except Exception as e:
+                # ignore bad character encodings
+                print(f"Exception ignored: {e}")
+                pass
+
+        # Silicon errata check was added in v5
+        if (self.bl_rev >= 5):
+            des = self.__getCHIPDes()
+            if (len(des) == 2):
+                family, revision = des
+                print(f"Family: {family.decode()}")
+                print(f"Revision: {revision.decode()}")
+                print(f"Flash: {self.fw_maxsize} bytes")
+
+                # Prevent uploads where the maximum image size of the board config is smaller than the flash
+                # of the board. This is a hint the user chose the wrong config and will lack features
+                # for this particular board.
+
+                # This check should also check if the revision is an unaffected revision
+                # and thus can support the full flash, see
+                # https://github.com/PX4/Firmware/blob/master/src/drivers/boards/common/stm32/board_mcu_version.c#L125-L144
+
+                if self.fw_maxsize > fw.property('image_maxsize') and not force:
+                    print(f"WARNING: Board can accept larger flash images ({self.fw_maxsize} bytes) than board config ({fw.property('image_maxsize')} bytes)")
+        else:
+            # If we're still on bootloader v4 on a Pixhawk, we don't know if we
+            # have the silicon errata and therefore need to flash px4_fmu-v2
+            # with 1MB flash or if it supports px4_fmu-v3 with 2MB flash.
+            if fw.property('board_id') == 9 \
+                    and fw.property('image_size') > 1032192 \
+                    and not force:
+                raise RuntimeError("\nThe Board uses bootloader revision 4 and can therefore not determine\n"
+                                   "if flashing more than 1 MB (px4_fmu-v3_default) is safe, chances are\n"
+                                   "high that it is not safe! If unsure, use px4_fmu-v2_default.\n"
+                                   "\n"
+                                   "If you know you that the board does not have the silicon errata, use\n"
+                                   "this script with --force, or update the bootloader. If you are invoking\n"
+                                   "upload using make, you can use force-upload target to force the upload.\n")
+        self.__erase("Erase  ")
+        self.__program("Program", fw)
+
+        if self.bl_rev == 2:
+            self.__verify_v2("Verify ", fw)
+        else:
+            self.__verify_v3("Verify ", fw)
+
+        if boot_delay is not None:
+            self.__set_boot_delay(boot_delay)
+
+        print("\nRebooting.", end='')
+        self.__reboot()
+        self.port.close()
+        print(" Elapsed Time %3.3f\n" % (_time() - start))
+
+    def __next_baud_flightstack(self):
+        if self.baudrate_flightstack_idx + 1 >= len(self.baudrate_flightstack):
+            return False
+        try:
+            self.port.baudrate = self.baudrate_flightstack[self.baudrate_flightstack_idx + 1]
+            self.baudrate_flightstack_idx = self.baudrate_flightstack_idx + 1
+        except serial.SerialException:
+            # Sometimes _configure_port fails
+            time.sleep(0.04)
+
+        return True
+
+    def send_protocol_splitter_format(self, data):
+        # Header Structure:
+        #      bits:   1 2 3 4 5 6 7 8
+        # header[0] - |     Magic     | (='S')
+        # header[1] - |T|   LenH      | (T - 0: mavlink; 1: rtps)
+        # header[2] - |     LenL      |
+        # header[3] - |   Checksum    |
+
+        MAGIC = 83
+
+        len_bytes = len(data).to_bytes(2, "big")
+        LEN_H = len_bytes[0] & 127
+        LEN_L = len_bytes[1] & 255
+        CHECKSUM = MAGIC ^ LEN_H ^ LEN_L
+
+        header_ints = [MAGIC, LEN_H, LEN_L, CHECKSUM]
+        header_bytes = struct.pack("{}B".format(len(header_ints)), *header_ints)
+
+        self.__send(header_bytes)
+        self.__send(data)
+
+    def send_reboot(self, use_protocol_splitter_format=False):
+        if (not self.__next_baud_flightstack()):
+            return False
+
+        print("Attempting reboot on %s with baudrate=%d..." % (self.port.port, self.port.baudrate), file=sys.stderr)
+        if "ttyS" in self.port.port:
+            print("If the board does not respond, check the connection to the Flight Controller")
+        else:
+            print("If the board does not respond, unplug and re-plug the USB connector.", file=sys.stderr)
+
+        try:
+            send_fct = self.__send
+            if use_protocol_splitter_format:
+                send_fct = self.send_protocol_splitter_format
+
+            # try MAVLINK command first
+            self.port.flush()
+            send_fct(uploader.MAVLINK_REBOOT_ID1)
+            send_fct(uploader.MAVLINK_REBOOT_ID0)
+            # then try reboot via NSH
+            send_fct(uploader.NSH_INIT)
+            send_fct(uploader.NSH_REBOOT_BL)
+            send_fct(uploader.NSH_INIT)
+            send_fct(uploader.NSH_REBOOT)
+            self.port.flush()
+            self.port.baudrate = self.baudrate_bootloader
+        except Exception:
+            try:
+                self.port.flush()
+                self.port.baudrate = self.baudrate_bootloader
+            except Exception:
+                pass
+
+        return True
+
+
+def main():
+    # Parse commandline arguments
+    parser = argparse.ArgumentParser(description="Firmware uploader for the PX autopilot system.")
+    parser.add_argument('--port', action="store", required=True, help="Comma-separated list of serial port(s) to which the FMU may be attached")
+    parser.add_argument('--baud-bootloader', action="store", type=int, default=115200, help="Baud rate of the serial port (default is 115200) when communicating with bootloader, only required for true serial ports.")
+    parser.add_argument('--baud-flightstack', action="store", default="57600", help="Comma-separated list of baud rate of the serial port (default is 57600) when communicating with flight stack (Mavlink or NSH), only required for true serial ports.")
+    parser.add_argument('--force', action='store_true', default=False, help='Override board type check, or silicon errata checks and continue loading')
+    parser.add_argument('--force-erase', action="store_true", help="Do not perform the blank check, always erase every sector of the application space")
+    parser.add_argument('--boot-delay', type=int, default=None, help='minimum boot delay to store in flash')
+    parser.add_argument('--use-protocol-splitter-format', action='store_true', help='use protocol splitter format for reboot')
+    parser.add_argument('firmware', action="store", nargs='+', help="Firmware file(s)")
+    args = parser.parse_args()
+
+    if args.use_protocol_splitter_format:
+        print("Using protocol splitter format to reboot pixhawk!")
+
+    # warn people about ModemManager which interferes badly with Pixhawk
+    if os.path.exists("/usr/sbin/ModemManager"):
+        print("==========================================================================================================")
+        print("WARNING: You should uninstall ModemManager as it conflicts with any non-modem serial device (like Pixhawk)")
+        print("==========================================================================================================")
+
+    print("Waiting for bootloader...")
+    # tell any GCS that might be connected to the autopilot to give up
+    # control of the serial port
+
+    # send to localhost and default GCS port
+    ipaddr = '127.0.0.1'
+    portnum = 14550
+
+    # COMMAND_LONG in MAVLink 1
+    heartbeatpacket = bytearray.fromhex('fe097001010000000100020c5103033c8a')
+    commandpacket = bytearray.fromhex('fe210101014c00000000000000000000000000000000000000000000803f00000000f6000000008459')
+
+    # initialize an UDP socket
+    s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+
+    # send heartbeat to initialize connection and command to free the link
+    s.sendto(heartbeatpacket, (ipaddr, portnum))
+    s.sendto(commandpacket, (ipaddr, portnum))
+
+    # close the socket
+    s.close()
+
+    # Spin waiting for a device to show up
+    try:
+        while True:
+            portlist = []
+            patterns = args.port.split(",")
+            # on unix-like platforms use glob to support wildcard ports. This allows
+            # the use of /dev/serial/by-id/usb-3D_Robotics on Linux, which prevents the upload from
+            # causing modem hangups etc
+            if "linux" in _platform or "darwin" in _platform or "cygwin" in _platform:
+                import glob
+                for pattern in patterns:
+                    portlist += glob.glob(pattern)
+            else:
+                portlist = patterns
+
+            baud_flightstack = [int(x) for x in args.baud_flightstack.split(',')]
+
+            successful = False
+            unsuitable_board = False
+            for port in portlist:
+
+                # print("Trying %s" % port)
+
+                # create an uploader attached to the port
+                try:
+                    if "linux" in _platform:
+                        # Linux, don't open Mac OS and Win ports
+                        if "COM" not in port and "tty.usb" not in port:
+                            up = uploader(port, args.baud_bootloader, baud_flightstack)
+                    elif "darwin" in _platform:
+                        # OS X, don't open Windows and Linux ports
+                        if "COM" not in port and "ACM" not in port:
+                            up = uploader(port, args.baud_bootloader, baud_flightstack)
+                    elif "cygwin" in _platform:
+                        # Cygwin, don't open native Windows COM and Linux ports
+                        if "COM" not in port and "ACM" not in port:
+                            up = uploader(port, args.baud_bootloader, baud_flightstack)
+                    elif "win" in _platform:
+                        # Windows, don't open POSIX ports
+                        if "/" not in port:
+                            up = uploader(port, args.baud_bootloader, baud_flightstack)
+                except Exception as e:
+                    # open failed, rate-limit our attempts
+                    time.sleep(0.05)
+                    print(f"Exception ignored: {e}")
+
+                    # and loop to the next port
+                    continue
+
+                found_bootloader = False
+                while True:
+                    up.open()
+
+                    # port is open, try talking to it
+                    try:
+                        # identify the bootloader
+                        up.identify()
+                        found_bootloader = True
+                        print()
+                        print(f"Found board id: {up.board_type},{up.board_rev} bootloader protocol revision {up.bl_rev} on {port}")
+                        break
+
+                    except (RuntimeError, serial.SerialException):
+
+                        if not up.send_reboot(args.use_protocol_splitter_format):
+                            break
+
+                        # wait for the reboot, without we might run into Serial I/O Error 5
+                        time.sleep(0.25)
+
+                        # always close the port
+                        up.close()
+
+                        # wait for the close, without we might run into Serial I/O Error 6
+                        time.sleep(0.3)
+
+                if not found_bootloader:
+                    # Go to the next port
+                    continue
+
+                try:
+                    # ok, we have a bootloader, try flashing it
+                    up.upload(args.firmware, force=args.force, boot_delay=args.boot_delay, force_erase=args.force_erase)
+
+                    # if we made this far without raising exceptions, the upload was successful
+                    successful = True
+
+                except RuntimeError as e:
+                    # print the error
+                    print(f"\n\nError: {e}")
+
+                except FirmwareNotSuitableException:
+                    unsuitable_board = True
+                    up.close()
+                    continue
+
+                except IOError:
+                    up.close()
+                    continue
+
+                finally:
+                    # always close the port
+                    up.close()
+
+                # we could loop here if we wanted to wait for more boards...
+                if successful:
+                    sys.exit(0)
+                else:
+                    sys.exit(1)
+
+            if unsuitable_board:
+                # If we land here, we went through all ports, did not flash any
+                # board and found at least one unsuitable board.
+                # Exit with 2, so a caller can distinguish from other errors
+                sys.exit(2)
+
+            # Delay retries to < 20 Hz to prevent spin-lock from hogging the CPU
+            time.sleep(0.05)
+
+    # CTRL+C aborts the upload/spin-lock by interrupt mechanics
+    except KeyboardInterrupt:
+        print("\n Upload aborted by user.")
+        sys.exit(0)
+
+
+if __name__ == '__main__':
+    main()
+
+# vim: tabstop=4 expandtab shiftwidth=4 softtabstop=4

Tools/setup/requirements.txt

@@ -6,7 +6,6 @@ future
 jinja2>=2.8
 jsonschema
 kconfiglib
-lark
 lxml
 matplotlib>=3.0
 numpy>=1.13
@@ -15,8 +14,8 @@ packaging
 pandas>=0.21
 pkgconfig
 psutil
-pycryptodome
 pygments
+wheel>=0.31.1
 pymavlink
 pyros-genmsg
 pyserial
@@ -25,6 +24,7 @@ pyyaml
 requests
 setuptools>=39.2.0
 six>=1.12.0
-sympy>=1.10.1
 toml>=0.9
-wheel>=0.31.1
+sympy>=1.10.1
+pycryptodome
+lark

Tools/setup/ubuntu.sh

@@ -176,10 +176,8 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 
 		echo
 		echo "Fetching Xtensa compilers"
-		XTENSA_FILE_NAME=xtensa-esp-elf-13.2.0_20240530-x86_64-linux-gnu.tar.xz
-		wget -q -P $DIR https://github.com/espressif/crosstool-NG/releases/download/esp-13.2.0_20240530/$XTENSA_FILE_NAME
-		sudo tar -xf $DIR/$XTENSA_FILE_NAME -C /opt
-		rm $DIR/$XTENSA_FILE_NAME
+		wget -q -P $DIR https://github.com/espressif/crosstool-NG/releases/download/esp-13.2.0_20240530/xtensa-esp-elf-13.2.0_20240530-x86_64-linux-gnu.tar.xz
+		sudo tar -xf $DIR/xtensa-esp-elf-13.2.0_20240530-x86_64-linux-gnu.tar.xz -C /opt
 		echo 'export PATH=$PATH:/opt/xtensa-esp-elf/bin/' >> /home/$USER/.bashrc
 	fi