fmu-v2: make optional sensor startup quiet

Signed-off-by: Julian Oes <julian@oes.ch>
ekf2: do not fuse ZVU if other velocity source is active
2026-05-24 22:07:34 +08:00 · 2022-11-22 21:12:09 +13:00 · 2022-11-15 13:11:06 -05:00 · 2022-11-11 14:48:45 +13:00 · 2022-11-11 14:48:45 +13:00 · 2022-11-07 17:11:28 -05:00
1017 changed files with 23583 additions and 42067 deletions
@@ -61,20 +61,18 @@ pipeline {
                     "holybro_kakutef7_default",
                     "holybro_kakuteh7_default",
                     "holybro_pix32v5_default",
+                     "matek_h743-slim",
                     "matek_gnss-m9n-f4_canbootloader",
                     "matek_gnss-m9n-f4_default",
-                     "matek_h743-mini_default",
-                     "matek_h743-slim_default",
-                     "matek_h743_default",
                     "modalai_fc-v1_default",
                     "modalai_fc-v1_rtps",
                     "modalai_fc-v2_default",
                     "mro_ctrl-zero-f7_default",
                     "mro_ctrl-zero-f7-oem_default",
-                     "mro_ctrl-zero-h7-oem_default",
-                     "mro_ctrl-zero-h7-oem_rtps",
                     "mro_ctrl-zero-h7_default",
                     "mro_ctrl-zero-h7_rtps",
+                     "mro_ctrl-zero-h7-oem_default",
+                     "mro_ctrl-zero-h7-oem_rtps",
                     "mro_pixracerpro_default",
                     "mro_pixracerpro_rtps",
                     "mro_x21-777_default",
@@ -89,27 +87,25 @@ pipeline {
                     "nxp_ucans32k146_canbootloader",
                     "nxp_ucans32k146_default",
                     "omnibus_f4sd_default",
+                     "raspberrypi_pico_default",
                     "px4_fmu-v2_default",
                     "px4_fmu-v2_fixedwing",
-                     "px4_fmu-v2_lto",
                     "px4_fmu-v2_multicopter",
                     "px4_fmu-v2_rover",
                     "px4_fmu-v3_default",
                     "px4_fmu-v4_default",
                     "px4_fmu-v4pro_default",
-                     "px4_fmu-v5_cyphal",
                     "px4_fmu-v5_debug",
                     "px4_fmu-v5_default",
-                     "px4_fmu-v5_lto",
                     "px4_fmu-v5_rtps",
                     "px4_fmu-v5_stackcheck",
                     "px4_fmu-v5_uavcanv0periph",
+                     "px4_fmu-v5_uavcanv1",
                     "px4_fmu-v5x_default",
                     "px4_fmu-v6c_default",
                     "px4_fmu-v6u_default",
                     "px4_fmu-v6x_default",
                     "px4_io-v2_default",
-                     "raspberrypi_pico_default",
                     "sky-drones_smartap-airlink_default",
                     "spracing_h7extreme_default",
                     "uvify_core_default"
@@ -794,7 +794,7 @@ void resetParameters() {
 void runTests() {

  // test loading a range of airframes
-  sh './Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` 2100 3000 4001 6001 8001 10016'
+  sh './Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` 1000 1001 2100 3000 4001 6001 8001 10016'

  resetParameters()

@@ -809,9 +809,6 @@ void runTests() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'

-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ostest"'
-  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot after ostest
-
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander_tests" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "controllib_test"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "lightware_laser_test"'
@@ -867,15 +864,12 @@ void printTopics() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener distance_sensor" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener ekf2_timestamps" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_gps_status" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener esc_status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_aid_src_fake_pos" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_aid_src_gnss_pos" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_aid_src_gnss_vel" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_attitude" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_baro_bias" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_event_flags" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_global_position" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_gps_status" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovation_test_ratios" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovation_variances" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovations" || true'
@@ -1,17 +1,11 @@
 ---
 Checks:          '*,
-                  -*-avoid-c-arrays,
-                  -*-uppercase-literal-suffix,
-                  -*-magic-numbers,
-                  -altera-id-dependent-backward-branch,
-                  -altera-unroll-loops,
                  -android*,
                  -bugprone-integer-division,
                  -cert-dcl50-cpp,
                  -cert-env33-c,
                  -cert-err34-c,
                  -cert-err58-cpp,
-                  -cert-flp30-c,
                  -cert-msc30-c,
                  -cert-msc50-cpp,
                  -clang-analyzer-core.CallAndMessage,
@@ -24,7 +18,6 @@ Checks:          '*,
                  -clang-analyzer-deadcode.DeadStores,
                  -clang-analyzer-optin.cplusplus.VirtualCall,
                  -clang-analyzer-optin.performance.Padding,
-                  -clang-analyzer-security.FloatLoopCounter,
                  -clang-analyzer-security.insecureAPI.strcpy,
                  -clang-analyzer-unix.API,
                  -clang-analyzer-unix.cstring.BadSizeArg,
@@ -44,7 +37,8 @@ Checks:          '*,
                  -cppcoreguidelines-pro-type-union-access,
                  -cppcoreguidelines-pro-type-vararg,
                  -cppcoreguidelines-special-member-functions,
-                  -fuchsia-*,
+                  -fuchsia-default-arguments,
+                  -fuchsia-overloaded-operator,
                  -google-build-using-namespace,
                  -google-explicit-constructor,
                  -google-global-names-in-headers,
@@ -68,7 +62,6 @@ Checks:          '*,
                  -hicpp-use-equals-delete,
                  -hicpp-use-override,
                  -hicpp-vararg,
-                  -llvmlibc-*,
                  -llvm-header-guard,
                  -llvm-include-order,
                  -llvm-namespace-comment,
@@ -91,7 +84,6 @@ Checks:          '*,
                  -modernize-use-override,
                  -modernize-use-trailing-return-type,
                  -modernize-use-using,
-                  -modernize-use-trailing-return-type,
                  -performance-inefficient-string-concatenation,
                  -readability-avoid-const-params-in-decls,
                  -readability-container-size-empty,
@@ -1,34 +1,32 @@
 ---
-name: 🐛 Bug report
+name: Bug report
 about: Create a report to help us improve
-labels: bug-report

 ---

-## Describe the bug
+**Describe the bug**
 A clear and concise description of the bug.

-## To Reproduce
+**To Reproduce**
 Steps to reproduce the behavior:
 1. Drone switched on '...'
 2. Uploaded mission '....' (attach QGC mission file)
 3. Took off '....'
 4. See error

-## Expected behavior
+**Expected behavior**
 A clear and concise description of what you expected to happen.

-## Log Files and Screenshots
+**Log Files and Screenshots**
 *Always* provide a link to the flight log file:
 - Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/master/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)
+- Share the link to a log showing the problem on [PX4 Flight Review](http://logs.px4.io/).

 Add screenshots to help explain your problem.

-## Drone (please complete the following information):
+**Drone (please complete the following information):**
 - Describe the type of drone.
 - Photo of the IMU / autopilot setup if possible.

-## Additional context
+**Additional context**
 Add any other context about the problem here.
@@ -1,20 +1,19 @@
 ---
 name: 🚀 Feature Request
 about: Suggest an idea for this project
-labels: feature-request

 ---

 For general questions please use [PX4 Discuss](http://discuss.px4.io/) or Slack (you can find an invite link on this project README).

-## Describe problem solved by the proposed feature
+**Describe problem solved by the proposed feature**
 A clear and concise description of the problem, if any, this feature will solve. E.g. I'm always frustrated when ...

-## Describe your preferred solution
+**Describe your preferred solution**
 A clear and concise description of what you want to happen.

-## Describe possible alternatives
+**Describe possible alternatives**
 A clear and concise description of alternative solutions or features you've considered.

-## Additional context
+**Additional context**
 Add any other context or screenshots for the feature request here.
@@ -1,13 +1,10 @@
 ---
 name: ⛔ Support Question
-about: See http://discuss.px4.io/ for questions about using PX4.
+about: See [PX4 Discuss](http://discuss.px4.io/) for questions about using PX4.

 ---

-## Attention! Please read the note below
-
-We use GitHub issues only to discuss PX4 bugs and new features.
-
-**For questions about using PX4 or related components, please use [PX4 Discuss](http://discuss.px4.io/).**
+We use GitHub issues only to discuss PX4 bugs and new features. For
+questions about using PX4 or related components, please use [PX4 Discuss](http://discuss.px4.io/).

 Thanks!
@@ -1,11 +1,9 @@
 ---
 name: ⛔ Documentation Issue
-about: See https://github.com/PX4/px4_user_guide for documentation issues
+about: See https://github.com/PX4/Devguide for documentation issues

 ---

-## Attention! Please read the note below
-
-**Please submit the documentation issue to the [User Guide](https://github.com/PX4/px4_user_guide) repository.**
+PX4 has dedicated repositories for developer documentation (https://github.com/PX4/Devguide) and user documentation (https://github.com/PX4/px4_user_guide).

 Thanks!
@@ -1,14 +0,0 @@
-**How this PR solves the problem**
-Depending on how complex the PR is, something between a line and a few paragraphs with logs and videos.
-
-**JIRA ID in title, and link here**
-Add a link and the title of the JIRA for context
-
-**Upstream/develop PR that this was backported from**
-If applicable, link to PR and/or commit
-
-**Critical bug that needs backporting?**
-Yes/No, link to backport PR when applicable
-
-**Additional context**
-Add any other related context or media.
@@ -0,0 +1,34 @@
+name: ClusterFuzzLite batch fuzzing
+on:
+  schedule:
+    - cron: '0 6 * * *'  # UTC 6am every day.
+permissions: read-all
+jobs:
+  BatchFuzzing:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        sanitizer:
+        - address
+        - undefined
+        - memory
+    steps:
+    - name: Build Fuzzers (${{ matrix.sanitizer }})
+      id: build
+      uses: google/clusterfuzzlite/actions/build_fuzzers@v1
+      with:
+        sanitizer: ${{ matrix.sanitizer }}
+    - name: Run Fuzzers (${{ matrix.sanitizer }})
+      id: run
+      uses: google/clusterfuzzlite/actions/run_fuzzers@v1
+      with:
+        github-token: ${{ secrets.GITHUB_TOKEN }}
+        fuzz-seconds: 1800 # 30 mins
+        mode: 'batch'
+        sanitizer: ${{ matrix.sanitizer }}
+        # Optional but recommended: For storing certain artifacts from fuzzing.
+        # See later section on "Git repo for storage".
+        # storage-repo: https://${{ secrets.PERSONAL_ACCESS_TOKEN }}@github.com/OWNER/STORAGE-REPO-NAME.git
+        # storage-repo-branch: main   # Optional. Defaults to "main"
+        # storage-repo-branch-coverage: gh-pages  # Optional. Defaults to "gh-pages".
@@ -0,0 +1,51 @@
+name: Checks
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        check: [
+          "check_format",
+          "tests",
+          "tests_coverage",
+          "px4_fmu-v2_default stack_check",
+          "validate_module_configs",
+          "shellcheck_all",
+          "NO_NINJA_BUILD=1 px4_fmu-v5_default",
+          "NO_NINJA_BUILD=1 px4_sitl_default",
+          "BUILD_MICRORTPS_AGENT=1 px4_sitl_rtps",
+          "airframe_metadata",
+          "module_documentation",
+          "parameters_metadata",
+        ]
+    container:
+      image: px4io/px4-dev-nuttx-focal:2021-09-08
+      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: check environment
+      run: |
+          export
+          ulimit -a
+    - name: ${{matrix.check}}
+      run: make ${{matrix.check}}
+    - name: upload coverage
+      if: contains(matrix.check, 'coverage')
+      uses: codecov/codecov-action@v1
+      with:
+        token: ${{ secrets.CODECOV_TOKEN }}
+        flags: unittests
+        file: coverage/lcov.info
@@ -0,0 +1,21 @@
+name: Clang Tidy
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-clang:2021-09-08
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+
+    - name: make clang-tidy-quiet
+      run: make clang-tidy-quiet
@@ -0,0 +1,54 @@
+name: Linux Targets
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-armhf:2021-09-08
+    strategy:
+      matrix:
+        config: [
+          beaglebone_blue_default,
+          emlid_navio2_default,
+          px4_raspberrypi_default,
+          scumaker_pilotpi_default,
+          ]
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: ${{matrix.config}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: make ${{matrix.config}}
+      run: make ${{matrix.config}}
+    - name: ccache post-run
+      run: ccache -s
@@ -0,0 +1,51 @@
+name: Linux ARM64 Targets
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-aarch64:2021-09-08
+    strategy:
+      matrix:
+        config: [
+          scumaker_pilotpi_arm64,
+          ]
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: ${{matrix.config}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: make ${{matrix.config}}
+      run: make ${{matrix.config}}
+    - name: ccache post-run
+      run: ccache -s
@@ -0,0 +1,56 @@
+name: MacOS build
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: macos-10.15
+    strategy:
+      matrix:
+        config: [
+          px4_fmu-v5_default,
+          px4_sitl
+          #tests, # includes px4_sitl
+          ]
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+
+    - name: setup
+      run: ./Tools/setup/macos.sh; ./Tools/setup/macos.sh
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: macos_${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: macos_${{matrix.config}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 40M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: make ${{matrix.config}}
+      run: |
+          ccache -z
+          make ${{matrix.config}}
+          ccache -s
@@ -0,0 +1,125 @@
+name: Nuttx Targets
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-nuttx-focal:2021-09-08
+    strategy:
+      fail-fast: false
+      matrix:
+        config: [
+          airmind_mindpx-v2,
+          ark_can-flow,
+          ark_can-gps,
+          ark_can-rtk-gps,
+          ark_cannode,
+          ark_fmu-v6x,
+          atl_mantis-edu,
+          av_x-v1,
+          bitcraze_crazyflie,
+          bitcraze_crazyflie21,
+          cuav_can-gps-v1,
+          cuav_nora,
+          cuav_x7pro,
+          cubepilot_cubeorange,
+          cubepilot_cubeyellow,
+          diatone_mamba-f405-mk2,
+          freefly_can-rtk-gps,
+          holybro_can-gps-v1,
+          holybro_durandal-v1,
+          holybro_kakutef7,
+          holybro_kakuteh7,
+          holybro_pix32v5,
+          matek_h743-slim,
+          matek_gnss-m9n-f4,
+          modalai_fc-v1,
+          modalai_fc-v2,
+          mro_ctrl-zero-f7,
+          mro_ctrl-zero-f7-oem,
+          mro_ctrl-zero-h7,
+          mro_ctrl-zero-h7-oem,
+          mro_pixracerpro,
+          mro_x21,
+          mro_x21-777,
+          nxp_fmuk66-e,
+          nxp_fmuk66-v3,
+          nxp_fmurt1062-v1,
+          nxp_ucans32k146,
+          omnibus_f4sd,
+          raspberrypi_pico,
+          px4_fmu-v2,
+          px4_fmu-v3,
+          px4_fmu-v4,
+          px4_fmu-v4pro,
+          px4_fmu-v5,
+          px4_fmu-v5x,
+          px4_fmu-v6c,
+          px4_fmu-v6u,
+          px4_fmu-v6x,
+          sky-drones_smartap-airlink,
+          spracing_h7extreme,
+          uvify_core
+          ]
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: ${{matrix.config}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 120M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: make all_variants_${{matrix.config}}
+      run: make all_variants_${{matrix.config}}
+      timeout-minutes: 45
+    - name: make ${{matrix.config}} bloaty_compileunits
+      run: make ${{matrix.config}} bloaty_compileunits || true
+    - name: make ${{matrix.config}} bloaty_inlines
+      run: make ${{matrix.config}} bloaty_inlines || true
+    - name: make ${{matrix.config}} bloaty_segments
+      run: make ${{matrix.config}} bloaty_segments || true
+    - name: make ${{matrix.config}} bloaty_symbols
+      run: make ${{matrix.config}} bloaty_symbols || true
+    - name: make ${{matrix.config}} bloaty_templates
+      run: make ${{matrix.config}} bloaty_templates || true
+    - name: make ${{matrix.config}} bloaty_ram
+      run: make ${{matrix.config}} bloaty_ram || true
+    - name: make ${{matrix.config}} bloaty_compare_master
+      run: make ${{matrix.config}} bloaty_compare_master || true
+    - name: ccache post-run
+      run: ccache -s
+
+    - name: Upload px4 package
+      uses: actions/upload-artifact@v2
+      with:
+        name: px4_package_${{matrix.config}}
+        path: |
+          build/**/*.px4
+          build/**/*.bin
@@ -0,0 +1,54 @@
+name: Deploy metadata for all targets
+
+on:
+  push:
+    branches:
+    - 'master'
+    - 'release/*'
+    - 'pr-metadata-test'
+
+jobs:
+  enumerate_targets:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2021-09-08
+    outputs:
+      matrix: ${{ steps.set-matrix.outputs.matrix }}
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+    - id: set-matrix
+      run: echo "::set-output name=matrix::$(./Tools/generate_board_targets_json.py)"
+  build:
+    runs-on: ubuntu-latest
+    needs: enumerate_targets
+    strategy:
+      matrix: ${{fromJson(needs.enumerate_targets.outputs.matrix)}}
+    container: px4io/px4-dev-${{ matrix.container }}:2021-09-08
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+
+    - name: make ${{matrix.target}}
+      run: make ${{matrix.target}}
+
+    - name: parameter & events metadata
+      run: |
+        make ${{matrix.target}} ver_gen events_json actuators_json
+        ./src/lib/version/get_git_tag_or_branch_version.sh build/${{ matrix.target }} >> $GITHUB_ENV
+        cd build/${{ matrix.target }}
+        mkdir _metadata || true
+        cp parameters.* events/*.xz actuators.json* _metadata
+
+    - uses: jakejarvis/s3-sync-action@master
+      with:
+        args: --acl public-read
+      env:
+        AWS_S3_BUCKET: 'px4-travis'
+        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
+        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
+        AWS_REGION: 'us-west-1'
+        SOURCE_DIR: 'build/${{ matrix.target }}/_metadata/'
+        DEST_DIR: 'Firmware/${{ env.version }}/${{ matrix.target }}/'
+
@@ -0,0 +1,21 @@
+name: EKF Change Indicator
+
+on: pull_request
+
+jobs:
+  unit_tests:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2021-09-08
+    steps:
+    - uses: actions/checkout@v2.3.1
+      with:
+        fetch-depth: 0
+    - name: checkout newest version of branch
+      run: |
+        git fetch origin pull/${{github.event.pull_request.number}}/head:${{github.head_ref}}
+        git checkout ${GITHUB_HEAD_REF}
+    - name: main test
+      run: make tests TESTFILTER=EKF
+    - name: Check if there is a functional change
+      run: git diff --exit-code
+      working-directory: src/modules/ekf2/test/change_indication
@@ -0,0 +1,29 @@
+name: EKF Update Change Indicator
+
+on: push
+
+jobs:
+  unit_tests:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2021-09-08
+    env:
+      GIT_COMMITTER_EMAIL: bot@px4.io
+      GIT_COMMITTER_NAME: PX4BuildBot
+    steps:
+    - uses: actions/checkout@v2.3.1
+      with:
+        fetch-depth: 0
+    - name: main test updates change indication files
+      run: make tests TESTFILTER=EKF
+    - name: Check if there exists diff and save result in variable
+      run: echo "CHANGE_INDICATED=$(git diff --exit-code --output=/dev/null || echo $?)" >> $GITHUB_ENV
+      working-directory: src/modules/ekf2/test/change_indication
+    - name: auto-commit any changes to change indication
+      uses: stefanzweifel/git-auto-commit-action@v4
+      with:
+        commit_message: '[AUTO COMMIT] update change indication'
+        commit_user_name: ${GIT_COMMITTER_NAME}
+        commit_user_email: ${GIT_COMMITTER_EMAIL}
+    - if: ${{env.CHANGE_INDICATED}}
+      name: if there is a functional change, fail check
+      run: exit 1
@@ -0,0 +1,139 @@
+name: MAVROS Mission Tests
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        config:
+          - {vehicle: "iris",          mission: "MC_mission_box",  build_type: "RelWithDebInfo"}
+          - {vehicle: "rover",         mission: "rover_mission_1", build_type: "RelWithDebInfo"}
+          #- {vehicle: "plane",         mission: "FW_mission_1",    build_type: "RelWithDebInfo"}
+          #- {vehicle: "plane_catapult",mission: "FW_mission_1",    build_type: "RelWithDebInfo"}
+          #- {vehicle: "standard_vtol", mission: "VTOL_mission_1",  build_type: "Coverage"}
+          #- {vehicle: "standard_vtol", mission: "VTOL_mission_1",  build_type: "AddressSanitizer"}
+          #- {vehicle: "tailsitter",    mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}
+          #- {vehicle: "tiltrotor",     mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}
+
+    container:
+      image: px4io/px4-dev-ros-melodic:2021-09-08
+      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: check environment
+      run: |
+          export
+          ulimit -a
+    - name: Build PX4 and sitl_gazebo
+      env:
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: |
+        ccache -z
+        make px4_sitl_default
+        make px4_sitl_default sitl_gazebo
+        ccache -s
+
+    - name: Core dump settings
+      run: |
+          ulimit -c unlimited
+          echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
+
+    - name: Run SITL tests
+      env:
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: |
+        export
+        ./test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=${{matrix.config.mission}} vehicle:=${{matrix.config.vehicle}}
+      timeout-minutes: 45
+
+    - name: Look at core files
+      if: failure()
+      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
+    - name: Upload px4 coredump
+      if: failure()
+      uses: actions/upload-artifact@v2-preview
+      with:
+        name: coredump
+        path: px4.core
+
+    - name: ecl EKF analysis
+      if: always()
+      run: ./Tools/ecl_ekf/process_logdata_ekf.py ~/.ros/log/*/*.ulg || true
+
+    - name: Upload logs to flight review
+      if: always()
+      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg
+
+    - name: Upload px4 binary
+      if: failure()
+      uses: actions/upload-artifact@v2
+      with:
+        name: binary
+        path: build/px4_sitl_default/bin/px4
+
+    - name: Store PX4 log
+      if: failure()
+      uses: actions/upload-artifact@v2
+      with:
+        name: px4_log
+        path: ~/.ros/log/*/*.ulg
+
+    - name: Store ROS log
+      if: failure()
+      uses: actions/upload-artifact@v2
+      with:
+        name: ros_log
+        path: ~/.ros/**/rostest-*.log
+
+    # Report test coverage
+    - name: Upload coverage
+      if: contains(matrix.config.build_type, 'Coverage')
+      run: |
+          git config --global credential.helper "" # disable the keychain credential helper
+          git config --global --add credential.helper store # enable the local store credential helper
+          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
+          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
+          mkdir -p coverage
+          lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
+    - name: Upload coverage information to Codecov
+      if: contains(matrix.config.build_type, 'Coverage')
+      uses: codecov/codecov-action@v1
+      with:
+        token: ${{ secrets.CODECOV_TOKEN }}
+        flags: mavros_mission
+        file: coverage/lcov.info
@@ -0,0 +1,134 @@
+name: MAVROS Offboard Tests
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        config:
+          - {test_file: "mavros_posix_tests_offboard_posctl.test",    vehicle: "iris", build_type: "RelWithDebInfo"}
+          #- {test_file: "mavros_posix_tests_offboard_attctl.test",    vehicle: "iris", build_type: "RelWithDebInfo"}
+          #- {test_file: "mavros_posix_tests_offboard_rpyrt_ctl.test", vehicle: "iris", build_type: "RelWithDebInfo"}
+
+    container:
+      image: px4io/px4-dev-ros-melodic:2021-09-08
+      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: check environment
+      run: |
+          export
+          ulimit -a
+    - name: Build PX4 and sitl_gazebo
+      env:
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: |
+        ccache -z
+        make px4_sitl_default
+        make px4_sitl_default sitl_gazebo
+        ccache -s
+
+    - name: Core dump settings
+      run: |
+          ulimit -c unlimited
+          echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
+
+    - name: Run SITL tests
+      env:
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: |
+        export
+        ./test/rostest_px4_run.sh ${{matrix.config.test_file}} vehicle:=${{matrix.config.vehicle}}
+      timeout-minutes: 45
+
+    - name: Look at core files
+      if: failure()
+      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
+    - name: Upload px4 coredump
+      if: failure()
+      uses: actions/upload-artifact@v2-preview
+      with:
+        name: coredump
+        path: px4.core
+
+    - name: ecl EKF analysis
+      if: always()
+      run: ./Tools/ecl_ekf/process_logdata_ekf.py ~/.ros/log/*/*.ulg || true
+
+    - name: Upload logs to flight review
+      if: always()
+      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg
+
+    - name: Upload px4 binary
+      if: failure()
+      uses: actions/upload-artifact@v2
+      with:
+        name: binary
+        path: build/px4_sitl_default/bin/px4
+
+    - name: Store PX4 log
+      if: failure()
+      uses: actions/upload-artifact@v2
+      with:
+        name: px4_log
+        path: ~/.ros/log/*/*.ulg
+
+    - name: Store ROS log
+      if: failure()
+      uses: actions/upload-artifact@v2
+      with:
+        name: ros_log
+        path: ~/.ros/**/rostest-*.log
+
+    # Report test coverage
+    - name: Upload coverage
+      if: contains(matrix.config.build_type, 'Coverage')
+      run: |
+          git config --global credential.helper "" # disable the keychain credential helper
+          git config --global --add credential.helper store # enable the local store credential helper
+          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
+          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
+          mkdir -p coverage
+          lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
+    - name: Upload coverage information to Codecov
+      if: contains(matrix.config.build_type, 'Coverage')
+      uses: codecov/codecov-action@v1
+      with:
+        token: ${{ secrets.CODECOV_TOKEN }}
+        flags: mavros_offboard
+        file: coverage/lcov.info
@@ -0,0 +1,157 @@
+name: Metadata
+
+on:
+  push:
+    branches:
+    - 'master'
+    - 'release/*'
+    - 'pr-metadata-test'
+
+jobs:
+
+  airframe:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2021-09-08
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: airframe metadata
+      run: |
+        make airframe_metadata
+        ./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
+        cd build/px4_sitl_default/docs
+      # TODO: deploy to userguide gitbook
+
+    - uses: jakejarvis/s3-sync-action@master
+      with:
+        args: --acl public-read
+      env:
+        AWS_S3_BUCKET: 'px4-travis'
+        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
+        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
+        AWS_REGION: 'us-west-1'
+        SOURCE_DIR: 'build/px4_sitl_default/docs/'
+        DEST_DIR: 'Firmware/${{ env.version }}/_general/'
+
+  module:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2021-09-08
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: module documentation
+      run: |
+        make module_documentation
+        cd build/px4_sitl_default/docs
+        ls -ls *
+      # TODO: deploy to userguide gitbook and s3
+
+  parameter:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2021-09-08
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: parameter metadata
+      run: |
+        make parameters_metadata
+        ./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
+
+    - uses: jakejarvis/s3-sync-action@master
+      with:
+        args: --acl public-read
+      env:
+        AWS_S3_BUCKET: 'px4-travis'
+        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
+        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
+        AWS_REGION: 'us-west-1'
+        SOURCE_DIR: 'build/px4_sitl_default/docs/'
+        DEST_DIR: 'Firmware/${{ env.version }}/_general/'
+
+  events:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2021-09-08
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: events metadata
+      run: |
+        make extract_events
+        ./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
+        cd build/px4_sitl_default
+        mkdir _events_full || true
+        cp events/all_events_full.json.xz _events_full/all_events.json.xz
+
+    - uses: jakejarvis/s3-sync-action@master
+      with:
+        args: --acl public-read
+      env:
+        AWS_S3_BUCKET: 'px4-travis'
+        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
+        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
+        AWS_REGION: 'us-west-1'
+        SOURCE_DIR: 'build/px4_sitl_default/_events_full/'
+        DEST_DIR: 'Firmware/${{ env.version }}/_general/'
+
+  uorb_graph:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-nuttx-focal:2021-09-08
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: uORB graph
+      run: |
+        make uorb_graphs
+        cd Tools/uorb_graph
+        ls -ls *
+      # TODO: deploy graph_px4_sitl.json to S3 px4-travis:Firmware/master/
+
+  micrortps_agent:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2021-09-08
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: microRTPS agent
+      run: |
+        make px4_sitl_rtps
+        git clone https://github.com/PX4/micrortps_agent.git
+        cp -R build/px4_sitl_rtps/src/modules/micrortps_bridge/micrortps_agent/* micrortps_agent
+
+  ROS_msgs:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2021-09-08
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: PX4 ROS msgs
+      run: |
+        git clone https://github.com/PX4/px4_msgs.git
+        python3 msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/
+
+  ROS2_bridge:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2021-09-08
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: PX4 ROS2 bridge
+      run: |
+        git clone https://github.com/PX4/px4_ros_com.git
+        ./msg/tools/uorb_to_ros_urtps_topics.py -i msg/tools/urtps_bridge_topics.yaml -o px4_ros_com/templates/urtps_bridge_topics.yaml
@@ -0,0 +1,25 @@
+name: Python CI Checks
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+    - name: Install Python3
+      run: sudo apt-get install python3 python3-setuptools python3-pip -y
+    - name: Install tools
+      run: pip3 install --user mypy types-requests flake8
+    - name: Check MAVSDK test scripts with mypy
+      run: $HOME/.local/bin/mypy --strict test/mavsdk_tests/*.py
+    - name: Check MAVSDK test scripts with flake8
+      run: $HOME/.local/bin/flake8 test/mavsdk_tests/*.py
@@ -0,0 +1,135 @@
+name: SITL Tests
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        config:
+          - {model: "iris",          latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo" } # Alaska
+          - {model: "standard_vtol", latitude: "-38.071235", longitude:  "145.281220", altitude:  "31", build_type: "AddressSanitizer" } # Australia
+          - {model: "tailsitter" ,   latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo" } # Florida
+          - {model: "standard_vtol", latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage" } # Zurich
+
+    container:
+      image: px4io/px4-dev-simulation-focal:2021-09-08
+      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: Download MAVSDK
+      run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
+    - name: Install MAVSDK
+      run: dpkg -i "libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: check environment
+      env:
+        PX4_HOME_LAT: ${{matrix.config.latitude}}
+        PX4_HOME_LON: ${{matrix.config.longitude}}
+        PX4_HOME_ALT: ${{matrix.config.altitude}}
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: |
+          export
+          ulimit -a
+    - name: Build PX4
+      env:
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: make px4_sitl_default
+    - name: ccache post-run px4/firmware
+      run: ccache -s
+    - name: Build SITL Gazebo
+      env:
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: make px4_sitl_default sitl_gazebo
+    - name: ccache post-run sitl_gazebo
+      run: ccache -s
+    - name: Build MAVSDK tests
+      env:
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+        DONT_RUN: 1
+      run: make px4_sitl_default gazebo mavsdk_tests
+    - name: ccache post-run mavsdk_tests
+      run: ccache -s
+
+    - name: Core dump settings
+      run: |
+          ulimit -c unlimited
+          echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
+
+    - name: Run SITL tests
+      env:
+        PX4_HOME_LAT: ${{matrix.config.latitude}}
+        PX4_HOME_LON: ${{matrix.config.longitude}}
+        PX4_HOME_ALT: ${{matrix.config.altitude}}
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose
+      timeout-minutes: 45
+
+    - name: Look at core files
+      if: failure()
+      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
+    - name: Upload px4 coredump
+      if: failure()
+      uses: actions/upload-artifact@v2-preview
+      with:
+        name: coredump
+        path: px4.core
+
+    - name: Upload px4 binary
+      if: failure()
+      uses: actions/upload-artifact@v2-preview
+      with:
+        name: binary
+        path: build/px4_sitl_default/bin/px4
+
+    # Report test coverage
+    - name: Upload coverage
+      if: contains(matrix.config.build_type, 'Coverage')
+      run: |
+          git config --global credential.helper "" # disable the keychain credential helper
+          git config --global --add credential.helper store # enable the local store credential helper
+          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
+          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
+          mkdir -p coverage
+          lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
+    - name: Upload coverage information to Codecov
+      if: contains(matrix.config.build_type, 'Coverage')
+      uses: codecov/codecov-action@v1
+      with:
+        token: ${{ secrets.CODECOV_TOKEN }}
+        flags: mavsdk
+        file: coverage/lcov.info
@@ -1,6 +1,6 @@
 [submodule "src/modules/mavlink/mavlink"]
 	path = src/modules/mavlink/mavlink
-	url = https://github.com/Auterion/mavlink.git
+	url = https://github.com/mavlink/mavlink.git
 	branch = master
 [submodule "src/drivers/uavcan/libuavcan"]
 	path = src/drivers/uavcan/libuavcan
@@ -12,8 +12,8 @@
 	branch = master
 [submodule "Tools/sitl_gazebo"]
 	path = Tools/sitl_gazebo
-	url = git@github.com:Auterion/sitl_gazebo.git
-	branch = develop
+	url = https://github.com/PX4/PX4-SITL_gazebo.git
+	branch = master
 [submodule "src/drivers/gps/devices"]
 	path = src/drivers/gps/devices
 	url = https://github.com/PX4/PX4-GPSDrivers.git
@@ -36,14 +36,14 @@
 [submodule "Tools/jsbsim_bridge"]
 	path = Tools/jsbsim_bridge
 	url = https://github.com/PX4/px4-jsbsim-bridge.git
-[submodule "src/drivers/cyphal/libcanard"]
-	path = src/drivers/cyphal/libcanard
-	url = https://github.com/opencyphal/libcanard.git
-[submodule "src/drivers/cyphal/public_regulated_data_types"]
-	path = src/drivers/cyphal/public_regulated_data_types
-	url = https://github.com/opencyphal/public_regulated_data_types.git
-[submodule "src/drivers/cyphal/legacy_data_types"]
-	path = src/drivers/cyphal/legacy_data_types
+[submodule "src/drivers/uavcan_v1/libcanard"]
+	path = src/drivers/uavcan_v1/libcanard
+	url = https://github.com/UAVCAN/libcanard.git
+[submodule "src/drivers/uavcan_v1/public_regulated_data_types"]
+	path = src/drivers/uavcan_v1/public_regulated_data_types
+	url = https://github.com/UAVCAN/public_regulated_data_types.git
+[submodule "src/drivers/uavcan_v1/legacy_data_types"]
+	path = src/drivers/uavcan_v1/legacy_data_types
 	url = https://github.com/PX4/public_regulated_data_types.git
 	branch = legacy
 [submodule "src/lib/crypto/monocypher"]
@@ -131,6 +131,16 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: ark_cannode_canbootloader
+    ark_fmu-v6x_bootloader:
+      short: ark_fmu-v6x_bootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_fmu-v6x_bootloader
+    ark_fmu-v6x_default:
+      short: ark_fmu-v6x_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_fmu-v6x_default
    atl_mantis-edu_default:
      short: atl_mantis-edu
      buildType: MinSizeRel
@@ -126,6 +126,8 @@
        },
        "search.showLineNumbers": true,
        "telemetry.enableTelemetry": false,
+        "terminal.integrated.copyOnSelection": true,
+        "terminal.integrated.rightClickBehavior": "paste",
        "terminal.integrated.scrollback": 5000,
        "window.title": "${dirty} ${activeEditorMedium}${separator}${rootName}",
        "workbench.editor.highlightModifiedTabs": true,
@@ -99,7 +99,7 @@
 #
 #=============================================================================

-cmake_minimum_required(VERSION 3.9 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.2 FATAL_ERROR)

 set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}" CACHE FILEPATH "PX4 source directory" FORCE)
 set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}" CACHE FILEPATH "PX4 binary directory" FORCE)
@@ -175,12 +175,6 @@ include(kconfig)
 message(STATUS "PX4 config: ${PX4_CONFIG}")
 message(STATUS "PX4 platform: ${PX4_PLATFORM}")

-if($ENV{CLION_IDE})
-	# CLion automatically executes some compiler commands after configuring the
-	# project. This would fail on NuttX, as visibility.h tries to (indirectly)
-	# include nuttx/config.h, which at that point does not exist yet
-	add_definitions(-DPX4_DISABLE_GCC_POISON)
-endif()

 if(${PX4_PLATFORM} STREQUAL "posix")
 	if(ENABLE_LOCKSTEP_SCHEDULER)
@@ -191,18 +185,6 @@ if(${PX4_PLATFORM} STREQUAL "posix")
 	endif()
 endif()

-
-option(PX4_RESTRICTED_BUILD "Enable restricted build (limit param access)" OFF)
-if(PX4_RESTRICTED_BUILD)
-	add_definitions(-DPX4_RESTRICTED_BUILD)
-	message(STATUS "Enabling restricted build")
-endif()
-
-if(PX4_EXPORT_CONTROLLED_BUILD)
-	add_definitions(-DPX4_EXPORT_CONTROLLED_BUILD)
-	message(STATUS "Enabling export controlled build (with flight time and wind restrictions)")
-endif()
-
 # external modules
 set(EXTERNAL_MODULES_LOCATION "" CACHE STRING "External modules source location")

@@ -252,14 +234,6 @@ message(STATUS "cmake build type: ${CMAKE_BUILD_TYPE}")
 #
 project(px4 CXX C ASM)

-# Check if LTO option and check if toolchain supports it
-if(LTO)
-    include(CheckIPOSupported)
-    check_ipo_supported()
-    message(AUTHOR_WARNING "LTO enabled: LTO is highly experimental and should not be used in production")
-    set(CMAKE_INTERPROCEDURAL_OPTIMIZATION TRUE)
-endif()
-
 set(package-contact "px4users@googlegroups.com")

 set(CMAKE_CXX_STANDARD 14)
@@ -51,13 +51,6 @@ menu "Toolchain"
        string "Architecture"
        default ""

-    config BOARD_LTO
-        bool "(EXPERIMENTAL) Link Time Optimization (LTO)"
-        default n
-        help
-            Enables LTO flag in linker
-            Note: Highly EXPERIMENTAL, furthermore make sure you're using a modern compiler GCC 9 or later
-
    config BOARD_FULL_OPTIMIZATION
        bool "Full optmization (O3)"
        default n
@@ -129,22 +129,6 @@ else
 	BUILD_DIR_SUFFIX :=
 endif

-ifdef PX4_RESTRICTED_BUILD
-	CMAKE_ARGS += -DPX4_RESTRICTED_BUILD=ON
-	BUILD_DIR_SUFFIX := $(BUILD_DIR_SUFFIX)_restricted
-endif
-
-# pass the PX4_EXPORT_CONTROLLED_BUILD on to CMAKE_ARGS, and set it to 0 (OFF) by default
-PX4_EXPORT_CONTROLLED_BUILD ?= 0
-ifeq ($(PX4_EXPORT_CONTROLLED_BUILD),1)
-	CMAKE_ARGS += -DPX4_EXPORT_CONTROLLED_BUILD=ON
-	BUILD_DIR_SUFFIX := $(BUILD_DIR_SUFFIX)_export_controlled
-else ifeq ($(PX4_EXPORT_CONTROLLED_BUILD),0)
-	CMAKE_ARGS += -DPX4_EXPORT_CONTROLLED_BUILD=OFF
-else
-        $(error ERROR: Invalid value of flag PX4_EXPORT_CONTROLLED_BUILD, has to be '0' or '1')
-endif
-
 # additional config parameters passed to cmake
 ifdef EXTERNAL_MODULES_LOCATION
 	CMAKE_ARGS += -DEXTERNAL_MODULES_LOCATION:STRING=$(EXTERNAL_MODULES_LOCATION)
@@ -261,12 +245,6 @@ define deprecation_warning
 	$(warning $(1) has been deprecated and will be removed, please use $(2)!)
 endef

-skynode:
-	$(MAKE) px4_fmu-v5x $(ARGS)
-
-skynode_rtps:
-	$(MAKE) px4_fmu-v5x_rtps $(ARGS)
-
 # All targets with just dependencies but no recipe must either be marked as phony (or have the special @: as recipe).
 .PHONY: all px4_sitl_default all_config_targets all_default_targets

@@ -336,9 +314,7 @@ uorb_graphs:
 	@$(MAKE) --no-print-directory px4_fmu-v5_default uorb_graph
 	@$(MAKE) --no-print-directory px4_sitl_default uorb_graph

-px4io_update:
-	@$(MAKE) --no-print-directory px4_io-v2_default
-	@$(MAKE) --no-print-directory cubepilot_io-v2_default
+px4io_update: px4_io-v2_default cubepilot_io-v2_default
 	# px4_io-v2_default
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/holybro/durandal-v1/extras/px4_io-v2_default.bin
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/holybro/pix32v5/extras/px4_io-v2_default.bin
@@ -355,7 +331,7 @@ px4io_update:
 	cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
 	git status

-bootloaders_update: cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader holybro_kakuteh7_bootloader matek_h743_bootloader matek_h743-mini_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-classic_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6c_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader
+bootloaders_update: cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader holybro_kakuteh7_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-classic_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6c_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader
 	git status

 .PHONY: coverity_scan
@@ -0,0 +1,17 @@
+Please use [PX4 Discuss](http://discuss.px4.io/) or [Slack](http://slack.px4.io/) to align on pull requests if necessary. You can then open draft pull requests to get early feedback.
+
+**Describe problem solved by this pull request**
+A clear and concise description of the problem this proposed change will solve.
+E.g. For this use case I ran into...
+
+**Describe your solution**
+A clear and concise description of what you have implemented.
+
+**Describe possible alternatives**
+A clear and concise description of alternative solutions or features you've considered.
+
+**Test data / coverage**
+How was it tested? What cases were covered? Logs uploaded to https://review.px4.io/ and screenshots of the important plot parts.
+
+**Additional context**
+Add any other related context or media.
@@ -1,101 +0,0 @@
-#!/bin/sh
-#
-# @name 6DoF Omnicopter SITL
-#
-# @type Quadrotor Wide
-#
-# @maintainer Jaeyoung Lim <jalim@ethz.ch>
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-param set-default SYS_CTRL_ALLOC 1
-
-
-param set-default CA_AIRFRAME 0
-
-param set-default CA_ROTOR_COUNT 8
-param set-default CA_R_REV 255
-
-param set-default CA_ROTOR0_PX 0.14435
-param set-default CA_ROTOR0_PY -0.14435
-param set-default CA_ROTOR0_PZ -0.14435
-param set-default CA_ROTOR0_KM 0.05 # CCW
-param set-default CA_ROTOR0_AX -0.788675
-param set-default CA_ROTOR0_AY -0.211325
-param set-default CA_ROTOR0_AZ -0.57735
-
-param set-default CA_ROTOR1_PX -0.14435
-param set-default CA_ROTOR1_PY -0.14435
-param set-default CA_ROTOR1_PZ -0.14435
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR1_AX 0.211325
-param set-default CA_ROTOR1_AY -0.788675
-param set-default CA_ROTOR1_AZ 0.57735
-
-param set-default CA_ROTOR2_PX 0.14435
-param set-default CA_ROTOR2_PY 0.14435
-param set-default CA_ROTOR2_PZ -0.14435
-param set-default CA_ROTOR2_KM 0.05
-param set-default CA_ROTOR2_AX -0.211325
-param set-default CA_ROTOR2_AY 0.788675
-param set-default CA_ROTOR2_AZ 0.57735
-
-param set-default CA_ROTOR3_PX -0.14435
-param set-default CA_ROTOR3_PY 0.14435
-param set-default CA_ROTOR3_PZ -0.14435
-param set-default CA_ROTOR3_KM 0.05
-param set-default CA_ROTOR3_AX 0.788675
-param set-default CA_ROTOR3_AY 0.211325
-param set-default CA_ROTOR3_AZ -0.57735
-
-param set-default CA_ROTOR4_PX 0.14435
-param set-default CA_ROTOR4_PY -0.14435
-param set-default CA_ROTOR4_PZ 0.14435
-param set-default CA_ROTOR4_KM 0.05
-param set-default CA_ROTOR4_AX 0.788675
-param set-default CA_ROTOR4_AY 0.211325
-param set-default CA_ROTOR4_AZ -0.57735
-
-param set-default CA_ROTOR5_PX -0.14435
-param set-default CA_ROTOR5_PY -0.14435
-param set-default CA_ROTOR5_PZ 0.14435
-param set-default CA_ROTOR5_KM 0.05
-param set-default CA_ROTOR5_AX -0.211325
-param set-default CA_ROTOR5_AY 0.788675
-param set-default CA_ROTOR5_AZ 0.57735
-
-param set-default CA_ROTOR6_PX 0.14435
-param set-default CA_ROTOR6_PY 0.14435
-param set-default CA_ROTOR6_PZ 0.14435
-param set-default CA_ROTOR6_KM 0.05
-param set-default CA_ROTOR6_AX 0.211325
-param set-default CA_ROTOR6_AY -0.788675
-param set-default CA_ROTOR6_AZ 0.57735
-
-param set-default CA_ROTOR7_PX -0.14435
-param set-default CA_ROTOR7_PY 0.14435
-param set-default CA_ROTOR7_PZ 0.14435
-param set-default CA_ROTOR7_KM 0.05
-param set-default CA_ROTOR7_AX -0.788675
-param set-default CA_ROTOR7_AY -0.211325
-param set-default CA_ROTOR7_AZ -0.57735
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-param set-default PWM_MAIN_FUNC5 105
-param set-default PWM_MAIN_FUNC6 106
-param set-default PWM_MAIN_FUNC7 107
-param set-default PWM_MAIN_FUNC8 108
-
-# disable MC desaturation which improves attitude tracking
-param set-default CA_METHOD 0
-
-# disable attitude failure detection
-param set-default FD_FAIL_P 0
-param set-default FD_FAIL_R 0
-
-set MIXER skip
-set MIXER_AUX none
@@ -1,10 +0,0 @@
-
-mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
-
-mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530
-
-# shellcheck disable=SC2154
-mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local
-# shellcheck disable=SC2154
-mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_offboard_port_local
-mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_offboard_port_local
@@ -1,12 +0,0 @@
-#!/bin/sh
-#
-# @name Quadrotor SITL model for JSBSim
-#
-# @type Quadrotor Wide
-#
-# @maintainer Jaeyoung Lim <jaeyoung@auterion.com>
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_w
@@ -1,30 +0,0 @@
-#!/bin/sh
-#
-# @name Hexacopter SITL model for JSBSim
-#
-# @type Hexarotor x
-#
-# @maintainer Jaeyoung Lim <jaeyoung@auterion.com>
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-param set-default MC_PITCHRATE_P 0.1
-param set-default MC_PITCHRATE_I 0.05
-param set-default MC_PITCH_P 6.0
-param set-default MC_ROLLRATE_P 0.15
-param set-default MC_ROLLRATE_I 0.1
-param set-default MC_ROLL_P 6.0
-param set-default MPC_XY_VEL_I_ACC 4
-param set-default MPC_XY_VEL_P_ACC 3
-
-param set-default RTL_DESCEND_ALT 10
-
-param set-default TRIG_INTERFACE 3
-param set-default TRIG_MODE 4
-param set-default MNT_MODE_IN 4
-param set-default MNT_DO_STAB 2
-
-param set-default MAV_TYPE 13
-
-set MIXER hexa_x
@@ -1,23 +0,0 @@
-#!/bin/sh
-#
-# @name QuadrotorX SITL for SIH
-#
-# @type Quadrotor
-#
-# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-
-# disable some checks to allow to fly:
-# - with usb
-param set-default CBRK_USB_CHK 197848
-# - without real battery
-param set-default CBRK_SUPPLY_CHK 894281
-# - without safety switch
-param set-default COM_PREARM_MODE 0
-param set-default CBRK_IO_SAFETY 22027
-
-param set SIH_VEHICLE_TYPE 0
@@ -1,33 +0,0 @@
-#!/bin/sh
-#
-# @name Plane SITL for SIH
-#
-# @type Plane
-#
-# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
-
-. ${R}etc/init.d/rc.fw_defaults
-
-set MIXER AERT
-
-# disable some checks to allow to fly:
-# - with usb
-param set-default CBRK_USB_CHK 197848
-# - without real battery
-param set-default CBRK_SUPPLY_CHK 894281
-# - without safety switch
-param set-default COM_PREARM_MODE 0
-param set-default CBRK_IO_SAFETY 22027
-
-param set-default BAT_N_CELLS 3
-
-param set SIH_T_MAX 6.0
-param set SIH_MASS 0.3
-param set SIH_IXX 0.00402
-param set SIH_IYY 0.0144
-param set SIH_IZZ 0.0177
-param set SIH_IXZ 0.00046
-param set SIH_KDV 0.2
-
-param set SIH_VEHICLE_TYPE 1 	# sih as fixed wing
-param set RWTO_TKOFF 1  # enable takeoff from runway (as opposed to launched)
@@ -1,45 +0,0 @@
-#!/bin/sh
-#
-# @name SIH Tailsitter Duo
-#
-# @type VTOL
-#
-# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-param set-default VT_ELEV_MC_LOCK 0
-param set-default VT_TYPE 0
-param set-default VT_FW_DIFTHR_EN 1
-param set-default VT_FW_DIFTHR_SC 0.3
-param set-default MPC_MAN_Y_MAX 60
-param set-default MC_PITCH_P 5
-
-param set-default MAV_TYPE 19
-set MAV_TYPE 19
-set MIXER vtol_tailsitter_duo_sat
-
-# disable some checks to allow to fly:
-# - with usb
-param set-default CBRK_USB_CHK 197848
-# - without real battery
-param set-default CBRK_SUPPLY_CHK 894281
-# - without safety switch
-param set-default COM_PREARM_MODE 0
-param set-default CBRK_IO_SAFETY 22027
-
-param set-default BAT_N_CELLS 3
-
-param set SIH_T_MAX 2.0
-param set SIH_Q_MAX 0.0165
-param set SIH_MASS 0.2
-# IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
-param set SIH_IXX 0.00354
-param set SIH_IYY 0.000625
-param set SIH_IZZ 0.00300
-param set SIH_IXZ 0.0
-param set SIH_KDV 0.2
-param set SIH_L_ROLL 0.145
-
-# sih as tailsitter
-param set SIH_VEHICLE_TYPE 2
@@ -1,11 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (Depth Camera)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d-posix/airframes/10016_iris
-
-# param set COM_OBS_AVOID 1
-param set-default MPC_XY_CRUISE 5.0
@@ -10,22 +10,24 @@ param set-default EKF2_MAG_YAWLIM 0

 param set-default FW_LND_AIRSPD_SC 1
 param set-default FW_LND_ANG 8
+param set-default FW_THR_LND_MAX 0

 param set-default FW_L1_PERIOD 12

+param set-default FW_MAN_P_MAX 30
+
 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.2
 param set-default FW_PSP_OFF 2
+param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15

 param set-default FW_RR_FF 0.1
 param set-default FW_RR_P 0.3

-param set-default FW_SPOILERS_LND 0.4
-
 param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
-param set-default FW_THR_TRIM 0.25
+param set-default FW_THR_CRUISE 0.25

 param set-default FW_T_CLMB_MAX 8
 param set-default FW_T_SINK_MAX 2.7
@@ -7,9 +7,12 @@

 param set-default FW_LND_AIRSPD_SC 1.1
 param set-default FW_LND_ANG 5
+param set-default FW_THR_LND_MAX 0
+param set-default FW_LND_HHDIST 30
 param set-default FW_LND_FL_PMIN 9.5
 param set-default FW_LND_FL_PMAX 20
 param set-default FW_LND_FLALT 5
+param set-default FW_LND_TLALT 15

 param set-default FW_L1_PERIOD 25

@@ -35,6 +38,7 @@ param set-default NAV_DLL_ACT 2
 param set-default RWTO_TKOFF 1

 param set-default RWTO_MAX_PITCH 20
+param set-default RWTO_MAX_ROLL 10

 param set-default RWTO_PSP 8
 param set-default RWTO_AIRSPD_SCL 1.8
@@ -7,9 +7,12 @@

 param set-default FW_LND_AIRSPD_SC 1.1
 param set-default FW_LND_ANG 5
+param set-default FW_THR_LND_MAX 0
+param set-default FW_LND_HHDIST 30
 param set-default FW_LND_FL_PMIN 9.5
 param set-default FW_LND_FL_PMAX 20
 param set-default FW_LND_FLALT 5
+param set-default FW_LND_TLALT 15

 param set-default FW_L1_PERIOD 25

@@ -35,6 +38,7 @@ param set-default NAV_DLL_ACT 2
 param set-default RWTO_TKOFF 1

 param set-default RWTO_MAX_PITCH 20
+param set-default RWTO_MAX_ROLL 10

 param set-default RWTO_PSP 8
 param set-default RWTO_AIRSPD_SCL 1.8
@@ -10,6 +10,7 @@ param set-default EKF2_MAG_YAWLIM 0

 param set-default FW_LND_AIRSPD_SC 1
 param set-default FW_LND_ANG 8
+param set-default FW_THR_LND_MAX 0

 param set-default FW_L1_PERIOD 15

@@ -7,9 +7,12 @@

 param set-default FW_LND_AIRSPD_SC 1.1
 param set-default FW_LND_ANG 5
+param set-default FW_THR_LND_MAX 0
+param set-default FW_LND_HHDIST 30
 param set-default FW_LND_FL_PMIN 9.5
 param set-default FW_LND_FL_PMAX 20
 param set-default FW_LND_FLALT 5
+param set-default FW_LND_TLALT 15

 param set-default FW_L1_PERIOD 25

@@ -34,6 +37,7 @@ param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1
 param set-default RWTO_MAX_PITCH 20
+param set-default RWTO_MAX_ROLL 10
 param set-default RWTO_PSP 8
 param set-default RWTO_AIRSPD_SCL 1.8

@@ -10,12 +10,16 @@ param set-default EKF2_MAG_YAWLIM 0

 param set-default FW_LND_AIRSPD_SC 1
 param set-default FW_LND_ANG 8
+param set-default FW_THR_LND_MAX 0

 param set-default FW_L1_PERIOD 12

+param set-default FW_MAN_P_MAX 30
+
 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.2
 param set-default FW_PSP_OFF 2
+param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15

 param set-default FW_RR_FF 0.1
@@ -23,7 +27,7 @@ param set-default FW_RR_P 0.3

 param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
-param set-default FW_THR_TRIM 0.25
+param set-default FW_THR_CRUISE 0.25

 param set-default FW_T_ALT_TC 2
 param set-default FW_T_CLMB_MAX 8
@@ -5,5 +5,5 @@

 . ${R}etc/init.d-posix/airframes/1030_plane

-param set-default FW_THR_TRIM 0.0
+param set-default FW_THR_CRUISE 0.0
 param set-default RWTO_TKOFF 0
@@ -7,11 +7,6 @@

 . ${R}etc/init.d/rc.vtol_defaults

-# TODO: Enable motor failure detection when the
-# VTOL no longer reports 0A for all ESCs in SITL
-param set-default FD_ACT_EN 0
-param set-default FD_ACT_MOT_TOUT 500
-
 # param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 2

@@ -49,20 +44,21 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203

 param set-default FW_L1_PERIOD 12
+param set-default FW_MAN_P_MAX 30
 param set-default FW_PR_FF 0.2
 param set-default FW_PR_P 0.9
 param set-default FW_PSP_OFF 2
+param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15
 param set-default FW_RR_FF 0.1
 param set-default FW_RR_P 0.3
-param set-default FW_THR_TRIM 0.25
+param set-default FW_THR_CRUISE 0.25
 param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
 param set-default FW_T_CLMB_MAX 8
 param set-default FW_T_SINK_MAX 2.7
 param set-default FW_T_SINK_MIN 2.2

-param set-default MC_AIRMODE 1
 param set-default MC_ROLLRATE_P 0.3
 param set-default MC_YAW_P 1.6

@@ -44,12 +44,14 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_REV 96 # invert both elevons

 param set-default FW_L1_PERIOD 12
+param set-default FW_MAN_P_MAX 30
 param set-default FW_PR_I 0.2
 param set-default FW_PR_P 0.2
 param set-default FW_PSP_OFF 2
+param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15
 param set-default FW_RR_P 0.2
-param set-default FW_THR_TRIM 0.33
+param set-default FW_THR_CRUISE 0.33
 param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
 param set-default FW_T_ALT_TC 2
@@ -59,7 +61,6 @@ param set-default FW_T_SINK_MAX 2.7
 param set-default FW_T_SINK_MIN 2.2
 param set-default FW_T_TAS_TC 2

-param set-default MC_AIRMODE 1
 param set-default MC_ROLLRATE_P 0.3

 param set-default MPC_ACC_HOR_MAX 2
@@ -9,7 +9,7 @@

 param set-default MAV_TYPE 21

-param set-default SYS_CTRL_ALLOC 1
+# param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 3

 param set-default CA_ROTOR_COUNT 4
@@ -27,7 +27,9 @@ param set-default CA_ROTOR3_PY 0.1875
 param set-default CA_ROTOR3_KM -0.05

 param set-default CA_ROTOR0_TILT 1
+param set-default CA_ROTOR1_TILT 2
 param set-default CA_ROTOR2_TILT 3
+param set-default CA_ROTOR3_TILT 4
 param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
@@ -35,7 +37,9 @@ param set-default CA_SV_CS1_TYPE 2
 param set-default CA_SV_CS2_TRQ_P 1.0
 param set-default CA_SV_CS2_TYPE 3
 param set-default CA_SV_CS_COUNT 3
+param set-default CA_SV_TL0_CT 0
 param set-default CA_SV_TL1_CT 0
+param set-default CA_SV_TL2_CT 0
 param set-default CA_SV_TL3_CT 0
 param set-default CA_SV_TL_COUNT 4

@@ -52,13 +56,15 @@ param set-default PWM_MAIN_FUNC10 202
 param set-default PWM_MAIN_FUNC11 203

 param set-default FW_L1_PERIOD 12
+param set-default FW_MAN_P_MAX 30
 param set-default FW_PR_FF 0.2
 param set-default FW_PR_P 0.9
 param set-default FW_PSP_OFF 2
+param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15
 param set-default FW_RR_FF 0.1
 param set-default FW_RR_P 0.3
-param set-default FW_THR_TRIM 0.38
+param set-default FW_THR_CRUISE 0.38
 param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
 param set-default FW_T_CLMB_MAX 8
@@ -66,9 +72,6 @@ param set-default FW_T_SINK_MAX 2.7
 param set-default FW_T_SINK_MIN 2.2

 param set-default MC_YAW_P 1.6
-param set-default MC_AIRMODE 1
-param set-default MC_YAWRATE_P 0.3
-param set-default MC_YAWRATE_I 0.3

 param set-default MIS_TAKEOFF_ALT 10

@@ -8,13 +8,15 @@
 . ${R}etc/init.d/rc.vtol_defaults

 param set-default FW_L1_PERIOD 12
+param set-default FW_MAN_P_MAX 30
 param set-default FW_PR_FF 0.2
 param set-default FW_PR_P 0.9
 param set-default FW_PSP_OFF 2
+param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15
 param set-default FW_RR_FF 0.1
 param set-default FW_RR_P 0.3
-param set-default FW_THR_TRIM 0.25
+param set-default FW_THR_CRUISE 0.25
 param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
 param set-default FW_T_ALT_TC 2
@@ -1,17 +0,0 @@
-#!/bin/sh
-#
-# @name Standard VTOL with gimbal
-#
-# @type Standard VTOL with gimbal
-#
-
-. ${R}etc/init.d-posix/1040_standard_vtol
-
-param set-default TRIG_INTERFACE 3
-param set-default TRIG_MODE 4
-param set-default MNT_MODE_IN 0
-
-param set-default MAV_TYPE 22
-
-set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
-set MIXER custom
@@ -1,10 +0,0 @@
-
-mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
-
-mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530
-
-# shellcheck disable=SC2154
-mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local
-# shellcheck disable=SC2154
-mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_offboard_port_local
-mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_offboard_port_local
@@ -1,54 +0,0 @@
-#!/bin/sh
-#
-# @name VTOL Tiltrotor Tricopter
-#
-# @type VTOL Tiltrotor Tricopter
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-param set-default FW_AIRSPD_MAX 25
-param set-default FW_AIRSPD_MIN 14
-param set-default FW_AIRSPD_TRIM 16
-param set-default FW_L1_PERIOD 12
-
-param set-default MC_ROLLRATE_P 0.3
-
-param set-default MIS_LTRMIN_ALT 10
-param set-default MIS_TAKEOFF_ALT 10
-param set-default MIS_YAW_TMT 10
-
-param set-default MC_PITCHRATE_P 0.3
-param set-default MC_PITCH_P 5.0
-param set-default MC_ROLLRATE_P 0.4
-param set-default MC_ROLL_P 5.0
-param set-default MC_YAWRATE_P 0.8
-param set-default MC_YAW_P 1.5
-
-param set-default MPC_ACC_HOR_MAX 2
-param set-default MPC_ACC_HOR_MAX 2
-param set-default MPC_MAN_Y_MAX 70
-param set-default MPC_THR_MIN 0.1
-param set-default MPC_TKO_SPEED 1
-param set-default MPC_XY_P 0.15
-param set-default MPC_XY_VEL_D 0.005
-param set-default MPC_XY_VEL_I 0.2
-param set-default MPC_XY_VEL_P 0.05
-param set-default MPC_Z_VEL_MAX_DN 1.5
-param set-default MPC_Z_VEL_P 0.8
-
-param set-default NAV_ACC_RAD 5
-param set-default NAV_LOITER_RAD 80
-
-param set-default VT_F_TRANS_DUR 5.0
-param set-default VT_F_TRANS_THR 0.75
-param set-default VT_TILT_FW 3.1415
-param set-default VT_TILT_TRANS 1.2
-param set-default VT_ELEV_MC_LOCK 0
-param set-default VT_TYPE 1
-param set-default VT_B_TRANS_DUR 8
-
-param set-default MAV_TYPE 24
-
-set MIXER_FILE etc/mixers-sitl/tiltrotor_tri_sitl.main.mix
-set MIXER custom
@@ -1,39 +0,0 @@
-#!/bin/sh
-#
-# @name Rover
-#
-
-. ${R}etc/init.d/rc.rover_defaults
-
-param set-default GND_L1_DIST 5
-param set-default GND_SP_CTRL_MODE 1
-param set-default GND_SPEED_D 0.001
-param set-default GND_SPEED_I 3
-param set-default GND_SPEED_IMAX 0.125
-param set-default GND_SPEED_P 0.25
-param set-default GND_SPEED_THR_SC 1
-param set-default GND_SPEED_TRIM 4
-param set-default GND_THR_CRUISE 0.3
-param set-default GND_THR_IDLE 0
-param set-default GND_THR_MAX 0.5
-param set-default GND_THR_MIN 0
-
-param set-default MIS_LTRMIN_ALT 0.01
-param set-default MIS_TAKEOFF_ALT 0.01
-param set-default NAV_ACC_RAD 0.5
-param set-default NAV_LOITER_RAD 2
-
-param set-default CBRK_AIRSPD_CHK 162128
-
-param set-default GND_MAX_ANG 0.6
-param set-default GND_WHEEL_BASE 2.0
-
-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 MNT_DO_STAB 2
-
-param set-default MAV_TYPE 10
-
-set MIXER_FILE etc/mixers-sitl/rover_ackermann_sitl.main.mix
@@ -1,10 +0,0 @@
-
-mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
-
-mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530
-
-# shellcheck disable=SC2154
-mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local
-# shellcheck disable=SC2154
-mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_offboard_port_local
-mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_offboard_port_local
@@ -38,9 +38,10 @@ param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
 param set-default FW_R_LIM 30

+param set-default FW_MAN_P_MAX 30.0
 param set-default FW_MAN_R_MAX 30.0

-param set-default FW_THR_TRIM 0.8
+param set-default FW_THR_CRUISE 0.8
 param set-default FW_THR_IDLE 0
 param set-default COM_DISARM_PRFLT 0

@@ -20,14 +20,8 @@ param set-default MC_ROLLRATE_I 0.0400
 param set-default MC_ROLLRATE_D 0.0010
 param set-default MC_ROLL_P 9.0

-param set-default MC_PITCHRATE_P 0.0800
-param set-default MC_PITCHRATE_I 0.0400
-param set-default MC_PITCHRATE_D 0.0010
-param set-default MC_PITCH_P 9.0
-param set-default MC_ROLLRATE_P 0.0800
-param set-default MC_ROLLRATE_I 0.0400
-param set-default MC_ROLLRATE_D 0.0010
-param set-default MC_ROLL_P 9.0
+param set-default MPC_XY_VEL_I_ACC 4
+param set-default MPC_XY_VEL_P_ACC 3

 param set-default RTL_DESCEND_ALT 10
 param set-default RTL_LAND_DELAY 0
@@ -1,4 +1,6 @@

+mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
+
 mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 -p

 # shellcheck disable=SC2154
@@ -35,15 +35,8 @@ px4_add_romfs_files(
 	10016_iris
 	10017_iris_ctrlalloc
 	10018_iris_foggy_lidar
-	10019_omnicopter
 	10020_if750a
-	10020_if750a.post
-	10028_quadrotor_x
-	10029_hexarotor_x
 	10030_px4vision
-	10040_quadx
-	10041_airplane
-	10042_xvert
 	1010_iris_opt_flow
 	1010_iris_opt_flow.post
 	1011_iris_irlock
@@ -59,7 +52,6 @@ px4_add_romfs_files(
 	1020_uuv_generic
 	1021_uuv_hippocampus
 	1022_uuv_bluerov2_heavy
-	1025_iris_depth_camera
 	1030_plane
 	1031_plane_cam
 	1032_plane_catapult
@@ -75,14 +67,9 @@ px4_add_romfs_files(
 	1042_tiltrotor
 	1043_standard_vtol_drop
 	1043_standard_vtol_drop.post
-	1058_standard_vtol_gimbal
-	1058_standard_vtol_gimbal.post
-	1059_tiltrotor_tri
 	1060_rover
 	1061_r1_rover
 	1062_tf-r1
-	1063_rover_gimbal
-	1063_rover_gimbal.post
 	1070_boat
 	3010_quadrotor_x
 	3011_hexarotor_x
@@ -24,19 +24,9 @@ mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local

 # API/Offboard link
 mavlink start -x -u $udp_offboard_port_local -r 4000000 -f -m onboard -o $udp_offboard_port_remote
-mavlink stream -r 2 -s COMMAND_CANCEL -u $udp_offboard_port_local

 # Onboard link to camera
 mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote

 # Onboard link to gimbal
 mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote
-
-# To display for SIH sitl
-if [ "$SIM_MODE" = "sihsim" ]; then
-	udp_sihsim_port_local=$((19450+px4_instance))
-	udp_sihsim_port_remote=$((19410+px4_instance))
-	mavlink start -x -u $udp_sihsim_port_local -r 400000 -m custom -o $udp_sihsim_port_remote
-	mavlink stream -r 200 -s HIL_ACTUATOR_CONTROLS -u  $udp_sihsim_port_local
-	mavlink stream -r 25 -s HIL_STATE_QUATERNION -u  $udp_sihsim_port_local
-fi
@@ -30,7 +30,6 @@ set MIXER_FILE                  none
 set OUTPUT_MODE                 sim
 set EXTRA_MIXER_MODE            none
 set PWM_OUT                     none
-set PWM_AUX_OUT                 none
 set SDCARD_MIXERS_PATH          etc/mixers
 set USE_IO                      no
 set VEHICLE_TYPE                none
@@ -96,15 +95,15 @@ fi

 if param compare SYS_AUTOCONFIG 1
 then
-	# Reset params except Airframe, RC calibration, sensor calibration, flight modes, total flight time, and next flight UUID.
-	param reset_all SYS_AUTOSTART RC* CAL_* COM_FLTMODE* LND_FLIGHT* TC_* COM_FLIGHT*
 	set AUTOCNF yes
+
+	# Wipe out params except RC*, flight modes, total flight time, accel cal, gyro cal, next flight UUID
+	param reset_all SYS_AUTO* RC* COM_FLTMODE* LND_FLIGHT* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT*
 fi

 # multi-instance setup
 # shellcheck disable=SC2154
 param set MAV_SYS_ID $((px4_instance+1))
-param set MNT_MAV_SYSID $((px4_instance+1))

 if [ $AUTOCNF = yes ]
 then
@@ -156,8 +155,6 @@ param set-default SDLOG_DIRS_MAX 7

 param set-default TRIG_INTERFACE 3

-param set-default SYS_FAILURE_EN 1
-
 # Adapt timeout parameters if simulation runs faster or slower than realtime.
 if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
 	COM_DL_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 10" | bc)
@@ -199,6 +196,14 @@ fi

 . "$autostart_file"

+#
+# If autoconfig parameter was set, reset it and save parameters.
+#
+if [ $AUTOCNF = yes ]
+then
+	param set SYS_AUTOCONFIG 0
+fi
+
 # Simulator IMU data provided at 250 Hz
 param set IMU_INTEG_RATE 250

@@ -206,11 +211,8 @@ param set IMU_INTEG_RATE 250
 . px4-rc.params

 dataman start
-# start sih in sih_sim mode, otherwise simulator module
-if [ "$SIM_MODE" = "sihsim" ]; then
-	sih start
 # only start the simulator if not in replay mode, as both control the lockstep time
-elif ! replay tryapplyparams
+if ! replay tryapplyparams
 then
  . px4-rc.simulator
 fi
@@ -257,12 +259,6 @@ then
 	gyro_calibration start
 fi

-# Payload deliverer module if gripper is enabled
-if param compare -s PD_GRIPPER_EN 1
-then
-	payload_deliverer start
-fi
-
 #user defined mavlink streams for instances can be in PATH
 . px4-rc.mavlink

@@ -39,10 +39,8 @@ px4_add_romfs_files(
 	rc.balloon_apps
 	rc.balloon_defaults
 	rc.boat_defaults
-	rc.autostart_ext
 	rc.fw_apps
 	rc.fw_defaults
-	rc.heli_defaults
 	rc.interface
 	rc.logging
 	rc.mc_apps
@@ -29,6 +29,9 @@ param set-default FW_L1_DAMPING 0.74
 param set-default FW_L1_PERIOD 16
 param set-default FW_LND_ANG 15
 param set-default FW_LND_FLALT 5
+param set-default FW_LND_HVIRT 13
+param set-default FW_LND_TLALT 5
+param set-default FW_THR_LND_MAX 0
 param set-default FW_PR_FF 0.35
 param set-default FW_PR_P 0.2
 param set-default FW_RR_FF 0.6
@@ -0,0 +1,36 @@
+#!/bin/sh
+#
+# @name Team Blacksheep Discovery
+#
+# @type Quadrotor Wide
+# @class Copter
+#
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+# @output MAIN5 feed-through of RC AUX1 channel
+# @output MAIN6 feed-through of RC AUX2 channel
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+# @output AUX4 feed-through of RC FLAPS channel
+#
+# @maintainer Lorenz Meier <lorenz@px4.io>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+param set-default MC_ROLLRATE_P 0.1
+param set-default MC_ROLLRATE_I 0.05
+param set-default MC_ROLLRATE_D 0.0017
+param set-default MC_PITCHRATE_P 0.14
+param set-default MC_PITCHRATE_I 0.1
+param set-default MC_PITCHRATE_D 0.0025
+param set-default MC_YAWRATE_P 0.28
+
+set MIXER quad_w
@@ -0,0 +1,40 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor
+#
+# @type Quadrotor Wide
+# @class Copter
+#
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+# @output AUX4 feed-through of RC FLAPS channel
+#
+# @maintainer Lorenz Meier <lorenz@px4.io>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+# TODO tune roll/pitch separately
+param set-default MC_ROLL_P 7
+param set-default MC_ROLLRATE_I 0.05
+param set-default MC_ROLLRATE_D 0.004
+param set-default MC_PITCH_P 7
+param set-default MC_PITCHRATE_I 0.05
+param set-default MC_PITCHRATE_D 0.004
+param set-default MC_YAW_P 2.5
+param set-default MC_YAWRATE_P 0.25
+param set-default MC_YAWRATE_I 0.25
+
+param set-default BAT1_V_DIV 12.27559
+param set-default BAT1_A_PER_V 15.391030303103
+
+set MIXER quad_w
@@ -0,0 +1,40 @@
+#!/bin/sh
+#
+# @name Steadidrone QU4D
+#
+# @type Quadrotor Wide
+# @class Copter
+#
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+# @output MAIN5 feed-through of RC AUX1 channel
+# @output MAIN6 feed-through of RC AUX2 channel
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+# @output AUX4 feed-through of RC FLAPS channel
+#
+# @maintainer Lorenz Meier <lorenz@px4.io>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+param set-default BAT1_N_CELLS 4
+
+param set-default MC_ROLL_P 7
+param set-default MC_ROLLRATE_P 0.13
+param set-default MC_ROLLRATE_I 0.05
+param set-default MC_ROLLRATE_D 0.004
+param set-default MC_PITCH_P 7
+param set-default MC_PITCHRATE_P 0.19
+param set-default MC_PITCHRATE_I 0.05
+param set-default MC_PITCHRATE_D 0.004
+param set-default MC_YAW_P 4
+
+set MIXER quad_w
@@ -0,0 +1,43 @@
+#!/bin/sh
+#
+# @name Team Blacksheep Discovery Endurance
+#
+# @type Quadrotor Wide
+# @class Copter
+#
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+# @output MAIN5 feed-through of RC AUX1 channel
+# @output MAIN6 feed-through of RC AUX2 channel
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+# @output AUX4 feed-through of RC FLAPS channel
+#
+# @maintainer Simon Wilks <simon@uaventure.com>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+param set-default BAT1_N_CELLS 6
+param set-default BAT1_V_EMPTY 3.5
+
+param set-default MC_ROLL_P 7
+param set-default MC_ROLLRATE_P 0.08
+param set-default MC_ROLLRATE_I 0.02
+param set-default MC_PITCH_P 7
+param set-default MC_PITCHRATE_P 0.13
+param set-default MC_PITCHRATE_I 0.02
+param set-default MC_PITCHRATE_D 0.005
+
+param set-default MPC_XY_VEL_MAX 2
+
+param set-default PWM_MAIN_MIN 1080
+
+set MIXER quad_w
@@ -45,6 +45,7 @@ param set-default MPC_XY_VEL_I_ACC 4
 param set-default MPC_XY_VEL_P_ACC 3
 param set-default MPC_Z_VEL_P_ACC 12
 param set-default MPC_Z_VEL_I_ACC 3
+param set-default MPC_Z_VEL_MAX_DN 1.5

 param set-default NAV_ACC_RAD 5
 param set-default NAV_DLL_ACT 2
@@ -0,0 +1,48 @@
+#!/bin/sh
+#
+# @name Steadidrone MAVRIK
+#
+# @type Octo Coax Wide
+# @class Copter
+#
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+# @output MAIN5 motor 5
+# @output MAIN6 motor 6
+# @output MAIN7 motor 7
+# @output MAIN8 motor 8
+#
+# @maintainer Simon Wilks <simon@uaventure.com>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+
+param set-default MC_PITCH_P 4
+param set-default MC_PITCHRATE_P 0.24
+param set-default MC_PITCHRATE_I 0.09
+param set-default MC_PITCHRATE_D 0.013
+param set-default MC_PITCHRATE_MAX 180
+
+param set-default MC_ROLL_P 4
+param set-default MC_ROLLRATE_P 0.16
+param set-default MC_ROLLRATE_I 0.07
+param set-default MC_ROLLRATE_D 0.009
+param set-default MC_ROLLRATE_MAX 180
+
+param set-default MC_YAW_P 3
+
+param set-default MPC_HOLD_MAX_XY 0.25
+param set-default MPC_THR_MIN 0.15
+param set-default MPC_Z_VEL_MAX_DN 2
+
+param set-default BAT1_N_CELLS 4
+
+set MIXER octo_cox_w
+
+set PWM_OUT 12345678
@@ -1,10 +1,22 @@
 #!/bin/sh
 #
-# @name Generic Standard VTOL
+# @name Generic Quadplane VTOL
 #
 # @type Standard VTOL
 # @class VTOL
-
+#
+# @maintainer
+#
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+# @output AUX1 Aileron 1
+# @output AUX2 Aileron 2
+# @output AUX3 Elevator
+# @output AUX4 Rudder
+# @output AUX5 Throttle
+#
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
 # @board holybro_kakutef7 exclude
@@ -12,21 +24,21 @@

 . ${R}etc/init.d/rc.vtol_defaults

-param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 2
 param set-default CA_ROTOR_COUNT 5
-param set-default CA_ROTOR0_PX 1
-param set-default CA_ROTOR0_PY 1
-param set-default CA_ROTOR1_PX -1
-param set-default CA_ROTOR1_PY -1
-param set-default CA_ROTOR2_PX 1
-param set-default CA_ROTOR2_PY -1
+param set-default CA_ROTOR0_PX 0.15
+param set-default CA_ROTOR0_PY 0.15
+param set-default CA_ROTOR1_PX -0.15
+param set-default CA_ROTOR1_PY -0.15
+param set-default CA_ROTOR2_PX 0.15
+param set-default CA_ROTOR2_PY -0.15
 param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -1
-param set-default CA_ROTOR3_PY 1
+param set-default CA_ROTOR3_PX -0.15
+param set-default CA_ROTOR3_PY 0.15
 param set-default CA_ROTOR3_KM -0.05
 param set-default CA_ROTOR4_AX 1.0
 param set-default CA_ROTOR4_AZ 0.0
+param set-default CA_ROTOR4_PX 0.2
 param set-default CA_SV_CS_COUNT 4
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS0_TRQ_R -0.5
@@ -36,5 +48,16 @@ param set-default CA_SV_CS2_TYPE 3
 param set-default CA_SV_CS2_TRQ_P 1.0
 param set-default CA_SV_CS3_TRQ_Y 1.0
 param set-default CA_SV_CS3_TYPE 4
+
+param set-default PWM_AUX_DIS5 950
+
 param set-default VT_TYPE 2
+param set-default VT_MOT_ID 1234
+param set-default VT_FW_MOT_OFFID 1234
+
 param set-default MAV_TYPE 22
+
+set MIXER quad_x
+set MIXER_AUX vtol_AAERT
+
+set PWM_OUT 1234
@@ -0,0 +1,43 @@
+#!/bin/sh
+#
+# @name Caipiroshka Duo Tailsitter
+#
+# @type VTOL Duo Tailsitter
+# @class VTOL
+#
+# @output MAIN1 motor right
+# @output MAIN2 motor left
+# @output MAIN5 elevon right
+# @output MAIN6 elevon left
+#
+# @maintainer Roman Bapst <roman@px4.io>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+# @board holybro_kakutef7 exclude
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+param set-default MAV_TYPE 19
+
+param set-default MC_ROLL_P 6
+param set-default MC_ROLLRATE_P 0.12
+param set-default MC_ROLLRATE_I 0.002
+
+param set-default MC_PITCH_P 4.5
+param set-default MC_PITCHRATE_P 0.3
+param set-default MC_PITCHRATE_I 0.002
+
+param set-default MC_YAW_P 3.8
+param set-default MC_YAWRATE_P 0.22
+param set-default MC_YAWRATE_I 0.02
+
+param set-default VT_IDLE_PWM_MC  1080
+param set-default VT_ELEV_MC_LOCK 0
+param set-default VT_MOT_ID 12
+param set-default VT_TYPE 0
+
+set MIXER vtol_tailsitter_duo
+
+set PWM_OUT 123456
@@ -0,0 +1,53 @@
+#!/bin/sh
+#
+# @name BirdsEyeView Aerobotics FireFly6
+# @type VTOL Tiltrotor
+# @class VTOL
+#
+# @maintainer Roman Bapst <roman@uaventure.com>
+#
+# @output MAIN1 Front right motor bottom
+# @output MAIN2 Front right motor top
+# @output MAIN3 Back motor bottom
+# @output MAIN4 Back motor top
+# @output MAIN5 Front left motor bottom
+# @output MAIN6 Front left motor top
+# @output AUX1 Tilt servo
+# @output AUX2 Elevon 1
+# @output AUX3 Elevon 2
+# @output AUX4 Gear
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+param set-default MAV_TYPE 21
+
+param set-default MC_ROLL_P 7
+param set-default MC_ROLLRATE_P 0.19
+param set-default MC_ROLLRATE_I 0.002
+param set-default MC_ROLLRATE_D 0.005
+param set-default MC_PITCH_P 7
+param set-default MC_PITCHRATE_P 0.14
+param set-default MC_PITCHRATE_I 0.002
+param set-default MC_PITCHRATE_D 0.004
+param set-default MC_YAW_P 4
+param set-default MC_YAWRATE_P 0.22
+param set-default MC_YAWRATE_I 0.02
+
+param set-default VT_FW_MOT_OFFID 34
+param set-default VT_IDLE_PWM_MC 1080
+param set-default VT_MOT_ID 123456
+param set-default VT_FW_MOT_OFFID 56
+param set-default VT_TILT_MC 0.08
+param set-default VT_TILT_TRANS 0.5
+param set-default VT_TILT_FW 0.9
+param set-default VT_ELEV_MC_LOCK 0
+param set-default VT_TYPE 1
+
+set MIXER firefly6
+set MIXER_AUX firefly6
+
+set PWM_OUT 12345678
@@ -43,7 +43,7 @@ param set-default MPC_YAWRAUTO_MAX 40
 param set-default FW_PR_I 0.02
 param set-default FW_RR_FF 0.6
 param set-default FW_RR_I 0.01
-param set-default FW_THR_TRIM 0.75
+param set-default FW_THR_CRUISE 0.75

 param set-default VT_ARSP_BLEND 6
 param set-default VT_ARSP_TRANS 12
@@ -0,0 +1,53 @@
+#!/bin/sh
+#
+# @name QuadRanger
+#
+# @type Standard VTOL
+# @class VTOL
+#
+# @maintainer Sander Smeets <sander@droneslab.com>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+
+param set-default FW_THR_CRUISE 65
+param set-default FW_RR_FF 0.6
+
+param set-default MIS_YAW_TMT 10
+
+param set-default MC_ROLL_P 7
+param set-default MC_ROLLRATE_I 0.1
+param set-default MC_ROLLRATE_D 0.004
+param set-default MC_PITCH_P 7
+param set-default MC_PITCHRATE_I 0.1
+param set-default MC_PITCHRATE_D 0.004
+param set-default MC_YAW_P 3.5
+param set-default MC_YAWRATE_P 0.6
+param set-default MC_YAWRATE_I 0.04
+param set-default MC_YAWRATE_MAX 40
+
+param set-default MPC_ACC_HOR_MAX 2
+param set-default MPC_Z_VEL_MAX_DN 1.5
+param set-default MPC_LAND_SPEED 0.8
+param set-default MPC_YAWRAUTO_MAX 40
+
+param set-default PWM_AUX_DIS5 950
+param set-default PWM_AUX_REV1 1
+param set-default PWM_AUX_REV2 1
+
+param set-default VT_ARSP_TRANS 15
+param set-default VT_ARSP_BLEND 8
+param set-default VT_F_TRANS_THR 0.75
+param set-default VT_IDLE_PWM_MC 1080
+param set-default VT_MOT_ID 1234
+param set-default VT_FW_MOT_OFFID 1234
+param set-default VT_TYPE 2
+
+set MIXER quad_x
+set MIXER_AUX vtol_AAERT
+
+set PWM_OUT 1234
@@ -0,0 +1,83 @@
+#!/bin/sh
+#
+# @name Sparkle Tech Ranger VTOL
+#
+# @type Standard VTOL
+# @class VTOL
+#
+# @maintainer Andreas Antener <andreas@uaventure.com>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+# @board holybro_kakutef7 exclude
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+param set-default FW_AIRSPD_MAX   22
+param set-default FW_AIRSPD_MIN   14
+param set-default FW_AIRSPD_TRIM  16
+param set-default FW_L1_PERIOD    25
+param set-default FW_PR_P 0.060
+param set-default FW_P_RMAX_NEG   40
+param set-default FW_P_RMAX_POS   40
+param set-default FW_RR_FF    0.4
+param set-default FW_RR_P 0.04
+param set-default FW_R_RMAX   40
+
+param set-default MC_PITCHRATE_D 0.004
+param set-default MC_PITCHRATE_I 0
+param set-default MC_PITCHRATE_MAX 60
+param set-default MC_PITCHRATE_P 0.21
+param set-default MC_PITCH_P 4
+param set-default MC_ROLLRATE_D 0.004
+param set-default MC_ROLLRATE_I 0.002
+param set-default MC_ROLLRATE_MAX 60
+param set-default MC_ROLLRATE_P 0.24
+param set-default MC_ROLL_P 4
+param set-default MC_YAWRATE_I 0.02
+param set-default MC_YAWRATE_MAX 40
+param set-default MC_YAWRATE_P 0.18
+
+param set-default MIS_TAKEOFF_ALT 2.5
+param set-default MIS_YAW_TMT 20
+
+param set-default MPC_ACC_HOR_MAX 1
+param set-default MPC_HOLD_MAX_XY 0.5
+param set-default MPC_HOLD_MAX_Z  0.5
+param set-default MPC_LAND_SPEED  1
+param set-default MPC_MANTHR_MIN  0.05
+param set-default MPC_MAN_Y_MAX   120
+param set-default MPC_THR_MIN 0.07
+param set-default MPC_TILTMAX_AIR 35
+param set-default MPC_TILTMAX_LND 20
+param set-default MPC_TKO_SPEED   1
+param set-default MPC_XY_P    0.3
+param set-default MPC_XY_VEL_MAX  3
+param set-default MPC_XY_VEL_P_ACC 1
+param set-default MPC_Z_P 0.5
+param set-default MPC_Z_VEL_P_ACC 2
+param set-default MPC_YAWRAUTO_MAX 40
+
+param set-default NAV_ACC_RAD 3
+
+param set-default PWM_AUX_REV1    1
+param set-default PWM_AUX_REV2    1
+param set-default PWM_AUX_REV3    1
+param set-default PWM_AUX_REV4    1
+
+param set-default PWM_AUX_DIS5 950
+
+param set-default VT_ARSP_TRANS   15
+param set-default VT_F_TRANS_THR    0.6
+param set-default VT_IDLE_PWM_MC 1180
+param set-default VT_MOT_ID 1234
+param set-default VT_FW_MOT_OFFID 1234
+param set-default VT_TRANS_MIN_TM 5
+param set-default VT_TRANS_TIMEOUT    30
+param set-default VT_TYPE 2
+
+set MIXER quad_x
+set MIXER_AUX vtol_AAERT
+
+set PWM_OUT 1234
@@ -0,0 +1,37 @@
+#!/bin/sh
+#
+# @name CruiseAder Claire
+#
+# @type VTOL Tiltrotor
+# @class VTOL
+#
+# @maintainer Samay Siga <samay_s@icloud.com>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+param set-default MAV_TYPE 21
+
+param set-default PWM_AUX_DISARM 1000
+param set-default PWM_AUX_MAX 2000
+param set-default PWM_AUX_MIN 1000
+param set-default PWM_AUX_RATE 50
+
+param set-default PWM_MAIN_MAX 2000
+
+param set-default VT_MOT_ID 1234
+param set-default VT_FW_MOT_OFFID 13
+param set-default VT_IDLE_PWM_MC 1080
+param set-default VT_TILT_FW 0.9
+param set-default VT_TILT_MC 0.08
+param set-default VT_TILT_TRANS 0.5
+param set-default VT_ELEV_MC_LOCK 0
+param set-default VT_TYPE 1
+
+set MIXER claire
+set MIXER_AUX claire
+
+set PWM_OUT 1234
@@ -34,6 +34,8 @@ param set-default FW_ACRO_X_MAX   270
 param set-default FW_ACRO_Y_MAX   270
 param set-default FW_ACRO_Z_MAX   180
 param set-default FW_PSP_OFF  5
+param set-default FW_P_LIM_MAX    30
+param set-default FW_P_LIM_MIN    -30
 param set-default FW_RR_FF    0.33
 param set-default FW_RR_P 0.11

@@ -67,9 +69,4 @@ param set-default VT_TYPE 1

 set MIXER vtol_convergence

-if ! ver hwcmp MATEK_H743
-then
-	set PWM_OUT 1234
-else
-	set PWM_OUT 3456
-fi
+set PWM_OUT 1234
@@ -53,8 +53,9 @@ param set-default FW_T_CLMB_MAX 3
 param set-default FW_T_SINK_MAX 3
 param set-default FW_T_SINK_MIN 1
 param set-default FW_T_VERT_ACC 6
-param set-default FW_THR_TRIM 0.70
+param set-default FW_THR_CRUISE 0.70
 param set-default FW_THR_SLEW_MAX 1
+param set-default FW_MAN_P_MAX 30
 param set-default FW_P_LIM_MAX 15
 param set-default FW_P_LIM_MIN -25
 param set-default FW_P_RMAX_NEG 45
@@ -89,6 +90,7 @@ param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_LAND_SPEED 1.2
 param set-default MPC_TILTMAX_LND 35
 param set-default MPC_Z_VEL_MAX_UP 1.5
+param set-default MPC_Z_VEL_MAX_DN 1.5
 param set-default MPC_HOLD_MAX_XY 0.5
 param set-default MPC_HOLD_MAX_Z 0.5
 param set-default MPC_TKO_RAMP_T 0.8
@@ -129,6 +131,7 @@ param set-default VT_F_TRANS_DUR 1
 param set-default VT_IDLE_PWM_MC 1025
 param set-default VT_B_REV_OUT 0.5
 param set-default VT_B_TRANS_THR 0.7
+param set-default VT_FW_PERM_STAB 1
 param set-default VT_TRANS_TIMEOUT 22
 param set-default VT_F_TRANS_RAMP 4

@@ -31,6 +31,7 @@ param set-default FW_AIRSPD_MAX 30
 param set-default FW_AIRSPD_MIN 19
 param set-default FW_AIRSPD_TRIM 23
 param set-default FW_L1_R_SLEW_MAX 40
+param set-default FW_MAN_P_MAX 30
 param set-default FW_PSP_OFF 3
 param set-default FW_P_LIM_MAX 18
 param set-default FW_P_LIM_MIN -25
@@ -38,7 +39,7 @@ param set-default FW_RLL_TO_YAW_FF 0.1
 param set-default FW_RR_P 0.08
 param set-default FW_R_LIM 45
 param set-default FW_R_RMAX 50
-param set-default FW_THR_TRIM 0.65
+param set-default FW_THR_CRUISE 0.65
 param set-default FW_THR_MIN 0.3
 param set-default FW_THR_SLEW_MAX 0.6
 param set-default FW_T_HRATE_FF 0
@@ -70,6 +71,7 @@ param set-default MPC_VEL_MANUAL 3
 param set-default MPC_XY_CRUISE 3
 param set-default MPC_XY_VEL_MAX 3.5
 param set-default MPC_YAWRAUTO_MAX 40
+param set-default MPC_Z_VEL_MAX_DN 1.5
 param set-default MPC_Z_VEL_MAX_UP 2

 param set-default NAV_ACC_RAD 3
@@ -1,44 +0,0 @@
-#!/bin/sh
-#
-# @name Generic Tiltrotor VTOL
-#
-# @type VTOL Tiltrotor
-# @class VTOL
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-param set-default SYS_CTRL_ALLOC 1
-
-param set-default CA_AIRFRAME 3
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 1
-param set-default CA_ROTOR0_PY 1
-param set-default CA_ROTOR0_TILT 2
-param set-default CA_ROTOR1_PX -1
-param set-default CA_ROTOR1_PY -1
-param set-default CA_ROTOR2_PX 1
-param set-default CA_ROTOR2_PY -1
-param set-default CA_ROTOR2_TILT 1
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -1
-param set-default CA_ROTOR3_PY 1
-param set-default CA_ROTOR3_KM -0.05
-param set-default CA_SV_CS_COUNT 4
-param set-default CA_SV_CS0_TYPE 1
-param set-default CA_SV_CS0_TRQ_R -0.5
-param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS1_TRQ_R 0.5
-param set-default CA_SV_CS2_TYPE 7
-param set-default CA_SV_CS2_TRQ_P 0.5
-param set-default CA_SV_CS2_TRQ_Y 0.5
-param set-default CA_SV_CS3_TYPE 8
-param set-default CA_SV_CS3_TRQ_P 0.5
-param set-default CA_SV_CS3_TRQ_Y -0.5
-param set-default CA_SV_TL_COUNT 2
-
-param set-default MAV_TYPE 21
-param set-default VT_TYPE 1
@@ -1,10 +1,17 @@
 #!/bin/sh
 #
-# @name Generic VTOL Tailsitter
+# @name Generic Tailsitter
 #
-# @type VTOL Tailsitter
+# @type VTOL Duo Tailsitter
 # @class VTOL
 #
+# @output MAIN1 motor right
+# @output MAIN2 motor left
+# @output MAIN5 elevon right
+# @output MAIN6 elevon left
+#
+# @maintainer Roman Bapst <roman@px4.io>
+#
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
 # @board holybro_kakutef7 exclude
@@ -12,13 +19,18 @@

 . ${R}etc/init.d/rc.vtol_defaults

-param set-default SYS_CTRL_ALLOC 1
+param set-default MAV_TYPE 19
+
+param set-default VT_ELEV_MC_LOCK 0
+param set-default VT_MOT_COUNT 2
+param set-default VT_TYPE 0
+
 param set-default CA_AIRFRAME 4
 param set-default CA_ROTOR_COUNT 2
 param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR0_PY -0.2
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR1_PY 0.2
+param set-default CA_ROTOR0_PY 0.2
+param set-default CA_ROTOR1_KM -0.05
+param set-default CA_ROTOR1_PY -0.2
 param set-default CA_SV_CS_COUNT 2
 param set-default CA_SV_CS0_TRQ_P 0.5
 param set-default CA_SV_CS0_TRQ_Y 0.5
@@ -27,6 +39,6 @@ param set-default CA_SV_CS1_TRQ_P 0.5
 param set-default CA_SV_CS1_TRQ_Y -0.5
 param set-default CA_SV_CS1_TYPE 6

-param set-default MAV_TYPE 19
-param set-default VT_TYPE 0
-param set-default VT_ELEV_MC_LOCK 0
+set MIXER vtol_tailsitter_duo
+
+set PWM_OUT 1234
@@ -1,26 +1,54 @@
 #!/bin/sh
 #
-# @name Generic Helicopter (Tail ESC)
+# @name Blade 130X
 #
 # @type Helicopter
 # @class Copter
 #
+# @maintainer Bart Slinger <bartslinger@gmail.com>
+#
+# @output MAIN1 main motor
+# @output MAIN2 front swashplate servo
+# @output MAIN3 right swashplate servo
+# @output MAIN4 left swashplate servo
+# @output MAIN5 tail-rotor servo
+#
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
 #

-. ${R}etc/init.d/rc.heli_defaults
+. ${R}etc/init.d/rc.mc_defaults

+# Configure as helicopter (number 4 defined in commander_helper.cpp)
+param set-default MAV_TYPE 4

-# Disable PID gains for initial setup. These should be enabled after setting the FF gain.
-# P is expected to be lower than FF.
+set MIXER blade130
+
+set PWM_OUT none
+
+param set-default ATT_BIAS_MAX 0
+
+param set-default CBRK_IO_SAFETY 22027
+
+param set-default MC_ROLL_P 5
 param set-default MC_ROLLRATE_P 0
 param set-default MC_ROLLRATE_I 0
 param set-default MC_ROLLRATE_D 0
-param set-default MC_ROLLRATE_FF 0.1
+param set-default MC_ROLLRATE_FF 0.15
 param set-default MC_PITCHRATE_P 0
 param set-default MC_PITCHRATE_I 0
 param set-default MC_PITCHRATE_D 0
-param set-default MC_PITCHRATE_FF 0.1
+param set-default MC_PITCHRATE_FF 0.15
+param set-default MC_YAW_P 3
+param set-default MC_YAWRATE_P 0.1
+param set-default MC_YAWRATE_I 0
+param set-default MC_ROLLRATE_MAX 720
+param set-default MC_PITCHRATE_MAX 720
+param set-default MC_YAWRATE_MAX 400
+param set-default MC_ACRO_R_MAX 360
+param set-default MC_ACRO_P_MAX 360

-param set-default CA_AIRFRAME 10
+param set-default MPC_THR_MIN 0.06
+param set-default MPC_MANTHR_MIN 0.06
+
+param set-default PWM_MAIN_MIN 1075
@@ -0,0 +1,51 @@
+#!/bin/sh
+#
+# @name ThunderFly Auto-G2
+#
+# @type Autogyro
+# @class Autogyro
+#
+# @output MAIN1 rotor_head_L
+# @output MAIN2 rotor_head_R
+# @output MAIN3 elevator
+# @output MAIN4 rudder
+# @output MAIN5 rudder (second, optional)
+# @output MAIN6 throttle
+# @output MAIN7 wheel
+#
+# @output AUX1 feed-through of RC AUX1 channel for prerotator (optional)
+# @output AUX2 feed-through of RC AUX2 channel for release device (optional)
+#
+# @url https://github.com/ThunderFly-aerospace/Auto-G2/
+# @maintainer ThunderFly s.r.o., Roman Dvorak <dvorakroman@thunderfly.cz>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+
+param set-default BAT1_CAPACITY 2500
+param set-default BAT1_N_CELLS 3
+
+param set-default PWM_AUX_RATE 50
+param set-default PWM_MAIN_RATE 50
+
+param set-default SENS_BOARD_ROT 8
+
+param set-default FW_AIRSPD_MAX 20
+param set-default FW_AIRSPD_MIN 7
+param set-default FW_AIRSPD_TRIM 13
+param set-default FW_THR_CRUISE 0.8
+
+param set-default FW_MAN_P_MAX 25
+param set-default FW_MAN_R_MAX 25
+param set-default FW_PR_I 0.02
+param set-default FW_R_LIM 40
+param set-default FW_P_LIM_MAX 25
+param set-default FW_P_LIM_MIN -5
+param set-default FW_P_RMAX_NEG 20
+
+set MIXER TF-AutoG2
+set MIXER_AUX pass
@@ -0,0 +1,46 @@
+#!/bin/sh
+#
+# @name ThunderFly TF-G2
+#
+# @type Autogyro
+# @class Autogyro
+#
+# @output MAIN2 rotor_head_L
+# @output MAIN3 rotor_head_R
+# @output MAIN4 rudder
+# @output MAIN5 throttle
+#
+#
+# @url https://github.com/ThunderFly-aerospace/TF-G2/
+# @maintainer ThunderFly s.r.o., Roman Dvorak <dvorakroman@thunderfly.cz>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+
+param set-default BAT1_CAPACITY 3300
+param set-default BAT1_N_CELLS 3
+
+param set-default PWM_AUX_RATE 50
+param set-default PWM_MAIN_RATE 50
+
+param set-default SENS_BOARD_ROT 4
+
+param set-default FW_AIRSPD_MAX 20
+param set-default FW_AIRSPD_MIN 7
+param set-default FW_AIRSPD_TRIM 13
+param set-default FW_THR_CRUISE 0.8
+
+param set-default FW_MAN_P_MAX 25
+param set-default FW_MAN_R_MAX 25
+param set-default FW_PR_I 0.02
+param set-default FW_R_LIM 40
+param set-default FW_P_LIM_MAX 25
+param set-default FW_P_LIM_MIN -5
+param set-default FW_P_RMAX_NEG 20
+
+set MIXER TF-G2
+set MIXER_AUX pass
@@ -1,16 +1,28 @@
 #!/bin/sh
 #
-# @name Generic Standard Plane
+# @name Standard Plane
 #
 # @type Standard Plane
 # @class Plane
 #
+# @output MAIN1 aileron
+# @output MAIN2 elevator
+# @output MAIN3 throttle
+# @output MAIN4 rudder
+# @output MAIN5 flaps
+# @output MAIN6 gear
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Lorenz Meier <lorenz@px4.io>
+#
 # @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.fw_defaults

-param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 1
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
@@ -22,3 +34,11 @@ param set-default CA_SV_CS2_TRQ_P 1.0
 param set-default CA_SV_CS2_TYPE 3
 param set-default CA_SV_CS3_TRQ_Y 1.0
 param set-default CA_SV_CS3_TYPE 4
+
+param set-default PWM_AUX_RATE 50
+param set-default PWM_MAIN_RATE 50
+
+set MIXER AETRFG
+
+# Rate must be set by group (see pwm info).
+# Throttle is in the same group as servos.
@@ -0,0 +1,45 @@
+#!/bin/sh
+#
+# @name Bormatec Maja
+#
+# @type Standard Plane
+# @class Plane
+#
+# @output MAIN1 aileron
+# @output MAIN2 aileron
+# @output MAIN3 elevator
+# @output MAIN4 rudder
+# @output MAIN5 throttle
+# @output MAIN6 wheel
+# @output MAIN7 flaps
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Andreas Antener <andreas@uaventure.com>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+param set-default FW_MAN_P_MAX 55
+param set-default FW_MAN_R_MAX 55
+param set-default FW_R_LIM 55
+
+param set-default FW_WR_FF 0.2
+param set-default FW_WR_I 0.2
+param set-default FW_WR_IMAX 0.8
+param set-default FW_WR_P 1
+param set-default FW_W_RMAX 0
+
+# set disarmed value for the ESC
+param set-default PWM_MAIN_DISARM 1000
+
+
+set MIXER AAERTWF
+
+# use PWM parameters for throttle channel
+set PWM_OUT 5
@@ -0,0 +1,48 @@
+#!/bin/sh
+#
+# @name X-UAV Mini Talon
+#
+# @type Plane V-Tail
+# @class Plane
+#
+# @output MAIN1 aileron right
+# @output MAIN2 aileron left
+# @output MAIN3 v-tail right
+# @output MAIN4 v-tail left
+# @output MAIN5 throttle
+# @output MAIN6 wheel
+# @output MAIN7 flaps right
+# @output MAIN8 flaps left
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Friedrich Beckmann <friedrich.beckmann@hs-augsburg.de>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+param set-default FW_MAN_P_MAX 55
+param set-default FW_MAN_R_MAX 55
+param set-default FW_R_LIM 55
+
+param set-default FW_WR_FF 0.2
+param set-default FW_WR_I 0.2
+param set-default FW_WR_IMAX 0.8
+param set-default FW_WR_P 1
+param set-default FW_W_RMAX 0
+
+# set disarmed value for the ESC
+param set-default PWM_MAIN_DISARM 1000
+
+# The Mini Talon does not have a wheel and
+# no flaps. I leave them here because the mixer
+# computes also wheel and flap controls.
+set MIXER AAVVTWFF_vtail
+
+# use PWM parameters for throttle channel
+set PWM_OUT 5
@@ -5,20 +5,19 @@
 # @type Flying Wing
 # @class Plane
 #
+# @output MAIN1 left aileron
+# @output MAIN2 right aileron
+# @output MAIN4 throttle
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer
+#
 # @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.fw_defaults

-param set-default SYS_CTRL_ALLOC 1
-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
-param set-default CA_SV_CS0_TYPE 5
-param set-default CA_SV_CS0_TRQ_P 0.5
-param set-default CA_SV_CS0_TRQ_R -0.5
-param set-default CA_SV_CS1_TYPE 6
-param set-default CA_SV_CS1_TRQ_P 0.5
-param set-default CA_SV_CS1_TRQ_R 0.5
+set MIXER fw_generic_wing
@@ -0,0 +1,45 @@
+#!/bin/sh
+#
+# @name IO Camflyer
+#
+# @type Flying Wing
+# @class Plane
+#
+# @output MAIN1 left aileron
+# @output MAIN2 right aileron
+# @output MAIN4 throttle
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Simon Wilks <simon@uaventure.com>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+param set-default FW_AIRSPD_MAX 15
+param set-default FW_AIRSPD_TRIM 13
+param set-default FW_R_TC 0.3
+param set-default FW_P_TC 0.3
+param set-default FW_L1_DAMPING 0.74
+param set-default FW_L1_PERIOD 16
+param set-default FW_LND_ANG 15
+param set-default FW_LND_FLALT 5
+param set-default FW_LND_HVIRT 13
+param set-default FW_LND_TLALT 5
+param set-default FW_THR_LND_MAX 0
+param set-default FW_PR_FF 0.35
+param set-default FW_RR_FF 0.6
+param set-default FW_RR_P 0.04
+
+param set-default PWM_MAIN_DISARM 1000
+
+
+set MIXER fw_generic_wing
+
+# Provide ESC a constant 1000 us pulse while disarmed
+set PWM_OUT 4
@@ -0,0 +1,49 @@
+#!/bin/sh
+#
+# @name Phantom FPV Flying Wing
+#
+# @url https://docs.px4.io/master/en/frames_plane/wing_wing_z84.html
+#
+# @type Flying Wing
+# @class Plane
+#
+# @output MAIN1 left aileron
+# @output MAIN2 right aileron
+# @output MAIN4 throttle
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Simon Wilks <simon@uaventure.com>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+param set-default FW_AIRSPD_MIN 13
+param set-default FW_AIRSPD_MAX 25
+param set-default FW_R_TC 0.3
+param set-default FW_P_TC 0.3
+param set-default FW_L1_PERIOD 15
+param set-default FW_PR_FF 0.2
+param set-default FW_PR_IMAX 0.2
+param set-default FW_PR_P 0.03
+param set-default FW_P_LIM_MAX 50
+param set-default FW_P_LIM_MIN -50
+param set-default FW_RR_P 0.08
+param set-default FW_R_LIM 50
+param set-default FW_R_RMAX 50
+
+param set-default PWM_MAIN_DISARM 1000
+
+# Bottom of bay and nominal zero-pitch attitude differ
+# the payload bay is pitched up about 7 degrees
+param set-default SENS_BOARD_Y_OFF 7
+
+set MIXER fw_generic_wing
+
+# Provide ESC a constant 1000 us pulse
+set PWM_OUT 4
@@ -0,0 +1,40 @@
+#!/bin/sh
+#
+# @name Skywalker X5 Flying Wing
+#
+# @type Flying Wing
+# @class Plane
+#
+# @output MAIN1 left aileron
+# @output MAIN2 right aileron
+# @output MAIN4 throttle
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Julian Oes <julian@px4.io>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+param set-default FW_AIRSPD_MIN 15
+param set-default FW_AIRSPD_TRIM 20
+param set-default FW_AIRSPD_MAX 40
+param set-default FW_R_TC 0.3
+param set-default FW_P_TC 0.3
+param set-default FW_L1_DAMPING 0.74
+param set-default FW_L1_PERIOD 16
+param set-default FW_LND_ANG 15
+param set-default FW_LND_FLALT 5
+param set-default FW_LND_HVIRT 13
+param set-default FW_LND_TLALT 5
+param set-default FW_THR_LND_MAX 0
+param set-default FW_PR_FF 0.35
+param set-default FW_RR_FF 0.6
+param set-default FW_RR_P 0.04
+
+set MIXER fw_generic_wing
@@ -0,0 +1,48 @@
+#!/bin/sh
+#
+# @name Wing Wing (aka Z-84) Flying Wing
+#
+# @url https://docs.px4.io/master/en/frames_plane/wing_wing_z84.html
+#
+# @type Flying Wing
+# @class Plane
+#
+# @output MAIN1 left aileron
+# @output MAIN2 right aileron
+# @output MAIN4 throttle
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Lorenz Meier <lorenz@px4.io>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+param set-default BAT1_N_CELLS 2
+param set-default FW_AIRSPD_MAX 15
+param set-default FW_AIRSPD_TRIM 13
+param set-default FW_R_TC 0.3
+param set-default FW_P_TC 0.3
+param set-default FW_L1_DAMPING 0.74
+param set-default FW_L1_PERIOD 16
+param set-default FW_LND_ANG 15
+param set-default FW_LND_FLALT 5
+param set-default FW_LND_HVIRT 13
+param set-default FW_LND_TLALT 5
+param set-default FW_THR_LND_MAX 0
+param set-default FW_PR_FF 0.35
+param set-default FW_RR_FF 0.6
+param set-default FW_RR_P 0.04
+
+param set-default PWM_MAIN_DISARM 1000
+
+# Set mixer.
+set MIXER fw_generic_wing
+
+# Provide ESC a constant 1000 us pulse.
+set PWM_OUT 4
@@ -0,0 +1,29 @@
+#!/bin/sh
+#
+# @name FX-79 Buffalo Flying Wing
+#
+# @type Flying Wing
+# @class Plane
+#
+# @output MAIN1 right aileron
+# @output MAIN2 left aileron
+# @output MAIN4 throttle
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Simon Wilks <simon@uaventure.com>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+param set-default FW_AIRSPD_MAX 30
+param set-default FW_AIRSPD_MIN 13
+
+param set-default NAV_LOITER_RAD 150
+
+set MIXER fw_generic_wing
@@ -0,0 +1,23 @@
+#!/bin/sh
+#
+# @name Viper
+#
+# @type Flying Wing
+# @class Plane
+# @output MAIN1 left aileron
+# @output MAIN2 right aileron
+# @output MAIN4 throttle
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Simon Wilks <simon@uaventure.com>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+set MIXER Viper
@@ -0,0 +1,49 @@
+#!/bin/sh
+#
+# @name Sparkle Tech Pigeon
+#
+# @url http://www.sparkletech.hk/
+#
+# @type Flying Wing
+# @class Plane
+#
+# @output MAIN1 left aileron
+# @output MAIN2 right aileron
+# @output MAIN4 throttle
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Simon Wilks <simon@uaventure.com>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+param set-default FW_AIRSPD_MIN 15
+param set-default FW_AIRSPD_TRIM 20
+param set-default FW_AIRSPD_MAX 27
+param set-default FW_ATT_TC 0.3
+param set-default FW_PR_FF 0.35
+param set-default FW_PR_IMAX 0.2
+param set-default FW_PR_P 0.05
+param set-default FW_P_TC 0.3
+param set-default FW_RR_FF 0.3
+param set-default FW_RR_P 0.03
+param set-default FW_R_LIM 40
+param set-default FW_R_RMAX 50
+param set-default FW_R_TC 0.3
+
+param set-default PWM_MAIN_DISARM 1000
+
+# Bottom of bay and nominal zero-pitch attitude differ
+# the payload bay is pitched up about 7 degrees
+param set-default SENS_BOARD_Y_OFF 11.9
+
+set MIXER fw_generic_wing
+
+# Provide ESC a constant 1000 us pulse
+set PWM_OUT 4
@@ -0,0 +1,53 @@
+#!/bin/sh
+#
+# @name Modified Parrot Disco
+#
+# @url
+#
+# @type Flying Wing
+# @class Plane
+#
+# @output MAIN1 left aileron
+# @output MAIN2 right aileron
+# @output MAIN4 throttle
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Jan Liphardt <JTLiphardt@gmail.com>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+####################################
+# Airspeed
+####################################
+param set-default FW_AIRSPD_MAX  27 # = 52 knots
+
+####################################
+# Pitch
+####################################
+
+# Pitch rate feed forward (def = 0.5 %/rad/sec)
+param set-default FW_PR_FF 0.35
+
+####################################
+# Roll
+####################################
+
+# Basic limits (def = 50 deg)
+param set-default FW_R_LIM 40
+
+# Roll rate upper limit (def = 70 deg/s)
+param set-default FW_R_RMAX 50
+
+param set-default PWM_MAIN_DISARM 1000
+
+set MIXER fw_generic_wing.main.mix
+
+# Provide ESC a constant 1000 us pulse
+set PWM_OUT 4
@@ -0,0 +1,61 @@
+#!/bin/sh
+#
+# @name TBS Caipirinha
+#
+# @type Flying Wing
+# @class Plane
+#
+# @output MAIN1 left aileron
+# @output MAIN2 right aileron
+# @output MAIN4 throttle
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Lorenz Meier <lorenz@px4.io>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+param set-default FW_AIRSPD_MAX 25
+param set-default FW_AIRSPD_MIN 12.5
+param set-default FW_AIRSPD_TRIM 16.5
+param set-default FW_L1_PERIOD 15
+param set-default FW_LND_ANG 15
+param set-default FW_LND_FLALT 8
+param set-default FW_LND_HVIRT 13
+param set-default FW_LND_TLALT 10
+param set-default FW_THR_LND_MAX 0
+param set-default FW_P_LIM_MAX 20
+param set-default FW_P_LIM_MIN -30
+param set-default FW_R_LIM 45
+param set-default FW_PR_FF 0.45
+param set-default FW_PR_P 0.005
+param set-default FW_RR_FF 0.45
+param set-default FW_RR_P 0.013
+param set-default FW_P_RMAX_NEG 70
+param set-default FW_P_RMAX_POS 70
+param set-default FW_R_RMAX 70
+param set-default FW_THR_CRUISE 0.55
+
+param set-default LNDFW_AIRSPD_MAX 6
+param set-default LNDFW_XYACC_MAX 4
+param set-default LNDFW_VEL_XY_MAX 3
+param set-default LNDFW_VEL_Z_MAX 5
+
+param set-default MIS_TAKEOFF_ALT 50
+
+param set-default NAV_LOITER_RAD 30
+
+param set-default PWM_MAIN_REV1 1
+param set-default PWM_MAIN_REV2 1
+param set-default PWM_MAIN_MIN 900
+param set-default PWM_MAIN_MAX 2100
+
+set MIXER fw_generic_wing
+
+set PWM_OUT 1234
@@ -0,0 +1,21 @@
+#!/bin/sh
+#
+# @name DJI F330 w/ DJI ESCs
+#
+# @type Quadrotor x
+# @class Copter
+#
+# @maintainer Lorenz Meier <lorenz@px4.io>
+# @board px4_fmu-v2 exclude
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+param set-default MC_ROLL_P 7
+param set-default MC_ROLLRATE_I 0.05
+param set-default MC_PITCH_P 7
+param set-default MC_PITCHRATE_I 0.05
+
+
+# DJI ESCs do not support calibration and need a higher min
+param set-default PWM_MAIN_MIN 1230
@@ -0,0 +1,20 @@
+#!/bin/sh
+#
+# @name DJI F450 w/ DJI ESCs
+#
+# @type Quadrotor x
+# @class Copter
+#
+# @maintainer Lorenz Meier <lorenz@px4.io>
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+param set-default MC_ROLL_P 7
+param set-default MC_ROLLRATE_I 0.05
+param set-default MC_PITCH_P 7
+param set-default MC_PITCHRATE_I 0.05
+param set-default MC_YAWRATE_P 0.3
+
+# DJI ESCs do not support calibration and need a higher min
+param set-default PWM_MAIN_MIN 1230
@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# @name PX4 Vision DevKit Platform
+# @name PX4 Vision Dev Kit v1
 #
 # @type Quadrotor x
 # @class Copter
@@ -69,6 +69,7 @@ param set-default CP_DIST 6
 param set-default MPC_ACC_DOWN_MAX 5
 param set-default MPC_ACC_HOR_MAX 10
 param set-default MPC_ACC_UP_MAX 4
+param set-default MPC_MANTHR_MIN 0
 param set-default MPC_MAN_Y_MAX 120
 param set-default MPC_TILTMAX_AIR 45
 param set-default MPC_THR_HOVER 0.3
@@ -0,0 +1,134 @@
+#!/bin/sh
+#
+# @name PX4 Vision Dev Kit v1.5
+#
+# @type Quadrotor x
+# @class Copter
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+# System parameters
+# use FMU motor outputs for less delay in the rate control loop
+param set-default SYS_USE_IO 0
+
+# Commander Parameters
+param set-default COM_OBS_AVOID 1
+param set-default COM_DISARM_LAND 0.5
+
+# EKF2 parameters
+param set-default EKF2_AID_MASK 35
+param set-default EKF2_IMU_POS_X 0.02
+param set-default EKF2_GPS_POS_X 0.055
+param set-default EKF2_GPS_POS_Z -0.15
+param set-default EKF2_MIN_RNG 0.03
+param set-default EKF2_OF_POS_X 0.055
+param set-default EKF2_OF_POS_Y 0.02
+param set-default EKF2_OF_POS_Z 0.065
+param set-default EKF2_REQ_HDRIFT 0.3
+param set-default EKF2_REQ_SACC 1
+param set-default EKF2_REQ_VDRIFT 0.3
+param set-default EKF2_RNG_A_HMAX 8
+param set-default EKF2_RNG_A_VMAX 2
+param set-default EKF2_RNG_POS_X 0.055
+param set-default EKF2_RNG_POS_Y -0.01
+param set-default EKF2_RNG_POS_Z 0.065
+param set-default EKF2_PCOEF_XP -0.25
+param set-default EKF2_PCOEF_YN -0.55
+param set-default EKF2_PCOEF_YP -0.55
+
+# MAVLink parameters
+param set-default MAV_0_CONFIG 101
+param set-default MAV_1_CONFIG 102
+param set-default MAV_1_RATE 80000
+param set-default MAV_1_MODE 9
+param set-default SER_TEL1_BAUD 921600
+
+# Vehicle attitude PID tuning
+param set-default MC_ACRO_EXPO 0
+param set-default MC_ACRO_EXPO_Y 0
+param set-default MC_ACRO_P_MAX 200
+param set-default MC_ACRO_R_MAX 200
+param set-default MC_ACRO_SUPEXPO 0
+param set-default MC_ACRO_SUPEXPOY 0
+param set-default MC_ACRO_Y_MAX 150
+param set-default MC_PITCHRATE_D 0.0015
+param set-default MC_ROLLRATE_D 0.0015
+param set-default MC_YAWRATE_P 0.3
+
+# Position Control Tuning
+param set-default CP_DIST 6
+param set-default MPC_ACC_DOWN_MAX 5
+param set-default MPC_ACC_HOR_MAX 10
+param set-default MPC_ACC_UP_MAX 4
+param set-default MPC_MANTHR_MIN 0
+param set-default MPC_MAN_Y_MAX 120
+param set-default MPC_TILTMAX_AIR 45
+param set-default MPC_THR_HOVER 0.3
+param set-default MPC_TKO_SPEED 1
+param set-default MPC_VEL_MANUAL 5
+param set-default MPC_XY_CRUISE 5
+param set-default MPC_XY_VEL_MAX 5
+param set-default MPC_XY_VEL_P_ACC 1.58
+param set-default MPC_XY_TRAJ_P 0.3
+param set-default MPC_Z_TRAJ_P 0.3
+param set-default MPC_Z_VEL_P_ACC 5
+param set-default MPC_Z_VEL_I_ACC 3
+param set-default MPC_LAND_ALT1 3
+param set-default MPC_LAND_ALT2 1
+param set-default MPC_POS_MODE 3
+param set-default CP_GO_NO_DATA 1
+
+# Navigator Parameters
+param set-default NAV_ACC_RAD 2
+
+# use oneshot motor output protocol
+param set-default PWM_MAIN_RATE 0
+
+# RTL Parameters
+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
+param set-default SENS_FLOW_MINHGT 0.5
+param set-default IMU_GYRO_CUTOFF 100
+param set-default SENS_TFLOW_CFG 103
+
+# Power Parameters
+param set-default BAT1_N_CELLS 4
+param set-default BAT1_A_PER_V 36.364
+param set-default BAT1_V_DIV 18.182
+
+# Circuit breakers
+param set-default CBRK_IO_SAFETY 22027
+
+param set-default THR_MDL_FAC 0.3
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.15
+param set-default CA_ROTOR0_PY 0.15
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.15
+param set-default CA_ROTOR1_PY -0.15
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.15
+param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.15
+param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_KM -0.05
+
+# Outputs
+param set-default PWM_AUX_FUNC1 101
+param set-default PWM_AUX_FUNC2 102
+param set-default PWM_AUX_FUNC3 103
+param set-default PWM_AUX_FUNC4 104
+
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Julian Oes	46a12a09bf	fmu-v2: make optional sensor startup quiet Signed-off-by: Julian Oes <julian@oes.ch>	2022-11-22 21:12:09 +13:00
bresch	72becdf407	ekf2: do not fuse ZVU if other velocity source is active	2022-11-15 13:11:06 -05:00
Matthias Grob	228def6081	mission_block: explicitly (re)set the acceptance radius to default for takeoff items otherwise a previously adjusted or uninitialized radius from the last flight can cause problems during the new takeoff	2022-11-11 14:48:45 +13:00
Matthias Grob	092562dc51	mission_block: minimal acceptance radius of 1mm to avoid float rounding errors leading to tiny acceptance radii getting considered	2022-11-11 14:48:45 +13:00
Daniel Agar	9fdf5ada40	boards: px4_fmu-v6x_default include systemcmds/gpio	2022-11-07 17:11:28 -05:00
Daniel Agar	872ac68daf	vehicle_magnetometer: fix standalone mag bias est factored into in flight mag cal - preflight mag bias estimate is in the vehicle body frame and removed from the raw mag data after it's rotated, calibrated, etc - in flight mag bias (from ekf2) is in the vehicle body frame, but stored as a sensor frame offset immediately	2022-11-07 09:31:49 -05:00
David Sidrane	b46c608f6e	px4_fmu-v6:Add Revision 1 to manifest to note I2C4 is only internal	2022-11-03 07:32:40 +13:00
Julian Oes	37cf8024c3	Holybro PX4Vision: Don't use IO	2022-11-03 07:32:25 +13:00
Silvan Fuhrer	65d22120b2	Navigator: initialize _mission_item for all navigation modes in Navigator::Navigator() This fixes the issue where the init happended in the initializer list, at which point the params were not yet initialized and thus resulted in random values for the init values of _mission_item.loiter_radius and .acceptance_radius. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-10-27 13:20:29 +02:00
Thomas Stastny	dc7f29e2ec	welford mean: protect against negative variances	2022-10-05 10:29:03 -04:00
Thomas Stastny	fbef296890	welford mean: convert to matrix only template	2022-10-05 10:29:03 -04:00
Daniel Agar	6ce38b8296	vehicle_imu: only reset raw accel/gyro Welford mean periodically - vehicle_imu_status can publish immediately on any measured sample rate change or sensor error increment, but the windowed mean/variance shouldn't necessarily reset that often	2022-10-05 10:29:03 -04:00
Julian Oes	e3d730ea37	ms5611: ignore reading 0 This prevents publishing a negative pressure which leads to a NAN altitude estimate further down the line.	2022-10-04 09:42:16 -04:00
alexklimaj	d22d33e936	Fix ARKV6X control allocator with base boards	2022-09-29 14:24:20 -04:00
bresch	1ea4fe9b7b	Mag: fix estimated bias save to calibration Clear the calibration at the end only otherwise everything gets erased at the end of the first iteration of the outer loop	2022-09-28 10:03:35 -04:00
Julian Oes	2e7df77bff	uavcan: fix RTCM corrections publication Before this fix, this function would stall and somehow never return.	2022-09-27 22:01:48 -04:00
Julian Oes	241abb933a	libuavcan: update submodule This fixes a Python 3.10 issue for me.	2022-09-27 21:55:08 -04:00
Julian Oes	02c281c3e8	fmu-v5x: support for mini base board This was forgotton with all the merges and shuffling previously.	2022-09-27 05:45:22 +13:00
Julian Oes	280f2e3abc	fmu-v3: make optional sensor startup quiet This fixes the errors showing up at startup for me with a Black Cube.	2022-09-27 05:45:22 +13:00
Julian Oes	22f338b58c	fmu-v6x: alias, add VX43 - alias from hw_mft_list_v0650 to hw_mft_list_v0600 as it is the same - add V6X50 again	2022-09-27 05:45:22 +13:00
Julian Oes	5b60985494	fmu-v5x: alias for duplicates, remove commented - Removed commented out config data. - hw_mft_list_v0540 was the same as hw_mft_list_v0500	2022-09-27 05:45:22 +13:00
Julian Oes	51607928c0	fmu-v6: disable Rev 0, Rev 1 for HB Mini, and CM4 As I understand it, only Rev 3 and Rev 4 were shipped by HB for Mini and CM4, and are likely to be used for it. It would be nice to have all combinations but it requires quite some flash in the current implementation.	2022-09-27 05:45:22 +13:00
Julian Oes	426d13a82e	fmu-v5x: disable rev0 for HB Mini and CM4 base As I understand it, only Rev 1 and Rev 2 were shipped by HB, and likely to be used for the Mini and CM4.	2022-09-27 05:45:22 +13:00
Julian Oes	90c0d77c7b	platforms: decrease flash usage by type for bus id My assumption is that the bus are numbered < 127. This saves about 100 bytes of flash.	2022-09-27 05:45:22 +13:00
vincentpoont2	fdc7ee3674	update fmu-v6x rc.board_sensors, add V6X004003	2022-09-27 05:45:22 +13:00
vincentpoont2	eef7b35747	update fmuv5x rc.board_sensors with V5X004000	2022-09-27 05:45:22 +13:00
Vincent Poon	65b1370ad1	update v5x rc.board_sensors add V5X004002	2022-09-27 05:45:22 +13:00
Vincentpoont2	0e0324de5d	Correct BOARD_NUM_SPI_CFG_HW_VERSIONS at board_config.h	2022-09-27 05:45:22 +13:00
Vincentpoont2	73e6660411	Fix Error on manifest.c	2022-09-27 05:45:22 +13:00
Vincentpoont2	7ff373fee2	Fix Error on board_config.h Define on FMUv5X & FMUv6X	2022-09-27 05:45:22 +13:00
Vincentpoont2	f4a5c71ccd	Add Holybro Pixhawk Pi CM4 Baseboard Support	2022-09-27 05:45:22 +13:00
Julian Oes	3ccde2f4db	cuav_x7pro: save flash on test target	2022-09-23 20:55:41 +12:00
Julian Oes	dbf1f31bec	boards/platform: remove confusing override This removes the odd px4_i2c_bus_external override which was confusing me and lead to odd and inconsistent results. The function is now only available with an int as the argument.	2022-09-23 20:55:41 +12:00
alexklimaj	61d2b13e43	Add BMP390 to BMP388 driver	2022-09-20 20:34:23 -04:00
Julian Oes	8cfc4fc7ca	boards: save some flash on CubeOrange test config	2022-09-20 18:56:04 -04:00
vincentpoont2	ebc67464c3	Add PX4 vision v1.5 Airframe	2022-09-20 18:56:04 -04:00
Daniel Agar	a5a9b1011a	[DO NOT MERGE] px4_i2c_device_external hacks	2022-09-20 18:54:28 -04:00
Julian Oes	1ad71eefa1	px4_fmu-v6c: Move I2C 4 back to External This is a revert of the revert. This reverts commit `1080855f4d`.	2022-09-20 18:54:28 -04:00
Julian Oes	7786bf6dbc	fmu-v6c: internal baro and mag on external bus This swaps the internal baro and mag back to the bus which is both internal an external but configured as external for this case.	2022-09-20 18:54:28 -04:00
Alex Klimaj	af0d53cdc9	boards: V1.13.0 ARKV6X Backport (#20253 )	2022-09-20 18:53:48 -04:00
RomanBapst	79367ed417	standard: fixed pusher assist in hover - in hover mode the pusher assist is already set in update_mc_state() Signed-off-by: RomanBapst <bapstroman@gmail.com>	2022-09-15 13:07:27 -04:00
David Sidrane	417c973cc9	px4_fmu-v6x:HB Mini add Ver 3, Ver 4 init	2022-09-09 15:43:10 +12:00
Daniel Agar	26f912eb8a	icm42670p run at full speed	2022-09-06 16:23:14 +12:00
Daniel Agar	e7d18960a5	drivers/imu/invensense/icm42670p: cleanup and small fixes	2022-09-06 16:23:14 +12:00
Daniel Agar	8a54b21e7d	adis16470: fix accel and gyro scaling	2022-08-17 11:40:30 -04:00
RomanBapst	baab4501f6	gps_inject_data: fixed integer overflow - array length of data was increased without changing the data type of the variable holding the length Signed-off-by: RomanBapst <bapstroman@gmail.com>	2022-07-13 11:20:35 -04:00
bresch	b30c2c22b3	ekf2: do not run rng kinematic consistency check for fixed-wings As they are always moving horizontally, the check doesn't make sense for fixed-wings. Also don't run the check while on ground to prevent getting a failed check during pre-takeoff manipulation.	2022-07-12 13:54:30 -04:00
Daniel Agar	cc7e709597	uavcan: GNSS optionally publish RTCMStream or MovingBaselineData	2022-07-12 13:54:21 -04:00
Daniel Agar	416610afc3	differential_pressure/sdp3x: sdp3x_main fix 'keep running' regression	2022-07-12 13:54:11 -04:00
David Sidrane	841797da2a	px4_fmu-v6X:Added Holybro mini base board	2022-07-01 15:33:08 -04:00
David Sidrane	55706108b6	uc_stm32h7_can:Correct initalization of the mumber of interfaces H7 Only supports 2 not 3 CAN interfaces. CanInitHelper passes in in the run time configuration of the number of interfaces. The code was ignoring these!	2022-07-01 15:32:53 -04:00
David Sidrane	e1f86f510b	px4_fmu-v5X:Added Holybro mini base board	2022-07-01 15:32:44 -04:00
David Sidrane	17ef175402	px4_fmu-v6x:Add Rev 4 Sensors	2022-07-01 15:32:09 -04:00
Alex Klimaj	f9980e0721	uavcannode: Fix dronecan baro units	2022-06-17 14:44:32 -04:00
Daniel Agar	6823cbc414	sensors/vehicle_angular_velocity: add IMU_GYRO_RATEMAX constraints	2022-06-07 16:23:01 -04:00
Daniel Agar	beaebe4d0b	sensors/vehicle_imu: don't bother checking IMU_GYRO_RATEMAX	2022-06-07 16:22:54 -04:00
Daniel Agar	0bddca6b9b	boards: NuttX update all boards to preallocated sem holder list - CONFIG_SEM_PREALLOCHOLDERS=32 - CONFIG_SEM_NNESTPRIO=16 (default)	2022-05-29 13:49:01 -04:00
Daniel Agar	c50c1e3982	update NuttX and apps to latest with sem holder fixes and updated ostest	2022-05-29 13:48:15 -04:00
Daniel Agar	a249b77647	boards: reduce SPI DMA buffers on older STM32F4 boards - on common IMUs like the mpu6000, mpu9250, icm20602, etc each FIFO sample is only 12 bytes so this is still more than large enough for the worst case transfer	2022-05-27 16:28:26 -04:00
Daniel Agar	17de164e95	boards: pixhawk 2 cube skip starting low quality l3gd20 gyro to save memory and cpu - free memory is getting tight on these older boards (depending on configuratoin) and the pixhawk 2 cube still has 2 other superior IMUs, so this is just dropping dead weight	2022-05-27 16:28:22 -04:00
David Sidrane	a057b38c40	Update all H7 Bootloders	2022-05-27 14:52:00 -04:00
David Sidrane	39e53711d5	flash_cache:Flush complete cache line	2022-05-27 14:44:54 -04:00
David Sidrane	1294851bb6	boards: STM32H7 pad to 256 bit - 32 bytes (#19724 )	2022-05-27 14:44:51 -04:00
David Sidrane	1c15a1a7f4	px4_fmu-v6c:Fix mag rotation	2022-05-27 14:43:47 -04:00
David Sidrane	21567ca187	boards: new px4_fmu-v6c board support (#19544 )	2022-05-27 14:42:55 -04:00
bresch	8e789bcc7f	ekf2_post-processing: use estimator_status_flags instead of bitmasks	2022-05-24 10:30:52 -04:00
Julian Oes	d699d5f27e	sitl_gazebo: update submodule This fixes the issue where HITL doesn't connect over USB.	2022-05-24 09:43:05 -04:00
Julian Oes	4ae97c505f	commander: lockdown is not termination We use lockdown to prevent outputs like motors and servos from being active in HITL simulation. This means that we can't treat the lockdown flag as a flight_terminated, otherwise we can't arm in HITL at all.	2022-05-24 09:42:38 -04:00
Daniel Agar	b8ce2a6039	icm42688p: only check configured registers periodically (as intended)	2022-05-23 14:58:37 -04:00
bresch	1f399e5b33	ekf2: use explicit flags instead of bitmask position This prevents bitmask mismatch when a new flag is inserted	2022-05-23 14:57:17 -04:00
Serhat Aksun	d67cddae7d	sensors/vehicle_magnetometer: fix multi_mode check Signed-off-by: Serhat Aksun <serhat.aksun@maxwell-innovations.com>	2022-05-23 10:10:22 -04:00
Julian Oes	0290282b17	ROMFS: disable UAVCAN in HITL Without this, uavcan creates MixingOutput classes which then create empty actuator_outputs publications. This then prevents the motor output in HITL to be forwarded to the simulator via mavlink.	2022-05-22 10:27:07 -04:00
Nicolas MARTIN	39d1c79f48	HITL: undefined time_remaining_s should be NAN	2022-05-20 09:40:28 -04:00
Nico van Duijn	ad410a2512	Commander: ignore MAV_CMD_REQUEST_MSG This commit adds the MAV_CMD_REQUEST_MESSAGE to the list of vehicle commands which are ignored without generating a warning sound.	2022-05-20 09:40:22 -04:00
Daniel Agar	453acdce31	.vscode/.gitignore ignore all log files	2022-05-20 09:40:07 -04:00
Beat Küng	afb2538da3	output drivers: init SmartLock after exit_and_cleanup This fixes an invalid memory access when exiting the module: exit_and_cleanup destroys the object, but lock_guard is destructed after and accesses the lock.	2022-05-12 08:17:15 -04:00
alexklimaj	af58c412c3	Fix uavcan battery causing immediate RTL time remaining low	2022-05-11 21:49:13 -04:00
Daniel Agar	d5226b28ce	drivers/rc_input: ensure RC inversion is disabled initially and latch RC_INPUT_PROTO conservatively - this allows jumping straight to a non-SBUS RC protocol - increased the scan time per protocol 300->500 ms, which the newer DSM parser seems to need in some cases. - only set RC_INPUT_PROTO if we've had a successful RC lock for > 3 seconds	2022-05-11 14:31:51 -04:00
Beat Küng	b091ea9fd9	log_writer_file: fix corner case when mission log is enabled Normally _should_run for mission is only ever true if _should_run for the normal log is. There are exceptions though: - the log buffer fails to allocate - there was a write failure (e.g. due to SD card removal) In that situation, the writer would not wait anymore but busy-loop.	2022-05-11 10:07:46 -04:00
Beat Küng	9e91ca8294	log_writer_file: protect access to _should_run, use px4::atomicbool for _exit_thread	2022-05-11 10:07:46 -04:00
Igor Mišić	8302f076e7	uavcan: use timer 6 by default on stm32f7	2022-05-10 12:43:26 -04:00
Thomas Stastny	de26ffa6e0	fw pos ctrl: turn back to takeoff point with npfg	2022-05-06 13:08:07 -04:00
Thomas Stastny	f60d38db65	fw pos ctrl: add missing guidance control interval setting to control_manual_position()	2022-05-06 13:08:07 -04:00
Thomas Stastny	5e3c8d2fa0	fw pos ctrl: fix state switching logic for takeoff and landing	2022-05-06 13:08:07 -04:00
Matthias Grob	90998837ec	Commander: ensure diconnected battery is cleared from bit field	2022-05-06 10:46:40 -04:00
Beat Küng	8cff9a1e04	commander: fix incorrect return in set_link_loss_nav_state() If both local position and altitude were not valid, then both RC loss and datalink loss would not trigger any failsafe at all, independently from the configured action.	2022-05-06 10:15:30 -04:00
bresch	f8ff34f82d	ekf2: optimize KHP computation Calculating K(HP) takes less operations than (KH)P because K and H are vectors. Without considering the sparsity optimization: - KH (2424 operations) is then a 24x24 matrix an it takes 24^3 operations to multiply it with P. Total: 14400 op - HP (24(24+24-1) operations) is a row vector and it takes 24 operations to left-multiply it by K. Total:1152 op	2022-05-06 10:15:26 -04:00
Beat Küng	e69d9ec48f	dshot: avoid using pwm failsafe params when dynamic mixing is enabled	2022-05-02 11:43:51 +02:00
Beat Küng	f033e164fe	fix dshot: remove setAllFailsafeValues Fixes a regression from `c1e5e666f0`, where with static mixers the dshot outputs would go to max instead of 0 in a failsafe case.	2022-04-28 13:29:40 -04:00
Daniel Agar	41191765ad	drivers/rc_input: RC_INPUT_PROTO parameter minimal implementation (#19539 ) Co-authored-by: chris1seto <chris12892@gmail.com> Co-authored-by: chris1seto <chris12892@gmail.com>	2022-04-28 13:27:15 -04:00