Add topic remap plugin

2026-06-15 17:51:29 +08:00 · 2024-01-09 10:27:42 +01:00
1005 changed files with 17244 additions and 45122 deletions
--- a/.ci/Jenkinsfile-compile
+++ b/.ci/Jenkinsfile-compile
@ -40,18 +40,16 @@ pipeline {
                     "ark_can-flow_default",
                     "ark_can-gps_canbootloader",
                     "ark_can-gps_default",
-                     "ark_can-rtk-gps_canbootloader",
-                     "ark_can-rtk-gps_default",
                     "ark_cannode_canbootloader",
                     "ark_cannode_default",
+                     "ark_can-rtk-gps_canbootloader",
+                     "ark_can-rtk-gps_default",
                     "ark_fmu-v6x_bootloader",
                     "ark_fmu-v6x_default",
-                     "ark_pi6x_bootloader",
-                     "ark_pi6x_default"
                     "atl_mantis-edu_default",
                     "av_x-v1_default",
-                     "bitcraze_crazyflie21_default",
                     "bitcraze_crazyflie_default",
+                     "bitcraze_crazyflie21_default",
                     "cuav_can-gps-v1_canbootloader",
                     "cuav_can-gps-v1_default",
                     "cuav_nora_default",
@ -68,8 +66,8 @@ pipeline {
                     "holybro_durandal-v1_default",
                     "holybro_kakutef7_default",
                     "holybro_kakuteh7_default",
-                     "holybro_kakuteh7mini_default",
                     "holybro_kakuteh7v2_default",
+                     "holybro_kakuteh7mini_default",
                     "holybro_pix32v5_default",
                     "matek_gnss-m9n-f4_canbootloader",
                     "matek_gnss-m9n-f4_default",
@ -79,8 +77,8 @@ pipeline {
                     "modalai_fc-v1_default",
                     "modalai_fc-v2_default",
                     "mro_ctrl-zero-classic_default",
-                     "mro_ctrl-zero-f7-oem_default",
                     "mro_ctrl-zero-f7_default",
+                     "mro_ctrl-zero-f7-oem_default",
                     "mro_ctrl-zero-h7-oem_default",
                     "mro_ctrl-zero-h7_default",
                     "mro_pixracerpro_default",
@ -106,28 +104,22 @@ pipeline {
                     "px4_fmu-v5_debug",
                     "px4_fmu-v5_default",
                     "px4_fmu-v5_lto",
-                     "px4_fmu-v5_rover",
                     "px4_fmu-v5_stackcheck",
                     "px4_fmu-v5_uavcanv0periph",
                     "px4_fmu-v5x_default",
-                     "px4_fmu-v5x_rover",
                     "px4_fmu-v6c_default",
-                     "px4_fmu-v6c_rover",
                     "px4_fmu-v6u_default",
-                     "px4_fmu-v6u_rover",
                     "px4_fmu-v6x_default",
-                     "px4_fmu-v6x_rover",
                     "px4_fmu-v6xrt_bootloader",
                     "px4_fmu-v6xrt_default",
-                     "px4_fmu-v6xrt_rover",
                     "px4_io-v2_default",
                     "raspberrypi_pico_default",
-                     "siyi_n7_default",
                     "sky-drones_smartap-airlink_default",
                     "spracing_h7extreme_default",
                     "thepeach_k1_default",
                     "thepeach_r1_default",
                     "uvify_core_default",
+                     "siyi_n7_default"
            ],
            image: docker_images.nuttx,
            archive: true
--- a/.devcontainer/devcontainer.json
+++ b/.devcontainer/devcontainer.json
@ -15,7 +15,6 @@
 	"extensions": [
 		"chiehyu.vscode-astyle",
 		"dan-c-underwood.arm",
-		"editorconfig.editorconfig",
 		"fredericbonnet.cmake-test-adapter",
 		"github.vscode-pull-request-github",
 		"marus25.cortex-debug",
--- a/.editorconfig
+++ b/.editorconfig
@ -1,14 +0,0 @@
-root = true
-
-[*]
-insert_final_newline = true
-
-[{*.{c,cpp,cc,h,hpp},CMakeLists.txt,Kconfig}]
-indent_style = tab
-tab_width = 8
-# Not in the official standard, but supported by many editors
-max_line_length = 120
-
-[*.yaml]
-indent_style = space
-indent_size = 2
--- a/.github/workflows/checks.yml
+++ b/.github/workflows/checks.yml
@ -28,14 +28,12 @@ jobs:
          "parameters_metadata",
        ]
    container:
-      image: px4io/px4-dev-nuttx-jammy:2024-05-18
+      image: px4io/px4-dev-nuttx-focal:2022-08-12
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
      with:
        token: ${{ secrets.ACCESS_TOKEN }}
-    - name: ownership workaround
-      run: git config --global --add safe.directory '*'

    - name: check environment
      run: |
--- a/.github/workflows/clang-tidy.yml
+++ b/.github/workflows/clang-tidy.yml
@ -11,13 +11,11 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-clang:2024-05-18
+    container: px4io/px4-dev-clang:2021-09-08
    steps:
    - uses: actions/checkout@v1
      with:
        token: ${{secrets.ACCESS_TOKEN}}
-    - name: ownership workaround
-      run: git config --global --add safe.directory '*'

    - name: make clang-tidy-quiet
      run: make clang-tidy-quiet
--- a/.github/workflows/compile_linux.yml
+++ b/.github/workflows/compile_linux.yml
@ -14,7 +14,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-armhf:2024-05-18
+    container: px4io/px4-dev-armhf:2023-06-26
    strategy:
      matrix:
        config: [
@ -28,7 +28,7 @@ jobs:
      with:
        token: ${{secrets.ACCESS_TOKEN}}
    - name: ownership workaround
-      run: git config --global --add safe.directory '*'
+      run: git config --system --add safe.directory '*'
    - name: Prepare ccache timestamp
      id: ccache_cache_timestamp
      shell: cmake -P {0}
--- a/.github/workflows/compile_linux_arm64.yml
+++ b/.github/workflows/compile_linux_arm64.yml
@ -14,7 +14,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-aarch64:2024-05-18
+    container: px4io/px4-dev-aarch64:2022-08-12
    strategy:
      matrix:
        config: [
@ -24,8 +24,6 @@ jobs:
    - uses: actions/checkout@v1
      with:
        token: ${{secrets.ACCESS_TOKEN}}
-    - name: ownership workaround
-      run: git config --global --add safe.directory '*'

    - name: Prepare ccache timestamp
      id: ccache_cache_timestamp
--- a/.github/workflows/compile_nuttx.yml
+++ b/.github/workflows/compile_nuttx.yml
@ -14,7 +14,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-jammy:2024-05-18
+    container: px4io/px4-dev-nuttx-focal:2022-08-12
    strategy:
      fail-fast: false
      matrix:
@ -25,8 +25,6 @@ jobs:
          ark_can-rtk-gps,
          ark_cannode,
          ark_fmu-v6x,
-          ark_pi6x,
-          ark_septentrio-gps,
          atl_mantis-edu,
          av_x-v1,
          bitcraze_crazyflie,
@ -50,7 +48,6 @@ jobs:
          matek_h743-slim,
          modalai_fc-v1,
          modalai_fc-v2,
-          mro_ctrl-zero-classic,
          mro_ctrl-zero-f7,
          mro_ctrl-zero-f7-oem,
          mro_ctrl-zero-h7,
@ -83,8 +80,6 @@ jobs:
    - uses: actions/checkout@v1
      with:
        token: ${{secrets.ACCESS_TOKEN}}
-    - name: ownership workaround
-      run: git config --global --add safe.directory '*'

    - name: Prepare ccache timestamp
      id: ccache_cache_timestamp
--- a/.github/workflows/deploy_all.yml
+++ b/.github/workflows/deploy_all.yml
@ -10,15 +10,13 @@ on:
 jobs:
  enumerate_targets:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-jammy:2024-05-18
+    container: px4io/px4-dev-base-focal:2021-09-08
    outputs:
      matrix: ${{ steps.set-matrix.outputs.matrix }}
    steps:
    - uses: actions/checkout@v1
      with:
        token: ${{secrets.ACCESS_TOKEN}}
-    - name: ownership workaround
-      run: git config --global --add safe.directory '*'
    - id: set-matrix
      run: echo "::set-output name=matrix::$(./Tools/generate_board_targets_json.py)"
  build:
@ -31,11 +29,9 @@ jobs:
    - uses: actions/checkout@v1
      with:
        token: ${{secrets.ACCESS_TOKEN}}
-    - name: ownership workaround
-      run: git config --global --add safe.directory '*'

    - name: ownership workaround
-      run: git config --global --add safe.directory '*'
+      run: git config --system --add safe.directory '*'

    - name: make ${{matrix.target}}
      run: make ${{matrix.target}}
--- a/.github/workflows/ekf_functional_change_indicator.yml
+++ b/.github/workflows/ekf_functional_change_indicator.yml
@ -5,13 +5,11 @@ on: pull_request
 jobs:
  unit_tests:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-jammy:2024-05-18
+    container: px4io/px4-dev-base-focal:2021-09-08
    steps:
-    - uses: actions/checkout@v1
+    - uses: actions/checkout@v2.3.1
      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-    - name: ownership workaround
-      run: git config --global --add safe.directory '*'
+        fetch-depth: 0
    - name: checkout newest version of branch
      run: |
        git fetch origin pull/${{github.event.pull_request.number}}/head:${{github.head_ref}}
--- a/.github/workflows/ekf_update_change_indicator.yml
+++ b/.github/workflows/ekf_update_change_indicator.yml
@ -5,16 +5,14 @@ on: push
 jobs:
  unit_tests:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-jammy:2024-05-18
+    container: px4io/px4-dev-base-focal:2021-09-08
    env:
      GIT_COMMITTER_EMAIL: bot@px4.io
      GIT_COMMITTER_NAME: PX4BuildBot
    steps:
-    - uses: actions/checkout@v1
+    - uses: actions/checkout@v2.3.1
      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-    - name: ownership workaround
-      run: git config --global --add safe.directory '*'
+        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
--- a/.github/workflows/failsafe_sim.yml
+++ b/.github/workflows/failsafe_sim.yml
@ -21,14 +21,12 @@ jobs:
          "failsafe_web",
        ]
    container:
-      image: px4io/px4-dev-nuttx-jammy:2024-05-18
+      image: px4io/px4-dev-nuttx-focal:2022-08-12
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
      with:
        token: ${{ secrets.ACCESS_TOKEN }}
-    - name: ownership workaround
-      run: git config --global --add safe.directory '*'

    - name: check environment
      run: |
--- a/.github/workflows/mavros_mission_tests.yml
+++ b/.github/workflows/mavros_mission_tests.yml
@ -17,22 +17,20 @@ jobs:
        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",         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"}
+          #- {vehicle: "tailsitter",    mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}
+          #- {vehicle: "tiltrotor",     mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}

    container:
-      image: px4io/px4-dev-ros-noetic:2024-05-18
+      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: ownership workaround
-      run: git config --global --add safe.directory '*'

    - name: Prepare ccache timestamp
      id: ccache_cache_timestamp
--- a/.github/workflows/mavros_offboard_tests.yml
+++ b/.github/workflows/mavros_offboard_tests.yml
@ -20,14 +20,12 @@ jobs:
          #- {test_file: "mavros_posix_tests_offboard_rpyrt_ctl.test", vehicle: "iris", build_type: "RelWithDebInfo"}

    container:
-      image: px4io/px4-dev-ros-noetic:2024-05-18
+      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: ownership workaround
-      run: git config --global --add safe.directory '*'

    - name: Prepare ccache timestamp
      id: ccache_cache_timestamp
--- a/.github/workflows/metadata.yml
+++ b/.github/workflows/metadata.yml
@ -11,13 +11,11 @@ jobs:

  airframe:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2024-05-18
+    container: px4io/px4-dev-base-focal:2021-09-08
    steps:
    - uses: actions/checkout@v1
      with:
        token: ${{ secrets.ACCESS_TOKEN }}
-    - name: ownership workaround
-      run: git config --global --add safe.directory '*'

    - name: airframe metadata
      run: |
@ -39,13 +37,11 @@ jobs:

  module:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-jammy:2024-05-18
+    container: px4io/px4-dev-base-focal:2021-09-08
    steps:
    - uses: actions/checkout@v1
      with:
        token: ${{ secrets.ACCESS_TOKEN }}
-    - name: ownership workaround
-      run: git config --global --add safe.directory '*'

    - name: module documentation
      run: |
@ -56,13 +52,11 @@ jobs:

  parameter:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-jammy:2024-05-18
+    container: px4io/px4-dev-base-focal:2021-09-08
    steps:
    - uses: actions/checkout@v1
      with:
        token: ${{ secrets.ACCESS_TOKEN }}
-    - name: ownership workaround
-      run: git config --global --add safe.directory '*'

    - name: parameter metadata
      run: |
@ -82,13 +76,11 @@ jobs:

  events:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-jammy:2024-05-18
+    container: px4io/px4-dev-base-focal:2021-09-08
    steps:
    - uses: actions/checkout@v1
      with:
        token: ${{ secrets.ACCESS_TOKEN }}
-    - name: ownership workaround
-      run: git config --global --add safe.directory '*'

    - name: events metadata
      run: |
@ -111,13 +103,11 @@ jobs:

  uorb_graph:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-jammy:2024-05-18
+    container: px4io/px4-dev-nuttx-focal:2022-08-12
    steps:
    - uses: actions/checkout@v1
      with:
        token: ${{ secrets.ACCESS_TOKEN }}
-    - name: ownership workaround
-      run: git config --global --add safe.directory '*'

    - name: uORB graph
      run: |
@ -128,13 +118,11 @@ jobs:

  ROS2_msgs:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-jammy:2024-05-18
+    container: px4io/px4-dev-base-focal:2021-09-08
    steps:
    - uses: actions/checkout@v1
      with:
        token: ${{ secrets.ACCESS_TOKEN }}
-    - name: ownership workaround
-      run: git config --global --add safe.directory '*'

    - name: PX4 ROS2 msgs
      run: |
--- a/.github/workflows/nuttx_env_config.yml
+++ b/.github/workflows/nuttx_env_config.yml
@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-jammy:2024-05-18
+    container: px4io/px4-dev-nuttx-focal:2022-08-12
    strategy:
      matrix:
        config: [
@ -21,8 +21,6 @@ jobs:
    - uses: actions/checkout@v1
      with:
        token: ${{secrets.ACCESS_TOKEN}}
-    - name: ownership workaround
-      run: git config --global --add safe.directory '*'

    - name: make ${{matrix.config}}
      env:
--- a/.github/workflows/sitl_tests.yml
+++ b/.github/workflows/sitl_tests.yml
@ -21,14 +21,12 @@ jobs:
          - {model: "standard_vtol", latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage" } # Zurich

    container:
-      image: px4io/px4-dev-simulation-focal:2024-05-18
+      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: ownership workaround
-      run: git config --global --add safe.directory '*'

    - 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"
--- a/.gitmodules
+++ b/.gitmodules
@ -79,7 +79,3 @@
 [submodule "Tools/simulation/gz"]
 	path = Tools/simulation/gz
 	url = https://github.com/PX4/PX4-gazebo-models.git
-	branch = main
-[submodule "boards/modalai/voxl2/libfc-sensor-api"]
-	path = boards/modalai/voxl2/libfc-sensor-api
-	url = https://gitlab.com/voxl-public/voxl-sdk/core-libs/libfc-sensor-api.git
--- a/.vscode/cmake-variants.yaml
+++ b/.vscode/cmake-variants.yaml
@ -71,26 +71,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: px4_fmu-v5x_default
-    px4_fmu-v6c_default:
-      short: px4_fmu-v6c
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_fmu-v6c_default
-    px4_fmu-v6c_bootloader:
-      short: px4_fmu-v6c_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_fmu-v6c_bootloader
-    px4_fmu-v6u_default:
-      short: px4_fmu-v6u
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_fmu-v6u_default
-    px4_fmu-v6u_bootloader:
-      short: px4_fmu-v6u_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_fmu-v6u_bootloader
    px4_fmu-v6x_default:
      short: px4_fmu-v6x
      buildType: MinSizeRel
@ -151,16 +131,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: ark_can-rtk-gps_canbootloader
-    ark_septentrio_gps_default:
-      short: ark_septentrio_gps_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_septentrio_gps_default
-    ark_septentrio_gps_canbootloader:
-      short: ark_septentrio_gps_canbootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_septentrio_gps_canbootloader
    ark_cannode_default:
      short: ark_cannode_default
      buildType: MinSizeRel
@ -181,16 +151,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: ark_fmu-v6x_default
-    ark_pi6x_bootloader:
-      short: ark_pi6x_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_pi6x_bootloader
-    ark_pi6x_default:
-      short: ark_pi6x_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_pi6x_default
    atl_mantis-edu_default:
      short: atl_mantis-edu
      buildType: MinSizeRel
--- a/.vscode/extensions.json
+++ b/.vscode/extensions.json
@ -4,7 +4,6 @@
    "recommendations": [
        "chiehyu.vscode-astyle",
        "dan-c-underwood.arm",
-        "editorconfig.editorconfig",
        "fredericbonnet.cmake-test-adapter",
        "github.vscode-pull-request-github",
        "marus25.cortex-debug",
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@ -485,7 +485,7 @@ include(package)

 # install python requirements using configured python
 add_custom_target(install_python_requirements
-	COMMAND ${PYTHON_EXECUTABLE} -m pip install --break-system-packages --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
+	COMMAND ${PYTHON_EXECUTABLE} -m pip install --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
 	DEPENDS ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
 	USES_TERMINAL
 )
--- a/4
+++ b/4
@ -171,9 +171,9 @@ pipeline {
              sh('cp airframes.md PX4-user_guide/en/airframes/airframe_reference.md')
              sh('cp parameters.md PX4-user_guide/en/advanced_config/parameter_reference.md')
              sh('cp -R modules/*.md PX4-user_guide/en/modules/')
-              sh('cp -R graph_*.json PX4-user_guide/public/middleware/')  // vitepress
+              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/public/config/failsafe')  // vitepress
+              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')
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/10040_sihsim_quadx
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/10040_sihsim_quadx
@ -22,17 +22,18 @@ param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
 param set-default CBRK_IO_SAFETY 22027

-# Square quadrotor X PX4 numbering
 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_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_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 -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 PWM_MAIN_FUNC1 101
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/10041_sihsim_airplane
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/10041_sihsim_airplane
@ -26,7 +26,7 @@ param set-default CBRK_IO_SAFETY 22027

 param set-default BAT_N_CELLS 3

-param set-default SIH_T_MAX 6
+param set-default SIH_T_MAX 6.0
 param set-default SIH_MASS 0.3
 param set-default SIH_IXX 0.00402
 param set-default SIH_IYY 0.0144
@ -45,9 +45,9 @@ param set-default CA_ROTOR_COUNT 1
 param set-default CA_SV_CS_COUNT 3
 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_P 1
+param set-default CA_SV_CS1_TRQ_P 1.0
 param set-default CA_SV_CS1_TYPE 3
-param set-default CA_SV_CS2_TRQ_Y 1
+param set-default CA_SV_CS2_TRQ_Y 1.0
 param set-default CA_SV_CS2_TYPE 4
 param set-default PWM_MAIN_FUNC3 201
 param set-default PWM_MAIN_FUNC4 202
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/10042_sihsim_xvert
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/10042_sihsim_xvert
@ -35,14 +35,14 @@ param set-default CBRK_IO_SAFETY 22027

 param set-default BAT_N_CELLS 3

-param set-default SIH_T_MAX 2
+param set-default SIH_T_MAX 2.0
 param set-default SIH_Q_MAX 0.0165
 param set-default SIH_MASS 0.2
 # IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
 param set-default SIH_IXX 0.00354
 param set-default SIH_IYY 0.000625
 param set-default SIH_IZZ 0.00300
-param set-default SIH_IXZ 0
+param set-default SIH_IXZ 0.0
 param set-default SIH_KDV 0.2
 param set-default SIH_L_ROLL 0.145

--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1010_gazebo-classic_iris_opt_flow
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1010_gazebo-classic_iris_opt_flow
@ -47,5 +47,5 @@ param set-default MPC_ALT_MODE 2

 param set-default SENS_FLOW_ROT 6
 param set-default SENS_FLOW_MINHGT 0.7
-param set-default SENS_FLOW_MAXHGT 3
+param set-default SENS_FLOW_MAXHGT 3.0
 param set-default SENS_FLOW_MAXR 2.5
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1021_gazebo-classic_uuv_hippocampus
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1021_gazebo-classic_uuv_hippocampus
@ -8,34 +8,34 @@
 param set-default CA_AIRFRAME 7
 param set-default CA_ROTOR_COUNT 4
 param set-default CA_R_REV 255
-param set-default CA_ROTOR0_AX 1
-param set-default CA_ROTOR0_AY 0
-param set-default CA_ROTOR0_AZ 0
-param set-default CA_ROTOR0_KM 0
-param set-default CA_ROTOR0_PX 0
-param set-default CA_ROTOR0_PY -0.3
-param set-default CA_ROTOR0_PZ -0.3
-param set-default CA_ROTOR1_AX 1
-param set-default CA_ROTOR1_AY 0
-param set-default CA_ROTOR1_AZ 0
-param set-default CA_ROTOR1_KM 0
-param set-default CA_ROTOR1_PX 0
-param set-default CA_ROTOR1_PY 0.3
-param set-default CA_ROTOR1_PZ -0.3
-param set-default CA_ROTOR2_AX 1
-param set-default CA_ROTOR2_AY 0
-param set-default CA_ROTOR2_AZ 0
-param set-default CA_ROTOR2_KM 0
-param set-default CA_ROTOR2_PX 0
-param set-default CA_ROTOR2_PY 0.3
-param set-default CA_ROTOR2_PZ 0.3
-param set-default CA_ROTOR3_AX 1
-param set-default CA_ROTOR3_AY 0
-param set-default CA_ROTOR3_AZ 0
-param set-default CA_ROTOR3_KM 0
-param set-default CA_ROTOR3_PX 0
-param set-default CA_ROTOR3_PY -0.3
-param set-default CA_ROTOR3_PZ 0.3
+param set-default CA_ROTOR0_AX 1.0000
+param set-default CA_ROTOR0_AY 0.0000
+param set-default CA_ROTOR0_AZ 0.0000
+param set-default CA_ROTOR0_KM 0.0000
+param set-default CA_ROTOR0_PX 0.0000
+param set-default CA_ROTOR0_PY -0.3000
+param set-default CA_ROTOR0_PZ -0.3000
+param set-default CA_ROTOR1_AX 1.0000
+param set-default CA_ROTOR1_AY 0.0000
+param set-default CA_ROTOR1_AZ 0.0000
+param set-default CA_ROTOR1_KM 0.0000
+param set-default CA_ROTOR1_PX 0.0000
+param set-default CA_ROTOR1_PY 0.3000
+param set-default CA_ROTOR1_PZ -0.3000
+param set-default CA_ROTOR2_AX 1.0000
+param set-default CA_ROTOR2_AY 0.0000
+param set-default CA_ROTOR2_AZ 0.0000
+param set-default CA_ROTOR2_KM 0.0000
+param set-default CA_ROTOR2_PX 0.0000
+param set-default CA_ROTOR2_PY 0.3000
+param set-default CA_ROTOR2_PZ 0.3000
+param set-default CA_ROTOR3_AX 1.0000
+param set-default CA_ROTOR3_AY 0.0000
+param set-default CA_ROTOR3_AZ 0.0000
+param set-default CA_ROTOR3_KM 0.0000
+param set-default CA_ROTOR3_PX 0.0000
+param set-default CA_ROTOR3_PY -0.3000
+param set-default CA_ROTOR3_PZ 0.3000

 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1022_gazebo-classic_uuv_bluerov2_heavy
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1022_gazebo-classic_uuv_bluerov2_heavy
@ -9,49 +9,49 @@ param set-default CA_AIRFRAME 7

 param set-default CA_ROTOR_COUNT 8
 param set-default CA_R_REV 255
-param set-default CA_ROTOR0_AX 1
-param set-default CA_ROTOR0_AY -1
-param set-default CA_ROTOR0_AZ 0
-param set-default CA_ROTOR0_KM 0
-param set-default CA_ROTOR0_PX 0.5
-param set-default CA_ROTOR0_PY 0.3
-param set-default CA_ROTOR0_PZ 0.2
-param set-default CA_ROTOR1_AX 1
-param set-default CA_ROTOR1_AY 1
-param set-default CA_ROTOR1_AZ 0
-param set-default CA_ROTOR1_KM 0
-param set-default CA_ROTOR1_PX 0.5
-param set-default CA_ROTOR1_PY -0.3
-param set-default CA_ROTOR1_PZ 0.2
-param set-default CA_ROTOR2_AX 1
-param set-default CA_ROTOR2_AY 1
-param set-default CA_ROTOR2_AZ 0
-param set-default CA_ROTOR2_KM 0
-param set-default CA_ROTOR2_PX -0.5
-param set-default CA_ROTOR2_PY 0.3
-param set-default CA_ROTOR2_PZ 0.2
-param set-default CA_ROTOR3_AX 1
-param set-default CA_ROTOR3_AY -1
-param set-default CA_ROTOR3_AZ 0
-param set-default CA_ROTOR3_KM 0
-param set-default CA_ROTOR3_PX -0.5
-param set-default CA_ROTOR3_PY -0.3
-param set-default CA_ROTOR3_PZ 0.2
-param set-default CA_ROTOR4_AZ -1
-param set-default CA_ROTOR4_KM 0
-param set-default CA_ROTOR4_PX 0.5
-param set-default CA_ROTOR4_PY 0.5
-param set-default CA_ROTOR5_AZ 1
-param set-default CA_ROTOR5_KM 0
-param set-default CA_ROTOR5_PX 0.5
-param set-default CA_ROTOR5_PY -0.5
-param set-default CA_ROTOR6_AZ 1
-param set-default CA_ROTOR6_KM 0
-param set-default CA_ROTOR6_PX -0.5
-param set-default CA_ROTOR6_PY 0.5
-param set-default CA_ROTOR7_KM 0
-param set-default CA_ROTOR7_PX -0.5
-param set-default CA_ROTOR7_PY -0.5
+param set-default CA_ROTOR0_AX 1.0000
+param set-default CA_ROTOR0_AY -1.0000
+param set-default CA_ROTOR0_AZ 0.0000
+param set-default CA_ROTOR0_KM 0.0000
+param set-default CA_ROTOR0_PX 0.5000
+param set-default CA_ROTOR0_PY 0.3000
+param set-default CA_ROTOR0_PZ 0.2000
+param set-default CA_ROTOR1_AX 1.0000
+param set-default CA_ROTOR1_AY 1.0000
+param set-default CA_ROTOR1_AZ 0.0000
+param set-default CA_ROTOR1_KM 0.0000
+param set-default CA_ROTOR1_PX 0.5000
+param set-default CA_ROTOR1_PY -0.3000
+param set-default CA_ROTOR1_PZ 0.2000
+param set-default CA_ROTOR2_AX 1.0000
+param set-default CA_ROTOR2_AY 1.0000
+param set-default CA_ROTOR2_AZ 0.0000
+param set-default CA_ROTOR2_KM 0.0000
+param set-default CA_ROTOR2_PX -0.5000
+param set-default CA_ROTOR2_PY 0.3000
+param set-default CA_ROTOR2_PZ 0.2000
+param set-default CA_ROTOR3_AX 1.0000
+param set-default CA_ROTOR3_AY -1.0000
+param set-default CA_ROTOR3_AZ 0.0000
+param set-default CA_ROTOR3_KM 0.0000
+param set-default CA_ROTOR3_PX -0.5000
+param set-default CA_ROTOR3_PY -0.3000
+param set-default CA_ROTOR3_PZ 0.2000
+param set-default CA_ROTOR4_AZ -1.0000
+param set-default CA_ROTOR4_KM 0.0000
+param set-default CA_ROTOR4_PX 0.5000
+param set-default CA_ROTOR4_PY 0.5000
+param set-default CA_ROTOR5_AZ 1.0000
+param set-default CA_ROTOR5_KM 0.0000
+param set-default CA_ROTOR5_PX 0.5000
+param set-default CA_ROTOR5_PY -0.5000
+param set-default CA_ROTOR6_AZ 1.0000
+param set-default CA_ROTOR6_KM 0.0000
+param set-default CA_ROTOR6_PX -0.5000
+param set-default CA_ROTOR6_PY 0.5000
+param set-default CA_ROTOR7_KM 0.0000
+param set-default CA_ROTOR7_PX -0.5000
+param set-default CA_ROTOR7_PY -0.5000

 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1030_gazebo-classic_plane
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1030_gazebo-classic_plane
@ -54,9 +54,9 @@ 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
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1
+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
+param set-default CA_SV_CS3_TRQ_Y 1.0
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1031_gazebo-classic_plane_cam
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1031_gazebo-classic_plane_cam
@ -57,9 +57,9 @@ 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
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1
+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
+param set-default CA_SV_CS3_TRQ_Y 1.0
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1032_gazebo-classic_plane_catapult
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1032_gazebo-classic_plane_catapult
@ -57,9 +57,9 @@ 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
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1
+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
+param set-default CA_SV_CS3_TRQ_Y 1.0
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1033_jsbsim_rascal
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1033_jsbsim_rascal
@ -42,9 +42,9 @@ 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
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1
+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
+param set-default CA_SV_CS3_TRQ_Y 1.0
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1034_flightgear_rascal-electric
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1034_flightgear_rascal-electric
@ -42,9 +42,9 @@ 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
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1
+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
+param set-default CA_SV_CS3_TRQ_Y 1.0
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1035_gazebo-classic_techpod
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1035_gazebo-classic_techpod
@ -40,9 +40,9 @@ 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
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1
+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
+param set-default CA_SV_CS3_TRQ_Y 1.0
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1036_jsbsim_malolo
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1036_jsbsim_malolo
@ -42,9 +42,9 @@ 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
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1
+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
+param set-default CA_SV_CS3_TRQ_Y 1.0
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1037_gazebo-classic_believer
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1037_gazebo-classic_believer
@ -48,9 +48,9 @@ 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
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1
+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
+param set-default CA_SV_CS3_TRQ_Y 1.0
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1038_gazebo-classic_glider
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1038_gazebo-classic_glider
@ -55,9 +55,9 @@ 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
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1
+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
+param set-default CA_SV_CS3_TRQ_Y 1.0
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1039_flightgear_rascal
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1039_flightgear_rascal
@ -47,9 +47,9 @@ 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
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1
+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
+param set-default CA_SV_CS3_TRQ_Y 1.0
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1039_gazebo-classic_advanced_plane
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1039_gazebo-classic_advanced_plane
@ -45,9 +45,9 @@ 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
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1
+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
+param set-default CA_SV_CS3_TRQ_Y 1.0
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1040_gazebo-classic_standard_vtol
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1040_gazebo-classic_standard_vtol
@ -27,8 +27,8 @@ param set-default CA_ROTOR2_KM -0.05
 param set-default CA_ROTOR3_PX -0.1515
 param set-default CA_ROTOR3_PY 0.1875
 param set-default CA_ROTOR3_KM -0.05
-param set-default CA_ROTOR4_AX 1
-param set-default CA_ROTOR4_AZ 0
+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 3
@ -37,7 +37,7 @@ 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 3
-param set-default CA_SV_CS2_TRQ_P 1
+param set-default CA_SV_CS2_TRQ_P 1.0
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1041_gazebo-classic_tailsitter
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1041_gazebo-classic_tailsitter
@ -50,11 +50,11 @@ param set-default SENS_IMU_MODE 1

 param set-default FW_P_TC 0.6

-param set-default FW_PR_FF 0.0
+param set-default FW_PR_FF 0.1
 param set-default FW_PSP_OFF 2
 param set-default FW_RR_FF 0.1
 param set-default FW_RR_I 0.2
-param set-default FW_RR_P 0.5
+param set-default FW_RR_P 0.3
 param set-default FW_THR_TRIM 0.35
 param set-default FW_THR_MAX 0.8
 param set-default FW_THR_MIN 0.05
@ -66,6 +66,8 @@ param set-default FW_T_SINK_MIN 1.6
 param set-default MC_AIRMODE 1
 param set-default MC_ROLL_P 3
 param set-default MC_PITCH_P 3
+param set-default MC_ROLLRATE_P 0.3
+param set-default MC_PITCHRATE_P 0.3

 param set-default VT_ARSP_TRANS 10
 param set-default VT_B_TRANS_DUR 5
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1042_gazebo-classic_tiltrotor
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1042_gazebo-classic_tiltrotor
@ -31,7 +31,7 @@ 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
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1
+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_TL_COUNT 2
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1043_gazebo-classic_standard_vtol_drop
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1043_gazebo-classic_standard_vtol_drop
@ -27,8 +27,8 @@ param set-default CA_ROTOR2_KM -0.05
 param set-default CA_ROTOR3_PX -0.1515
 param set-default CA_ROTOR3_PY 0.1875
 param set-default CA_ROTOR3_KM -0.05
-param set-default CA_ROTOR4_AX 1
-param set-default CA_ROTOR4_AZ 0
+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 3
@ -37,7 +37,7 @@ 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 3
-param set-default CA_SV_CS2_TRQ_P 1
+param set-default CA_SV_CS2_TRQ_P 1.0
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1044_gazebo-classic_plane_lidar
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1044_gazebo-classic_plane_lidar
@ -57,9 +57,9 @@ 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
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1
+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
+param set-default CA_SV_CS3_TRQ_Y 1.0
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1060_gazebo-classic_rover
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1060_gazebo-classic_rover
@ -22,7 +22,7 @@ param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2

 param set-default GND_MAX_ANG 0.6
-param set-default GND_WHEEL_BASE 2
+param set-default GND_WHEEL_BASE 2.0

 param set-default CA_AIRFRAME 5

--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1062_flightgear_tf-r1
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1062_flightgear_tf-r1
@ -29,7 +29,7 @@ param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2

 param set-default GND_MAX_ANG 0.6
-param set-default GND_WHEEL_BASE 3
+param set-default GND_WHEEL_BASE 3.0

 param set-default CA_AIRFRAME 5

--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1070_gazebo-classic_boat
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1070_gazebo-classic_boat
@ -22,7 +22,7 @@ param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2

 param set-default GND_MAX_ANG 0.6
-param set-default GND_WHEEL_BASE 2
+param set-default GND_WHEEL_BASE 2.0

 param set-default CA_AIRFRAME 9

--- a/ROMFS/px4fmu_common/init.d-posix/airframes/17001_flightgear_tf-g1
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/17001_flightgear_tf-g1
@ -14,7 +14,7 @@

 param set-default FW_AIRSPD_STALL 8

-param set-default FW_P_RMAX_NEG 20
+param set-default FW_P_RMAX_NEG 20.0
 param set-default FW_W_RMAX 10
 param set-default FW_W_EN 1

@ -37,7 +37,7 @@ 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_R_MAX 30
+param set-default FW_MAN_R_MAX 30.0

 param set-default FW_THR_TRIM 0.8
 param set-default FW_THR_IDLE 0
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/17002_flightgear_tf-g2
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/17002_flightgear_tf-g2
@ -14,7 +14,7 @@

 param set-default FW_AIRSPD_STALL 5

-param set-default FW_P_RMAX_NEG 20
+param set-default FW_P_RMAX_NEG 20.0
 param set-default FW_W_RMAX 10
 param set-default FW_W_EN 1

@ -29,9 +29,9 @@ param set-default NAV_LOITER_RAD 50
 # Parameters related to autogyro takeoff PR
 #param set-default AG_TKOFF 1
 #param set-default AG_PROT_TYPE 1
-#param set-default AG_PROT_MIN_RPM 50
-#param set-default AG_PROT_TRG_RPM 900
-#param set-defoult AG_ROTOR_RPM 900
+#param set-default AG_PROT_MIN_RPM 50.0
+#param set-default AG_PROT_TRG_RPM 900.0
+#param set-defoult AG_ROTOR_RPM 900.0

 param set-default FW_ARSP_SCALE_EN 0

@ -42,7 +42,7 @@ 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_R_MAX 30
+param set-default FW_MAN_R_MAX 30.0

 param set-default FW_THR_CRUISE 0.8
 param set-default FW_THR_IDLE 0
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/2507_gazebo-classic_cloudship
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/2507_gazebo-classic_cloudship
@ -14,21 +14,21 @@
 param set-default CA_AIRFRAME 9

 param set-default CA_ROTOR_COUNT 3
-param set-default CA_ROTOR0_AX 1
-param set-default CA_ROTOR0_AZ 0
-param set-default CA_ROTOR0_KM 0
-param set-default CA_ROTOR0_PY 2
-param set-default CA_ROTOR1_AX 1
-param set-default CA_ROTOR1_AZ 0
-param set-default CA_ROTOR1_KM 0
-param set-default CA_ROTOR1_PY -2
-param set-default CA_ROTOR2_AY -1
-param set-default CA_ROTOR2_AZ 0
-param set-default CA_ROTOR2_KM 0
-param set-default CA_ROTOR2_PX -10
+param set-default CA_ROTOR0_AX 1.0000
+param set-default CA_ROTOR0_AZ 0.0000
+param set-default CA_ROTOR0_KM 0.0000
+param set-default CA_ROTOR0_PY 2.0000
+param set-default CA_ROTOR1_AX 1.0000
+param set-default CA_ROTOR1_AZ 0.0000
+param set-default CA_ROTOR1_KM 0.0000
+param set-default CA_ROTOR1_PY -2.0000
+param set-default CA_ROTOR2_AY -1.0000
+param set-default CA_ROTOR2_AZ 0.0000
+param set-default CA_ROTOR2_KM 0.0000
+param set-default CA_ROTOR2_PX -10.0000

 param set-default CA_SV_CS_COUNT 1
-param set-default CA_SV_CS0_TRQ_P 1
+param set-default CA_SV_CS0_TRQ_P 1.0000

 param set-default CA_R_REV 7

--- a/ROMFS/px4fmu_common/init.d-posix/airframes/3011_jsbsim_hexarotor_x
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/3011_jsbsim_hexarotor_x
@ -13,9 +13,9 @@ param set-default MAV_TYPE 13

 param set-default MC_PITCHRATE_P 0.1
 param set-default MC_PITCHRATE_I 0.05
-param set-default MC_PITCH_P 6
+param set-default MC_PITCH_P 6.0
 param set-default MC_ROLLRATE_I 0.1
-param set-default MC_ROLL_P 6
+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

@ -27,11 +27,11 @@ param set-default MNT_MODE_IN 4
 param set-default MNT_DO_STAB 2


-param set-default CA_ROTOR0_PX 0
-param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR0_PX 0.0
+param set-default CA_ROTOR0_PY 1.0
 param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR1_PX 0
-param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR1_PX 0.0
+param set-default CA_ROTOR1_PY -1.0
 param set-default CA_ROTOR1_KM 0.05
 param set-default CA_ROTOR2_PX 0.866025
 param set-default CA_ROTOR2_PY -0.5
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_rc_cessna
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_rc_cessna
@ -70,9 +70,9 @@ 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
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1
+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
+param set-default CA_SV_CS3_TRQ_Y 1.0
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol
@ -40,8 +40,8 @@ param set-default CA_ROTOR2_KM -0.05
 param set-default CA_ROTOR3_PX -0.1515
 param set-default CA_ROTOR3_PY 0.1875
 param set-default CA_ROTOR3_KM -0.05
-param set-default CA_ROTOR4_AX 1
-param set-default CA_ROTOR4_AZ 0
+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 SIM_GZ_EC_FUNC1 101
@ -73,7 +73,7 @@ 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 3
-param set-default CA_SV_CS2_TRQ_P 1
+param set-default CA_SV_CS2_TRQ_P 1.0

 param set-default NPFG_PERIOD 12
 param set-default FW_PR_FF 0.2
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/4006_gz_px4vision
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4006_gz_px4vision
@ -105,19 +105,31 @@ param set-default CBRK_IO_SAFETY 22027

 param set-default THR_MDL_FAC 0.3

-# Square quadrotor X PX4 numbering
 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_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_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 -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

+# 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
+
+# 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 SIM_GZ_EC_FUNC1 101
 param set-default SIM_GZ_EC_FUNC2 102
 param set-default SIM_GZ_EC_FUNC3 103
@ -132,3 +144,5 @@ param set-default SIM_GZ_EC_MAX1 1100
 param set-default SIM_GZ_EC_MAX2 1100
 param set-default SIM_GZ_EC_MAX3 1100
 param set-default SIM_GZ_EC_MAX4 1100
+
+
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/4008_gz_advanced_plane
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4008_gz_advanced_plane
@ -63,9 +63,9 @@ 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
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1
+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
+param set-default CA_SV_CS3_TRQ_Y 1.0
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/4011_gz_lawnmower
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4011_gz_lawnmower
@ -1,80 +0,0 @@
-#!/bin/sh
-# @name Gazebo lawnmower
-# @type Rover
-# @class Rover
-
-. ${R}etc/init.d/rc.rover_differential_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=lawnmower}
-
-param set-default SIM_GZ_EN 1 # Gazebo bridge
-
-# Simulated sensors
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
-param set-default SENS_EN_ARSPDSIM 1
-# We can arm and drive in manual mode when it slides and GPS check fails:
-param set-default COM_ARM_WO_GPS 1
-
-# Set Differential Drive Kinematics Library parameters:
-param set RDD_WHEEL_BASE 0.9
-param set RDD_WHEEL_RADIUS 0.22
-param set RDD_WHEEL_SPEED 10.0	# Maximum wheel speed rad/s, approx 8 km/h
-
-# Actuator mapping - set SITL motors/servos output parameters:
-
-# "Motors" - motor channels 0 (Right) and 1 (Left) - via Wheels GZ bridge:
-param set-default SIM_GZ_WH_FUNC1 101 # right wheel
-#param set-default SIM_GZ_WH_MIN1 0
-#param set-default SIM_GZ_WH_MAX1 200
-#param set-default SIM_GZ_WH_DIS1 100
-#param set-default SIM_GZ_WH_FAIL1 100
-
-param set-default SIM_GZ_WH_FUNC2 102 # left wheel
-#param set-default SIM_GZ_WH_MIN2 0
-#param set-default SIM_GZ_WH_MAX2 200
-#aram set-default SIM_GZ_WH_DIS2 100
-#param set-default SIM_GZ_WH_FAIL2 100
-
-param set-default SIM_GZ_WH_REV 0 # no need to reverse any wheels
-
-# Note: The servo configurations ( SIM_GZ_SV_FUNC*) outlined below are intended for educational purposes in this simulation. 
-# They do not have physical effects in the simulated environment, except for actuating the joints. Their definitions are meant to demonstrate 
-# how actuators could be mapped and configured in a real-world application, providing a foundation for understanding and implementing actuator 
-# controls in practical scenarios.
-
-# Cutter deck blades clutch, PCA9685 servo channel 3,  "RC FLAPS" (406) - leftmost switch, or "Servo 3" (203):
-param set-default SIM_GZ_SV_FUNC3 203
-param set-default SIM_GZ_SV_MIN3 0
-param set-default SIM_GZ_SV_MAX3 1000
-param set-default SIM_GZ_SV_DIS3 500
-param set-default SIM_GZ_SV_FAIL3 500
-
-# Gas engine throttle, PCA9685 servo channel 4, "RC AUX1" (407) - left knob, or "Servo 4" (204):
-#    - on minimum when disarmed or failed:
-param set-default SIM_GZ_SV_FUNC4 204
-param set-default SIM_GZ_SV_MIN4 0
-param set-default SIM_GZ_SV_MAX4 1000
-param set-default SIM_GZ_SV_DIS4 500
-param set-default SIM_GZ_SV_FAIL4 500
-
-# Controlling PCA9685 servos 5,6,7,8 directly via "Servo 5..8" setting, by publishing actuator_servos.control[]:
-
-# Strobes, PCA9685 servo channel 5, "Servo 5" (205) - flashing indicates Mission mode:
-#param set-default SIM_GZ_SV_FUNC5 205
-#param set-default SIM_GZ_SV_MIN5 1000
-#param set-default SIM_GZ_SV_MAX5 2000
-#param set-default SIM_GZ_SV_DIS5 1000
-#param set-default SIM_GZ_SV_FAIL5 1000
-
-# Horn, PCA9685 servo channel 6, "Servo 6" (206) - for alarms like GPS failure:
-#param set-default SIM_GZ_SV_FUNC6 206
-
-# Spare PCA9685 servo channel 7 on "RC AUX2" (408) - right knob, or "Servo 7" (207):
-#param set-default SIM_GZ_SV_FUNC7 207
-
-# Spare PCA9685 servo channel 8 - "Servo 8" (208):
-#param set-default SIM_GZ_SV_FUNC8 208
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/6011_gazebo-classic_typhoon_h480
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/6011_gazebo-classic_typhoon_h480
@ -9,14 +9,14 @@

 param set-default MAV_TYPE 13

-param set-default MC_PITCHRATE_P 0.08
-param set-default MC_PITCHRATE_I 0.04
-param set-default MC_PITCHRATE_D 0.001
-param set-default MC_PITCH_P 9
-param set-default MC_ROLLRATE_P 0.08
-param set-default MC_ROLLRATE_I 0.04
-param set-default MC_ROLLRATE_D 0.001
-param set-default MC_ROLL_P 9
+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

@ -31,11 +31,11 @@ param set-default MAV_PROTO_VER 2
 param set-default CA_AIRFRAME 0
 param set-default CA_ROTOR_COUNT 6

-param set-default CA_ROTOR0_PX 0
-param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR0_PX 0.0
+param set-default CA_ROTOR0_PY 1.0
 param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR1_PX 0
-param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR1_PX 0.0
+param set-default CA_ROTOR1_PY -1.0
 param set-default CA_ROTOR1_KM 0.05
 param set-default CA_ROTOR2_PX 0.866025
 param set-default CA_ROTOR2_PY -0.5
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
@ -82,7 +82,6 @@ px4_add_romfs_files(
 	4008_gz_advanced_plane
 	4009_gz_r1_rover
 	4010_gz_x500_mono_cam
-	4011_gz_lawnmower

 	6011_gazebo-classic_typhoon_h480
 	6011_gazebo-classic_typhoon_h480.post
--- a/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
+++ b/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
@ -41,6 +41,19 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" = "1" ]; then

 	echo "INFO  [init] Gazebo simulator"

+	# set local coordinate frame reference
+	if [ -n "${PX4_HOME_LAT}" ]; then
+		param set SIM_GZ_HOME_LAT ${PX4_HOME_LAT}
+	fi
+
+	if [ -n "${PX4_HOME_LON}" ]; then
+		param set SIM_GZ_HOME_LON ${PX4_HOME_LON}
+	fi
+
+	if [ -n "${PX4_HOME_ALT}" ]; then
+		param set SIM_GZ_HOME_ALT ${PX4_HOME_ALT}
+	fi
+
 	# Only start up Gazebo if PX4_GZ_STANDALONE is not set.
 	if [ -z "${PX4_GZ_STANDALONE}" ]; then

@ -51,13 +64,6 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" = "1" ]; then
 			# "gz sim" from Garden on
 			gz_command="gz"
 			gz_sub_command="sim"
-
-			# Specify render engine if `GZ_SIM_RENDER_ENGINE` is set
-			# (for example, if you want to use Ogre 1.x instead of Ogre 2.x):
-			if [ -n "${PX4_GZ_SIM_RENDER_ENGINE}" ]; then
-				echo "INFO  [init] Setting Gazebo render engine to '${PX4_GZ_SIM_RENDER_ENGINE}'!"
-				gz_sub_command="${gz_sub_command} --render-engine ${PX4_GZ_SIM_RENDER_ENGINE}"
-			fi
 		else
 			echo "ERROR [init] Gazebo gz please install gz-garden"
 			exit 1
@ -167,12 +173,6 @@ elif [ "$PX4_SIM_MODEL" = "jmavsim_iris" ] || [ "$(param show -q SYS_AUTOSTART)"

 else
 	# otherwise start simulator (mavlink) module
-
-	# EKF2 specifics
-	param set-default EKF2_GPS_DELAY 10
-	param set-default EKF2_MULTI_IMU 3
-	param set-default SENS_IMU_MODE 0
-
 	simulator_tcp_port=$((4560+px4_instance))

 	# Check if PX4_SIM_HOSTNAME environment variable is empty
--- a/ROMFS/px4fmu_common/init.d-posix/rcS
+++ b/ROMFS/px4fmu_common/init.d-posix/rcS
@ -164,6 +164,10 @@ param set-default COM_RC_IN_MODE 1
 # Speedup SITL startup
 param set-default EKF2_REQ_GPS_H 0.5

+# Multi-EKF
+param set-default EKF2_MULTI_IMU 3
+param set-default SENS_IMU_MODE 0
+
 param set-default IMU_GYRO_FFT_EN 1
 param set-default MAV_PROTO_VER 2 # Ensures QGC does not drop the first few packets after a SITL restart due to MAVLINK 1 packets

@ -182,6 +186,10 @@ param set-default SYS_FAILURE_EN 1
 # does not go below 50% by default, but failure injection can trigger failsafes.
 param set-default COM_LOW_BAT_ACT 2

+# Allow to override SYS_MC_EST_GROUP via env
+if [ -n "$SYS_MC_EST_GROUP" ]; then
+	param set SYS_MC_EST_GROUP $SYS_MC_EST_GROUP
+fi

 # Adapt timeout parameters if simulation runs faster or slower than realtime.
 if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
@ -240,35 +248,13 @@ then
 fi

 load_mon start
-
-if param compare SIM_BAT_ENABLE 1
-then
-	battery_simulator start
-fi
-
+battery_simulator start
 tone_alarm start
 rc_update start
 manual_control start
 sensors start
 commander start

-#
-# state estimator selection
-if param compare -s EKF2_EN 1
-then
-	ekf2 start &
-fi
-
-if param compare -s LPE_EN 1
-then
-	local_position_estimator start
-fi
-
-if param compare -s ATT_EN 1
-then
-	attitude_estimator_q start
-fi
-
 if ! pwm_out_sim start -m sim
 then
 	tune_control play error
@ -343,7 +329,7 @@ fi
 [ -e "$autostart_file".post ] && . "$autostart_file".post

 # Run script to start logging
-if param compare -s EKF2_EN 1
+if param compare SYS_MC_EST_GROUP 2
 then
 	set LOGGER_ARGS "-p ekf2_timestamps"
 else
--- a/ROMFS/px4fmu_common/init.d/CMakeLists.txt
+++ b/ROMFS/px4fmu_common/init.d/CMakeLists.txt
@ -34,79 +34,28 @@
 add_subdirectory(airframes)

 px4_add_romfs_files(
-
+	rc.airship_apps
+	rc.airship_defaults
 	rc.autostart_ext
-
-	rcS
-	rc.sensors
-	rc.vehicle_setup
-
-	# TODO
 	rc.balloon_apps
 	rc.balloon_defaults
+	rc.boat_defaults
+	rc.fw_apps
+	rc.fw_defaults
+	rc.heli_defaults
+	rc.logging
+	rc.mc_apps
+	rc.mc_defaults
+	rcS
+	rc.sensors
+	rc.thermal_cal
+	rc.rover_apps
+	rc.rover_defaults
+	rc.rover_differential_apps
+	rc.rover_differential_defaults
+	rc.uuv_apps
+	rc.uuv_defaults
+	rc.vehicle_setup
+	rc.vtol_apps
+	rc.vtol_defaults
 )
-
-if(CONFIG_MODULES_AIRSHIP_ATT_CONTROL)
-	px4_add_romfs_files(
-		rc.airship_apps
-		rc.airship_defaults
-	)
-endif()
-
-if(CONFIG_MODULES_FW_RATE_CONTROL)
-	px4_add_romfs_files(
-		rc.fw_apps
-		rc.fw_defaults
-	)
-endif()
-
-if(CONFIG_MODULES_MC_RATE_CONTROL)
-	px4_add_romfs_files(
-		rc.heli_defaults
-		rc.mc_apps
-		rc.mc_defaults
-	)
-endif()
-
-if(CONFIG_MODULES_ROVER_POS_CONTROL)
-	px4_add_romfs_files(
-		rc.rover_apps
-		rc.rover_defaults
-
-		rc.boat_defaults # hack
-	)
-endif()
-
-if(CONFIG_MODULES_DIFFERENTIAL_DRIVE)
-	px4_add_romfs_files(
-		rc.rover_differential_apps
-		rc.rover_differential_defaults
-	)
-endif()
-
-if(CONFIG_MODULES_UUV_ATT_CONTROL)
-	px4_add_romfs_files(
-		rc.uuv_apps
-		rc.uuv_defaults
-	)
-endif()
-
-if(CONFIG_MODULES_VTOL_ATT_CONTROL)
-	px4_add_romfs_files(
-		rc.vtol_apps
-		rc.vtol_defaults
-	)
-endif()
-
-
-if(CONFIG_MODULES_LOGGER)
-	px4_add_romfs_files(
-		rc.logging
-	)
-endif()
-
-if(CONFIG_MODULES_TEMPERATURE_COMPENSATION)
-	px4_add_romfs_files(
-		rc.thermal_cal
-	)
-endif()
--- a/ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil
+++ b/ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil
@ -11,30 +11,30 @@

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

+
 param set SYS_HITL 1

 param set UAVCAN_ENABLE 0

-# disable some checks to allow to fly
-# - without real battery
-param set-default CBRK_SUPPLY_CHK 894281
-# - without safety switch
-param set-default CBRK_IO_SAFETY 22027
-
-# Square quadrotor X PX4 numbering
 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_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 HIL_ACT_FUNC1 101
 param set-default HIL_ACT_FUNC2 102
 param set-default HIL_ACT_FUNC3 103
 param set-default HIL_ACT_FUNC4 104
+
+# disable some checks to allow to fly
+# - without real battery
+param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default CBRK_IO_SAFETY 22027
--- a/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil
+++ b/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil
@ -14,6 +14,7 @@

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

+
 param set-default BAT1_N_CELLS 3

 param set-default COM_RC_IN_MODE 1
@ -54,29 +55,26 @@ param set-default VT_TYPE 2

 param set-default CA_AIRFRAME 2
 param set-default CA_ROTOR_COUNT 5
-param set-default CA_ROTOR4_AX 1
-param set-default CA_ROTOR4_AZ 0
-param set-default CA_ROTOR4_PX 0.2
-
-# Square quadrotor X PX4 numbering
-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_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 3
 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
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1
+param set-default CA_SV_CS2_TRQ_P 1.0
 param set-default CA_SV_CS2_TYPE 3

 param set-default HIL_ACT_FUNC1 101
@ -100,3 +98,5 @@ param set-default CBRK_SUPPLY_CHK 894281
 param set-default CBRK_IO_SAFETY 22027

 param set-default MAV_TYPE 22
+
+
--- a/ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil
+++ b/ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil
@ -12,8 +12,26 @@

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

+
 param set UAVCAN_ENABLE 0

+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_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 -0.15
+param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default HIL_ACT_FUNC1 101
+param set-default HIL_ACT_FUNC2 102
+param set-default HIL_ACT_FUNC3 103
+param set-default HIL_ACT_FUNC4 104
+
 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
 param set SYS_HITL 2

@ -24,21 +42,3 @@ param set-default CBRK_SUPPLY_CHK 894281
 param set-default CBRK_IO_SAFETY 22027

 param set SIH_VEHICLE_TYPE 0
-
-# Square quadrotor X PX4 numbering
-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_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_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 HIL_ACT_FUNC1 101
-param set-default HIL_ACT_FUNC2 102
-param set-default HIL_ACT_FUNC3 103
-param set-default HIL_ACT_FUNC4 104
--- a/ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil
+++ b/ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil
@ -21,9 +21,9 @@ param set-default CA_ROTOR0_PX 0.3
 param set-default CA_SV_CS_COUNT 4
 param set-default CA_SV_CS0_TRQ_R 0.5
 param set-default CA_SV_CS0_TYPE 2
-param set-default CA_SV_CS1_TRQ_P 1
+param set-default CA_SV_CS1_TRQ_P 1.0
 param set-default CA_SV_CS1_TYPE 3
-param set-default CA_SV_CS2_TRQ_Y 1
+param set-default CA_SV_CS2_TRQ_Y 1.0
 param set-default CA_SV_CS2_TYPE 4
 param set-default CA_SV_CS3_TYPE 10

@ -46,7 +46,7 @@ param set-default CBRK_IO_SAFETY 22027

 param set-default BAT_N_CELLS 3

-param set SIH_T_MAX 6
+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
--- a/ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil
+++ b/ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil
@ -71,7 +71,7 @@ param set SIH_MASS 0.2
 param set SIH_IXX 0.00354
 param set SIH_IYY 0.000625
 param set SIH_IZZ 0.00300
-param set SIH_IXZ 0
+param set SIH_IXZ 0.0
 param set SIH_KDV 0.2
 param set SIH_L_ROLL 0.145

--- a/ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard
+++ b/ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard
@ -14,21 +14,6 @@

 param set-default CA_AIRFRAME 2
 param set-default CA_ROTOR_COUNT 5
-param set-default CA_ROTOR4_AX 1
-param set-default CA_ROTOR4_AZ 0
-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 3
-param set-default CA_SV_CS2_TRQ_P 1
-param set-default CA_SV_CS3_TRQ_Y 1
-param set-default CA_SV_CS3_TYPE 4
-param set-default VT_TYPE 2
-param set-default MAV_TYPE 22
-
-# Square quadrotor X PX4 numbering
 param set-default CA_ROTOR0_PX 1
 param set-default CA_ROTOR0_PY 1
 param set-default CA_ROTOR1_PX -1
@ -39,3 +24,16 @@ 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_ROTOR4_AX 1.0
+param set-default CA_ROTOR4_AZ 0.0
+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 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 VT_TYPE 2
+param set-default MAV_TYPE 22
--- a/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad
+++ b/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad
@ -120,8 +120,8 @@ param set-default CA_ROTOR2_KM -0.05
 param set-default CA_ROTOR3_PX -0.1515
 param set-default CA_ROTOR3_PY 0.1875
 param set-default CA_ROTOR3_KM -0.05
-param set-default CA_ROTOR4_AX 1
-param set-default CA_ROTOR4_AZ 0
+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 3
@ -130,4 +130,4 @@ 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 3
-param set-default CA_SV_CS2_TRQ_P 1
+param set-default CA_SV_CS2_TRQ_P 1.0
--- a/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark
+++ b/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark
@ -80,10 +80,6 @@ param set-default VT_TYPE 2

 param set-default CA_AIRFRAME 2
 param set-default CA_ROTOR_COUNT 5
-param set-default CA_ROTOR4_AX 1
-param set-default CA_ROTOR4_AZ 0
-
-# Square quadrotor X PX4 numbering
 param set-default CA_ROTOR0_PX 1
 param set-default CA_ROTOR0_PY 1
 param set-default CA_ROTOR1_PX -1
@ -94,16 +90,18 @@ 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_ROTOR4_AX 1.0
+param set-default CA_ROTOR4_AZ 0.0

 param set-default CA_SV_CS_COUNT 3
 param set-default CA_SV_CS0_TYPE 15
-param set-default CA_SV_CS0_TRQ_R 1
-param set-default CA_SV_CS1_TRQ_P 0.5
-param set-default CA_SV_CS1_TRQ_R 0
-param set-default CA_SV_CS1_TRQ_Y -0.5
+param set-default CA_SV_CS0_TRQ_R 1.0
+param set-default CA_SV_CS1_TRQ_P 0.5000
+param set-default CA_SV_CS1_TRQ_R 0.0000
+param set-default CA_SV_CS1_TRQ_Y -0.5000
 param set-default CA_SV_CS1_TYPE 13
-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_CS2_TRQ_P 0.5000
+param set-default CA_SV_CS2_TRQ_Y 0.5000
 param set-default CA_SV_CS2_TYPE 14

 param set-default PWM_MAIN_FUNC1 201
--- a/ROMFS/px4fmu_common/init.d/airframes/13030_generic_vtol_quad_tiltrotor
+++ b/ROMFS/px4fmu_common/init.d/airframes/13030_generic_vtol_quad_tiltrotor
@ -19,30 +19,30 @@ param set-default MAV_TYPE 21
 param set-default VT_TYPE 1

 param set-default CA_AIRFRAME 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_TILT 1
+param set-default CA_ROTOR1_PX -0.15
+param set-default CA_ROTOR1_PY -0.15
 param set-default CA_ROTOR1_TILT 2
+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_ROTOR2_TILT 3
+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_ROTOR3_TILT 4
 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_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1
+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
+param set-default CA_SV_CS3_TRQ_Y 1.0
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_TL_COUNT 4

-# Square quadrotor X PX4 numbering
-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_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_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
+
--- a/ROMFS/px4fmu_common/init.d/airframes/13100_generic_vtol_tiltrotor
+++ b/ROMFS/px4fmu_common/init.d/airframes/13100_generic_vtol_tiltrotor
@ -12,22 +12,19 @@
 . ${R}etc/init.d/rc.vtol_defaults

 param set-default CA_AIRFRAME 3
-param set-default CA_ROTOR0_TILT 2
-param set-default CA_ROTOR2_TILT 1
-
-# Square quadrotor X PX4 numbering
 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
--- a/ROMFS/px4fmu_common/init.d/airframes/14001_generic_mc_with_tilt
+++ b/ROMFS/px4fmu_common/init.d/airframes/14001_generic_mc_with_tilt
@ -20,16 +20,16 @@ param set-default MAV_TYPE 15

 param set-default CA_AIRFRAME 8
 # Tricopter
-param set-default CA_ROTOR0_PX 0.25
-param set-default CA_ROTOR0_PY 0.433
-param set-default CA_ROTOR1_PX 0.25
-param set-default CA_ROTOR1_PY -0.43
-param set-default CA_ROTOR2_PX -0.5
-param set-default CA_ROTOR2_PY 0
+param set-default CA_ROTOR0_PX 0.2500
+param set-default CA_ROTOR0_PY 0.4330
+param set-default CA_ROTOR1_PX 0.2500
+param set-default CA_ROTOR1_PY -0.4300
+param set-default CA_ROTOR2_PX -0.5000
+param set-default CA_ROTOR2_PY 0.0000
 param set-default CA_ROTOR2_TILT 1
 param set-default CA_ROTOR_COUNT 3
-param set-default CA_SV_TL0_MAXA 45
-param set-default CA_SV_TL0_MINA -45
+param set-default CA_SV_TL0_MAXA 45.0000
+param set-default CA_SV_TL0_MINA -45.0000
 param set-default CA_SV_TL0_TD 90
 param set-default CA_SV_TL_COUNT 1

--- a/ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane
+++ b/ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane
@ -18,7 +18,7 @@ param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1
+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
+param set-default CA_SV_CS3_TRQ_Y 1.0
 param set-default CA_SV_CS3_TYPE 4
--- a/ROMFS/px4fmu_common/init.d/airframes/2106_albatross
+++ b/ROMFS/px4fmu_common/init.d/airframes/2106_albatross
@ -35,17 +35,17 @@ param set-default FW_W_RMAX 0
 param set-default CA_AIRFRAME 1
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_SV_CS_COUNT 7
-param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS0_TRQ_R -0.5000
 param set-default CA_SV_CS0_TYPE 1 #left aileron
-param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS1_TRQ_R 0.5000
 param set-default CA_SV_CS1_TYPE 2 #right aileron
-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_CS2_TRQ_P 0.5000
+param set-default CA_SV_CS2_TRQ_Y -0.5000
 param set-default CA_SV_CS2_TYPE 13 #left A-tail
-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_CS3_TRQ_P 0.5000
+param set-default CA_SV_CS3_TRQ_Y 0.5000
 param set-default CA_SV_CS3_TYPE 14 #right A-tail
-param set-default CA_SV_CS4_TRQ_Y 1
+param set-default CA_SV_CS4_TRQ_Y 1.0000
 param set-default CA_SV_CS4_TYPE 12
 param set-default CA_SV_CS5_TYPE 9 #left flap
 param set-default CA_SV_CS6_TYPE 10 #right flap
--- a/ROMFS/px4fmu_common/init.d/airframes/2507_cloudship
+++ b/ROMFS/px4fmu_common/init.d/airframes/2507_cloudship
@ -21,21 +21,21 @@ param set-default CBRK_IO_SAFETY 22027
 param set-default CA_AIRFRAME 9

 param set-default CA_ROTOR_COUNT 3
-param set-default CA_ROTOR0_AX 1
-param set-default CA_ROTOR0_AZ 0
-param set-default CA_ROTOR0_KM 0
-param set-default CA_ROTOR0_PY 2
-param set-default CA_ROTOR1_AX 1
-param set-default CA_ROTOR1_AZ 0
-param set-default CA_ROTOR1_KM 0
-param set-default CA_ROTOR1_PY -2
-param set-default CA_ROTOR2_AY -1
-param set-default CA_ROTOR2_AZ 0
-param set-default CA_ROTOR2_KM 0
-param set-default CA_ROTOR2_PX -10
+param set-default CA_ROTOR0_AX 1.0000
+param set-default CA_ROTOR0_AZ 0.0000
+param set-default CA_ROTOR0_KM 0.0000
+param set-default CA_ROTOR0_PY 2.0000
+param set-default CA_ROTOR1_AX 1.0000
+param set-default CA_ROTOR1_AZ 0.0000
+param set-default CA_ROTOR1_KM 0.0000
+param set-default CA_ROTOR1_PY -2.0000
+param set-default CA_ROTOR2_AY -1.0000
+param set-default CA_ROTOR2_AZ 0.0000
+param set-default CA_ROTOR2_KM 0.0000
+param set-default CA_ROTOR2_PX -10.0000

 param set-default CA_SV_CS_COUNT 1
-param set-default CA_SV_CS0_TRQ_P 1
+param set-default CA_SV_CS0_TRQ_P 1.0000

 param set-default CA_R_REV 7

--- a/ROMFS/px4fmu_common/init.d/airframes/4001_quad_x
+++ b/ROMFS/px4fmu_common/init.d/airframes/4001_quad_x
@ -10,15 +10,15 @@

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

-# Square quadrotor X PX4 numbering
 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_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
+
--- a/ROMFS/px4fmu_common/init.d/airframes/4014_s500
+++ b/ROMFS/px4fmu_common/init.d/airframes/4014_s500
@ -18,15 +18,14 @@ param set-default MC_PITCHRATE_P 0.18
 param set-default MC_ROLLRATE_I 0.15
 param set-default MC_PITCHRATE_I 0.15

-# Square quadrotor X PX4 numbering
 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_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
--- a/ROMFS/px4fmu_common/init.d/airframes/4015_holybro_s500
+++ b/ROMFS/px4fmu_common/init.d/airframes/4015_holybro_s500
@ -22,15 +22,14 @@ param set-default MC_PITCHRATE_I 0.3
 param set-default MC_ROLLRATE_D 0.004
 param set-default MC_PITCHRATE_D 0.004

-# Square quadrotor X PX4 numbering
 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_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
--- a/ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision
+++ b/ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision
@ -97,17 +97,18 @@ param set-default CBRK_IO_SAFETY 22027

 param set-default THR_MDL_FAC 0.3

-# Square quadrotor X PX4 numbering
 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_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_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 -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

 # Outputs
@ -115,3 +116,4 @@ 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/ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames
+++ b/ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames
@ -21,15 +21,14 @@ param set-default MC_ROLLRATE_I 0.15
 param set-default MC_PITCHRATE_P 0.18
 param set-default MC_PITCHRATE_I 0.15

-# Square quadrotor X PX4 numbering
 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_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
--- a/ROMFS/px4fmu_common/init.d/airframes/4019_x500_v2
+++ b/ROMFS/px4fmu_common/init.d/airframes/4019_x500_v2
@ -22,20 +22,19 @@ param set-default MC_PITCHRATE_I 0.3
 param set-default MC_ROLLRATE_D 0.004
 param set-default MC_PITCHRATE_D 0.004

+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.25
+param set-default CA_ROTOR0_PY 0.25
+param set-default CA_ROTOR1_PX -0.25
+param set-default CA_ROTOR1_PY -0.25
+param set-default CA_ROTOR2_PX 0.25
+param set-default CA_ROTOR2_PY -0.25
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.25
+param set-default CA_ROTOR3_PY 0.25
+param set-default CA_ROTOR3_KM -0.05
+
 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
-
-# Square quadrotor X PX4 numbering
-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_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_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
--- a/ROMFS/px4fmu_common/init.d/airframes/4020_holybro_px4vision_v1_5
+++ b/ROMFS/px4fmu_common/init.d/airframes/4020_holybro_px4vision_v1_5
@ -98,17 +98,18 @@ param set-default CBRK_IO_SAFETY 22027

 param set-default THR_MDL_FAC 0.3

-# Square quadrotor X PX4 numbering
 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_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_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 -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

 # Outputs
@ -116,3 +117,4 @@ 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/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x
+++ b/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x
@ -46,20 +46,22 @@ param set-default SYS_HAS_MAG 0

 param set-default BAT1_N_CELLS 2

-# Square quadrotor X with reverse turn direction
 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_PX 0.03
+param set-default CA_ROTOR0_PY 0.03
 param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR1_PX -1
-param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR1_PX -0.03
+param set-default CA_ROTOR1_PY -0.03
 param set-default CA_ROTOR1_KM -0.05
-param set-default CA_ROTOR2_PX 1
-param set-default CA_ROTOR2_PY -1
-param set-default CA_ROTOR3_PX -1
-param set-default CA_ROTOR3_PY 1
+param set-default CA_ROTOR2_PX 0.03
+param set-default CA_ROTOR2_PY -0.03
+param set-default CA_ROTOR2_KM 0.05
+param set-default CA_ROTOR3_PX -0.03
+param set-default CA_ROTOR3_PY 0.03
+param set-default CA_ROTOR3_KM 0.05

 param set-default PWM_MAIN_FUNC1 104
 param set-default PWM_MAIN_FUNC2 101
 param set-default PWM_MAIN_FUNC3 102
 param set-default PWM_MAIN_FUNC4 103
+
--- a/ROMFS/px4fmu_common/init.d/airframes/4050_generic_250
+++ b/ROMFS/px4fmu_common/init.d/airframes/4050_generic_250
@ -36,15 +36,16 @@ param set-default SDLOG_PROFILE 19
 param set-default IMU_DGYRO_CUTOFF 50
 param set-default IMU_GYRO_CUTOFF 90

-# Square quadrotor X PX4 numbering
 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_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
+
+
--- a/ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250
+++ b/ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250
@ -46,20 +46,20 @@ param set-default MPC_Z_VEL_I_ACC 1.7

 param set-default THR_MDL_FAC 0.3

-# Square quadrotor X PX4 numbering
 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_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 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
+
--- a/ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2
+++ b/ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2
@ -53,17 +53,16 @@ param set-default MC_AIRMODE 1

 param set-default EV_TSK_RC_LOSS 1

-# Square quadrotor X PX4 numbering
 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_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 PWM_MAIN_FUNC1 104
@ -73,3 +72,5 @@ param set-default PWM_MAIN_FUNC4 103

 param set-default PWM_MAIN_TIM0 -2
 param set-default PWM_MAIN_TIM1 -2
+
+
--- a/ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu
+++ b/ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu
@ -11,11 +11,12 @@

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

+
 # Battery settings
 param set-default BAT_CRIT_THR 0.20
 param set-default BAT_LOW_THR 0.25

-param set-default BAT1_CAPACITY 2800
+param set-default BAT1_CAPACITY 2800.0
 param set-default BAT1_N_CELLS 3
 param set-default BAT1_R_INTERNAL 0.02
 param set-default BAT1_V_CHARGED 4.26
@ -37,7 +38,7 @@ param set-default COM_RC_LOSS_T 3

 # ekf2
 param set-default EKF2_TERR_MASK 1
-param set-default EKF2_BARO_NOISE 2
+param set-default EKF2_BARO_NOISE 2.0

 param set-default EKF2_BCOEF_X 31.5
 param set-default EKF2_BCOEF_Y 25.5
@ -55,11 +56,11 @@ param set-default EKF2_MAG_NOISE 0.1
 param set-default EKF2_MIN_RNG 0.15

 param set-default EKF2_OF_DELAY 38
-param set-default EKF2_OF_GATE 2
+param set-default EKF2_OF_GATE 2.0
 param set-default EKF2_OF_POS_X -0.035
 param set-default EKF2_OF_POS_Z 0.033
 param set-default EKF2_OF_MIN_RNG 0.01
-param set-default EKF2_OF_A_HMAX 7
+param set-default EKF2_OF_A_HMAX 7.0
 param set-default EKF2_OF_QMIN 30

 param set-default EKF2_PCOEF_XN -0.3
@ -67,18 +68,18 @@ param set-default EKF2_PCOEF_XP -0.4
 param set-default EKF2_PCOEF_YN -0.4
 param set-default EKF2_PCOEF_YP -0.4

-param set-default EKF2_RNG_A_VMAX 1
+param set-default EKF2_RNG_A_VMAX 1.0
 param set-default EKF2_RNG_CTRL 0
 param set-default EKF2_RNG_DELAY 55
 param set-default EKF2_RNG_POS_X -0.035
-param set-default EKF2_RNG_POS_Y 0
+param set-default EKF2_RNG_POS_Y 0.0
 param set-default EKF2_RNG_POS_Z 0.033

-param set-default EKF2_TERR_NOISE 1
+param set-default EKF2_TERR_NOISE 1.0


 # Maximum allowed angle velocity in the landed state
-param set-default LNDMC_ROT_MAX 40
+param set-default LNDMC_ROT_MAX 40.0

 # Maximum vertical velocity allowed in the landed state
 param set-default LNDMC_Z_VEL_MAX 0.7
@ -93,36 +94,36 @@ param set-default IMU_GYRO_CUTOFF 65
 param set-default MC_PITCHRATE_P 0.075
 param set-default MC_PITCHRATE_I 0.1
 param set-default MC_PITCHRATE_D 0.0005
-param set-default MC_PITCHRATE_MAX 360
-param set-default MC_PITCH_P 8
+param set-default MC_PITCHRATE_MAX 360.0
+param set-default MC_PITCH_P 8.0

 # Roll angle & rate setting
 param set-default MC_ROLLRATE_P 0.055
 param set-default MC_ROLLRATE_I 0.1
 param set-default MC_ROLLRATE_D 0.0005
-param set-default MC_ROLLRATE_MAX 360
-param set-default MC_ROLL_P 8
+param set-default MC_ROLLRATE_MAX 360.0
+param set-default MC_ROLL_P 8.0

 # Yaw angle & rate setting
 param set-default MC_YAWRATE_P 0.1
-param set-default MC_YAWRATE_MAX 120
+param set-default MC_YAWRATE_MAX 120.0
 param set-default MC_YAW_P 2.5

-param set-default MPC_ACC_DOWN_MAX 2
-param set-default MPC_ACC_HOR 3
-param set-default MPC_ACC_HOR_MAX 10
-param set-default MPC_ACC_UP_MAX 3
+param set-default MPC_ACC_DOWN_MAX 2.0
+param set-default MPC_ACC_HOR 3.0
+param set-default MPC_ACC_HOR_MAX 10.0
+param set-default MPC_ACC_UP_MAX 3.0
 param set-default MPC_ALT_MODE 0
 param set-default MPC_LAND_SPEED 0.5
 param set-default MPC_MAN_TILT_MAX 20
-param set-default MPC_YAWRAUTO_MAX 80
+param set-default MPC_YAWRAUTO_MAX 80.0
 param set-default MPC_THR_HOVER 0.54
 param set-default MPC_THR_MAX 0.9
 param set-default MPC_THR_MIN 0.06
 param set-default MPC_TILTMAX_AIR 30
-param set-default MPC_XY_P 1
-param set-default MPC_Z_P 2
-param set-default MPC_Z_VEL_MAX_DN 2
+param set-default MPC_XY_P 1.0
+param set-default MPC_Z_P 2.0
+param set-default MPC_Z_VEL_MAX_DN 2.0

 # gimbal configuration
 param set-default MNT_MODE_IN 0
@ -149,22 +150,21 @@ param set-default RC1_TRIM          1000
 # optical flow
 param set-default SENS_FLOW_MAXR   7.4
 param set-default SENS_FLOW_MINHGT 0.15
-param set-default SENS_FLOW_MAXHGT 5
+param set-default SENS_FLOW_MAXHGT 5.0

 # ignore the SD card errors and use normal startup sound
 set STARTUP_TUNE "1"

-# Square quadrotor X PX4 numbering
 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_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 TAP_ESC_FUNC1 101
--- a/ROMFS/px4fmu_common/init.d/airframes/4071_ifo
+++ b/ROMFS/px4fmu_common/init.d/airframes/4071_ifo
@ -73,22 +73,23 @@ param set-default MAV_1_CONFIG 102
 param set-default MAV_1_MODE 0
 param set-default SER_TEL2_BAUD 57600

-param set-default PWM_MAIN_TIM0 0

-# Square quadrotor X PX4 numbering
 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_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 PWM_MAIN_TIM0 0
+
 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
+
--- a/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s
+++ b/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s
@ -91,22 +91,22 @@ param set-default EKF2_OF_POS_Z -0.07
 # Failsafe
 param set-default COM_LOW_BAT_ACT 3

-param set-default PWM_MAIN_TIM0 -3
-
-# Square quadrotor X PX4 numbering
 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_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 PWM_MAIN_TIM0 -3
+
 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
+
--- a/ROMFS/px4fmu_common/init.d/airframes/4500_clover4
+++ b/ROMFS/px4fmu_common/init.d/airframes/4500_clover4
@ -27,17 +27,16 @@ param set-default MPC_XY_P 1.1
 param set-default MPC_Z_VEL_P_ACC 4.8
 param set-default MPC_Z_P 1.2

-# Square quadrotor X PX4 numbering
 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_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 PWM_MAIN_FUNC1 101
--- a/ROMFS/px4fmu_common/init.d/airframes/4601_droneblocks_dexi_5
+++ b/ROMFS/px4fmu_common/init.d/airframes/4601_droneblocks_dexi_5
@ -1,78 +0,0 @@
-#!/bin/sh
-#
-# @name Droneblocks DEXI 5
-#
-# @type Quadrotor x
-# @class Copter
-#
-# @maintainer Dennis Baldwin <db@droneblocks.io>
-# @maintainer Alex klimaj <alex@arkelectron.com>
-#
-# @board px4_fmu-v2 exclude
-# @board px4_fmu-v3 exclude
-# @board px4_fmu-v4 exclude
-# @board px4_fmu-v4pro exclude
-# @board px4_fmu-v5 exclude
-# @board px4_fmu-v5x exclude
-# @board px4_fmu-v6x exclude
-# @board bitcraze_crazyflie exclude
-# @board diatone_mamba-f405-mk2 exclude
-# @board ark_fmu-v6x exclude
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-param set-default BAT1_CAPACITY 4000
-param set-default BAT1_N_CELLS 6
-param set-default BAT1_V_EMPTY 3.3
-param set-default BAT1_V_LOAD_DROP 0.5
-param set-default BAT_AVRG_CURRENT 13
-
-# Square quadrotor X PX4 numbering
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.0762
-param set-default CA_ROTOR0_PY 0.09525
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.0762
-param set-default CA_ROTOR1_PY -0.09525
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.0762
-param set-default CA_ROTOR2_PY -0.09525
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.0762
-param set-default CA_ROTOR3_PY 0.09525
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default EKF2_MIN_RNG 0.01
-param set-default EKF2_OF_POS_X 0.043
-param set-default EKF2_OF_POS_Y 0.011
-param set-default EKF2_OF_QMIN_GND 1
-param set-default EKF2_RNG_POS_X 0.043
-param set-default EKF2_RNG_POS_Y 0.0
-
-param set-default IMU_GYRO_DNF_EN 2
-
-param set-default MC_PITCHRATE_D 0.0013
-param set-default MC_PITCHRATE_I 0.185
-param set-default MC_PITCHRATE_P 0.105
-param set-default MC_PITCH_P 7.5
-param set-default MC_ROLLRATE_D 0.0010
-param set-default MC_ROLLRATE_I 0.165
-param set-default MC_ROLLRATE_P 0.095
-param set-default MC_ROLL_P 7.5
-param set-default MC_YAWRATE_I 0.35
-param set-default MC_YAWRATE_P 0.13
-
-param set-default MPC_THR_HOVER 0.22
-param set-default MPC_THR_MAX 0.5
-param set-default MPC_THR_MIN 0.025
-param set-default MPC_VEL_MANUAL 5.0
-param set-default MPC_XY_VEL_MAX 8.0
-
-param set-default RTL_RETURN_ALT 15
-
-param set-default SENS_FLOW_MINHGT 0.0
-
-param set-default SER_TEL2_BAUD 3000000
-
-param set-default UXRCE_DDS_CFG 102
--- a/ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21
+++ b/ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21
@ -18,6 +18,7 @@
 . ${R}etc/init.d/rc.mc_defaults


+param set-default SYS_MC_EST_GROUP 2
 param set-default SYS_HAS_MAG 0
 param set-default EKF2_OF_CTRL 1
 param set-default EKF2_GPS_CTRL 0
@ -49,22 +50,22 @@ param set-default MPC_MAX_FLOW_HGT 3

 param set-default NAV_RCL_ACT 3

+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.03
+param set-default CA_ROTOR0_PY 0.03
+param set-default CA_ROTOR1_PX -0.03
+param set-default CA_ROTOR1_PY 0.03
+param set-default CA_ROTOR1_KM -0.05
+param set-default CA_ROTOR2_PX -0.03
+param set-default CA_ROTOR2_PY -0.03
+param set-default CA_ROTOR3_PX 0.03
+param set-default CA_ROTOR3_PY -0.03
+param set-default CA_ROTOR3_KM -0.05
+
 # Run the motors at 328.125 kHz (recommended)
 param set-default PWM_MAIN_TIM0 3921
 param set-default PWM_MAIN_TIM1 3921

-# Square quadrotor X clockwise numbering
-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_ROTOR1_KM -0.05
-param set-default CA_ROTOR2_PX -1
-param set-default CA_ROTOR2_PY -1
-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 PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103
--- a/ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx
+++ b/ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx
@ -36,9 +36,9 @@ param set-default GND_THR_MAX 0.5
 param set-default GND_MAX_ANG 1.042
 param set-default GND_WHEEL_BASE 0.17

-# TODO: Set to -1, to allow reversing. This will require many changes in the codebase
+# 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_THR_MIN 0.0
 param set-default GND_SPEED_P 0.25
 param set-default GND_SPEED_I 3
 param set-default GND_SPEED_D 0.001
--- a/ROMFS/px4fmu_common/init.d/airframes/5001_quad_+
+++ b/ROMFS/px4fmu_common/init.d/airframes/5001_quad_+
@ -1,10 +1,12 @@
 #!/bin/sh
 #
-# @name Generic Quad + geometry
+# @name Generic 10" Quad + geometry
 #
 # @type Quadrotor +
 # @class Copter
 #
+# @maintainer Lorenz Meier <lorenz@px4.io>
+#
 # @board bitcraze_crazyflie exclude
 # @board px4_fmu-v2 exclude
 #
@ -12,17 +14,13 @@
 . ${R}etc/init.d/rc.mc_defaults

 param set-default CA_ROTOR_COUNT 4
-
-param set-default CA_ROTOR0_PX 0
-param set-default CA_ROTOR0_PY 1
-
-param set-default CA_ROTOR1_PX 0
-param set-default CA_ROTOR1_PY -1
-
-param set-default CA_ROTOR2_PX 1
-param set-default CA_ROTOR2_PY 0
-param set-default CA_ROTOR2_KM -0.05
-
-param set-default CA_ROTOR3_PX -1
-param set-default CA_ROTOR3_PY 0
-param set-default CA_ROTOR3_KM -0.05
+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_ROTOR3_PX -0.15
+param set-default CA_ROTOR3_PY 0.15
--- a/ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic
+++ b/ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic
@ -5,6 +5,8 @@
 # @type Underwater Robot
 # @class Underwater Robot
 #
+# @maintainer
+#
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
 #
--- a/ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus
+++ b/ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus
@ -12,7 +12,38 @@
 #

 . ${R}etc/init.d/rc.uuv_defaults
-. ${R}etc/init.d/airframes/60000_uuv_generic
+
+param set-default CA_AIRFRAME 7
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_R_REV 255
+param set-default CA_ROTOR0_AX 1
+param set-default CA_ROTOR0_AY 0
+param set-default CA_ROTOR0_AZ 0
+param set-default CA_ROTOR0_KM 0
+param set-default CA_ROTOR0_PX 0
+param set-default CA_ROTOR0_PY -0.3
+param set-default CA_ROTOR0_PZ -0.3
+param set-default CA_ROTOR1_AX 1
+param set-default CA_ROTOR1_AY 0
+param set-default CA_ROTOR1_AZ 0
+param set-default CA_ROTOR1_KM 0
+param set-default CA_ROTOR1_PX 0
+param set-default CA_ROTOR1_PY 0.3
+param set-default CA_ROTOR1_PZ -0.3
+param set-default CA_ROTOR2_AX 1
+param set-default CA_ROTOR2_AY 0
+param set-default CA_ROTOR2_AZ 0
+param set-default CA_ROTOR2_KM 0
+param set-default CA_ROTOR2_PX 0
+param set-default CA_ROTOR2_PY 0.3
+param set-default CA_ROTOR2_PZ 0.3
+param set-default CA_ROTOR3_AX 1
+param set-default CA_ROTOR3_AY 0
+param set-default CA_ROTOR3_AZ 0
+param set-default CA_ROTOR3_KM 0
+param set-default CA_ROTOR3_PX 0
+param set-default CA_ROTOR3_PY -0.3
+param set-default CA_ROTOR3_PZ 0.3

 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
--- a/ROMFS/px4fmu_common/init.d/airframes/60002_uuv_bluerov2_heavy
+++ b/ROMFS/px4fmu_common/init.d/airframes/60002_uuv_bluerov2_heavy
@ -30,7 +30,7 @@ param set-default MAV_1_CONFIG 102

 param set-default BAT1_A_PER_V 37.8798
 param set-default BAT1_CAPACITY 18000
-param set-default BAT1_V_DIV 11
+param set-default BAT1_V_DIV 11.0
 param set-default BAT1_N_CELLS 4
 param set-default BAT_V_OFFS_CURR 0.33

@ -38,49 +38,49 @@ param set-default CA_AIRFRAME 7

 param set-default CA_ROTOR_COUNT 8
 param set-default CA_R_REV 255
-param set-default CA_ROTOR0_AX 1
-param set-default CA_ROTOR0_AY -1
-param set-default CA_ROTOR0_AZ 0
-param set-default CA_ROTOR0_KM 0
-param set-default CA_ROTOR0_PX 0.5
-param set-default CA_ROTOR0_PY 0.3
-param set-default CA_ROTOR0_PZ 0.2
-param set-default CA_ROTOR1_AX 1
-param set-default CA_ROTOR1_AY 1
-param set-default CA_ROTOR1_AZ 0
-param set-default CA_ROTOR1_KM 0
-param set-default CA_ROTOR1_PX 0.5
-param set-default CA_ROTOR1_PY -0.3
-param set-default CA_ROTOR1_PZ 0.2
-param set-default CA_ROTOR2_AX 1
-param set-default CA_ROTOR2_AY 1
-param set-default CA_ROTOR2_AZ 0
-param set-default CA_ROTOR2_KM 0
-param set-default CA_ROTOR2_PX -0.5
-param set-default CA_ROTOR2_PY 0.3
-param set-default CA_ROTOR2_PZ 0.2
-param set-default CA_ROTOR3_AX 1
-param set-default CA_ROTOR3_AY -1
-param set-default CA_ROTOR3_AZ 0
-param set-default CA_ROTOR3_KM 0
-param set-default CA_ROTOR3_PX -0.5
-param set-default CA_ROTOR3_PY -0.3
-param set-default CA_ROTOR3_PZ 0.2
-param set-default CA_ROTOR4_AZ -1
-param set-default CA_ROTOR4_KM 0
-param set-default CA_ROTOR4_PX 0.5
-param set-default CA_ROTOR4_PY 0.5
-param set-default CA_ROTOR5_AZ 1
-param set-default CA_ROTOR5_KM 0
-param set-default CA_ROTOR5_PX 0.5
-param set-default CA_ROTOR5_PY -0.5
-param set-default CA_ROTOR6_AZ 1
-param set-default CA_ROTOR6_KM 0
-param set-default CA_ROTOR6_PX -0.5
-param set-default CA_ROTOR6_PY 0.5
-param set-default CA_ROTOR7_KM 0
-param set-default CA_ROTOR7_PX -0.5
-param set-default CA_ROTOR7_PY -0.5
+param set-default CA_ROTOR0_AX 1.0000
+param set-default CA_ROTOR0_AY -1.0000
+param set-default CA_ROTOR0_AZ 0.0000
+param set-default CA_ROTOR0_KM 0.0000
+param set-default CA_ROTOR0_PX 0.5000
+param set-default CA_ROTOR0_PY 0.3000
+param set-default CA_ROTOR0_PZ 0.2000
+param set-default CA_ROTOR1_AX 1.0000
+param set-default CA_ROTOR1_AY 1.0000
+param set-default CA_ROTOR1_AZ 0.0000
+param set-default CA_ROTOR1_KM 0.0000
+param set-default CA_ROTOR1_PX 0.5000
+param set-default CA_ROTOR1_PY -0.3000
+param set-default CA_ROTOR1_PZ 0.2000
+param set-default CA_ROTOR2_AX 1.0000
+param set-default CA_ROTOR2_AY 1.0000
+param set-default CA_ROTOR2_AZ 0.0000
+param set-default CA_ROTOR2_KM 0.0000
+param set-default CA_ROTOR2_PX -0.5000
+param set-default CA_ROTOR2_PY 0.3000
+param set-default CA_ROTOR2_PZ 0.2000
+param set-default CA_ROTOR3_AX 1.0000
+param set-default CA_ROTOR3_AY -1.0000
+param set-default CA_ROTOR3_AZ 0.0000
+param set-default CA_ROTOR3_KM 0.0000
+param set-default CA_ROTOR3_PX -0.5000
+param set-default CA_ROTOR3_PY -0.3000
+param set-default CA_ROTOR3_PZ 0.2000
+param set-default CA_ROTOR4_AZ -1.0000
+param set-default CA_ROTOR4_KM 0.0000
+param set-default CA_ROTOR4_PX 0.5000
+param set-default CA_ROTOR4_PY 0.5000
+param set-default CA_ROTOR5_AZ 1.0000
+param set-default CA_ROTOR5_KM 0.0000
+param set-default CA_ROTOR5_PX 0.5000
+param set-default CA_ROTOR5_PY -0.5000
+param set-default CA_ROTOR6_AZ 1.0000
+param set-default CA_ROTOR6_KM 0.0000
+param set-default CA_ROTOR6_PX -0.5000
+param set-default CA_ROTOR6_PY 0.5000
+param set-default CA_ROTOR7_KM 0.0000
+param set-default CA_ROTOR7_PX -0.5000
+param set-default CA_ROTOR7_PY -0.5000

 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
--- a/ROMFS/px4fmu_common/init.d/airframes/6001_hexa_x
+++ b/ROMFS/px4fmu_common/init.d/airframes/6001_hexa_x
@ -16,10 +16,10 @@
 param set-default MAV_TYPE 13

 param set-default CA_ROTOR_COUNT 6
-param set-default CA_ROTOR0_PX 0
+param set-default CA_ROTOR0_PX 0.0
 param set-default CA_ROTOR0_PY 0.5
 param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR1_PX 0
+param set-default CA_ROTOR1_PX 0.0
 param set-default CA_ROTOR1_PY -0.5
 param set-default CA_ROTOR2_PX 0.43
 param set-default CA_ROTOR2_PY -0.25
--- a/ROMFS/px4fmu_common/init.d/airframes/6002_draco_r
+++ b/ROMFS/px4fmu_common/init.d/airframes/6002_draco_r
@ -97,10 +97,10 @@ param set-default SER_TEL2_BAUD 921600


 param set-default CA_ROTOR_COUNT 6
-param set-default CA_ROTOR0_PX 0
+param set-default CA_ROTOR0_PX 0.0
 param set-default CA_ROTOR0_PY 0.5
 param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR1_PX 0
+param set-default CA_ROTOR1_PX 0.0
 param set-default CA_ROTOR1_PY -0.5
 param set-default CA_ROTOR2_PX 0.43
 param set-default CA_ROTOR2_PY -0.25
--- a/ROMFS/px4fmu_common/init.d/airframes/7001_hexa_+
+++ b/ROMFS/px4fmu_common/init.d/airframes/7001_hexa_+
@ -17,10 +17,10 @@ param set-default MAV_TYPE 13

 param set-default CA_ROTOR_COUNT 6
 param set-default CA_ROTOR0_PX 0.5
-param set-default CA_ROTOR0_PY 0
+param set-default CA_ROTOR0_PY 0.0
 param set-default CA_ROTOR0_KM -0.05
 param set-default CA_ROTOR1_PX -0.5
-param set-default CA_ROTOR1_PY 0
+param set-default CA_ROTOR1_PY 0.0
 param set-default CA_ROTOR2_PX -0.25
 param set-default CA_ROTOR2_PY -0.43
 param set-default CA_ROTOR2_KM -0.05
--- a/Show More
+++ b/Show More