UAVCAN: publish CAN frames to uORB (ORB_ID(can_frame_out))

- can frames published to ORB_ID(can_frame_in) are injected
2026-05-28 11:20:05 +08:00 · 2022-10-09 13:18:38 -04:00
598 changed files with 26298 additions and 21285 deletions
@@ -69,18 +69,24 @@ pipeline {
                     "matek_h743-slim_default",
                     "matek_h743_default",
                     "modalai_fc-v1_default",
+                     "modalai_fc-v1_rtps",
                     "modalai_fc-v2_default",
                     "modalai_voxl2-io_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_pixracerpro_default",
+                     "mro_pixracerpro_rtps",
                     "mro_x21-777_default",
                     "mro_x21_default",
                     "nxp_fmuk66-e_default",
+                     "nxp_fmuk66-e_rtps",
                     "nxp_fmuk66-e_socketcan",
                     "nxp_fmuk66-v3_default",
+                     "nxp_fmuk66-v3_rtps",
                     "nxp_fmuk66-v3_socketcan",
                     "nxp_fmurt1062-v1_default",
                     "nxp_ucans32k146_canbootloader",
@@ -98,6 +104,7 @@ pipeline {
                     "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-v5x_default",
@@ -937,7 +937,7 @@ void printTopics() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_odometry" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_rates_setpoint" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener failsafe_flags" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_status_flags" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vtol_vehicle_status" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener yaw_estimator_status" || true'
 }
@@ -23,6 +23,7 @@ jobs:
          "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",
@@ -1,44 +0,0 @@
-name: Failsafe Simulator Build
-
-on:
-  push:
-    branches:
-    - 'main'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    defaults:
-      run:
-        shell: bash
-    strategy:
-      fail-fast: false
-      matrix:
-        check: [
-          "failsafe_web",
-        ]
-    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: install emscripten
-      run: |
-        git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk
-        cd _emscripten_sdk
-        ./emsdk install latest
-        ./emsdk activate latest
-    - name: ${{matrix.check}}
-      run: |
-        . ./_emscripten_sdk/emsdk_env.sh
-        make ${{matrix.check}}
@@ -116,7 +116,7 @@ jobs:
        ls -ls *
      # TODO: deploy graph_px4_sitl.json to S3 px4-travis:Firmware/master/

-  ROS2_msgs:
+  micrortps_agent:
    runs-on: ubuntu-latest
    container: px4io/px4-dev-base-focal:2021-09-08
    steps:
@@ -124,8 +124,34 @@ jobs:
      with:
        token: ${{ secrets.ACCESS_TOKEN }}

-    - name: PX4 ROS2 msgs
+    - 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
-        rm px4_msgs/msg/*.msg
-        cp msg/*.msg px4_msgs/msg/
+        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
@@ -18,6 +18,10 @@
 	path = src/drivers/gps/devices
 	url = https://github.com/PX4/PX4-GPSDrivers.git
 	branch = main
+[submodule "src/modules/micrortps_bridge/micro-CDR"]
+	path = src/modules/micrortps_bridge/micro-CDR
+	url = https://github.com/PX4/Micro-CDR.git
+	branch = master
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
 	url = https://github.com/PX4/NuttX.git
@@ -60,5 +64,4 @@
 	branch = px4
 [submodule "src/modules/microdds_client/Micro-XRCE-DDS-Client"]
 	path = src/modules/microdds_client/Micro-XRCE-DDS-Client
-	url = https://github.com/PX4/Micro-XRCE-DDS-Client.git
-	branch = px4
+	url = https://github.com/eProsima/Micro-XRCE-DDS-Client.git
@@ -6,11 +6,11 @@ CONFIG:
      buildType: RelWithDebInfo
      settings:
        CONFIG: px4_sitl_default
-    px4_sitl_nolockstep:
-      short: px4_sitl_nolockstep
+    px4_sitl_rtps:
+      short: px4_sitl_rtps
      buildType: RelWithDebInfo
      settings:
-        CONFIG: px4_sitl_nolockstep
+        CONFIG: px4_sitl_rtps
    px4_sitl_asan:
      short: px4_sitl (AddressSanitizer)
      buildType: AddressSanitizer
@@ -410,7 +410,7 @@ if(BUILD_TESTING)
 	include(gtest)

 	add_custom_target(test_results
-			COMMAND GTEST_COLOR=1 ${CMAKE_CTEST_COMMAND} --output-on-failure -T Test -R \"${TESTFILTER}\" USES_TERMINAL
+			COMMAND GTEST_COLOR=1 ${CMAKE_CTEST_COMMAND} --output-on-failure -T Test -R ${TESTFILTER} USES_TERMINAL
 			DEPENDS
 				px4
 				examples__dyn_hello
@@ -829,6 +829,7 @@ RECURSIVE              = YES
 # run.

 EXCLUDE                = @CMAKE_SOURCE_DIR@/src/modules/uavcan/libuavcan \
+                         @CMAKE_SOURCE_DIR@/src/modules/micrortps_bridge/micro-CDR \
                         @CMAKE_SOURCE_DIR@/src/examples \
                         @CMAKE_SOURCE_DIR@/src/templates

@@ -13,6 +13,76 @@ pipeline {
        }
      }
      parallel {
+        // stage('Catkin build on ROS workspace') {
+        //   agent {
+        //     docker {
+        //       image 'px4io/px4-dev-ros-melodic:2021-08-18'
+        //       args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
+        //     }
+        //   }
+        //   steps {
+        //     sh 'ls -l'
+        //     sh '''#!/bin/bash -l
+        //       echo $0;
+        //       mkdir -p catkin_ws/src;
+        //       cd catkin_ws;
+        //       git -C ${WORKSPACE}/catkin_ws/src/Firmware submodule update --init --recursive --force Tools/simulation/gazebo/sitl_gazebo
+        //       git clone --recursive ${WORKSPACE}/catkin_ws/src/Firmware/Tools/simulation/gazebo/sitl_gazebo src/mavlink_sitl_gazebo;
+        //       git -C ${WORKSPACE}/catkin_ws/src/Firmware fetch --tags;
+        //       source /opt/ros/melodic/setup.bash;
+        //       export PYTHONPATH=/opt/ros/$ROS_DISTRO/lib/python2.7/dist-packages:/usr/lib/python2.7/dist-packages:/usr/local/lib/python2.7/dist-packages;
+        //       catkin init;
+        //       catkin build -j$(nproc) -l$(nproc);
+        //     '''
+        //     // test if the binary was correctly installed and runs using 'mavros_posix_sitl.launch'
+        //     sh '''#!/bin/bash -l
+        //       echo $0;
+        //       source catkin_ws/devel/setup.bash;
+        //       rostest px4 pub_test.launch;
+        //     '''
+        //   }
+        //   post {
+        //     always {
+        //       sh 'rm -rf catkin_ws'
+        //     }
+        //     failure {
+        //       archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.xml, .ros/**/*.log')
+        //     }
+        //   }
+        //   options {
+        //     checkoutToSubdirectory('catkin_ws/src/Firmware')
+        //   }
+        // }
+
+        stage('Colcon build on ROS2 workspace') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-ros2-foxy:2021-08-18'
+              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
+            }
+          }
+          steps {
+            sh 'ls -l'
+            sh '''#!/bin/bash -l
+              echo $0;
+              unset ROS_DISTRO;
+              mkdir -p colcon_ws/src;
+              cd colcon_ws;
+              git -C ${WORKSPACE}/colcon_ws/src/Firmware submodule update --init --recursive --force Tools/simulation/gazebo/sitl_gazebo;
+              git -C ${WORKSPACE}/colcon_ws/src/Firmware fetch --tags;
+              source /opt/ros/foxy/setup.sh;
+              colcon build --event-handlers console_direct+ --symlink-install;
+            '''
+          }
+          post {
+            always {
+              sh 'rm -rf colcon_ws'
+            }
+          }
+          options {
+            checkoutToSubdirectory('colcon_ws/src/Firmware')
+          }
+        }

        stage('Airframe') {
          agent {
@@ -79,7 +149,7 @@ pipeline {
            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
          }
          steps {
-            sh 'mkdir -p build/msg_docs; ./Tools/msg/generate_msg_docs.py -d build/msg_docs'
+            sh 'mkdir -p build/msg_docs; ./msg/tools/generate_msg_docs.py -d build/msg_docs'
            dir('build') {
              archiveArtifacts(artifacts: 'msg_docs/*.md')
              stash includes: 'msg_docs/*.md', name: 'msg_documentation'
@@ -92,35 +162,6 @@ pipeline {
          }
        }

-        stage('failsafe docs') {
-          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
-          }
-          steps {
-            sh '''#!/bin/bash -l
-			echo $0;
-            git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk;
-            cd _emscripten_sdk;
-            ./emsdk install latest;
-            ./emsdk activate latest;
-            . ./_emscripten_sdk/emsdk_env.sh;
-			make failsafe_web;
-			cd build/px4_sitl_default_failsafe_web;
-			mkdir -p failsafe_sim;
-			cp index.* parameters.json failsafe_sim;
-			'''
-            dir('build/px4_sitl_default_failsafe_web') {
-              archiveArtifacts(artifacts: 'failsafe_sim/*')
-              stash includes: 'failsafe_sim/*', name: 'failsafe_sim'
-            }
-          }
-          post {
-            always {
-              sh 'make distclean; git clean -ff -x -d .'
-            }
-          }
-        }
-
        stage('uORB graphs') {
          agent {
            docker {
@@ -162,7 +203,6 @@ pipeline {
            unstash 'metadata_parameters'
            unstash 'metadata_module_documentation'
            unstash 'msg_documentation'
-            unstash 'failsafe_sim'
            unstash 'uorb_graph'
            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
              sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/PX4-user_guide.git')
@@ -171,7 +211,6 @@ pipeline {
              sh('cp -R modules/*.md PX4-user_guide/en/modules/')
              sh('cp -R graph_*.json PX4-user_guide/.vuepress/public/en/middleware/')
              sh('cp -R msg_docs/*.md PX4-user_guide/en/msg_docs/')
-              sh('cp -R failsafe_sim/* PX4-user_guide/.vuepress/public/en/config/failsafe')
              sh('cd PX4-user_guide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
              sh('cd PX4-user_guide; git push origin main || true')
              sh('rm -rf PX4-user_guide')
@@ -218,6 +257,37 @@ pipeline {
          }
        }

+        stage('microRTPS agent') {
+          agent {
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
+          }
+          steps {
+            sh('export')
+            sh('git fetch --all --tags')
+            sh('make distclean; git clean -ff -x -d .')
+            sh('make px4_sitl_rtps')
+            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
+              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/micrortps_agent.git -b ${BRANCH_NAME}")
+              sh("rm -rf micrortps_agent/src micrortps_agent/idl")
+              sh('cp -R build/px4_sitl_rtps/src/modules/micrortps_bridge/micrortps_agent/* micrortps_agent')
+              sh('cd micrortps_agent; git status; git add src; git commit -a -m "Update microRTPS agent source code `date`" || true')
+              sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
+              sh('cd micrortps_agent; git status; git add idl; git commit -a -m "Update IDL definitions `date`" || true')
+              sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
+              sh('cd micrortps_agent; git status; git add CMakeLists.txt; git commit -a -m "Update CMakeLists.txt `date`" || true')
+              sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
+              sh('rm -rf micrortps_agent')
+            }
+          }
+          when {
+            anyOf {
+              branch 'main'
+              branch 'master' // should be removed, but in case there is something going on...
+              branch 'pr-jenkins' // for testing
+            }
+          }
+        }
+
        stage('PX4 ROS msgs') {
          agent {
            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
@@ -228,16 +298,66 @@ pipeline {
            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
              // 'main' branch
-              sh('rm -f px4_msgs/msg/*.msg')
-              sh('cp msg/*.msg px4_msgs/msg/')
+              sh('./msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
              sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
              sh('cd px4_msgs; git push origin main || true')
+              // 'ros1' branch
+              sh('cd px4_msgs; git checkout ros1')
+              sh('./msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
+              sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
+              sh('cd px4_msgs; git push origin ros1 || true')
              sh('rm -rf px4_msgs')
            }
          }
          when {
            anyOf {
              branch 'main'
+              branch 'master' // should be removed, but in case there is something going on...
+              branch 'pr-jenkins' // for testing
+            }
+          }
+        }
+
+        stage('PX4 ROS2 bridge') {
+          agent {
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
+          }
+          steps {
+            sh('export')
+            sh('make distclean; git clean -ff -x -d .')
+            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
+              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_ros_com.git -b ${BRANCH_NAME}")
+              // deploy uORB RTPS ID map
+              sh('./msg/tools/uorb_to_ros_urtps_topics.py -i msg/tools/urtps_bridge_topics.yaml -o px4_ros_com/templates/urtps_bridge_topics.yaml')
+              sh('cd px4_ros_com; git status; git add .; git commit -a -m "Update uORB RTPS ID map `date`" || true')
+              sh('cd px4_ros_com; git push origin ${BRANCH_NAME} || true')
+              // deploy uORB RTPS required tools
+              sh('cp msg/tools/uorb_rtps_classifier.py px4_ros_com/scripts/uorb_rtps_classifier.py')
+              sh('cp msg/tools/generate_microRTPS_bridge.py px4_ros_com/scripts/generate_microRTPS_bridge.py')
+              sh('cp msg/tools/px_generate_uorb_topic_files.py px4_ros_com/scripts/px_generate_uorb_topic_files.py')
+              sh('cp msg/tools/px_generate_uorb_topic_helper.py px4_ros_com/scripts/px_generate_uorb_topic_helper.py')
+              // deploy templates
+              sh('cp msg/templates/urtps/microRTPS_agent.cpp.em px4_ros_com/templates/microRTPS_agent.cpp.em')
+              sh('cp msg/templates/urtps/microRTPS_timesync.cpp.em px4_ros_com/templates/microRTPS_timesync.cpp.em')
+              sh('cp msg/templates/urtps/microRTPS_timesync.h.em px4_ros_com/templates/microRTPS_timesync.h.em')
+              sh('cp msg/templates/urtps/microRTPS_transport.cpp px4_ros_com/templates/microRTPS_transport.cpp')
+              sh('cp msg/templates/urtps/microRTPS_transport.h px4_ros_com/templates/microRTPS_transport.h')
+              sh('cp msg/templates/urtps/Publisher.cpp.em px4_ros_com/templates/Publisher.cpp.em')
+              sh('cp msg/templates/urtps/Publisher.h.em px4_ros_com/templates/Publisher.h.em')
+              sh('cp msg/templates/urtps/Subscriber.cpp.em px4_ros_com/templates/Subscriber.cpp.em')
+              sh('cp msg/templates/urtps/Subscriber.h.em px4_ros_com/templates/Subscriber.h.em')
+              sh('cp msg/templates/urtps/RtpsTopics.cpp.em px4_ros_com/templates/RtpsTopics.cpp.em')
+              sh('cp msg/templates/urtps/RtpsTopics.h.em px4_ros_com/templates/RtpsTopics.h.em')
+              sh('cd px4_ros_com; git status; git add .; git commit -a -m "Update uORB RTPS script tools `date`" || true')
+              sh('cd px4_ros_com; git push origin ${BRANCH_NAME} || true')
+              sh('rm -rf px4_msgs')
+            }
+          }
+          when {
+            anyOf {
+              branch 'main'
+              branch 'master' // should be removed, but in case there is something going on...
+              branch 'pr-jenkins' // for testing
            }
          }
        }
@@ -172,6 +172,11 @@ ifdef PYTHON_EXECUTABLE
 	override CMAKE_ARGS += -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
 endif

+# Check if the microRTPS agent is to be built
+ifdef BUILD_MICRORTPS_AGENT
+  override CMAKE_ARGS += -DBUILD_MICRORTPS_AGENT=ON
+endif
+
 # Functions
 # --------------------------------------------------------------------
 # describe how to build a cmake config
@@ -248,7 +253,7 @@ endef
 # Other targets
 # --------------------------------------------------------------------

-.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware
+.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware check_rtps

 # QGroundControl flashable NuttX firmware
 qgc_firmware: px4fmu_firmware misc_qgc_extra_firmware
@@ -273,7 +278,15 @@ misc_qgc_extra_firmware: \
 	check_airmind_mindpx-v2_default \
 	sizes

-.PHONY: sizes check quick_check uorb_graphs
+# builds with RTPS
+check_rtps: \
+	check_px4_fmu-v3_rtps \
+	check_px4_fmu-v4_rtps \
+	check_px4_fmu-v4pro_rtps \
+	check_px4_sitl_rtps \
+	sizes
+
+.PHONY: sizes check quick_check check_rtps uorb_graphs

 sizes:
 	@-find build -name *.elf -type f | xargs size 2> /dev/null || :
@@ -386,8 +399,6 @@ tests_coverage:
 	@mkdir -p coverage
 	@lcov --directory build/px4_sitl_test --base-directory build/px4_sitl_test --gcov-tool gcov --capture -o coverage/lcov.info

-test_unit:
-	@$(MAKE) tests TESTFILTER="unit\|functional"

 rostest: px4_sitl_default
 	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
@@ -484,9 +495,7 @@ shellcheck_all:

 validate_module_configs:
 	@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f \
-	-not -path "$(SRC_DIR)/src/lib/mixer_module/*" \
-	-not -path "$(SRC_DIR)/src/modules/microdds_client/dds_topics.yaml" \
-	-not -path "$(SRC_DIR)/src/lib/crypto/libtommath/*" -print0 | \
+	-not -path "$(SRC_DIR)/src/lib/mixer_module/*" -not -path "$(SRC_DIR)/src/lib/crypto/libtommath/*" -print0 | \
 	xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml

 # Cleanup
@@ -552,12 +561,17 @@ check_px4: $(call make_list,nuttx,"px4") \
 check_nxp: $(call make_list,nuttx,"nxp") \
 	sizes

-.PHONY: failsafe_web run_failsafe_web_server
-failsafe_web:
-	@if ! command -v emcc; then echo -e "Install emscripten first: https://emscripten.org/docs/getting_started/downloads.html\nAnd source the env: source <path>/emsdk_env.sh"; exit 1; fi
-	@$(MAKE) --no-print-directory px4_sitl_default failsafe_test parameters_xml \
-		PX4_CMAKE_BUILD_TYPE=Release BUILD_DIR_SUFFIX=_failsafe_web \
-		CMAKE_ARGS="-DCMAKE_CXX_COMPILER=em++ -DCMAKE_C_COMPILER=emcc"
-run_failsafe_web_server: failsafe_web
-	@cd build/px4_sitl_default_failsafe_web && \
-		python3 -m http.server
+ifneq ($(ROS2_WS_DIR),)
+  ROS2_WS_DIR := $(basename ${ROS2_WS_DIR})
+else
+  ROS2_WS_DIR := ~/colcon_ws
+endif
+
+update_ros2_bridge:
+	@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --all
+
+update_px4_ros_com:
+	@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --px4_ros_com
+
+update_px4_msgs:
+	@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --px4_msgs
@@ -4,7 +4,7 @@

 [![Nuttx Targets](https://github.com/PX4/PX4-Autopilot/workflows/Nuttx%20Targets/badge.svg)](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22Nuttx+Targets%22?branch=master) [![SITL Tests](https://github.com/PX4/PX4-Autopilot/workflows/SITL%20Tests/badge.svg?branch=master)](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22SITL+Tests%22)

-[![Discord Shield](https://discordapp.com/api/guilds/1022170275984457759/widget.png?style=shield)](https://discord.gg/dronecode)
+[![Slack](/.github/slack.svg)](https://join.slack.com/t/px4/shared_invite/zt-si4xo5qs-R4baYFmMjlrT4rQK5yUnaA)

 This repository holds the [PX4](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.

@@ -75,7 +75,7 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://docs.px4.io/main/en/con
    * [Paul Riseborough](https://github.com/priseborough)
  * Vision based navigation and Obstacle Avoidance
    * [Markus Achtelik](https://github.com/markusachtelik)
-  * DDS/ROS2 Interface
+  * RTPS/ROS2 Interface
    * [Nuno Marques](https://github.com/TSC21)

 See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/PX4-Autopilot/graphs/contributors) (Github).
@@ -36,6 +36,7 @@ add_subdirectory(airframes)
 px4_add_romfs_files(
 	px4-rc.mavlink
 	px4-rc.params
+	px4-rc.rtps
 	px4-rc.simulator
 	rc.replay
 	rcS
@@ -0,0 +1,4 @@
+#!/bin/sh
+# shellcheck disable=SC2154
+
+micrortps_client start -t UDP -r $((2019+2*px4_instance)) -s $((2020+2*px4_instance))
@@ -259,8 +259,11 @@ fi

 navigator start

-# Try to start the microdds_client with UDP transport if module exists
-microdds_client start -t udp -p 8888
+# Try to start the micrortps_client with UDP transport if module exists
+if px4-micrortps_client status > /dev/null 2>&1
+then
+	. px4-rc.rtps
+fi

 if param greater -s MNT_MODE_IN -1
 then
@@ -1,75 +0,0 @@
-#!/bin/sh
-#
-# @name Aion Robotics R1 UGV
-#
-# @url https://www.aionrobotics.com/r1
-#
-# @type Rover
-# @class Rover
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.rover_defaults
-
-param set-default BAT1_N_CELLS 4
-
-param set-default EKF2_GBIAS_INIT 0.01
-param set-default EKF2_ANGERR_INIT 0.01
-param set-default EKF2_MAG_TYPE 1
-
-param set-default FW_AIRSPD_MIN 0
-param set-default FW_AIRSPD_TRIM 1
-param set-default FW_AIRSPD_MAX 3
-
-param set-default GND_SP_CTRL_MODE 1
-param set-default GND_L1_DIST 5
-param set-default GND_L1_PERIOD 3
-param set-default GND_THR_CRUISE 0.7
-param set-default GND_THR_MAX 0.5
-
-# Because this is differential drive, it can make a turn with radius 0.
-# This corresponds to a turn angle of pi radians.
-# If a special case is made for differential-drive, this will need to change.
-param set-default GND_MAX_ANG 3.142
-param set-default GND_WHEEL_BASE 0.3
-
-# TODO: Set to -1.0, to allow reversing. This will require many changes in the codebase
-# to support negative throttle.
-param set-default GND_THR_MIN 0
-param set-default GND_SPEED_P 0.25
-param set-default GND_SPEED_I 3
-param set-default GND_SPEED_D 0.001
-param set-default GND_SPEED_IMAX 0.125
-param set-default GND_SPEED_THR_SC 1
-
-param set-default MIS_LTRMIN_ALT 0.01
-param set-default MIS_TAKEOFF_ALT 0.01
-
-param set-default NAV_ACC_RAD 0.5
-
-# Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor
-param set-default CBRK_AIRSPD_CHK 162128
-
-# Differential drive acts like ackermann steering with a maximum turn angle of 180 degrees, or pi radians
-param set-default GND_MAX_ANG 3.1415
-
-param set-default RBCLW_BAUD 8
-param set-default RBCLW_COUNTS_REV 1200
-param set-default RBCLW_ADDRESS 128
-# 104 corresponds to Telem 4
-param set-default RBCLW_SER_CFG 104
-# Start this driver after setting parameters, because the driver uses some of those parameters.
-# roboclaw start /dev/ttyS3
-
-# Set geometry & output configration
-param set-default CA_AIRFRAME 6
-param set-default CA_R_REV 3
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_DIS1 1500
-param set-default PWM_MAIN_DIS2 1500
-param set-default PWM_MAIN_TIM0 50
-param set-default PWM_MAIN_TIM1 50
-
@@ -118,7 +118,6 @@ px4_add_romfs_files(

 	50000_generic_ground_vehicle
 	50004_nxpcup_car_dfrobot_gpx
-	50003_aion_robotics_r1_rover

 	# [60000, 61000] (Unmanned) Underwater Robots
 	60000_uuv_generic
@@ -8,6 +8,7 @@ if [ $# -gt 0 ]; then
 fi

 exec find boards msg src platforms test \
+    -path msg/templates/urtps -prune -o \
    -path platforms/nuttx/NuttX -prune -o \
    -path platforms/qurt/dspal -prune -o \
    -path src/drivers/uavcan/libuavcan -prune -o \
@@ -20,6 +21,8 @@ exec find boards msg src platforms test \
    -path src/modules/ekf2/EKF -prune -o \
    -path src/modules/gyro_fft/CMSIS_5 -prune -o \
    -path src/modules/mavlink/mavlink -prune -o \
+    -path src/modules/micrortps_bridge/micro-CDR -prune -o \
+    -path src/modules/micrortps_bridge/microRTPS_client -prune -o \
    -path test/mavsdk_tests/catch2 -prune -o \
    -path src/lib/crypto/monocypher -prune -o \
    -path src/lib/crypto/libtomcrypt -prune -o \
@@ -0,0 +1,15 @@
+#!/usr/bin/env bash
+set -e
+
+SCRIPT_DIR=$0
+if [[ ${SCRIPT_DIR:0:1} != '/' ]]; then
+  SCRIPT_DIR=$(dirname $(realpath -s "$PWD/$0"))
+fi
+
+PX4_DIR=$(cd "$(dirname $(dirname $SCRIPT_DIR))" && pwd)
+
+if [ -d $PX4_DIR/build/*_rtps ]; then
+  cd $PX4_DIR/build/*_rtps/src/modules/micrortps_bridge/micrortps_agent/
+  cmake -Bbuild
+  cmake --build build -j$(nproc --all)
+fi
@@ -32,16 +32,16 @@ def extract_timer(line):
    # Try format: initIOTimer(Timer::Timer5, DMA{DMA::Index1, DMA::Stream0, DMA::Channel6}),
    search = re.search('Timer::([0-9a-zA-Z_]+)[,\)]', line, re.IGNORECASE)
    if search:
-        return search.group(1), 'generic'
+        return search.group(1)

    # nxp rt1062 format: initIOPWM(PWM::FlexPWM2),
    search = re.search('PWM::Flex([0-9a-zA-Z_]+)[,\)]', line, re.IGNORECASE)
    if search:
-        return search.group(1), 'imxrt'
+        return search.group(1)

-    return None, 'unknown'
+    return None

-def extract_timer_from_channel(line, num_channels_already_found):
+def extract_timer_from_channel(line):
    # Try format: initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortA, GPIO::Pin0}),
    search = re.search('Timer::([0-9a-zA-Z_]+), ', line, re.IGNORECASE)
    if search:
@@ -50,8 +50,7 @@ def extract_timer_from_channel(line, num_channels_already_found):
    # nxp rt1062 format: initIOTimerChannel(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_B0_06),
    search = re.search('PWM::(PWM[0-9]+)[_,\)]', line, re.IGNORECASE)
    if search:
-        # imxrt uses a 1:1 timer group to channel association
-        return str(num_channels_already_found)
+        return search.group(1)

    return None

@@ -73,14 +72,7 @@ def get_timer_groups(timer_config_file, verbose=False):
        line = line.strip()
        if len(line) == 0 or line.startswith('//'):
            continue
-        timer, timer_type = extract_timer(line)
-
-        if timer_type == 'imxrt':
-            if verbose: print('imxrt timer found')
-            max_num_channels = 16 # Just add a fixed number of timers
-            timers = [str(i) for i in range(max_num_channels)]
-            dshot_support = {str(i): False for i in range(max_num_channels)}
-            break
+        timer = extract_timer(line)

        if timer:
            if verbose: print('found timer def: {:}'.format(timer))
@@ -109,7 +101,7 @@ def get_timer_groups(timer_config_file, verbose=False):
            continue

        if verbose: print('--'+line+'--')
-        timer = extract_timer_from_channel(line, len(channel_timers))
+        timer = extract_timer_from_channel(line)

        if timer:
            if verbose: print('Found timer: {:} in channel line {:}'.format(timer, line))
@@ -1,253 +0,0 @@
-#!/usr/bin/env python3
-#############################################################################
-#
-#   Copyright (C) 2013-2022 PX4 Pro Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-#############################################################################
-
-"""
-px_generate_uorb_topic_files.py
-Generates c/cpp header/source files for uorb topics from .msg
-message files
-"""
-
-import os
-import argparse
-import re
-import sys
-
-try:
-    import em
-except ImportError as e:
-    print("Failed to import em: " + str(e))
-    print("")
-    print("You may need to install it using:")
-    print("    pip3 install --user empy")
-    print("")
-    sys.exit(1)
-
-try:
-    import genmsg.template_tools
-except ImportError as e:
-    print("Failed to import genmsg: " + str(e))
-    print("")
-    print("You may need to install it using:")
-    print("    pip3 install --user pyros-genmsg")
-    print("")
-    sys.exit(1)
-
-
-__author__ = "Sergey Belash, Thomas Gubler, Beat Kueng"
-__copyright__ = "Copyright (C) 2013-2022 PX4 Development Team."
-__license__ = "BSD"
-__email__ = "thomasgubler@gmail.com"
-
-
-TEMPLATE_FILE = ['msg.h.em', 'msg.cpp.em']
-TOPICS_LIST_TEMPLATE_FILE = ['uORBTopics.hpp.em', 'uORBTopics.cpp.em']
-OUTPUT_FILE_EXT = ['.h', '.cpp']
-INCL_DEFAULT = ['std_msgs:./msg/std_msgs']
-PACKAGE = 'px4'
-TOPICS_TOKEN = '# TOPICS '
-
-
-def get_topics(filename):
-    """
-    Get TOPICS names from a "# TOPICS" line
-    """
-    ofile = open(filename, 'r')
-    text = ofile.read()
-    result = []
-    for each_line in text.split('\n'):
-        if each_line.startswith(TOPICS_TOKEN):
-            topic_names_str = each_line.strip()
-            topic_names_str = topic_names_str.replace(TOPICS_TOKEN, "")
-            topic_names_list = topic_names_str.split(" ")
-            for topic in topic_names_list:
-                # topic name PascalCase (file name) to snake_case (topic name)
-                topic_name = re.sub(r'(?<!^)(?=[A-Z])', '_', topic).lower()
-                result.append(topic_name)
-    ofile.close()
-
-    if len(result) == 0:
-        # topic name PascalCase (file name) to snake_case (topic name)
-        file_base_name = os.path.basename(filename).replace(".msg", "")
-        topic_name = re.sub(r'(?<!^)(?=[A-Z])', '_', file_base_name).lower()
-        result.append(topic_name)
-
-    return result
-
-
-def generate_output_from_file(format_idx, filename, outputdir, package, templatedir, includepath):
-    """
-    Converts a single .msg file to an uorb header/source file
-    """
-    msg_context = genmsg.msg_loader.MsgContext.create_default()
-    full_type_name = genmsg.gentools.compute_full_type_name(package, os.path.basename(filename))
-
-    file_base_name = os.path.basename(filename).replace(".msg", "")
-
-    full_type_name_snake = re.sub(r'(?<!^)(?=[A-Z])', '_', file_base_name).lower()
-
-    spec = genmsg.msg_loader.load_msg_from_file(msg_context, filename, full_type_name)
-
-    field_name_and_type = {}
-    for field in spec.parsed_fields():
-        field_name_and_type.update({field.name: field.type})
-
-    # assert if the timestamp field exists
-    try:
-        assert 'timestamp' in field_name_and_type
-    except AssertionError:
-        print("[ERROR] uORB topic files generator:\n\tgenerate_output_from_file:\tNo 'timestamp' field found in " +
-              spec.short_name + " msg definition!")
-        exit(1)
-
-    # assert if the timestamp field is of type uint64
-    try:
-        assert field_name_and_type.get('timestamp') == 'uint64'
-    except AssertionError:
-        print("[ERROR] uORB topic files generator:\n\tgenerate_output_from_file:\t'timestamp' field in " + spec.short_name +
-              " msg definition is not of type uint64 but rather of type " + field_name_and_type.get('timestamp') + "!")
-        exit(1)
-
-    topics = get_topics(filename)
-
-    if includepath:
-        search_path = genmsg.command_line.includepath_to_dict(includepath)
-    else:
-        search_path = {}
-
-    genmsg.msg_loader.load_depends(msg_context, spec, search_path)
-
-    em_globals = {
-        "name_snake_case": full_type_name_snake,
-        "file_name_in": filename,
-        "search_path": search_path,
-        "msg_context": msg_context,
-        "spec": spec,
-        "topics": topics,
-    }
-
-    # Make sure output directory exists:
-    if not os.path.isdir(outputdir):
-        os.makedirs(outputdir)
-
-    template_file = os.path.join(templatedir, TEMPLATE_FILE[format_idx])
-    output_file = os.path.join(outputdir, full_type_name_snake + OUTPUT_FILE_EXT[format_idx])
-
-    return generate_by_template(output_file, template_file, em_globals)
-
-
-def generate_by_template(output_file, template_file, em_globals):
-    """
-    Invokes empy intepreter to geneate output_file by the
-    given template_file and predefined em_globals dict
-    """
-    # check if folder exists:
-    folder_name = os.path.dirname(output_file)
-    if not os.path.exists(folder_name):
-        os.makedirs(folder_name)
-
-    ofile = open(output_file, 'w')
-    # todo, reuse interpreter
-    interpreter = em.Interpreter(output=ofile, globals=em_globals, options={
-                                 em.RAW_OPT: True, em.BUFFERED_OPT: True})
-    try:
-        interpreter.file(open(template_file))
-    except OSError as e:
-        ofile.close()
-        os.remove(output_file)
-        raise
-    interpreter.shutdown()
-    ofile.close()
-    return True
-
-
-def generate_topics_list_file_from_files(files, outputdir, template_filename, templatedir):
-    # generate cpp file with topics list
-    filenames = []
-    for filename in [os.path.basename(p) for p in files if os.path.basename(p).endswith(".msg")]:
-        filenames.append(re.sub(r'(?<!^)(?=[A-Z])', '_', filename).lower())
-
-    topics = []
-    for msg_filename in files:
-        topics.extend(get_topics(msg_filename))
-
-    tl_globals = {"msgs": filenames, "topics": topics}
-    tl_template_file = os.path.join(templatedir, template_filename)
-    tl_out_file = os.path.join(outputdir, template_filename.replace(".em", ""))
-
-    generate_by_template(tl_out_file, tl_template_file, tl_globals)
-
-
-def append_to_include_path(path_to_append, curr_include, package):
-    for p in path_to_append:
-        curr_include.append('%s:%s' % (package, p))
-
-
-if __name__ == "__main__":
-    parser = argparse.ArgumentParser(description='Convert msg files to uorb headers/sources')
-    parser.add_argument('--headers', help='Generate header files', action='store_true')
-    parser.add_argument('--sources', help='Generate source files', action='store_true')
-    parser.add_argument('-f', dest='file',
-                        help="files to convert (use only without -d)",
-                        nargs="+")
-    parser.add_argument('-i', dest="include_paths",
-                        help='Additional Include Paths', nargs="*",
-                        default=None)
-    parser.add_argument('-e', dest='templatedir',
-                        help='directory with template files',)
-    parser.add_argument('-k', dest='package', default=PACKAGE,
-                        help='package name')
-    parser.add_argument('-o', dest='outputdir',
-                        help='output directory for header files')
-    parser.add_argument('-p', dest='prefix', default='',
-                        help='string added as prefix to the output file '
-                        ' name when converting directories')
-    args = parser.parse_args()
-
-    if args.include_paths:
-        append_to_include_path(args.include_paths, INCL_DEFAULT, args.package)
-
-    if args.headers:
-        generate_idx = 0
-    elif args.sources:
-        generate_idx = 1
-    else:
-        print('Error: either --headers or --sources must be specified')
-        exit(-1)
-    if args.file is not None:
-        for f in args.file:
-            generate_output_from_file(generate_idx, f, args.outputdir, args.package, args.templatedir, INCL_DEFAULT)
-
-        # Generate topics list header and source file
-        if os.path.isfile(os.path.join(args.templatedir, TOPICS_LIST_TEMPLATE_FILE[generate_idx])):
-            generate_topics_list_file_from_files(args.file, args.outputdir, TOPICS_LIST_TEMPLATE_FILE[generate_idx], args.templatedir)
@@ -211,11 +211,6 @@ class SourceParser(object):

                    ignore_event = False

-                    def parse_message(s):
-                        assert s[0] == '"', "Argument must be a string literal: {:}".format(s)
-                        # unescape \x, to treat the string the same as the C++ compiler
-                        return s[1:-1].encode("utf-8").decode('unicode_escape')
-
                    # extract function arguments
                    args_split = self._parse_arguments(args)
                    if call == "events::send" or call == "send":
@@ -233,7 +228,8 @@ class SourceParser(object):
                            else:
                                raise Exception("Could not extract event ID from {:}".format(args_split[0]))
                            event.name = event_name
-                            event.message = parse_message(args_split[2])
+                            # unescape \x, to treat the string the same as the C++ compiler
+                            event.message = args_split[2][1:-1].encode("utf-8").decode('unicode_escape')
                    elif call in ['reporter.healthFailure', 'reporter.armingCheckFailure']:
                        assert len(args_split) == num_args + 5, \
                            "Unexpected Number of arguments for: {:}, {:}".format(args_split, num_args)
@@ -243,7 +239,7 @@ class SourceParser(object):
                        else:
                            raise Exception("Could not extract event ID from {:}".format(args_split[2]))
                        event.name = event_name
-                        event.message = parse_message(args_split[4])
+                        event.message = args_split[4][1:-1]
                        if 'health' in call:
                            event.group = "health"
                        else:
@@ -9,6 +9,8 @@
 ## - jMAVSim simulator (omit with arg: --no-sim-tools)
 ## - Gazebo simulator (not by default, use --gazebo)
 ##
+## Not Installs:
+## - FastRTPS and FastCDR

 INSTALL_NUTTX="true"
 INSTALL_SIM="true"
@@ -120,7 +122,7 @@ if [[ $INSTALL_SIM == "true" ]]; then
 	echo
 	echo "Installing PX4 simulation dependencies"

-	# java (jmavsim)
+	# java (jmavsim or fastrtps)
 	sudo pacman -S --noconfirm --needed \
 		ant \
 		jdk-openjdk \
@@ -10,6 +10,8 @@ set -e
 ## - NuttX toolchain (omit with arg: --no-nuttx)
 ## - jMAVSim and Gazebo9 simulator (omit with arg: --no-sim-tools)
 ##
+## Not Installs:
+## - FastRTPS and FastCDR

 INSTALL_NUTTX="true"
 INSTALL_SIM="true"
@@ -214,7 +216,7 @@ if [[ $INSTALL_SIM == "true" ]]; then
 	else
 		java_version=14
 	fi
-	# Java (jmavsim)
+	# Java (jmavsim or fastrtps)
 	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 		ant \
 		openjdk-$java_version-jre \
@@ -0,0 +1,135 @@
+#!/usr/bin/env bash
+set -e
+
+agent_template_files_updated=0
+code_generator_files_updated=0
+
+# parse help argument
+if [[ $1 == "-h" ]] || [[ $1 == "--help" ]]; then
+  echo -e "Usage: update_px4_ros2_bridge.bash [options...] \t This script allows to update px4_ros_com and px4_msgs in a specified directory." >&2
+  echo
+  echo -e "\t--ws_dir \t\t Location of the ament/colcon workspace. Default: $HOME/colcon_ws."
+  echo -e "\t--px4_ros_com \t\t Updates px4_ros_com microRTPS agent code generation and templates."
+  echo -e "\t--px4_msgs \t\t Updates px4_msgs messages definition files."
+  echo -e "\t--all \t\t Updates both px4_ros_com and px4_msgs."
+  echo
+  exit 0
+fi
+
+# parse the arguments
+while [ $# -gt 0 ]; do
+  if [[ $1 == *"--"* ]]; then
+    v="${1/--/}"
+    if [ ! -z $2 ]; then
+      declare $v="$2"
+    else
+      declare $v=1
+    fi
+  fi
+  shift
+done
+
+# get script directory
+SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
+
+# get PX4-Autopilot directory
+PX4_DIR=$(cd "$(dirname "$SCRIPT_DIR")" && pwd)
+
+function compare_and_update () {
+  cmp -s "$1" "$2"
+  if [ $? -eq 1 ]; then
+    cp "$1" "$2"
+    return 0
+  fi
+
+  return 1;
+}
+
+# update microRTPS agent code generators / helpers
+function update_agent_code {
+  declare -a templates=( \
+    "microRTPS_agent.cpp.em" \
+    "microRTPS_timesync.cpp.em" \
+    "microRTPS_timesync.h.em" \
+    "microRTPS_transport.cpp" \
+    "microRTPS_transport.h" \
+    "Publisher.cpp.em" \
+    "Publisher.h.em" \
+    "Subscriber.cpp.em" \
+    "Subscriber.h.em" \
+    "RtpsTopics.cpp.em" \
+    "RtpsTopics.h.em" \
+    )
+
+  for file in ${templates[@]}; do
+    compare_and_update "$PX4_DIR/msg/templates/urtps/$file" "$ws_dir/src/px4_ros_com/templates/$file" \
+      && echo -e "--\t\t- '$ws_dir/src/px4_ros_com/templates/$file' updated" && ((agent_template_files_updated+=1))
+  done
+  if [ $agent_template_files_updated -eq 0 ]; then
+    echo -e "--\t\t- No template files updated"
+  elif [ $agent_template_files_updated -eq 1 ]; then
+    echo -e "--\t\t  - 1 template file updated"
+  else
+    echo -e "--\t\t  - $agent_template_files_updated template files updated"
+  fi
+}
+
+# update microRTPS agent code templates
+function update_agent_templates {
+  declare -a code_generators=( \
+    "uorb_rtps_classifier.py" \
+    "generate_microRTPS_bridge.py" \
+    "px_generate_uorb_topic_files.py" \
+    )
+  for file in ${code_generators[@]}; do
+    compare_and_update "$PX4_DIR/msg/tools/$file $ws_dir/src/px4_ros_com/scripts/$file" \
+      && echo -e "--\t\t- '$ws_dir/src/px4_ros_com/scripts/$file' updated" && ((code_generator_files_updated+=1))
+  done
+  if [ $code_generator_files_updated -eq 0 ]; then
+    echo -e "--\t\t- No code generators / helpers files updated"
+  elif [ $code_generator_files_updated -eq 1 ]; then
+    echo -e "--\t\t  - 1 code generator / helper file updated"
+  else
+    echo -e "--\t\t  - $code_generator_files_updated code generator / helper files updated"
+  fi
+}
+
+# update px4_ros_com files
+function update_px4_ros_com {
+  python3 $PX4_DIR/msg/tools/uorb_to_ros_urtps_topics.py -i $PX4_DIR/msg/tools/urtps_bridge_topics.yaml -o $ws_dir/src/px4_ros_com/templates/urtps_bridge_topics.yaml
+  echo -e "---------------          \033[1mmicroRTPS agent code generation and templates update\033[0m          ----------------"
+  echo "-------------------------------------------------------------------------------------------------------"
+  update_agent_code
+  update_agent_templates
+  return 0
+}
+
+# function to update px4_msgs
+function update_px4_msgs {
+  find "$ws_dir/src/px4_msgs/msg/" -maxdepth 1 -type f -delete
+  python3 $PX4_DIR/msg/tools/uorb_to_ros_msgs.py $PX4_DIR/msg/ $ws_dir/src/px4_msgs/msg/
+}
+
+# decisor
+echo "-------------------------------------------------------------------------------------------------------"
+if [ -d "${ws_dir}" ]; then
+  ws_dir=$(cd "$ws_dir" && pwd)
+  if [ ! -z ${all} ]; then
+    update_px4_ros_com
+    echo "-------------------------------------------------------------------------------------------------------"
+    update_px4_msgs
+  elif [ ! -z ${px4_ros_com} ]; then
+    update_px4_ros_com
+    echo "-------------------------------------------------------------------------------------------------------"
+  elif [ ! -z ${px4_msgs} ]; then
+    update_px4_msgs
+  fi
+  echo -e "--------------------------------          \033[0;32mUpdate successful!\033[0m          ---------------------------------"
+  echo "-------------------------------------------------------------------------------------------------------"
+  exit 0
+else
+  echo -e "-- \033[0;31mWorkspace directory doesn't exist...\033[0m"
+  echo -e "----------------------------------          \033[0;31mUpdate failed!\033[0m          -----------------------------------"
+  echo "-------------------------------------------------------------------------------------------------------"
+  exit $ERRCODE
+fi
@@ -48,7 +48,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -34,6 +34,7 @@ CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_TRANSPONDER_SAGETECH_MXS=y
 CONFIG_DRIVERS_UAVCAN=y
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
@@ -52,6 +53,7 @@ CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
@@ -61,7 +63,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -15,6 +15,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
 CONFIG_DRIVERS_MAGNETOMETER_AKM_AK8963=y
 CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
+CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
@@ -50,7 +50,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -29,7 +29,6 @@ CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
@@ -56,7 +56,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -53,7 +53,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
@@ -52,7 +52,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
@@ -53,7 +53,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
@@ -66,7 +66,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -0,0 +1 @@
+CONFIG_MODULES_MICRORTPS_BRIDGE=y
@@ -36,6 +36,7 @@ CONFIG_DRIVERS_UAVCAN=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
@@ -53,6 +54,7 @@ CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
@@ -62,7 +64,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -62,7 +62,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -62,7 +62,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -0,0 +1 @@
+CONFIG_MODULES_MICRORTPS_BRIDGE=y
@@ -63,7 +63,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -0,0 +1 @@
+CONFIG_MODULES_MICRORTPS_BRIDGE=y
@@ -62,7 +62,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -0,0 +1 @@
+CONFIG_MODULES_MICRORTPS_BRIDGE=y
@@ -41,7 +41,6 @@ CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
@@ -50,7 +49,6 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
-CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
@@ -66,7 +64,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MICRODDS_CLIENT=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -77,6 +75,7 @@ CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
@@ -0,0 +1 @@
+CONFIG_MODULES_MICRORTPS_BRIDGE=y
@@ -68,7 +68,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -0,0 +1 @@
+CONFIG_MODULES_MICRORTPS_BRIDGE=y
@@ -45,7 +45,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
@@ -236,7 +236,6 @@
 */

 #define DIRECT_PWM_OUTPUT_CHANNELS  8
-#define BOARD_NUM_IO_TIMERS         8

 // Input Capture not supported on MVP

@@ -76,14 +76,9 @@
 #define rENBL         REG(IMXRT_TMR_ENBL_OFFSET)

 constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
-	initIOPWM(PWM::FlexPWM2, PWM::Submodule0),
-	initIOPWM(PWM::FlexPWM2, PWM::Submodule1),
-	initIOPWM(PWM::FlexPWM2, PWM::Submodule2),
-	initIOPWM(PWM::FlexPWM2, PWM::Submodule3),
-	initIOPWM(PWM::FlexPWM3, PWM::Submodule2),
-	initIOPWM(PWM::FlexPWM3, PWM::Submodule0),
-	initIOPWM(PWM::FlexPWM4, PWM::Submodule2),
-	initIOPWM(PWM::FlexPWM4, PWM::Submodule0),
+	initIOPWM(PWM::FlexPWM2),
+	initIOPWM(PWM::FlexPWM3),
+	initIOPWM(PWM::FlexPWM4),
 };

 constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
@@ -29,7 +29,6 @@ CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
@@ -0,0 +1 @@
+CONFIG_MODULES_MICRORTPS_BRIDGE=y
@@ -1,7 +1,5 @@
-CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
-CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_BOARD_CRYPTO=y
-CONFIG_DRIVERS_STUB_KEYSTORE=y
 CONFIG_DRIVERS_SW_CRYPTO=y
+CONFIG_DRIVERS_STUB_KEYSTORE=y
 CONFIG_PUBLIC_KEY0="../../../Tools/test_keys/key0.pub"
 CONFIG_PUBLIC_KEY1="../../../Tools/test_keys/rsa2048.pub"
@@ -73,7 +73,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -4,13 +4,9 @@ CONFIG_COMMON_DIFFERENTIAL_PRESSURE=n
 CONFIG_COMMON_DISTANCE_SENSOR=n
 CONFIG_COMMON_OPTICAL_FLOW=n
 CONFIG_COMMON_TELEMETRY=n
-CONFIG_DRIVERS_CAMERA_CAPTURE=n
-CONFIG_DRIVERS_CAMERA_TRIGGER=n
-CONFIG_DRIVERS_IRLOCK=n
-CONFIG_DRIVERS_PCA9685=n
-CONFIG_DRIVERS_PCA9685_PWM_OUT=n
-CONFIG_DRIVERS_PWM_INPUT=n
+CONFIG_DRIVERS_OSD=n
 CONFIG_DRIVERS_ROBOCLAW=n
+CONFIG_DRIVERS_RPM=n
 CONFIG_DRIVERS_UAVCAN=n
 CONFIG_EXAMPLES_FAKE_GPS=n
 CONFIG_MODULES_AIRSPEED_SELECTOR=n
@@ -21,8 +17,8 @@ CONFIG_MODULES_FW_ATT_CONTROL=n
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_FW_POS_CONTROL_L1=n
 CONFIG_MODULES_GYRO_FFT=n
-CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_MODULES_ROVER_POS_CONTROL=n
+CONFIG_MODULES_SIH=n
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
 CONFIG_MODULES_UUV_ATT_CONTROL=n
 CONFIG_MODULES_UUV_POS_CONTROL=n
@@ -34,6 +30,7 @@ CONFIG_SYSTEMCMDS_DUMPFILE=n
 CONFIG_SYSTEMCMDS_GPIO=n
 CONFIG_SYSTEMCMDS_I2CDETECT=n
 CONFIG_SYSTEMCMDS_LED_CONTROL=n
+CONFIG_SYSTEMCMDS_MOTOR_TEST=n
 CONFIG_SYSTEMCMDS_MTD=n
 CONFIG_SYSTEMCMDS_NSHTERM=n
 CONFIG_SYSTEMCMDS_REFLECT=n
@@ -0,0 +1,3 @@
+CONFIG_DRIVERS_HEATER=n
+CONFIG_DRIVERS_OSD=n
+CONFIG_MODULES_MICRORTPS_BRIDGE=y
@@ -1,43 +1,43 @@
 # CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE is not set
-CONFIG_COMMON_BAROMETERS=n
-CONFIG_COMMON_DIFFERENTIAL_PRESSURE=n
-CONFIG_COMMON_DISTANCE_SENSOR=n
 CONFIG_COMMON_HYGROMETERS=n
 CONFIG_COMMON_TELEMETRY=n
-CONFIG_DRIVERS_ADC_ADS1115=n
 CONFIG_DRIVERS_BATT_SMBUS=n
 CONFIG_DRIVERS_CAMERA_CAPTURE=n
 CONFIG_DRIVERS_CAMERA_TRIGGER=n
+CONFIG_COMMON_DIFFERENTIAL_PRESSURE=n
+CONFIG_COMMON_DISTANCE_SENSOR=n
 CONFIG_DRIVERS_HEATER=n
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=n
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=n
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=n
 CONFIG_DRIVERS_IRLOCK=n
+CONFIG_DRIVERS_OSD=n
 CONFIG_DRIVERS_PCA9685=n
 CONFIG_DRIVERS_PCA9685_PWM_OUT=n
 CONFIG_DRIVERS_POWER_MONITOR_INA226=n
 CONFIG_DRIVERS_PWM_INPUT=n
+CONFIG_DRIVERS_PWM_OUT_SIM=n
 CONFIG_DRIVERS_ROBOCLAW=n
+CONFIG_DRIVERS_RPM=n
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=n
 CONFIG_DRIVERS_UAVCAN=n
 CONFIG_EXAMPLES_FAKE_GPS=n
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
 CONFIG_MODULES_CAMERA_FEEDBACK=n
 CONFIG_MODULES_ESC_BATTERY=n
-CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_GIMBAL=n
 CONFIG_MODULES_GYRO_CALIBRATION=n
 CONFIG_MODULES_GYRO_FFT=n
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
-CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_ROVER_POS_CONTROL=n
+CONFIG_MODULES_SIH=n
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
 CONFIG_MODULES_UUV_ATT_CONTROL=n
 CONFIG_MODULES_UUV_POS_CONTROL=n
+CONFIG_SYSTEMCMDS_MOTOR_TEST=n
 CONFIG_SYSTEMCMDS_REFLECT=n
 CONFIG_SYSTEMCMDS_SERIAL_TEST=n
 CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_TESTING=y
-CONFIG_DRIVERS_BAROMETER_MS5611=y
@@ -4,8 +4,8 @@ CONFIG_COMMON_DIFFERENTIAL_PRESSURE=n
 CONFIG_COMMON_HYGROMETERS=n
 CONFIG_COMMON_TELEMETRY=n
 CONFIG_DRIVERS_ADC_ADS1115=n
-CONFIG_DRIVERS_GPS=n
 CONFIG_DRIVERS_HEATER=n
+CONFIG_DRIVERS_GPS=n
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=n
 CONFIG_DRIVERS_IRLOCK=n
@@ -14,14 +14,15 @@ CONFIG_DRIVERS_PCA9685=n
 CONFIG_DRIVERS_PCA9685_PWM_OUT=n
 CONFIG_DRIVERS_PWM_INPUT=n
 CONFIG_DRIVERS_ROBOCLAW=n
+CONFIG_DRIVERS_RPM=n
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=n
 CONFIG_EXAMPLES_FAKE_GPS=n
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
 CONFIG_MODULES_ESC_BATTERY=n
 CONFIG_MODULES_GYRO_FFT=n
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
-CONFIG_MODULES_MICRODDS_CLIENT=n
 CONFIG_MODULES_ROVER_POS_CONTROL=n
+CONFIG_MODULES_SIH=n
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
 CONFIG_MODULES_UUV_ATT_CONTROL=n
 CONFIG_MODULES_UUV_POS_CONTROL=n
@@ -9,8 +9,7 @@ CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_PPB="/dev/ttyS3"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
-CONFIG_DRIVERS_BAROMETER_BMP388=y
-CONFIG_DRIVERS_BAROMETER_MS5611=y
+CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
@@ -31,9 +30,12 @@ CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_COMMON_OSD=y
+CONFIG_DRIVERS_PCA9685=y
+CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
+CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
 CONFIG_COMMON_RC=y
@@ -74,7 +76,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_PAYLOAD_DELIVERER=y
 CONFIG_MODULES_RC_UPDATE=y
@@ -87,6 +88,7 @@ CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_DMESG=y
+CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
@@ -101,6 +103,7 @@ CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_REFLECT=y
 CONFIG_SYSTEMCMDS_SD_BENCH=y
 CONFIG_SYSTEMCMDS_SD_STRESS=y
+CONFIG_SYSTEMCMDS_SERIAL_TEST=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
@@ -109,3 +112,4 @@ CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_EXAMPLES_FAKE_GPS=y
@@ -0,0 +1,15 @@
+CONFIG_COMMON_BAROMETERS=n
+CONFIG_COMMON_TELEMETRY=n
+CONFIG_DRIVERS_OSD=n
+CONFIG_EXAMPLES_FAKE_GPS=n
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=n
+CONFIG_SYSTEMCMDS_DUMPFILE=n
+CONFIG_SYSTEMCMDS_GPIO=n
+CONFIG_SYSTEMCMDS_MOTOR_TEST=n
+CONFIG_SYSTEMCMDS_REFLECT=n
+CONFIG_SYSTEMCMDS_SD_BENCH=n
+CONFIG_SYSTEMCMDS_SD_STRESS=n
+CONFIG_SYSTEMCMDS_SERIAL_TEST=n
+CONFIG_DRIVERS_BAROMETER_BMP388=y
+CONFIG_DRIVERS_BAROMETER_MS5611=y
+CONFIG_MODULES_MICRORTPS_BRIDGE=y
@@ -1,11 +1,13 @@
 CONFIG_DRIVERS_ADC_ADS1115=n
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
 CONFIG_DRIVERS_IRLOCK=n
+CONFIG_DRIVERS_PCA9685=n
+CONFIG_DRIVERS_PCA9685_PWM_OUT=n
+CONFIG_DRIVERS_RPM=n
+CONFIG_EXAMPLES_FAKE_GPS=n
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
-CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_GYRO_FFT=n
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
-CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_ROVER_POS_CONTROL=n
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_TEST_PPM=y
@@ -57,7 +57,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -143,10 +143,8 @@

 #define BOARD_NUM_SPI_CFG_HW_VERSIONS 2 // Rev 0, 10 Sensor sets
 //                 Base/FMUM
-#define V6C00   HW_VER_REV(0x0,0x0) // FMUV6C,                 Rev 0  I2C4 External but with Internal devices
-#define V6C01   HW_VER_REV(0x0,0x1) // FMUV6C,                 Rev 1  I2C4 Internal I2C2 External
-#define V6C10   HW_VER_REV(0x1,0x0) // NO PX4IO,               Rev 0  I2C4 External but with Internal devices
-#define V6C11   HW_VER_REV(0x1,0x1) // NO PX4IO,               Rev 1  I2C4 Internal I2C2 External
+#define V6C00   HW_VER_REV(0x0,0x0) // FMUV6C,                 Rev 0
+#define V6C10   HW_VER_REV(0x1,0x0) // NO PX4IO,               Rev 0


 /* HEATER
@@ -97,10 +97,8 @@ static const px4_hw_mft_item_t hw_mft_list_v0610[] = {

 static px4_hw_mft_list_entry_t mft_lists[] = {
 //  ver_rev
-	{V6C00, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // Rev 0
-	{V6C01, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // Rev 1
-	{V6C10, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // Rev 0 No PX4IO
-	{V6C11, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // Rev 1 No PX4IO
+	{V6C00, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)},
+	{V6C10, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO
 };

 /************************************************************************************
@@ -8,8 +8,8 @@ CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
-CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y
 CONFIG_DRIVERS_BAROMETER_MS5611=y
+CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
@@ -24,6 +24,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42670P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
+CONFIG_DRIVERS_MAGNETOMETER_RM3100=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
@@ -52,6 +53,7 @@ CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y
@@ -64,10 +66,11 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
+CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
@@ -84,6 +87,7 @@ CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_SD_BENCH=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
@@ -29,13 +29,11 @@ CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
-CONFIG_MAVLINK_DIALECT="development"
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_PAYLOAD_DELIVERER=y
 CONFIG_MODULES_RC_UPDATE=y
@@ -0,0 +1 @@
+CONFIG_MODULES_MICRORTPS_BRIDGE=y
@@ -69,7 +69,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -37,7 +37,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
@@ -144,6 +144,7 @@ function(px4_add_common_flags)
 	list(APPEND c_flags
 		-fno-common

+		-Wbad-function-cast
 		-Wnested-externs
 		-Wstrict-prototypes
 	)
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2016-2022 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2016 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -37,188 +37,225 @@ cmake_policy(SET CMP0057 NEW)
 include(px4_list_make_absolute)

 set(msg_files
-	ActionRequest.msg
-	ActuatorArmed.msg
-	ActuatorControls.msg
-	ActuatorControlsStatus.msg
-	ActuatorMotors.msg
-	ActuatorOutputs.msg
-	ActuatorServos.msg
-	ActuatorServosTrim.msg
-	ActuatorTest.msg
-	AdcReport.msg
-	Airspeed.msg
-	AirspeedValidated.msg
-	AirspeedWind.msg
-	AutotuneAttitudeControlStatus.msg
-	BatteryStatus.msg
-	ButtonEvent.msg
-	CameraCapture.msg
-	CameraStatus.msg
-	CameraTrigger.msg
-	CellularStatus.msg
-	CollisionConstraints.msg
-	CollisionReport.msg
-	ControlAllocatorStatus.msg
-	Cpuload.msg
-	DebugArray.msg
-	DebugKeyValue.msg
-	DebugValue.msg
-	DebugVect.msg
-	DifferentialPressure.msg
-	DistanceSensor.msg
-	Ekf2Timestamps.msg
-	EscReport.msg
-	EscStatus.msg
-	EstimatorAidSource1d.msg
-	EstimatorAidSource2d.msg
-	EstimatorAidSource3d.msg
-	EstimatorBias.msg
-	EstimatorEventFlags.msg
-	EstimatorGpsStatus.msg
-	EstimatorInnovations.msg
-	EstimatorSelectorStatus.msg
-	EstimatorSensorBias.msg
-	EstimatorStates.msg
-	EstimatorStatus.msg
-	EstimatorStatusFlags.msg
-	Event.msg
-	FailsafeFlags.msg
-	FailureDetectorStatus.msg
-	FollowTarget.msg
-	FollowTargetEstimator.msg
-	FollowTargetStatus.msg
-	GeneratorStatus.msg
-	GeofenceResult.msg
-	GimbalDeviceAttitudeStatus.msg
-	GimbalDeviceInformation.msg
-	GimbalDeviceSetAttitude.msg
-	GimbalManagerInformation.msg
-	GimbalManagerSetAttitude.msg
-	GimbalManagerSetManualControl.msg
-	GimbalManagerStatus.msg
-	GpsDump.msg
-	GpsInjectData.msg
-	Gripper.msg
-	HealthReport.msg
-	HeaterStatus.msg
-	HomePosition.msg
-	HoverThrustEstimate.msg
-	InputRc.msg
-	InternalCombustionEngineStatus.msg
-	IridiumsbdStatus.msg
-	IrlockReport.msg
-	LandingGear.msg
-	LandingTargetInnovations.msg
-	LandingTargetPose.msg
-	LedControl.msg
-	LoggerStatus.msg
-	LogMessage.msg
-	MagnetometerBiasEstimate.msg
-	MagWorkerData.msg
-	ManualControlSetpoint.msg
-	ManualControlSwitches.msg
-	MavlinkLog.msg
-	MavlinkTunnel.msg
-	Mission.msg
-	MissionResult.msg
-	MountOrientation.msg
-	NavigatorMissionItem.msg
-	NpfgStatus.msg
-	ObstacleDistance.msg
-	OffboardControlMode.msg
-	OnboardComputerStatus.msg
-	OrbitStatus.msg
-	OrbTest.msg
-	OrbTestLarge.msg
-	OrbTestMedium.msg
-	ParameterUpdate.msg
-	Ping.msg
-	PositionControllerLandingStatus.msg
-	PositionControllerStatus.msg
-	PositionSetpoint.msg
-	PositionSetpointTriplet.msg
-	PowerButtonState.msg
-	PowerMonitor.msg
-	PpsCapture.msg
-	PwmInput.msg
-	Px4ioStatus.msg
-	RadioStatus.msg
-	RateCtrlStatus.msg
-	RcChannels.msg
-	RcParameterMap.msg
-	Rpm.msg
-	RtlTimeEstimate.msg
-	SatelliteInfo.msg
-	SensorAccel.msg
-	SensorAccelFifo.msg
-	SensorBaro.msg
-	SensorCombined.msg
-	SensorCorrection.msg
-	SensorGnssRelative.msg
-	SensorGps.msg
-	SensorGyro.msg
-	SensorGyroFft.msg
-	SensorGyroFifo.msg
-	SensorHygrometer.msg
-	SensorMag.msg
-	SensorOpticalFlow.msg
-	SensorPreflightMag.msg
-	SensorSelection.msg
-	SensorsStatus.msg
-	SensorsStatusImu.msg
-	SystemPower.msg
-	TakeoffStatus.msg
-	TaskStackInfo.msg
-	TecsStatus.msg
-	TelemetryStatus.msg
-	TimesyncStatus.msg
-	TrajectoryBezier.msg
-	TrajectorySetpoint.msg
-	TrajectoryWaypoint.msg
-	TransponderReport.msg
-	TuneControl.msg
-	UavcanParameterRequest.msg
-	UavcanParameterValue.msg
-	UlogStream.msg
-	UlogStreamAck.msg
-	UwbDistance.msg
-	UwbGrid.msg
-	VehicleAcceleration.msg
-	VehicleAirData.msg
-	VehicleAngularAcceleration.msg
-	VehicleAngularAccelerationSetpoint.msg
-	VehicleAngularVelocity.msg
-	VehicleAttitude.msg
-	VehicleAttitudeSetpoint.msg
-	VehicleCommand.msg
-	VehicleCommandAck.msg
-	VehicleConstraints.msg
-	VehicleControlMode.msg
-	VehicleGlobalPosition.msg
-	VehicleImu.msg
-	VehicleImuStatus.msg
-	VehicleLandDetected.msg
-	VehicleLocalPosition.msg
-	VehicleLocalPositionSetpoint.msg
-	VehicleMagnetometer.msg
-	VehicleOdometry.msg
-	VehicleOpticalFlow.msg
-	VehicleOpticalFlowVel.msg
-	VehicleRatesSetpoint.msg
-	VehicleRoi.msg
-	VehicleStatus.msg
-	VehicleThrustSetpoint.msg
-	VehicleTorqueSetpoint.msg
-	VehicleTrajectoryBezier.msg
-	VehicleTrajectoryWaypoint.msg
-	VtolVehicleStatus.msg
-	WheelEncoders.msg
-	Wind.msg
-	YawEstimatorStatus.msg
+	action_request.msg
+	actuator_armed.msg
+	actuator_controls.msg
+	actuator_controls_status.msg
+	actuator_motors.msg
+	actuator_outputs.msg
+	actuator_servos.msg
+	actuator_servos_trim.msg
+	actuator_test.msg
+	adc_report.msg
+	airspeed.msg
+	airspeed_validated.msg
+	airspeed_wind.msg
+	autotune_attitude_control_status.msg
+	battery_status.msg
+	button_event.msg
+	camera_capture.msg
+	camera_status.msg
+	camera_trigger.msg
+	can_frame.msg
+	cellular_status.msg
+	collision_constraints.msg
+	collision_report.msg
+	commander_state.msg
+	control_allocator_status.msg
+	cpuload.msg
+	differential_pressure.msg
+	distance_sensor.msg
+	ekf2_timestamps.msg
+	esc_report.msg
+	esc_status.msg
+	estimator_aid_source_1d.msg
+	estimator_aid_source_2d.msg
+	estimator_aid_source_3d.msg
+	estimator_bias.msg
+	estimator_event_flags.msg
+	estimator_gps_status.msg
+	estimator_innovations.msg
+	estimator_selector_status.msg
+	estimator_sensor_bias.msg
+	estimator_states.msg
+	estimator_status.msg
+	estimator_status_flags.msg
+	event.msg
+	failure_detector_status.msg
+	follow_target.msg
+	follow_target_estimator.msg
+	follow_target_status.msg
+	generator_status.msg
+	geofence_result.msg
+	gimbal_device_attitude_status.msg
+	gimbal_device_information.msg
+	gimbal_device_set_attitude.msg
+	gimbal_manager_information.msg
+	gimbal_manager_set_attitude.msg
+	gimbal_manager_set_manual_control.msg
+	gimbal_manager_status.msg
+	gps_dump.msg
+	gps_inject_data.msg
+	health_report.msg
+	gripper.msg
+	heater_status.msg
+	home_position.msg
+	hover_thrust_estimate.msg
+	input_rc.msg
+	internal_combustion_engine_status.msg
+	iridiumsbd_status.msg
+	irlock_report.msg
+	landing_gear.msg
+	landing_target_innovations.msg
+	landing_target_pose.msg
+	led_control.msg
+	log_message.msg
+	logger_status.msg
+	mag_worker_data.msg
+	magnetometer_bias_estimate.msg
+	manual_control_setpoint.msg
+	manual_control_switches.msg
+	mavlink_log.msg
+	mavlink_tunnel.msg
+	mission.msg
+	mission_result.msg
+	mount_orientation.msg
+	navigator_mission_item.msg
+	npfg_status.msg
+	obstacle_distance.msg
+	offboard_control_mode.msg
+	onboard_computer_status.msg
+	orbit_status.msg
+	parameter_update.msg
+	ping.msg
+	position_controller_landing_status.msg
+	position_controller_status.msg
+	position_setpoint.msg
+	position_setpoint_triplet.msg
+	power_button_state.msg
+	power_monitor.msg
+	pps_capture.msg
+	pwm_input.msg
+	px4io_status.msg
+	radio_status.msg
+	rate_ctrl_status.msg
+	rc_channels.msg
+	rc_parameter_map.msg
+	rpm.msg
+	rtl_time_estimate.msg
+	satellite_info.msg
+	sensor_accel.msg
+	sensor_accel_fifo.msg
+	sensor_baro.msg
+	sensor_combined.msg
+	sensor_correction.msg
+	sensor_gnss_relative.msg
+	sensor_gps.msg
+	sensor_gyro.msg
+	sensor_gyro_fft.msg
+	sensor_gyro_fifo.msg
+	sensor_hygrometer.msg
+	sensor_mag.msg
+	sensor_optical_flow.msg
+	sensor_preflight_mag.msg
+	sensor_selection.msg
+	sensors_status.msg
+	sensors_status_imu.msg
+	system_power.msg
+	takeoff_status.msg
+	task_stack_info.msg
+	tecs_status.msg
+	telemetry_status.msg
+	timesync.msg
+	timesync_status.msg
+	trajectory_bezier.msg
+	trajectory_setpoint.msg
+	trajectory_waypoint.msg
+	transponder_report.msg
+	tune_control.msg
+	uavcan_parameter_request.msg
+	uavcan_parameter_value.msg
+	ulog_stream.msg
+	ulog_stream_ack.msg
+	uwb_distance.msg
+	uwb_grid.msg
+	vehicle_acceleration.msg
+	vehicle_air_data.msg
+	vehicle_angular_acceleration.msg
+	vehicle_angular_acceleration_setpoint.msg
+	vehicle_angular_velocity.msg
+	vehicle_attitude.msg
+	vehicle_attitude_setpoint.msg
+	vehicle_command.msg
+	vehicle_command_ack.msg
+	vehicle_constraints.msg
+	vehicle_control_mode.msg
+	vehicle_global_position.msg
+	vehicle_imu.msg
+	vehicle_imu_status.msg
+	vehicle_land_detected.msg
+	vehicle_local_position.msg
+	vehicle_local_position_setpoint.msg
+	vehicle_magnetometer.msg
+	vehicle_odometry.msg
+	vehicle_optical_flow.msg
+	vehicle_optical_flow_vel.msg
+	vehicle_rates_setpoint.msg
+	vehicle_roi.msg
+	vehicle_status.msg
+	vehicle_status_flags.msg
+	vehicle_thrust_setpoint.msg
+	vehicle_torque_setpoint.msg
+	vehicle_trajectory_bezier.msg
+	vehicle_trajectory_waypoint.msg
+	vtol_vehicle_status.msg
+	wheel_encoders.msg
+	wind.msg
+	yaw_estimator_status.msg
 )
+
+if(NOT px4_constrained_flash_build)
+	list(APPEND msg_files
+		debug_array.msg
+		debug_key_value.msg
+		debug_value.msg
+		debug_vect.msg
+	)
+endif()
+
+if(PX4_TESTING)
+	list(APPEND msg_files
+		orb_test.msg
+		orb_test_large.msg
+		orb_test_medium.msg
+	)
+endif()
+
 list(SORT msg_files)

+set(deprecated_msgs
+	ekf2_innovations.msg	# 2019-11-22, Updated estimator interface and logging; replaced by 'estimator_innovations'.
+	)
+
+foreach(msg IN LISTS deprecated_msgs)
+	if(msg IN_LIST msg_files)
+		get_filename_component(msg_we ${msg} NAME_WE)
+		list(APPEND invalid_msgs ${msg_we})
+	endif()
+endforeach()
+if(invalid_msgs)
+	list(LENGTH invalid_msgs invalid_msgs_size)
+	if(${invalid_msgs_size} GREATER 1)
+		foreach(msg IN LISTS invalid_msgs)
+			string(CONCAT invalid_msgs_cs ${invalid_msgs_cs} "'${msg}', ")
+		endforeach()
+		STRING(REGEX REPLACE ", +$" "" invalid_msgs_cs ${invalid_msgs_cs})
+		message(FATAL_ERROR "${invalid_msgs_cs} are listed as deprecated. Please use different names for the messages.")
+	else()
+		message(FATAL_ERROR "'${invalid_msgs}' is listed as deprecated. Please use a different name for the message.")
+	endif()
+endif()
+
 px4_list_make_absolute(msg_files ${CMAKE_CURRENT_SOURCE_DIR} ${msg_files})

 if(NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
@@ -236,64 +273,63 @@ endif()
 # headers
 set(msg_out_path ${PX4_BINARY_DIR}/uORB/topics)
 set(ucdr_out_path ${PX4_BINARY_DIR}/uORB/ucdr)
-set(msg_source_out_path ${CMAKE_CURRENT_BINARY_DIR}/topics_sources)
+set(msg_source_out_path	${CMAKE_CURRENT_BINARY_DIR}/topics_sources)

-set(uorb_headers)
-set(uorb_sources)
+set(uorb_headers ${msg_out_path}/uORBTopics.hpp)
+set(uorb_sources ${msg_source_out_path}/uORBTopics.cpp)
 set(uorb_ucdr_headers)
 foreach(msg_file ${msg_files})
 	get_filename_component(msg ${msg_file} NAME_WE)
-
-	# Pascal case to snake case (MsgFile -> msg_file)
-	string(REGEX REPLACE "(.)([A-Z][a-z]+)" "\\1_\\2" msg "${msg}")
-	string(REGEX REPLACE "([a-z0-9])([A-Z])" "\\1_\\2" msg "${msg}")
-	string(TOLOWER "${msg}" msg)
-
 	list(APPEND uorb_headers ${msg_out_path}/${msg}.h)
 	list(APPEND uorb_sources ${msg_source_out_path}/${msg}.cpp)
 	list(APPEND uorb_ucdr_headers ${ucdr_out_path}/${msg}.h)
 endforeach()

+if (px4_constrained_flash_build)
+	set(added_arguments --constrained-flash)
+endif()
+
 # set parent scope msg_files for other modules to consume (eg topic_listener)
 set(msg_files ${msg_files} PARENT_SCOPE)

 # Generate uORB headers
-add_custom_command(
-	OUTPUT
-		${uorb_headers}
-		${msg_out_path}/uORBTopics.hpp
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
+add_custom_command(OUTPUT ${uorb_headers}
+	COMMAND ${PYTHON_EXECUTABLE} tools/px_generate_uorb_topic_files.py
 		--headers
 		-f ${msg_files}
 		-i ${CMAKE_CURRENT_SOURCE_DIR}
 		-o ${msg_out_path}
-		-e ${PX4_SOURCE_DIR}/Tools/msg/templates/uorb
+		-e templates/uorb
+		-t ${CMAKE_CURRENT_BINARY_DIR}/tmp/headers
+		-q
+		${added_arguments}
 	DEPENDS
 		${msg_files}
-		${PX4_SOURCE_DIR}/Tools/msg/templates/uorb/msg.h.em
-		${PX4_SOURCE_DIR}/Tools/msg/templates/uorb/uORBTopics.hpp.em
-		${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
-		${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_helper.py
+		templates/uorb/msg.h.em
+		templates/uorb/uORBTopics.hpp.em
+		tools/px_generate_uorb_topic_files.py
+		tools/px_generate_uorb_topic_helper.py
 	COMMENT "Generating uORB topic headers"
 	WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
 	VERBATIM
 	)
 add_custom_target(uorb_headers DEPENDS ${uorb_headers})

-# Generate microcdr headers
-add_custom_command(
-	OUTPUT ${uorb_ucdr_headers}
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
+add_custom_command(OUTPUT ${uorb_ucdr_headers}
+	COMMAND ${PYTHON_EXECUTABLE} tools/px_generate_uorb_topic_files.py
 		--headers
 		-f ${msg_files}
 		-i ${CMAKE_CURRENT_SOURCE_DIR}
 		-o ${ucdr_out_path}
-		-e ${PX4_SOURCE_DIR}/Tools/msg/templates/ucdr
+		-e templates/ucdr
+		-t ${CMAKE_CURRENT_BINARY_DIR}/tmp/ucdr_headers
+		-q
+		${added_arguments}
 	DEPENDS
 		${msg_files}
-		${PX4_SOURCE_DIR}/Tools/msg/templates/ucdr/msg.h.em
-		${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
-		${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_helper.py
+		templates/ucdr/msg.h.em
+		tools/px_generate_uorb_topic_files.py
+		tools/px_generate_uorb_topic_helper.py
 	COMMENT "Generating uORB topic ucdr headers"
 	WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
 	VERBATIM
@@ -301,27 +337,26 @@ add_custom_command(
 add_custom_target(uorb_ucdr_headers DEPENDS ${uorb_ucdr_headers})

 # Generate uORB sources
-add_custom_command(
-	OUTPUT
-		${uorb_sources}
-		${msg_source_out_path}/uORBTopics.cpp
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
+add_custom_command(OUTPUT ${uorb_sources}
+	COMMAND ${PYTHON_EXECUTABLE} tools/px_generate_uorb_topic_files.py
 		--sources
 		-f ${msg_files}
 		-i ${CMAKE_CURRENT_SOURCE_DIR}
 		-o ${msg_source_out_path}
-		-e ${PX4_SOURCE_DIR}/Tools/msg/templates/uorb
+		-e templates/uorb
+		-t ${CMAKE_CURRENT_BINARY_DIR}/tmp/sources
+		-q
+		${added_arguments}
 	DEPENDS
 		${msg_files}
-		${PX4_SOURCE_DIR}/Tools/msg/templates/uorb/msg.cpp.em
-		${PX4_SOURCE_DIR}/Tools/msg/templates/uorb/uORBTopics.cpp.em
-		${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
-		${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_helper.py
+		templates/uorb/msg.cpp.em
+		templates/uorb/uORBTopics.cpp.em
+		tools/px_generate_uorb_topic_files.py
+		tools/px_generate_uorb_topic_helper.py
 	COMMENT "Generating uORB topic sources"
 	WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
 	VERBATIM
 	)

-add_library(uorb_msgs ${uorb_headers} ${msg_out_path}/uORBTopics.hpp ${uorb_sources} ${msg_source_out_path}/uORBTopics.cpp)
-target_link_libraries(uorb_msgs PRIVATE m)
+add_library(uorb_msgs ${uorb_sources})
 add_dependencies(uorb_msgs prebuild_targets uorb_headers)
@@ -1,22 +0,0 @@
-uint64 timestamp             # time since system start (microseconds)
-uint64 timestamp_sample      # the timestamp of the raw data (microseconds)
-
-uint8 estimator_instance
-
-uint32 device_id
-
-uint64 time_last_fuse
-
-float32[2] observation
-float32[2] observation_variance
-
-float32[2] innovation
-float32[2] innovation_variance
-float32[2] test_ratio
-
-bool fusion_enabled          # true when measurements are being fused
-bool innovation_rejected     # true if the observation has been rejected
-bool fused                   # true if the sample was successfully fused
-
-# TOPICS estimator_aid_src_ev_pos estimator_aid_src_fake_pos estimator_aid_src_gnss_pos
-# TOPICS estimator_aid_src_aux_vel estimator_aid_src_optical_flow
@@ -1,23 +0,0 @@
-uint64 timestamp             # time since system start (microseconds)
-uint64 timestamp_sample      # the timestamp of the raw data (microseconds)
-
-uint8 estimator_instance
-
-uint32 device_id
-
-uint64 time_last_fuse
-
-float32[3] observation
-float32[3] observation_variance
-
-float32[3] innovation
-float32[3] innovation_variance
-float32[3] test_ratio
-
-bool fusion_enabled          # true when measurements are being fused
-bool innovation_rejected     # true if the observation has been rejected
-bool fused                   # true if the sample was successfully fused
-
-# TOPICS estimator_aid_src_ev_vel
-# TOPICS estimator_aid_src_gnss_vel
-# TOPICS estimator_aid_src_mag
@@ -1,57 +0,0 @@
-# Input flags for the failsafe state machine set by the arming & health checks.
-#
-# Flags must be named such that false == no failure (e.g. _invalid, _unhealthy, _lost)
-# The flag comments are used as label for the failsafe state machine simulation
-
-uint64 timestamp				# time since system start (microseconds)
-
-# Per-mode requirements
-uint32 mode_req_angular_velocity
-uint32 mode_req_attitude
-uint32 mode_req_local_alt
-uint32 mode_req_local_position
-uint32 mode_req_local_position_relaxed
-uint32 mode_req_global_position
-uint32 mode_req_mission
-uint32 mode_req_offboard_signal
-uint32 mode_req_home_position
-uint32 mode_req_prevent_arming    # if set, cannot arm while in this mode
-uint32 mode_req_other             # other requirements, not covered above (for external modes)
-
-
-# Mode requirements
-bool angular_velocity_invalid         # Angular velocity invalid
-bool attitude_invalid                 # Attitude invalid
-bool local_altitude_invalid           # Local altitude invalid
-bool local_position_invalid           # Local position estimate invalid
-bool local_position_invalid_relaxed   # Local position with reduced accuracy requirements invalid (e.g. flying with optical flow)
-bool local_velocity_invalid           # Local velocity estimate invalid
-bool global_position_invalid          # Global position estimate invalid
-bool gps_position_invalid             # GPS position invalid
-bool auto_mission_missing             # No mission available
-bool offboard_control_signal_lost     # Offboard signal lost
-bool home_position_invalid            # No home position available
-
-# Control links
-bool manual_control_signal_lost       # Manual control (RC) signal lost
-bool gcs_connection_lost              # GCS connection lost
-
-# Battery
-uint8 battery_warning                 # Battery warning level
-bool battery_low_remaining_time       # Low battery based on remaining flight time
-bool battery_unhealthy                # Battery unhealthy
-
-# Other
-bool primary_geofence_breached        # Primary Geofence breached
-bool mission_failure                  # Mission failure
-bool vtol_transition_failure          # VTOL transition failed (quadchute)
-bool wind_limit_exceeded              # Wind limit exceeded
-bool flight_time_limit_exceeded       # Maximum flight time exceeded
-
-# Failure detector
-bool fd_critical_failure              # Critical failure (attitude/altitude limit exceeded, or external ATS)
-bool fd_esc_arming_failure            # ESC failed to arm
-bool fd_imbalanced_prop               # Imbalanced propeller detected
-bool fd_motor_failure                 # Motor failure
-
-
@@ -1,14 +0,0 @@
-uint64 timestamp                        # time since system start (microseconds)
-uint8 GF_ACTION_NONE = 0                # no action on geofence violation
-uint8 GF_ACTION_WARN = 1                # critical mavlink message
-uint8 GF_ACTION_LOITER = 2              # switch to AUTO|LOITER
-uint8 GF_ACTION_RTL = 3                 # switch to AUTO|RTL
-uint8 GF_ACTION_TERMINATE = 4           # flight termination
-uint8 GF_ACTION_LAND = 5                # switch to AUTO|LAND
-
-uint8 geofence_violation_reason         # one of geofence_violation_reason_t::*
-
-bool primary_geofence_breached          # true if the primary geofence is breached
-uint8 primary_geofence_action           # action to take when the primary geofence is breached
-
-bool home_required                      # true if the geofence requires a valid home position
@@ -16,4 +16,4 @@ uint8 SOURCE_RC_SWITCH = 1
 uint8 SOURCE_RC_BUTTON = 2
 uint8 SOURCE_RC_MODE_SLOT = 3

-uint8 mode # for ACTION_SWITCH_MODE what mode is requested according to vehicle_status_s::NAVIGATION_STATE_*
+uint8 mode # for ACTION_SWITCH_MODE what mode is requested according to commander_state.MAIN_STATE_
@@ -20,5 +20,5 @@ uint8 GROUP_INDEX_GIMBAL = 2
 uint64 timestamp_sample	    # the timestamp the data this control response is based on was sampled
 float32[9] control

-# TOPICS actuator_controls_0 actuator_controls_1 actuator_controls_2
+# TOPICS actuator_controls actuator_controls_0 actuator_controls_1 actuator_controls_2
 # TOPICS actuator_controls_virtual_fw actuator_controls_virtual_mc
@@ -7,4 +7,4 @@ uint8 INDEX_THROTTLE = 3

 float32[4] control_power

-# TOPICS actuator_controls_status_0 actuator_controls_status_1
+# TOPICS actuator_controls_status actuator_controls_status_0 actuator_controls_status_1
@@ -3,4 +3,4 @@ bool triggered				# Set to true if the event is triggered

 # TOPICS button_event safety_button

-uint8 ORB_QUEUE_LENGTH = 2
+uint8 ORB_QUEUE_LENGTH = 2
@@ -5,3 +5,5 @@ uint32 seq		# Image sequence number
 bool feedback	# Trigger feedback from camera

 uint32 ORB_QUEUE_LENGTH = 2
+
+# TOPICS camera_trigger
@@ -0,0 +1,15 @@
+uint64 timestamp	# time since system start (microseconds)
+
+uint32 id
+
+bool is_rtr
+bool is_extended
+bool is_error
+
+uint8 dlc
+
+uint8[8] data
+
+uint8 ORB_QUEUE_LENGTH = 8
+
+# TOPICS can_frame can_frame_out can_frame_in
@@ -0,0 +1,24 @@
+# Main state, i.e. what user wants. Controlled by RC or from ground station via telemetry link.
+uint64 timestamp			# time since system start (microseconds)
+
+uint8 MAIN_STATE_MANUAL             = 0
+uint8 MAIN_STATE_ALTCTL             = 1
+uint8 MAIN_STATE_POSCTL             = 2
+uint8 MAIN_STATE_AUTO_MISSION       = 3
+uint8 MAIN_STATE_AUTO_LOITER        = 4
+uint8 MAIN_STATE_AUTO_RTL           = 5
+uint8 MAIN_STATE_ACRO               = 6
+uint8 MAIN_STATE_OFFBOARD           = 7
+uint8 MAIN_STATE_STAB               = 8
+# LEGACY RATTITUDE                  = 9
+uint8 MAIN_STATE_AUTO_TAKEOFF       = 10
+uint8 MAIN_STATE_AUTO_LAND          = 11
+uint8 MAIN_STATE_AUTO_FOLLOW_TARGET = 12
+uint8 MAIN_STATE_AUTO_PRECLAND      = 13
+uint8 MAIN_STATE_ORBIT              = 14
+uint8 MAIN_STATE_AUTO_VTOL_TAKEOFF  = 15
+uint8 MAIN_STATE_MAX                = 16
+
+uint8 main_state
+
+uint16 main_state_changes
--- a/Show More
+++ b/Show More